HTTP API

All commands are HTTP POST requests to port 8080 under /send/…. Status is read through HTTP GET endpoints and the TCP telemetry stream.

Pilot / Safety Authority

Two computers can drive the same drone over HTTP. Which one is in command is decided purely by the X-Safety-Token header on each request:

Request	Classified as
carries the valid X-Safety-Token	Safety Computer
anything else (no header, wrong token)	Pilot Computer

How a single HTTP command is arbitrated: the X-Safety-Token header classifies the request, ControlAuthority holds one in-memory latch, and the first Safety command seizes control and cancels whatever the Pilot was flying.

Rules enforced by the app on every /send/* command:

• The Pilot Computer holds control at startup and flies the mission normally.
• The first command from the Safety Computer latches authority to SAFETY, cancels whatever autonomous loop the Pilot left running, and holds the aircraft in place.
• From then on every Pilot command is rejected with REJECTED: Safety Computer is in control. Pilot commands are blocked.
• The takeover is persistent — there is no timeout. If the Safety Computer goes silent, the Pilot does not regain control.
• The only way back is POST /releaseSafetyControl, which only the Safety Computer may call.
• An app restart resets to Pilot control (“restart == fresh mission”). State is in-memory only.

While the Safety Computer holds authority, a red SAFETY COMPUTER IN CONTROL banner is shown over the video feed. Normal Pilot control shows no banner.

This axis is independent of the RC manual-override latch: that one tracks the physical pilot on the sticks, this one tracks which computer commands the server.

from lyrebird_groundstation.safety import DJIInterfaceSafety

safety = DJIInterfaceSafety("192.168.1.100")   # every command carries the token
safety.requestSendGotoAltitude(30.0)           # first command seizes control
safety.requestReleaseSafetyControl()           # hand authority back to the Pilot

Method & Endpoint	Body	Description
POST/releaseSafetyControl	—	Return authority to the Pilot Computer (Safety Computer only)

Control Endpoints (HTTP POST — Port 8080)

Method & Endpoint	Body	Description
POST/send/takeoff	—	Takeoff
POST/send/land	—	Land
POST/send/RTH	—	Return to home (aborts active mission + disables VS first)
POST/send/enableVirtualStick	—	Enable Virtual Stick mode
POST/send/abortMission	—	Stop mission + disable Virtual Stick
POST/send/abortAll	—	Stop all active missions (DJI native + Virtual Stick)
POST/send/abort/DJIMission	—	Stop DJI native mission only
POST/send/stick	leftX,leftY,rightX,rightY	Direct AVS velocity input (values ∈ [-1, 1])
POST/send/gotoWaypointNoseForward	lat,lon,alt,yaw[,speed]	Turn to face the leg, fly forward, rotate to yaw on arrival (yaw = final heading)
POST/send/gotoWaypointHoldHeading	lat,lon,alt,yaw[,speed]	Hold yaw for the whole flight (drone crabs sideways), tighter arrival tolerance
POST/send/navigateTrajectoryDJINative	speed;lat,lon,alt;…	DJI native KMZ mission (≥ 2 waypoints)
POST/send/gotoYaw	yaw_degrees	Rotate to heading
POST/send/gimbal/rel_pitch	roll,pitch,yaw	Gimbal pitch relative to current angle (degrees)
POST/send/gimbal/rel_yaw	roll,pitch,yaw	Gimbal yaw relative to current angle (degrees)
POST/send/captureThermalImage	—	Capture on the thermal lens. Returns a JSON capture descriptor
POST/send/captureTemperature	—	Read the thermal max temperature. Returns {"thermalMaxTemp": <float or null>}
POST/send/listMedia	—	List every file on the SD card as JSON
POST/send/downloadMediaByName	<fileName>	Download one media file by name; responds with the raw file bytes
POST/send/lrf/measure	—	Fire the laser rangefinder. Returns distance, geo-referenced target, and laser state as JSON. distance and target are non-null only when the laser locks (state NORMAL, needs a GPS fix)
POST/send/drop	—	Release the payload on airframes with a drop port configured in the active profile; rejected otherwise
POST/send/gotoAltitude	altitude_m	Change altitude
POST/send/gimbal/pitch	roll,pitch,yaw	Set gimbal pitch
POST/send/gimbal/yaw	roll,pitch,yaw	Set gimbal yaw joint angle
POST/send/camera/zoom	zoom_ratio	Set camera zoom
POST/send/camera/startRecording	—	Start recording
POST/send/camera/stopRecording	—	Stop recording
POST/send/setRTHAltitude	altitude_m	Set RTH altitude
POST/send/deactivateManualOverride	—	Re-enable autonomous commands after pilot override
POST/send/autoSensing/start	—	Enable DJI AutoSensing object detection where supported
POST/send/autoSensing/stop	—	Disable DJI AutoSensing object detection

Status Endpoints (HTTP GET — Port 8080)

Method & Endpoint	Returns	Description
GET/config	JSON	Drone name, IP, HTTP/telemetry ports, and current video mode
GET/get/isManualOverrideActive	JSON/text	Manual override state
GET/get/autoSensing/status	JSON	AI detection status and target count
GET/get/autoSensing/targets	JSON	Current detected targets with bounding boxes

All other flight state data is available via the TCP telemetry stream on port 8081. Use GET /config for connection metadata and auto-discovery.