Changelog

All notable changes to the LLUAV SDK will be documented in this file.

[1.0.0] - 2026-04-28

Auto-login: Automatically sends login command after WebSocket connection is established when a password is configured.
Auto-reconnect: Detects connection loss and reconnects with exponential backoff (configurable initial delay, max delay, and max retries).
Connection keep-alive (heartbeat): Configurable periodic heartbeat command (default state every 5s) to keep NAT/firewall sessions alive.
Command queue: Strict FIFO queue guarantees one command in flight at a time, matching the drone's request/response protocol.
Timeout & retry management: Per-command deadlines with automatic retry on network failure (default 3 retries, 10s timeout).
Periodic task scheduler: Register named tasks that are automatically enqueued at fixed intervals without blocking the caller.

Python SDK (synchronous): Based on websocket-client. Supports blocking and non-blocking (Future) command execution.
Python SDK (asynchronous): Based on websockets. Full async/await API with asyncio.Queue.
C++ SDK: Based on websocketpp (Asio). Header-friendly design with nlohmann::json. Supports CMake build.
JavaScript SDK: Compatible with Node.js (ws) and browsers (native WebSocket). Promise-based API.

demo_state_monitor — Real-time telemetry polling with periodic tasks.
demo_flight_mission — Complete flight workflow: preflight, takeoff, setpoint, RTL.
demo_camera_map — Camera control and map management operations.

README.md — Quick start and feature overview.
docs/PROTOCOL.md — Complete wire protocol specification derived from firmware source.
docs/ARCHITECTURE.md — Internal SDK architecture and data flow.
docs/API_REFERENCE.md — Full API reference for all three languages.
docs/TROUBLESHOOTING.md — Common issues and tuning recommendations.
docs/CHANGELOG.md — This file.

release.py — Cross-platform release script that packages the SDK into .tar.gz and .zip archives.
release.sh — Bash wrapper for release.py.
Release script automatically excludes doc/wsserver.cpp and other non-essential files.
Generates MANIFEST.txt, VERSION, and SHA-256 checksums for each release.

All commands from the LLUAV firmware WebSocket server are supported:

State & Telemetry: state, param, get_param, ver, sysinfo, diskusage, statics, machineid, hud1, lidarpose, apron_state, mavlink_msgs, get_submap_info
Flight Control: takeoff, land, rtl, mrtl, tether_land, set_sp_ned, relocate_pos, tunnelfly, disarm, sleep, wakeup, autosleep_enable, zyhk
Mission Management: mission, plan, unlock_plan, mw_list, mw_exec, ai1_mission, obs_mission, dump_missionresult, dump_missionlist, abort_report, set_taskname
Map Management: savemap, set_maplocate, set_mappath, list_maps, rm_map
Camera & Recording: capture, snapshot, record, savebag, siyi_reboot, siyi_format, siyi_center, siyi_init, siyi_downvideo, siyi_sync
LED Control: ledon, ledoff, ledenable, leddisable, ledpwm, led_blink
Parameter Management: set_param, get_param, reset_param, save_param, passwd
Apron: apron_vol, apron_amp
System: reboot_node, reboot_ap, reboot_system, poweroff_system, prepare_poweroff, reboot_dlo, restart_dlo, kill_livox
Lidar & Perception: lidaronoff, lidarwarn, utg_get, utg_set
Other: grabber_ctrl, ara8_center, ara8_pitch, cv_test, preflight_check, preflight_enable, clear_bags, clear_images, list_imagedir, rm_imagedir, test_wp, test_listwp, savemsg, bms_setpower, bms_setcharge, show_sp, show_apguid2, help, admin_lock, admin_unlock