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/**
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
* @ file dji_positioning . h
* @ brief This is the header file for " dji_positioning.c " , defining the structure and
* ( exported ) function prototypes .
*
* @ copyright ( c ) 2021 DJI . All rights reserved .
*
* All information contained herein is , and remains , the property of DJI .
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U . S . and foreign patents , patents in process ,
* and protected by trade secret or copyright law . Dissemination of this
* information , including but not limited to data and other proprietary
* material ( s ) incorporated within the information , in any form , is strictly
* prohibited without the express written consent of DJI .
*
* If you receive this source code without DJI ’ s authorization , you may not
* further disseminate the information , and you must immediately remove the
* source code and notify DJI of its removal . DJI reserves the right to pursue
* legal actions against you for any loss ( es ) or damage ( s ) caused by your
* failure to do so .
*
* * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * *
*/
/* Define to prevent recursive inclusion -------------------------------------*/
# ifndef DJI_POSITIONING_H
# define DJI_POSITIONING_H
/* Includes ------------------------------------------------------------------*/
# include "dji_typedef.h"
# include "dji_time_sync.h"
# include "dji_fc_subscription.h"
# ifdef __cplusplus
extern " C " {
# endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
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/**
* @ brief Positioning rtcm data type .
*/
typedef enum {
DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT = 0 ,
DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION = 1 ,
} E_DjiPositioningRtcmDataType ;
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/**
* @ brief Data structure that describes a positioning event .
*/
typedef struct {
/*! Index of event set in which positioning event is located. The item will be written to mark file in aircraft for
* some post - precess work . If not needed , fill in 0. */
uint16_t eventSetIndex ;
/*! Index of target point in payload whose position user is requesting. The item will be written to mark file in
* aircraft for some post - precess work . If not needed , fill in 0. */
uint8_t targetPointIndex ;
/*! Timestamp in aircraft time system when the positioning event occur. Users should transfer time in local time
* system to time in aircraft time system by DjiTimeSync_TransferToAircraftTime ( ) interface in time
* synchronization module . */
T_DjiTimeSyncAircraftTime eventTime ;
} T_DjiPositioningEventInfo ;
/**
* @ brief Data structure that describes position of a point .
*/
typedef struct {
dji_f64_t longitude ; /*!< Specifies longitude, unit: degree. */
dji_f64_t latitude ; /*!< Specifies latitude, unit: degree. */
dji_f64_t height ; /*!< Specifies height above sea level, unit: m. */
} T_DjiPositioningPosition ;
/**
* @ brief Position value standard deviation .
*/
typedef struct {
dji_f32_t longitude ; /*!< Specifies longitude standard deviation, unit: degree. */
dji_f32_t latitude ; /*!< Specifies latitude standard deviation，
dji_f32_t height ; /*!< Specifies height standard deviation，
} T_DjiPositioningPositionStandardDeviation ;
/**
* @ brief Position of target point and other details returned by interface of requesting position .
*/
typedef struct {
E_DjiFcSubscriptionPositionSolutionProperty positionSolutionProperty ; /*!< Property of position solution. */
T_DjiAttitude3d uavAttitude ; /*!< Specifies UAV attitude, unit: degree. */
T_DjiVector3d offsetBetweenMainAntennaAndTargetPoint ; /*!< Specifies position offset from RTK main antenna to target points in NED coordinate system, unit: mm. */
T_DjiPositioningPosition targetPointPosition ; /*!< Specifies position of target points in GROUND coordinate system. */
T_DjiPositioningPositionStandardDeviation targetPointPositionStandardDeviation ; /*!< Specifies position standard deviation of target points. */
} T_DjiPositioningPositionInfo ;
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/**
* @ brief Prototype of callback function used to receive the rtk rtcm raw data .
* @ param index : the index of rtcm data package .
* @ param data : pointer to receive rtk rtcm data from aircraft .
* @ param dataLen : receive data length of rtcm data from aircraft .
* @ return Execution result .
*/
typedef T_DjiReturnCode ( * DjiReceiveRtkRtcmDataCallback ) ( uint8_t index , const uint8_t * data , uint16_t dataLen ) ;
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/* Exported functions --------------------------------------------------------*/
/**
* @ brief Initialise positioning module in blocking mode . User should call this function before all other positioning
* operations , just like setting task index , register callback function and requesting positions .
* @ note Max execution time of this function is slightly larger than 500 ms .
* @ note This function has to be called in user task , rather than main ( ) function , and after scheduler being started .
* @ return Execution result .
*/
T_DjiReturnCode DjiPositioning_Init ( void ) ;
/**
* @ brief Set task index , specifying a sequence number of operations , using to write to mark the file for some post - process
* flows .
* @ details One operation may be a precise surveying and mapping task or ten exposures of camera . The default task index
* is 0.
* @ param index : task index .
*/
void DjiPositioning_SetTaskIndex ( uint8_t index ) ;
/**
* @ brief The interface is used to get the position of target points and other information ( refer to
* : : T_DjiPositioningPositionInfo ) based on the timestamp in aircraft time system when some events ( positioning events ) are
* triggered . The function uses blocking mode .
* @ details Users can request positions for multiple events ( event set ) conveniently , such as sync exposure of
* multiple cameras . User must register callback function used to get the newest PPS triggered timestamp ( refer to
* DjiPositioning_RegGetNewestPpsTriggerTimeCallback ( ) ) before requesting position . When users have set structure
* parameters of payload and interest points ( the points whose position user hope to get , e . g . center point of the camera
* image sensor ) , the target points are interest points , otherwise the target points are main gimbal interface center .
* Users can use position information of gimbal interface center , position offset between gimbal interface center and
* RTK main antenna , UAV attitude , gimbal structure parameters , and gimbal attitude to calculate the position of interest
* points in the payload .
* @ note Max execution time of this function is slightly larger than 600 ms .
* @ note All requested timestamp have to be between the time point 2 seconds earlier than the newest synchronized
* timestamp and the time point 1 seconds earlier than the newest synchronized timestamp .
* @ param eventCount : count of positioning event set specified by eventInfo parameter . Please ensure the count is less
* than 5.
* @ param eventInfo : pointer to positioning event information array .
* @ param positionInfo : the position of target points . In Matrice 210 RTK V2 and Matrice 300 RTK aircraft system , it is
* the position of the main gimbal interface always .
* @ return Execution result .
*/
T_DjiReturnCode DjiPositioning_GetPositionInformationSync ( uint8_t eventCount , T_DjiPositioningEventInfo * eventInfo ,
T_DjiPositioningPositionInfo * positionInfo ) ;
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/**
* @ brief Register callback function used to receive rtk rtcm raw data by data type .
* @ note The callback function will be called after registering . The call frequency depends on the number of satellites .
* @ param callback : pointer to the callback function .
* @ return Execution result .
*/
T_DjiReturnCode DjiPositioning_RegReceiveRtcmDataCallback ( E_DjiPositioningRtcmDataType dataType ,
DjiReceiveRtkRtcmDataCallback callback ) ;
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# ifdef __cplusplus
}
# endif
# endif //DJI_POSITIONING_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
