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NEW: release DJI Payload-SDK version 3.9.0

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DJI-Martin
2024-05-16 21:08:13 +08:00
parent 51d8261d62
commit edfc329553
20 changed files with 502 additions and 460 deletions
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292
psdk_lib/include/dji_camera_manager.h
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@ -133,7 +133,7 @@ typedef enum {
DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_UNKNOWN = 0xFF /*!< The camera exposure mode is unknown. */
} E_DjiCameraManagerExposureMode;
/*! @breif CameraModule focus mode. If the physical AF switch on the camera is
/*! @brief CameraModule focus mode. If the physical AF switch on the camera is
* set to auto.
*/
typedef enum {
@ -160,7 +160,7 @@ typedef enum {
DJI_CAMERA_MANAGER_FOCUS_MODE_UNKNOWN = 0xFF,
} E_DjiCameraManagerFocusMode;
/*! @breif CameraModule shutter mode.
/*! @brief CameraModule shutter mode.
*/
typedef enum {
/*! The shutter mode of camera is automatical */
@ -251,21 +251,21 @@ typedef enum {
DJI_CAMERA_MANAGER_ISO_AUTO = 0x00,
/*! The ISO value is set to 100. */
DJI_CAMERA_MANAGER_ISO_100 = 0x03,
/*! The ISO value is set to 100. */
/*! The ISO value is set to 200. */
DJI_CAMERA_MANAGER_ISO_200 = 0x04,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 400.*/
DJI_CAMERA_MANAGER_ISO_400 = 0x05,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 800.*/
DJI_CAMERA_MANAGER_ISO_800 = 0x06,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 1600.*/
DJI_CAMERA_MANAGER_ISO_1600 = 0x07,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 3200.*/
DJI_CAMERA_MANAGER_ISO_3200 = 0x08,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 6400.*/
DJI_CAMERA_MANAGER_ISO_6400 = 0x09,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 12800.*/
DJI_CAMERA_MANAGER_ISO_12800 = 0x0A,
/*! The ISO value is set to 100.*/
/*! The ISO value is set to 25600.*/
DJI_CAMERA_MANAGER_ISO_25600 = 0x0B,
/*! ISO value is fixed by the camera firmware. When the camera color is set
to D_LOG, camera will fix the ISO to a specific value in order to optimize
@ -563,7 +563,7 @@ typedef enum {
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RAW = 0,
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_JPEG = 1,
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RAW_JPEG = 2,
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_YUV = 3, // 保存为YUV格式的图片
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_YUV = 3, // Save as YUV format image
DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RJPEG = 7, // Radiometric JPEG
} E_DjiCameraManagerPhotoStorageFormat;
@ -590,13 +590,13 @@ typedef enum {
} E_DjiCameraManagerIrGainMode;
typedef enum {
/* not capturing*/
/* Camera is not capturing photos*/
DJI_CAMERA_MANAGER_CAPTURING_STATE_IDLE = 0,
/* doing single capture */
/* Camera is capturing a single photo */
DJI_CAMERA_MANAGER_CAPTURING_STATE_SINGLE = 1,
/* doing multi capture */
/* Camera is capturing multiple photos */
DJI_CAMERA_MANAGER_CAPTURING_STATE_MULTI = 2,
} E_DjiCameraManagerCapturingState;
@ -607,24 +607,24 @@ typedef enum {
DJI_CAMERA_MANAGER_RECORDING_STATE_STOPPING = 3,
} E_DjiCameraManagerRecordingState;
/*!< Attention: when the remote control is in split-screen mode, the coordinate range of the x-axis is 0 ~ 0.5
* */
/*! @brief: when the remote control is in split-screen mode, the coordinate range of the x-axis is 0-0.5.
*/
typedef struct {
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0-1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0-1 */
} T_DjiCameraManagerPointThermometryCoordinate;
typedef struct {
dji_f32_t areaTempLtX; /*! x-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempLtY; /*! y-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempRbX; /*! x-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempRbY; /*! y-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
dji_f32_t areaTempLtX; /*! x-coordinate of the upper left corner of the area thermometry, range: 0-1 */
dji_f32_t areaTempLtY; /*! y-coordinate of the upper left corner of the area thermometry, range: 0-1 */
dji_f32_t areaTempRbX; /*! x-coordinate of the lower right corner of the area thermometry, range: 0-1 */
dji_f32_t areaTempRbY; /*! y-coordinate of the lower right corner of the area thermometry, range: 0-1 */
} T_DjiCameraManagerAreaThermometryCoordinate;
//result of point thermometry
typedef struct {
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0 ~ 1 */
dji_f32_t pointX; /*! x-coordinate of point thermometry, range: 0-1 */
dji_f32_t pointY; /*! y-coordinate of point thermometry, range: 0-1 */
dji_f32_t pointTemperature; /*! The temperature of the current point */
} T_DjiCameraManagerPointThermometryData;
@ -744,7 +744,7 @@ T_DjiReturnCode DjiCameraManager_DeInit(void);
/**
* @brief Get camera type of the selected camera mounted position.
* @param position: camera mounted position
* @param cameraType: see references of E_DjiCameraType.
* @param cameraType: refer to E_DjiCameraType.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetCameraType(E_DjiMountPosition position, E_DjiCameraType *cameraType);
@ -752,16 +752,16 @@ T_DjiReturnCode DjiCameraManager_GetCameraType(E_DjiMountPosition position, E_Dj
/**
* @brief Get camera firmware version of the selected camera mounted position.
* @param position: camera mounted position
* @param firmwareVersion: see references of T_DjiCameraManagerFirmwareVersion.
* @param firmwareVersion: refer to T_DjiCameraManagerFirmwareVersion.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetFirmwareVersion(E_DjiMountPosition position,
T_DjiCameraManagerFirmwareVersion *firmwareVersion);
/**
* @brief Get camera connect status.
* @brief Get camera connection status.
* @param position: camera mounted position
* @param connectStatus: returned value of connect status
* @param connectStatus: returned value of connection status
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetCameraConnectStatus(E_DjiMountPosition position,
@ -769,11 +769,11 @@ T_DjiReturnCode DjiCameraManager_GetCameraConnectStatus(E_DjiMountPosition posit
/**
* @brief Set camera working mode of the selected camera mounted position.
* @note Set the camera's work mode to taking pictures, video, playback or
* download and so on. Please note that you cannot change the mode when a certain task
* is executing.This action will cost about 1~2s.
* @note Set the camera's work mode to options such as taking pictures, recording video,
* playback, or downloading. Please note that you cannot change the mode when a certain
* task is executing. This action takes about 1-2 s.
* @param position: camera mounted position
* @param workMode: see reference of E_DjiCameraManagerWorkMode.
* @param workMode: refer to E_DjiCameraManagerWorkMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetMode(E_DjiMountPosition position,
@ -782,7 +782,7 @@ T_DjiReturnCode DjiCameraManager_SetMode(E_DjiMountPosition position,
/**
* @brief Get camera working mode of the selected camera mounted position.
* @param position: camera mounted position
* @param workMode: see reference of E_DjiCameraManagerWorkMode.
* @param workMode: refer to E_DjiCameraManagerWorkMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetMode(E_DjiMountPosition position,
@ -791,7 +791,7 @@ T_DjiReturnCode DjiCameraManager_GetMode(E_DjiMountPosition position,
/**
* @brief Set camera shoot mode of the selected camera mounted position.
* @param position: camera mounted position
* @param mode: see reference of E_DjiCameraManagerShootPhotoMode.
* @param mode: refer to E_DjiCameraManagerShootPhotoMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetShootPhotoMode(E_DjiMountPosition position,
@ -800,30 +800,29 @@ T_DjiReturnCode DjiCameraManager_SetShootPhotoMode(E_DjiMountPosition position,
/**
* @brief Get camera shoot mode of the selected camera mounted position.
* @param position: camera mounted position
* @param mode: see reference of E_DjiCameraManagerShootPhotoMode.
* @param mode: refer to E_DjiCameraManagerShootPhotoMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetShootPhotoMode(E_DjiMountPosition position,
E_DjiCameraManagerShootPhotoMode *takePhotoMode);
/**
* @brief Start to shoot photo.
* @note Camera must be in ShootPhoto mode. For thermal imaging camera,
* Single photo can be taken while recording video. The SD card state should
* be checked before this method is used to ensure sufficient space exists.
* @brief Start shooting photo.
* @note Camera must be in ShootPhoto mode. For thermal imaging cameras,
* it is allowed to take a single photo while recording video. Check the SD
* card's capacity before using this method to ensure there is enough space.
* @param position: camera mounted position
* @param mode: see reference of E_DjiCameraManagerShootPhotoMode.
* @param mode: refer to E_DjiCameraManagerShootPhotoMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_StartShootPhoto(E_DjiMountPosition position,
E_DjiCameraManagerShootPhotoMode mode);
/**
* @brief Stop to shoot photo when you are in taking photo.
* @note StartShootPhoto has been invoked and the shoot mode is either
* Interval or Time-lapse. If the shoot mode is set to single, the camera
* will automatically stop taking the photo once the individual photo is
* taken.
* @brief Stop shooting photo.
* @note Camera must be in ShootPhoto mode and the shoot mode is either
* Interval or Time-lapse. If set to single shot mode, the camera will
* automatically stop after taking the photo.
* @param position: camera mounted position
* @return Execution result.
*/
@ -831,7 +830,7 @@ T_DjiReturnCode DjiCameraManager_StopShootPhoto(E_DjiMountPosition position);
/**
* @brief Get camera capturing state.
* @note L1/P1 do not support this API.
* @note This API is not supported by L1/P1/M3D/M3TD models.
* @param position: camera mounted position
* @param capturingState: result of getting, see E_DjiCameraManagerCapturingState.
* @return Execution result.
@ -840,39 +839,38 @@ T_DjiReturnCode DjiCameraManager_GetCapturingState(E_DjiMountPosition position,
E_DjiCameraManagerCapturingState *capturingState);
/**
* @brief Set the burst count in the burst take-photo mode.
* @brief Set the burst count for burst shooting mode.
* @param position: camera mounted position
* @param count: see reference of E_DjiCameraBurstCount.
* @param count: refer to E_DjiCameraBurstCount.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetPhotoBurstCount(E_DjiMountPosition position,
E_DjiCameraBurstCount count);
/**
* @brief Set the parameters in the INTERVAL take-photo mode.
* @note When in this shoot-photo mode, The camera will capture a photo, wait
* a specified interval of time, take another photo, and continue in this
* manner until it has taken the required number of photos. Also supported by
* thermal imaging camera.
* @brief Set the parameters for INTERVAL shooting mode.
* @note In this mode, the camera captures a photo, waits a specified interval
* of time, then captures another photo, continuing until the set number of
* photos is reached. Supported by thermal imaging cameras, too.
* @param position: camera mounted position
* @param intervalSetting: see reference of T_DjiCameraPhotoTimeIntervalSettings.
* @param intervalSetting: refer to T_DjiCameraPhotoTimeIntervalSettings.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetPhotoTimeIntervalSettings(E_DjiMountPosition position,
T_DjiCameraPhotoTimeIntervalSettings intervalSetting);
/**
* @brief Get the parameters in the INTERVAL take-photo mode.
* @brief Get the parameters for INTERVAL shooting mode.
* @param position: camera mounted position
* @param intervalSetting: see reference of T_DjiCameraPhotoTimeIntervalSettings.
* @param intervalSetting: refer to T_DjiCameraPhotoTimeIntervalSettings.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetPhotoTimeIntervalSettings(E_DjiMountPosition position,
T_DjiCameraPhotoTimeIntervalSettings *intervalSetting);
/**
* @brief Get remain time of interval shooting.
* @note L1/P1 do not support this API.
* @brief Get the remaining time of interval shooting.
* @note Not supported by L1/P1/M3D/M3TD models.
* @param position: camera mounted position
* @param remainTime: time in seconds.
* @return Execution result.
@ -882,12 +880,11 @@ T_DjiReturnCode DjiCameraManager_GetIntervalShootingRemainTime(E_DjiMountPositio
/**
* @brief Set camera focus mode of the selected camera mounted position.
* @note Set the lens focus mode. When the focus mode is auto, the target
* point is the focal point. When the focus mode is manual, the target point
* is the zoom out area if the focus assistant is enabled for the manual
* mode.
* @note Set the lens focus mode. In auto focus mode, the target
* point is the focal point. In manual focus mode, if focus assist is
* enabled, it adjusts focus in the zoomed-out area.
* @param position: camera mounted position
* @param focusMode: see reference of E_DjiCameraManagerFocusMode.
* @param focusMode: refer to E_DjiCameraManagerFocusMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetFocusMode(E_DjiMountPosition position,
@ -895,29 +892,27 @@ T_DjiReturnCode DjiCameraManager_SetFocusMode(E_DjiMountPosition position,
/**
* @brief Get camera focus mode of the selected camera mounted position.
* @param position: camera mounted position
* @param focusMode: see reference of E_DjiCameraManagerFocusMode.
* @param focusMode: refer to E_DjiCameraManagerFocusMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetFocusMode(E_DjiMountPosition position,
E_DjiCameraManagerFocusMode *focusMode);
/**
* @brief Set amera focus point of the selected camera mounted position.
* @note Sets the lens focus target point. When the focus mode is auto, the
* target point is the focal point. When the focus mode is manual, the target
* point is the zoom out area if the focus assistant is enabled for the manual
* mode.
* @brief Set camera focus point of the selected camera mounted position.
* @note Sets the target point for focusing. In auto mode, this is the focal
* point. In manual mode with focus assist enabled, it's the zoomed-out area.
* @param position: camera mounted position
* @param focusPosData: see reference of T_DjiCameraManagerFocusPosData.
* @param focusPosData: refer to T_DjiCameraManagerFocusPosData.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetFocusTarget(E_DjiMountPosition position,
T_DjiCameraManagerFocusPosData focusPosData);
/**
* @brief Get amera focus point of the selected camera mounted position.
* @brief Get camera focus point of the selected camera mounted position.
* @param position: camera mounted position
* @param focusPosData: see reference of T_DjiCameraManagerFocusPosData.
* @param focusPosData: refer to T_DjiCameraManagerFocusPosData.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetFocusTarget(E_DjiMountPosition position,
@ -925,13 +920,12 @@ T_DjiReturnCode DjiCameraManager_GetFocusTarget(E_DjiMountPosition position,
/**
* @brief Start camera optical zooming of the selected camera mounted position.
* @note Start changing the focal length of the lens in specified direction
* with specified speed. Focal length change (zooming) will halt when maximum
* or minimum focal lengths are reached, or DjiCameraManager_StopContinuousOpticalZoom*
* is called.
* @note Changes the lens's focal length in the specified direction at a specified
* speed. Zooming stops at the lens's max or min focal length or when
* StopContinuousOpticalZoom is called.
* @param position: camera mounted position
* @param zoomDirection: optical zoom direction, see reference of E_DjiCameraZoomDirection.
* @param zoomSpeed: optical zoom direction, see reference of E_DjiCameraZoomSpeed.
* @param zoomDirection: optical zoom direction, refer to E_DjiCameraZoomDirection.
* @param zoomSpeed: optical zoom direction, refer to E_DjiCameraZoomSpeed.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_StartContinuousOpticalZoom(E_DjiMountPosition position,
@ -939,20 +933,19 @@ T_DjiReturnCode DjiCameraManager_StartContinuousOpticalZoom(E_DjiMountPosition p
E_DjiCameraZoomSpeed zoomSpeed);
/**
* @brief Stop camera optical zooming of the selected camera mounted position.
* @note Called to stop focal length changing, when it currently is from
* calling DjiCameraManager_StartContinuousOpticalZoom*.
* @brief Stop the ongoing optical zoom operation of the selected camera mounted position.
* @note Should be called to halt the focal length change initiated by
* DjiCameraManager_StartContinuousOpticalZoom.
* @param position: camera mounted position
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_StopContinuousOpticalZoom(E_DjiMountPosition position);
/**
* @brief Set parameters for camera optical zooming of the selected camera mounted position.
* @note In this interface, the zoom will set the zoom factor as the your
* target value.
* @brief Set target zoom factor for optical zooming of the selected camera mounted position.
* @note This interface sets the zoom to the specified target value.
* @param position: camera mounted position
* @param zoomDirection: optical zoom direction, see reference of E_DjiCameraZoomDirection.
* @param zoomDirection: optical zoom direction, refer to E_DjiCameraZoomDirection.
* @param factor: target zoom factor.
* @return Execution result.
*/
@ -963,14 +956,14 @@ T_DjiReturnCode DjiCameraManager_SetOpticalZoomParam(E_DjiMountPosition position
/**
* @brief Get parameters for camera optical zooming of the selected camera mounted position.
* @param position: camera mounted position
* @param opticalZoomParam: see reference of T_DjiCameraManagerOpticalZoomParam.
* @param opticalZoomParam: refer to T_DjiCameraManagerOpticalZoomParam.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetOpticalZoomParam(E_DjiMountPosition position,
T_DjiCameraManagerOpticalZoomParam *opticalZoomParam);
/**
* @brief Set parameters for camera infrared zooming of the selected camera mounted position.
* @brief Set target zoom factor for infrared zooming of the selected camera mounted position.
* @param position: camera mounted position
* @param factor: target zoom factor.
* @return Execution result.
@ -979,7 +972,7 @@ T_DjiReturnCode DjiCameraManager_SetInfraredZoomParam(E_DjiMountPosition positio
dji_f32_t factor);
/**
* @brief Enable/Disable camera's tap-zoom function of the selected camera mounted position.
* @brief Enable/Disable the tap-zoom function for the selected camera mounted position.
* @note TapZoomAtTarget can only be called when tap-zoom is enabled.
* @param position: camera mounted position
* @param param: enable/disable
@ -998,8 +991,8 @@ T_DjiReturnCode DjiCameraManager_GetTapZoomEnabled(E_DjiMountPosition position,
/**
* @brief Set camera's tap-zoom multiplier of the selected camera mounted position.
* @note Tap-zoom uses a multiplier to change the zoom scale when called. The
* inal zoom scale for a TapZoom will be: Current Zoom Scale x Multiplier.
* @note The final zoom scale during a tap-zoom action will be:
* Current Zoom Scale x Multiplier.
* @param position: camera mounted position
* @param tapZoomMultiplier: The multiplier range is [1,5]. A multiplier of 1 will not change the zoom.
* hen the multiplier is 1, the zoom scale will not change during TapZoom.
@ -1018,12 +1011,11 @@ T_DjiReturnCode DjiCameraManager_GetTapZoomMultiplier(E_DjiMountPosition positio
/**
* @brief Set camera's tap-zoom point of the selected camera mounted position.
* @note Tap-zoom at the target. It can be called only when TapZoom is
* enabled. When a new target is set, the gimbal will rotate and locate the
* target in the center of the screen. At the same time, the camera will zoom
* by multiplying the TapZoom multiplier
* @note Only available when tap-zoom is enabled. Sets a new target,
* reorienting the gimbal to locate the target on the screen center and
* applying the tap-zoom multiplier.
* @param position: camera mounted position
* @param tapZoomPos: see reference of T_DjiCameraManagerTapZoomPosData.
* @param tapZoomPos: refer to T_DjiCameraManagerTapZoomPosData.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_TapZoomAtTarget(E_DjiMountPosition position,
@ -1058,11 +1050,11 @@ T_DjiReturnCode DjiCameraManager_GetFocusRingValue(E_DjiMountPosition position,
/**
* @brief Set camera's exposure mode of the selected camera mounted position.
* @note The different exposure modes define whether aperture, shutter speed,
* ISO can be set automatically or manually. Exposure compensation can be
* changed in all modes except manual mode where it is not settable.
* @note Different exposure modes define whether settings like aperture, shutter
* speed, and ISO are set automatically or manually. Exposure compensation is
* adjustable in all modes except the manual mode.
* @param position: camera mounted position
* @param mode: see reference of E_DjiCameraManagerExposureMode.
* @param mode: refer to E_DjiCameraManagerExposureMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetExposureMode(E_DjiMountPosition position,
@ -1070,11 +1062,11 @@ T_DjiReturnCode DjiCameraManager_SetExposureMode(E_DjiMountPosition position,
/**
* @brief Get camera's exposure mode of the selected camera mounted position.
* @note The different exposure modes define whether aperture, shutter speed,
* ISO can be set automatically or manually. Exposure compensation can be
* changed in all modes except manual mode where it is not settable.
* @note Different exposure modes define whether settings like aperture, shutter
* speed, and ISO are set automatically or manually. Exposure compensation is
* adjustable in all modes except the manual mode.
* @param position: camera mounted position
* @param mode: see reference of E_DjiCameraManagerExposureMode.
* @param mode: refer to E_DjiCameraManagerExposureMode.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetExposureMode(E_DjiMountPosition position,
@ -1085,7 +1077,7 @@ T_DjiReturnCode DjiCameraManager_GetExposureMode(E_DjiMountPosition position,
* @note ISO value can only be set when the camera exposure mode is in
* manual mode.
* @param position: camera mounted position
* @param iso: see reference of E_DjiCameraManagerISO.
* @param iso: refer to E_DjiCameraManagerISO.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetISO(E_DjiMountPosition position,
@ -1094,7 +1086,7 @@ T_DjiReturnCode DjiCameraManager_SetISO(E_DjiMountPosition position,
/**
* @brief Get camera's iso value of the selected camera mounted position.
* @param position: camera mounted position
* @param iso: see reference of E_DjiCameraManagerISO.
* @param iso: refer to E_DjiCameraManagerISO.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetISO(E_DjiMountPosition position,
@ -1102,10 +1094,10 @@ T_DjiReturnCode DjiCameraManager_GetISO(E_DjiMountPosition position,
/**
* @brief Set camera's aperture size value of the selected camera mounted position.
* @note The exposure mode must be in DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_MANUAL or
* @note The exposure mode must be on DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_MANUAL or
* DJI_CAMERA_MANAGER_EXPOSURE_MODE_APERTURE_PRIORITY.
* @param position: camera mounted position
* @param aperture: see reference of E_DjiCameraManagerAperture.
* @param aperture: refer to E_DjiCameraManagerAperture.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetAperture(E_DjiMountPosition position,
@ -1114,22 +1106,22 @@ T_DjiReturnCode DjiCameraManager_SetAperture(E_DjiMountPosition position,
/**
* @brief Get camera's aperture size value of the selected camera mounted position.
* @param position: camera mounted position
* @param aperture: see reference of E_DjiCameraManagerAperture.
* @param aperture: refer to E_DjiCameraManagerAperture.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetAperture(E_DjiMountPosition position,
E_DjiCameraManagerAperture *aperture);
/**
* @brief Set camera's shutter value of the selected camera mounted position.
* @note Set the camera shutter speed. The shutter speed should not be set
* @brief Set camera's shutter speed value of the selected camera mounted position.
* @note Set the camera shutter speed. Ensure the shutter speed is not set
* slower than the video frame rate when the camera's mode is RECORD_VIDEO.
* For example, if the video frame rate is 30fps, the shutterSpeed must be <=
* 1/30. Precondition: The shutter speed can be set only when the camera
* exposure mode is DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_MANUAL mode or
* DJI_CAMERA_MANAGER_EXPOSURE_MODE_SHUTTER_PRIORITY
* @param position: camera mounted position
* @param shutterSpeed: see reference of E_DjiCameraManagerShutterSpeed.
* @param shutterSpeed: refer to E_DjiCameraManagerShutterSpeed.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetShutterSpeed(E_DjiMountPosition position,
@ -1138,7 +1130,7 @@ T_DjiReturnCode DjiCameraManager_SetShutterSpeed(E_DjiMountPosition position,
/**
* @brief Get camera's shutter value of the selected camera mounted position.
* @param position: camera mounted position
* @param shutterSpeed: see reference of E_DjiCameraManagerShutterSpeed.
* @param shutterSpeed: refer to E_DjiCameraManagerShutterSpeed.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetShutterSpeed(E_DjiMountPosition position,
@ -1146,13 +1138,12 @@ T_DjiReturnCode DjiCameraManager_GetShutterSpeed(E_DjiMountPosition position,
/**
* @brief Set camera's EV value of the selected camera mounted position.
* @note Set the camera's exposure compensation. In order to use this
* function, set the camera exposure mode to shutter, program or aperture.
* exposure mode is DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_MANUAL mode or
* DJI_CAMERA_MANAGER_EXPOSURE_MODE_SHUTTER_PRIORITY or
* @note This function is available in program, shutter, or aperture
* exposure modes. Enums are DJI_CAMERA_MANAGER_EXPOSURE_MODE_EXPOSURE_MANUAL,
* DJI_CAMERA_MANAGER_EXPOSURE_MODE_SHUTTER_PRIORITY, and
* DJI_CAMERA_MANAGER_EXPOSURE_APERTURE_PRIORITY
* @param position: camera mounted position
* @param ev: see reference of E_DjiCameraManagerExposureCompensation.
* @param ev: refer to E_DjiCameraManagerExposureCompensation.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetExposureCompensation(E_DjiMountPosition position,
@ -1161,7 +1152,7 @@ T_DjiReturnCode DjiCameraManager_SetExposureCompensation(E_DjiMountPosition posi
/**
* @brief Get camera's EV value of the selected camera mounted position.
* @param position: camera mounted position
* @param ev: see reference of E_DjiCameraManagerExposureCompensation.
* @param ev: refer to E_DjiCameraManagerExposureCompensation.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetExposureCompensation(E_DjiMountPosition position,
@ -1170,7 +1161,7 @@ T_DjiReturnCode DjiCameraManager_GetExposureCompensation(E_DjiMountPosition posi
/**
* @brief Set AE lock mode.
* @param position: camera mounted position
* @param enable: ture to enable, false to diasble.
* @param enable: true to enable, false to disable AE lock.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_SetAELockEnabled(E_DjiMountPosition position,
@ -1178,7 +1169,7 @@ T_DjiReturnCode DjiCameraManager_SetAELockEnabled(E_DjiMountPosition position,
/**
* @brief Get AE lock mode.
* @note Camera L1/P1 don't support this API.
* @note This API is not supported by L1/P1/M3D/M3TD models.
* @param position: camera mounted position
* @param enable: result of AE lock mode.
* @return Execution result.
@ -1196,7 +1187,7 @@ T_DjiReturnCode DjiCameraManager_ResetCameraSettings(E_DjiMountPosition position
/**
* @brief Start to take video of the selected camera mounted position.
* @note Camera must be in RECORD_VIDEO mode. For thermal imaging camera,
* user can take Single photo when recording video.
* user can take a single photo when recording video.
* @param position: camera mounted position
* @return Execution result.
*/
@ -1221,7 +1212,7 @@ T_DjiReturnCode DjiCameraManager_GetRecordingState(E_DjiMountPosition position,
/**
* @brief Get camera recording time.
* @note L1/P1 don not support this API.
* @note This API is not supported by L1/P1/M3D/M3TD models.
* @param position: camera mounted position
* @param recordingTime: result of getting, unit is seconds.
* @return Execution result.
@ -1365,7 +1356,7 @@ T_DjiReturnCode DjiCameraManager_GetNightSceneMode(E_DjiMountPosition position,
E_DjiCameraManagerNightSceneMode *nightSceneMode);
/**
* @brief Get range of stream source(s) can be storaged when capturing or recording.
* @brief Get range of stream source(s) can be stored when capturing or recording.
* @param position: camera mounted position.
* @param rangeList: returned value of range, in member streamStorage.
* @return Execution result.
@ -1386,7 +1377,7 @@ T_DjiReturnCode DjiCameraManager_SetCaptureRecordingStreams(E_DjiMountPosition p
T_DjiCameraManagerStreamList *streamStorageList);
/**
* @brief Get the stream(s) of capture or recording mode to be storaged.
* @brief Get the stream(s) of capture or recording mode to be stored.
* @param position: camera mounted position.
* @param streamType: capture mode or recording mode.
* @param streamSourceList: the real return value.
@ -1407,10 +1398,10 @@ T_DjiReturnCode DjiCameraManager_SetSynchronizedSplitScreenZoomEnabled(E_DjiMoun
/**
* @brief Set suffix name of directory or file.
* @note For file name, the setting is only valid once.
* @note This setting applies only once for file names.
* @param position: camera mounted position.
* @param nameType: see E_DjiCameraManagerExpandNameType, select to set name of directory or file.
* @param nameSize: size of name string, must be in rang of 1 ~ 239.
* @param nameSize: Length of the name string, between 1 and 239 characters.
* @param nameStr: Content of custom suffix name.
* @return Execution result.
*/
@ -1420,12 +1411,12 @@ T_DjiReturnCode DjiCameraManager_SetCustomExpandName(E_DjiMountPosition position
uint32_t nameSize);
/**
* @brief Get custom past of lastest directory or file name
* @brief Get the custom suffix of the most recent directory or file name.
* @param position: camera mounted position
* @param nameType: to choose directory or file to get custom name
* @param nameStr: name string buffer
* @param nameSize: its tell the max size of nameStr and changed to to the actually size of
* name string when function finished.
* @param nameSize: On input, indicates the maximum size of nameStr; on output,
* the actual size of the name string.
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetCustomExpandName(E_DjiMountPosition position,
@ -1435,9 +1426,9 @@ T_DjiReturnCode DjiCameraManager_GetCustomExpandName(E_DjiMountPosition position
/**
* @brief Download selected camera media file list.
* @note The interface is a synchronous interface, which occupies more CPU resources when using it.
* If the download file fails, the timeout time is 3S.
* @brief Downloads a list of media files from the selected camera.
* @note This synchronous interface may lead to higher CPU usage.
* Times out after 3 seconds if the download fails.
* @param position: the mount position of the camera
* @param fileList: the pointer to the downloaded camera file list
* @return Execution result.
@ -1446,8 +1437,8 @@ T_DjiReturnCode DjiCameraManager_DownloadFileList(E_DjiMountPosition position, T
/**
* @brief Download selected camera media file list by slices.
* @note The interface is a synchronous interface, which occupies more CPU resources when using it.
* If the download file fails, the timeout time is 3S.
* @note This synchronous interface may lead to higher CPU usage.
* Times out after 3 seconds if the download fails.
* @param position: the mount position of the camera
* @param sliceConfig: the slices config for downloading file list
* @param fileList: the pointer to the downloaded camera file list
@ -1457,7 +1448,7 @@ T_DjiReturnCode DjiCameraManager_DownloadFileListBySlices(E_DjiMountPosition pos
T_DjiCameraManagerSliceConfig sliceConfig,
T_DjiCameraManagerFileList *fileList);
/**
* @brief Regsiter selected camera download file data callback,
* @brief Registers a callback for downloading file data.
* @param position: the mount position of the camera
* @param callback: the download file data callback
* @return Execution result.
@ -1466,10 +1457,10 @@ T_DjiReturnCode DjiCameraManager_RegDownloadFileDataCallback(E_DjiMountPosition
DjiCameraManagerDownloadFileDataCallback callback);
/**
* @brief Download selected camera media file by file index.
* @note Only support download one file at the same time, the new file download need wait for the previous file
* download finished.The interface is a synchronous interface, which occupies more CPU resources when using it.
* If the download file fails, the timeout time is 3S.
* @brief Downloads a media file specified by its index.
* @note Supports downloading one file at a time. Wait for a download to finish before starting another.
* This synchronous interface may lead to higher CPU usage.
* Times out after 3 seconds if the download fails.
* @param position: the mount position of the camera
* @param fileIndex: the index of the camera media file
* @return Execution result.
@ -1479,9 +1470,9 @@ T_DjiReturnCode DjiCameraManager_DownloadFileByIndex(E_DjiMountPosition position
/**
* @brief Download selected camera media file by file index and file type.
* @note This API only supports L2 camera.
* Only support download one file at the same time, the new file download need wait for the previous file
* download finished.The interface is a synchronous interface, which occupies more CPU resources when using it.
* If the download file fails, the timeout time is 3S.
* Supports downloading one file at a time. Wait for a download to finish before starting another.
* This synchronous interface may lead to higher CPU usage.
* Times out after 3 seconds if the download fails.
* @param position: the mount position of the camera
* @param fileIndex: the index of the camera media file
* @param fileType: the sub type of the camera media file
@ -1489,15 +1480,16 @@ T_DjiReturnCode DjiCameraManager_DownloadFileByIndex(E_DjiMountPosition position
*/
T_DjiReturnCode DjiCameraManager_DownloadSubFileByIndexAndSubType(E_DjiMountPosition position, uint32_t index, E_DjiCameraMediaFileSubType fileType);
/**
* @brief Before downloading media file(s), downloader rights should be obtained.
* @brief Obtains the rights to download media files before downloading media files
* @param position: the mount position of the camera
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_ObtainDownloaderRights(E_DjiMountPosition position);
/**
* @brief After downloading media file(s), downloader rights should be released
* @note If not release rights, the pilot app is probably can't access album of camera.
* @brief Releases the rights to download media files after downloading media files
* @note Failure to release downloader rights may restrict access to the camera album
* by the pilot app.
* @param position: the mount position of the camera
* @return Execution result.
*/
@ -1512,9 +1504,9 @@ T_DjiReturnCode DjiCameraManager_FormatStorage(E_DjiMountPosition position);
/**
* @brief Get storage info of SD card.
* @note Camera L1/P1 don't support this API.
* @note This API doesn't support L1/P1/M3D/M3TD models.
* @param position: the mount position of the camera
* @param storageInfo: result of getting, storage info of SD card.
* @param storageInfo: Result of SD Card storage information
* @return Execution result.
*/
T_DjiReturnCode DjiCameraManager_GetStorageInfo(E_DjiMountPosition position,
@ -1594,7 +1586,7 @@ T_DjiReturnCode DjiCameraManager_SetFfcMode(E_DjiMountPosition position, E_DjiCa
T_DjiReturnCode DjiCameraManager_TriggerFfc(E_DjiMountPosition position);
/**
* @brief Set infrared camera gaim mode.
* @brief Set infrared camera gain mode.
* @param position: camera mounted position.
* @param gainMode: gain mode to set.
* @return Execution result.
@ -1603,7 +1595,7 @@ T_DjiReturnCode DjiCameraManager_SetInfraredCameraGainMode(E_DjiMountPosition po
E_DjiCameraManagerIrGainMode gainMode);
/**
* @brief Get temprature range of infrared camera.
* @brief Get temperature range of infrared camera.
* @param position: camera mounted position.
* @param tempRange: returned valued of temperature range.
* @return Execution result.
@ -1639,7 +1631,7 @@ T_DjiReturnCode DjiCameraManager_GetMeteringMode(E_DjiMountPosition position,
T_DjiReturnCode DjiCameraManager_GetMeteringPointRegionRange(E_DjiMountPosition position,
uint8_t *hrzNum, uint8_t *vtcNum);
/**
* @brief Set metrting point.
* @brief Set metering point.
* @param position: camera mounted position
* @param x: Horizontal coordinate value, should be no greater than hrzNum - 1.
* @param y: Horizontal coordinate value, should be no greater than vtcNum - 1.

27
psdk_lib/include/dji_core.h
View File

@ -56,27 +56,26 @@ typedef struct {
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the Payload SDK core in blocking mode.
* @note The call location of this interface requires special attention, The call needs to be completed after the
* registration of console/OSAL handler functions/HAL handler functions are completed. At the same time, it must be
* initialized at the beginning of calling other functional module interfaces. You need to fill in the developer
* information correctly to ensure the initialization is successful. For additional instructions, please refer to the
* tutorial“PSDK Initialization”.
* @note This function does not return until the correct aircraft type and PSDK adapter type is obtained. The logic ensures
* @note The order of calling this call is crucial. It must be done after registering console/OSAL/HAL handler functions
* It must be done after registering console/OSAL/HAL handler functions and before using other functional module
* interfaces. Correctly fill in the developer information to ensure successful initialization. See the
* See the "PSDK Initialization" tutorial for more.
* This function does not return until the correct aircraft type and PSDK adapter type is obtained. The logic ensures
* that aircraft and PSDK adapter have been started up normally before PSDK functional module and user's program run.
* General execution time of this function is 2~4 seconds.
* General execution time of this function is 2-4 seconds.
* @param userInfo: pointer to the PSDK application information.
* @return Execution result.
*/
T_DjiReturnCode DjiCore_Init(const T_DjiUserInfo *userInfo);
/**
* @brief Set an alias that satisfies the condition for DJI application or product.
* @details Alias will display in DJI Pilot, if exist.
* @brief Sets an alias for a DJI application or product that meets the condition for DJI application or product.
* If an alias exists, it will be displayed in DJI Pilot.
* @note Still need to pass in correct DJI APP name that is obtained from DJI SDK developer website to DjiCore_Init()
* interface. The DJI APP name will be used to bind or verification.
* @note Alias will be effective after a while, and the max value is 1s.
* @param productAlias: pointer to product alias string, and alias end with '\0'. The max length of the string is 31. If
* length of alias string is greater than 31, alias string will be truncated and passed in.
* interface. The DJI APP name will be used to bind and verification.
* The alias will take effect after a short delay, up to a maximum of 1 second.
* @param productAlias: A pointer to the product alias string, which must end with '\0'. The maximum length of the string is 31 characters.
* If the alias string exceeds 31 characters, it will be truncated before being passed in.
* @return Execution result.
*/
T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
@ -99,7 +98,7 @@ T_DjiReturnCode DjiCore_SetSerialNumber(const char *productSerialNumber);
/**
* @brief Notify that the Payload SDK core application starts.
* @note The call location of this interface requires special attention, The call needs to be completed after all the
* @note The order of calling this interface requires special attention, The call needs to be completed after all the
* module initialize and register interfaces.
* @return Execution result.
*/

278
psdk_lib/include/dji_flight_controller.h
View File

@ -41,100 +41,100 @@ extern "C" {
typedef uint16_t E_DjiFlightControllerGoHomeAltitude; /*!< Unit:meter, range 20~500 */
/**
* @brief The UAV's actions when rc is lost.
* @brief The aircraft's actions when RC is lost.
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_HOVER = 0, /*!< Aircraft will execute hover cation when rc is lost. */
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_LANDING = 1, /*!< Aircraft will execute land cation when rc is lost. */
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME = 2, /*!< Aircraft will execute go-home cation when rc is lost. */
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_HOVER = 0, /*!< Aircraft will execute hover action when RC is lost. */
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_LANDING = 1, /*!< Aircraft will execute land action when RC is lost. */
DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME = 2, /*!< Aircraft will execute go-home action when RC is lost. */
} E_DjiFlightControllerRCLostAction;
/**
* @brief Enable/Disable RTK position enum
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_DISABLE_RTK_POSITION = 0, /*!< 0: The UAV will use GPS data instead of RTK data to execute
* actions which require location information(waypoint、go home...)
DJI_FLIGHT_CONTROLLER_DISABLE_RTK_POSITION = 0, /*!< 0: The aircraft will use GPS data instead of RTK data to execute
* actions which requires location information(waypoint, go home...)
*/
DJI_FLIGHT_CONTROLLER_ENABLE_RTK_POSITION = 1, /*!< 1:The UAV will use RTK data instead of GPS data to execute
* actions which require location information(waypoint、go home...)*/
DJI_FLIGHT_CONTROLLER_ENABLE_RTK_POSITION = 1, /*!< 1:The aircraft will use RTK data instead of GPS data to execute
* actions which requires location information(waypoint, go home...)*/
} E_DjiFlightControllerRtkPositionEnableStatus;
/**
* @brief Enable/Disable obstacle avoidance enum
* @brief Enable/Disable obstacle sensing enum
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_DISABLE_OBSTACLE_AVOIDANCE = 0, /*!< 0: The UAV will not perform obstacle avoidance in
DJI_FLIGHT_CONTROLLER_DISABLE_OBSTACLE_AVOIDANCE = 0, /*!< 0: The aircraft will not perform obstacle sensing in
* the specified direction */
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE = 1, /*!< 0: The UAV will perform obstacle avoidance in the
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE = 1, /*!< 0: The aircraft will perform obstacle sensing in the
* specified direction */
} E_DjiFlightControllerObstacleAvoidanceEnableStatus;
/**
* @brief Enable/Disable emergency stop motor function enum
* @note Attention:Enable emergency-stop-motor function is very dangerous in the air.it will make the aircraft crash!!!
* @note Enable emergency-stop-motor function is very dangerous in the air. It will make the aircraft crash!!!
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_ENABLE_EMERGENCY_STOP_MOTOR = 0x01, /*!< Execute emergency-stop-motor action */
} E_DjiFlightControllerEmergencyStopMotor;
/**
* @brief Obtain/Release joystick control authority command enum
* @note You have obtain joystick control authority successfully before using joystick.
* @brief Obtain/Release joystick control permission command enum
* @note You have obtained joystick control permission successfully before using joystick.
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_RELEASE_JOYSTICK_CTRL_AUTHORITY = 0, /*!< Obtain joystick authority */
DJI_FLIGHT_CONTROLLER_OBTAIN_JOYSTICK_CTRL_AUTHORITY = 1, /*!< Release joystick authority */
DJI_FLIGHT_CONTROLLER_RELEASE_JOYSTICK_CTRL_AUTHORITY = 0, /*!< Obtain joystick permission */
DJI_FLIGHT_CONTROLLER_OBTAIN_JOYSTICK_CTRL_AUTHORITY = 1, /*!< Release joystick permission */
} E_DjiFlightControllerJoystickCtrlAuthorityAction;
/**
* @brief The UAV's joystick control authority owner enum
* @brief The aircraft's joystick control permission owner enum
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_RC = 0, /*!< Rc could control UAV with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_MSDK = 1, /*!< MSDK could control UAV with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_INTERNAL = 2, /*!< Special Internal modules could control UAV
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_RC = 0, /*!< RC could control aircraft with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_MSDK = 1, /*!< MSDK could control aircraft with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_INTERNAL = 2, /*!< Special Internal modules could control aircraft
* with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK = 4, /*!< OSDK could control UAV with joystick. */
DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK = 4, /*!< PSDK could control aircraft with joystick. */
} E_DjiFlightControllerJoystickCtrlAuthority;
/**
* @brief The UAV's joystick control authority switch reason enum
* @brief The aircraft's joystick control permission switch reason enum
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_MSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 1, /*!< MSDK get joystick control authority. */
DJI_FLIGHT_CONTROLLER_INTERNAL_GET_JOYSTICK_CTRL_AUTH_EVENT = 2, /*!< Special Internal modules get joystick control authority. */
DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 3, /*!< OSDK get joystick control authority. */
DJI_FLIGHT_CONTROLLER_RC_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 4, /*!< Reset joystick control authority to rc when executing rc lost action */
DJI_FLIGHT_CONTROLLER_RC_NOT_P_MODE_RESET_JOYSTICK_CTRL_AUTH_EVENT = 5, /*!< Reset joystick control authority to rc when rc is not in P mode */
DJI_FLIGHT_CONTROLLER_RC_SWITCH_MODE_GET_JOYSTICK_CTRL_AUTH_EVENT = 6, /*!< Set joystick control authority to rc when rc switch control mode(T/APS) */
DJI_FLIGHT_CONTROLLER_RC_PAUSE_GET_JOYSTICK_CTRL_AUTH_EVENT = 7, /*!< Reset joystick control authority to rc when rc pausing */
DJI_FLIGHT_CONTROLLER_RC_REQUEST_GO_HOME_GET_JOYSTICK_CTRL_AUTH_EVENT = 8, /*!< Reset joystick control authority to rc when rc requesting go home*/
DJI_FLIGHT_CONTROLLER_LOW_BATTERY_GO_HOME_RESET_JOYSTICK_CTRL_AUTH_EVENT = 9, /*!< Reset joystick control authority to rc when aircraft is executing low-battery-go-home*/
DJI_FLIGHT_CONTROLLER_LOW_BATTERY_LANDING_RESET_JOYSTICK_CTRL_AUTH_EVENT = 10, /*!< Reset joystick control authority to rc when aircraft is executing low-battery-landing*/
DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 11, /*!< Reset joystick control authority to rc when osdk is lost*/
DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT = 12, /*!< Reset joystick control authority to rc when aircraft is near boundary.*/
DJI_FLIGHT_CONTROLLER_MSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 1, /*!< MSDK gets the joystick control permission. */
DJI_FLIGHT_CONTROLLER_INTERNAL_GET_JOYSTICK_CTRL_AUTH_EVENT = 2, /*!< A specific internal modules gets the joystick control permission. */
DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 3, /*!< PSDK gets the joystick control permission. */
DJI_FLIGHT_CONTROLLER_RC_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 4, /*!< Reset the joystick control permission to RC when executing RC lost action */
DJI_FLIGHT_CONTROLLER_RC_NOT_P_MODE_RESET_JOYSTICK_CTRL_AUTH_EVENT = 5, /*!< Reset the joystick control permission to RC when RC is not in P mode */
DJI_FLIGHT_CONTROLLER_RC_SWITCH_MODE_GET_JOYSTICK_CTRL_AUTH_EVENT = 6, /*!< Set the joystick control permission to RC when RC switches control mode(T/APS) */
DJI_FLIGHT_CONTROLLER_RC_PAUSE_GET_JOYSTICK_CTRL_AUTH_EVENT = 7, /*!< Reset the joystick control permission to RC when RC pauses */
DJI_FLIGHT_CONTROLLER_RC_REQUEST_GO_HOME_GET_JOYSTICK_CTRL_AUTH_EVENT = 8, /*!< Reset the joystick control permission to RC when RC requests to go home*/
DJI_FLIGHT_CONTROLLER_LOW_BATTERY_GO_HOME_RESET_JOYSTICK_CTRL_AUTH_EVENT = 9, /*!< Reset the joystick control permission to RC when aircraft is executing low-battery-go-home*/
DJI_FLIGHT_CONTROLLER_LOW_BATTERY_LANDING_RESET_JOYSTICK_CTRL_AUTH_EVENT = 10, /*!< Reset the joystick control permission to RC when aircraft is executing low-battery-landing*/
DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 11, /*!< Reset the joystick control permission to RC when PSDK is lost*/
DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT = 12, /*!< Reset the joystick control permission to RC when aircraft is near boundary.*/
} E_DjiFlightControllerJoystickCtrlAuthoritySwitchEvent;
/**
* @brief The UAV's joystick control authority switch event info enum
* @brief The aircraft's joystick control permission switch event info enum
*/
typedef struct {
E_DjiFlightControllerJoystickCtrlAuthority curJoystickCtrlAuthority; /*!< The UAV's joystick control authority owner */
E_DjiFlightControllerJoystickCtrlAuthoritySwitchEvent joystickCtrlAuthoritySwitchEvent; /*!< The UAV's joystick control authority switch reason */
E_DjiFlightControllerJoystickCtrlAuthority curJoystickCtrlAuthority; /*!< The aircraft's joystick control permission owner */
E_DjiFlightControllerJoystickCtrlAuthoritySwitchEvent joystickCtrlAuthoritySwitchEvent; /*!< The aircraft's joystick control permission switch reason */
} T_DjiFlightControllerJoystickCtrlAuthorityEventInfo;
/**
* @brief Prototype of callback function used to get joystick control authority switch event info.
* @brief Prototype of callback function used to get joystick control permission switch event info.
* @return Execution result.
*/
typedef T_DjiReturnCode (*JoystickCtrlAuthorityEventCbFunc)(
T_DjiFlightControllerJoystickCtrlAuthorityEventInfo eventData);
/**
* @brief Horizon control mode in joystick mode enum
* @brief Horizon control mode enum in joystick mode
* @note Only when the GPS signal is good (health_flag >=3)，horizontal position control (DJI_FLIGHT_CONTROLLER_HORIZONTAL_POSITION_CONTROL_MODE)
* related control modes can be used. only when GPS signal is good (health_flag >=3)，or when advanced sensing system is working properly with Autopilot，
* related control modes can be used. Only when GPS signal is good (health_flag >=3)，or advanced sensing system is working properly with Autopilot，
* horizontal velocity control（DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE) related control modes can be used.
*/
typedef enum {
@ -145,19 +145,19 @@ typedef enum {
*/
DJI_FLIGHT_CONTROLLER_HORIZONTAL_ANGLE_CONTROL_MODE = 0,
/**
* @brief Set the control-mode to control horizontal vehicle velocities.
* @brief Set the control mode to control horizontal vehicle velocities.
* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
* Limit: -30m/s to 30 m/s
*/
DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE = 1,
/**
* @brief Set the control-mode to control position offsets of pitch & roll directions.
* @brief Set the control mode to control position offsets of pitch & roll directions.
* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
* Limit: N/A
*/
DJI_FLIGHT_CONTROLLER_HORIZONTAL_POSITION_CONTROL_MODE = 2,
/**
* @brief Set the control-mode to control rate of change of the vehicle's attitude.
* @brief Set the control mode to control rate of change of the vehicle's attitude.
* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
* Limit: -150deg/s to 150.0 deg/s
*/
@ -165,51 +165,50 @@ typedef enum {
} E_DjiFlightControllerHorizontalControlMode;
/**
* @brief Vertical control mode in joystick mode enum
* @note We suggest developers do not use VERTICAL_POSITION control mode indoor when your UAV flight height is larger than 3 meters.
* This is because in indoor environments, barometer can be inaccurate, and the vertical controller may fail to keep
* the height of the UAV.
* @brief Vertical control mode enum in joystick mode
* @note We don not recommend using VERTICAL_POSITION control mode indoors when the aircraft's flying height exceeds 3 meters.
* This is because barometer can be inaccurate indoors, and the vertical controller may fail to keep the height of the aircraft.
*/
typedef enum {
/**
* @brief Set the control-mode to control the vertical speed of UAV, upward is positive/
* @note Limit: -5m/s to 5 m/s
* @brief Set the control mode to control the vertical speed of aircraft, setting the upward as positive/
* @note Limit: -5 m/s to 5 m/s
*/
DJI_FLIGHT_CONTROLLER_VERTICAL_VELOCITY_CONTROL_MODE = 0,
/**
* @brief Set the control-mode to control the height of UAV
* @note Limit: 0m to 120 m
* @brief Set the control mode to control the height of aircraft
* @note Limit: 0 m to 120 m
*/
DJI_FLIGHT_CONTROLLER_VERTICAL_POSITION_CONTROL_MODE = 1,
/**
* @brief Set the control-mode to directly control the thrust
* @note Range: 0% to 100%
* @brief Set the control mode to directly control the thrust
* @note Range: 0 % to 100 %
*/
DJI_FLIGHT_CONTROLLER_VERTICAL_THRUST_CONTROL_MODE = 2,
} E_DjiFlightControllerVerticalControlMode;
/**
* @brief Yaw control mode in joystick mode enum
* @brief Yaw control mode enum in joystick mode
*/
typedef enum {
/**
* @brief Set the control-mode to control yaw angle.
* @note Yaw angle is referenced to the ground frame.In this control mode, Ground frame is enforced in Autopilot.
* @brief Set the control mode to control yaw angle.
* @note Yaw angle is referenced to the ground frame. In this control mode, Ground frame is enforced in Autopilot.
*/
DJI_FLIGHT_CONTROLLER_YAW_ANGLE_CONTROL_MODE = 0x00,
/**
* @brief Set the control-mode to control yaw angular velocity
* @note Same reference frame as YAW_ANGLE.
* Limit: -150deg/s to 150 deg/s
* Limit: -150 deg/s to 150 deg/s
*/
DJI_FLIGHT_CONTROLLER_YAW_ANGLE_RATE_CONTROL_MODE = 1
} E_DjiFlightControllerYawControlMode;
/**
* @brief Horizontal coordinate in joystick mode enum
* @brief Horizontal coordinate enum in joystick mode
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_HORIZONTAL_GROUND_COORDINATE = 0, /*!< Set the x-y of ground frame as the horizontal frame (NEU) */
@ -217,10 +216,10 @@ typedef enum {
} E_DjiFlightControllerHorizontalCoordinate;
/*!
* @brief Stable mode in joystick mode enum.
* @note Only works in Horizontal velocity control mode.In velocity stable mode, drone will brake and hover at one position once
* the input command is zero.In velocity non-stable mode, drone will follow the velocity command and not hover when the command is zero.
* That means drone will drift with the wind.
* @brief Stable mode enum in joystick mode
* @note Only works in horizontal velocity control mode. In velocity stable mode, aircraft will brake and hover at one position once
* the input command is zero. In velocity non-stable mode, aircraft will follow the velocity command and not hover when the command is zero.
* That means aircraft will drift with the wind.
*/
typedef enum {
DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_DISABLE = 0, /*!< Disable the stable mode */
@ -246,9 +245,9 @@ typedef struct {
#pragma pack(1)
typedef struct {
dji_f32_t x; /*!< Control with respect to the x axis.*/
dji_f32_t y; /*!< Control with respect to the y axis.*/
dji_f32_t z; /*!< Control with respect to the z axis, up is positive. */
dji_f32_t x; /*!< Controls the x axis.*/
dji_f32_t y; /*!< Controls the y axis.*/
dji_f32_t z; /*!< Controls the z axis, setting upward as positive. */
dji_f32_t yaw; /*!< Yaw position/velocity control w.r.t. the ground frame.*/
} T_DjiFlightControllerJoystickCommand;// pack(1)
@ -271,9 +270,8 @@ typedef struct {
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialise flight controller module, and user should call this function
* before using flight controller features.
* @param ridInfo: Use PSDK to control the aircraft, must report the correct RID information.
* @brief Initialise flight controller module
* @param ridInfo: Must report the correct RID information before using PSDK to control the aircraft.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_Init(T_DjiFlightControllerRidInfo ridInfo);
@ -287,8 +285,7 @@ T_DjiReturnCode DjiFlightController_DeInit(void);
/**
* @brief Enable/Disable RTK position function.
* @details Enabling RTK means that RTK data will be used instead of GPS during flight.
* @param rtkEnableStatus: see reference of "E_DjiFlightControllerRtkPositionEnableStatus".
* It keeps in sync with pilot's param.
* @param rtkEnableStatus: refer to "E_DjiFlightControllerRtkPositionEnableStatus", inheriting from Pilot.
* @return Execution result.
*/
T_DjiReturnCode
@ -297,164 +294,163 @@ DjiFlightController_SetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionE
/**
* @brief Get RTK enable status.
* @note Enabling RTK means that RTK data will be used during intelligent flight.
* @param rtkEnableStatus: see reference of "E_DjiFlightControllerRtkPositionEnableStatus".
* It keeps in sync with pilot's param.
* @param rtkEnableStatus: refer to "E_DjiFlightControllerRtkPositionEnableStatus", inheriting from Pilot.
* @return Execution result.
*/
T_DjiReturnCode
DjiFlightController_GetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionEnableStatus *rtkEnableStatus);
/**
* @brief Set rc lost action.
* @note It will be valid when rc and osdk is both lost.It only support M30.
* @param rcLostAction: actions when rc is lost.(hover/landing/go home).It keeps in sync with pilot's param.
* @brief Set RC lost action.
* @note Valid when RC and PSDK are both lost. It only supports M30.
* @param rcLostAction: actions when RC is lost.(hover/landing/go home).It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetRCLostAction(E_DjiFlightControllerRCLostAction rcLostAction);
/**
* @brief Get rc lost action(hover/landing/gohome).
* @note It will be valid when rc and osdk is both lost.It only support M30.
* @param rcLostAction: see reference of E_DjiFlightControllerRCLostAction.It keeps in sync with pilot's param.
* @brief Get RC lost action(hover/landing/gohome).
* @note Valid when RC and PSDK are both lost. It only supports M30.
* @param rcLostAction: see reference of E_DjiFlightControllerRCLostAction.It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetRCLostAction(E_DjiFlightControllerRCLostAction *rcLostAction);
/**
* @brief Enable/Disable horizontal visual(forwards,backwards,left,right) obstacle avoidance.
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Enable/Disable horizontal visual(forwards,backwards,left,right) obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetHorizontalVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalObstacleAvoidanceEnableStatus);
/**
* @brief Get status of horizontal visual(forwards,backwards,left,right) obstacle avoidance switch.
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Get the switch status of horizontal visual(forwards,backwards,left,right) obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetHorizontalVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus *horizontalObstacleAvoidanceEnableStatus);
/**
* @brief Enable/Disable horizontal radar obstacle avoidance.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle avoidance,
* it is recommended to read the official user manual in https://www.dji.com/uk/matrice-300/downloads.
* @brief Enable/Disable horizontal radar obstacle sensing.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
* it is recommended to read the official user manual in https://www.dji.com.
* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalObstacleAvoidanceEnableStatus);
/**
* @brief Get status of horizontal radar obstacle avoidance switch.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle avoidance,
* @brief Get the switch status of horizontal radar obstacle sensing.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
* it is recommended to read the official user manual in https://www.dji.com/uk/matrice-300/downloads.
* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus *horizontalObstacleAvoidanceEnableStatus);
/**
* @brief Enable/Disable upwards visual obstacle avoidance.
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Enable/Disable upwards visual obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetUpwardsVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsObstacleAvoidanceEnableStatus);
/**
* @brief Get status of upwards visual obstacle avoidance switch.
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Get the switch status of upwards visual obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetUpwardsVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus *upwardsObstacleAvoidanceEnableStatus);
/**
* @brief Enable/Disable upwards radar obstacle avoidance.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle avoidance,
* @brief Enable/Disable upwards radar obstacle sensing.
* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
* it is recommended to read the official user manual in https://www.dji.com.
* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsObstacleAvoidanceEnableStatus);
/**
* @brief Get status of upwards radar obstacle avoidance switch
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Get the switch status of upwards radar obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus *upwardsObstacleAvoidanceEnableStatus);
/**
* @brief Enable/Disable downwards visual obstacle avoidance
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Enable/Disable downwards visual obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param downwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_SetDownwardsVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus downwardsObstacleAvoidanceEnableStatus);
/**
* @brief Get status of downwards visual obstacle avoidance switch
* @note For detailed parameters of obstacle avoidance, it is recommended to read the official user manual in
* @brief Get the switch status of downwards visual obstacle sensing.
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
* https://www.dji.com.
* @param downwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
* It keeps in sync with pilot's param.
* It inherits from Pilot's param.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(
E_DjiFlightControllerObstacleAvoidanceEnableStatus *downwardsObstacleAvoidanceEnableStatus);
/**
* @brief Arrest flying.
* @note when the UAV is on the ground ,it will stop motors and display "hms description" on APP. when the UAV is
* in the air, it will continue flying and display "hms description" on APP only.
* @brief Arrest flying means emergency braking
* @note When the aircraft is on the ground, it will stop motors and display "hms description" on App. when the aircraft is
* in the air, it will continue flying and display "hms description" on App only.
* If you use this interface, you need to use "DjiFlightController_CancelArrestFlying" to quit arrest-flying status, then
* then the UAV can fly again.
* then the aircraft can fly again.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_ArrestFlying(void);
/**
* @brief Quit status of arrest-flying.
* @note The UAV need to quit status of arrest-flying to continue flying after arresting flying.
* @note The aircraft need to quit status of arrest-flying to continue flying after arresting flying.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_CancelArrestFlying(void);
/**
* @brief Turn on motors when the UAV is on the ground.
* @brief Turn on motors when the aircraft is on the ground.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_TurnOnMotors(void);
/**
* @brief Turn off motors when the UAV is on the ground.
* @brief Turn off motors when the aircraft is on the ground.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_TurnOffMotors(void);
@ -470,36 +466,36 @@ T_DjiReturnCode DjiFlightController_TurnOffMotors(void);
T_DjiReturnCode DjiFlightController_EmergencyStopMotor(E_DjiFlightControllerEmergencyStopMotor cmd,
char debugMsg[EMERGENCY_STOP_MOTOR_MSG_MAX_LENGTH]);
/**
* @brief Request take off action when the UAV is on the ground.
* @brief Request taking off action when the aircraft is on the ground.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartTakeoff(void);
/**
* @brief Request landing action when the UAV is in the air.
* @brief Request landing action when the aircraft is in the air.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartLanding(void);
/**
* @brief Request cancel landing action when the UAV is landing
* @brief Request cancelling landing action when the aircraft is landing
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_CancelLanding(void);
/**
* @brief Confirm the landing when the UAV is 0.7m above the ground.
* @brief Confirm the landing when the aircraft is 0.7 m above the ground.
* @note When the clearance between the aircraft and the ground is less than 0.7m, the aircraft will pause landing and
* wait for user's confirmation.This api use for confirm landing. If the ground is not suitable for landing ,user must
* use RC to control it landing manually or force landing.
* wait for user's confirmation. This API is for confirm landing. If the ground is not suitable for landing, user
* must use RC to control it landing manually or force landing.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartConfirmLanding(void);
/**
* @brief Force landing in any case.
* @note This api will ignore the smart landing function,.When using this pi, it will landing directly (would not stop
* at 0.7m and wait user's command). Attention:it may make the aircraft crash!!!
* @note This API will ignore the smart landing function. When using this API, it will landing directly (would not stop
* at 0.7m and wait user's command). Attention: it may make the aircraft crash!!!
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartForceLanding(void);
@ -507,7 +503,7 @@ T_DjiReturnCode DjiFlightController_StartForceLanding(void);
/**
* @brief Set customized GPS(not RTK) home location.
* @note Set customized home location failed reason may as follows:
* 1. The distance between new home location and last home location is larger than MAX_FLY_RADIUS(20km).
* 1. The distance between new home location and last home location is larger than MAX_FLY_RADIUS(20 km).
* 2. Record initial home location failed after start aircraft.
* @param homeLocation: homeLocation include latitude and longitude
* @return Execution result.
@ -515,7 +511,7 @@ T_DjiReturnCode DjiFlightController_StartForceLanding(void);
T_DjiReturnCode DjiFlightController_SetHomeLocationUsingGPSCoordinates(T_DjiFlightControllerHomeLocation homeLocation);
/**
* @brief Set home location using current aircraft GPS(not RTK) location.
* @brief Set home location using current aircraft GPS (not RTK) location.
* @note Set home location failed reasons may as follows:
* 1. Aircraft's gps level can't reach the condition of recording home location.
* 2. Record initial home location failed after start aircraft.
@ -527,7 +523,7 @@ T_DjiReturnCode DjiFlightController_SetHomeLocationUsingCurrentAircraftLocation(
* @brief Set go home altitude.
* @note If aircraft's current altitude is higher than the setting value of go home altitude, aircraft will go home
* using current altitude. Otherwise, it will climb to setting of go home altitude ,and then execute go home action.
* Go home altitude setting is 20m ~ 1500m.
* Go home altitude setting is 20-1500 m.
* @param altitude: go home altitude, unit: meter
* @return Execution result.
*/
@ -550,35 +546,35 @@ T_DjiReturnCode DjiFlightController_GetGoHomeAltitude(E_DjiFlightControllerGoHom
T_DjiReturnCode DjiFlightController_GetCountryCode(uint16_t *countryCode);
/**
* @brief Request go home action when the UAV is in the air
* @brief Request go home action when the aircraft is in the air
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_StartGoHome(void);
/**
* @brief Request cancel go home action when the UAV is going home
* @brief Request cancel go home action when the aircraft is going home
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_CancelGoHome(void);
/**
* @brief Obtain UAV's joystick control authority.
* @note 1.You have to obtain joystick control authority successfully before you using joystick to control UAV.
* @brief Obtain aircraft's joystick control permission.
* @note 1.You have to obtain joystick control permission successfully before you using joystick to control aircraft.
* 2. RC must be in p-mode.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_ObtainJoystickCtrlAuthority(void);
/**
* @brief Release UAV's joystick control authority.
* @brief Release aircraft's joystick control permission.
* @note RC must be in p-mode.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_ReleaseJoystickCtrlAuthority(void);
/**
* @brief Subscribe to joystick control authority switch event with a callback function.
* @note it will be triggered once the joystick control authority switch event occurs.
* @brief Subscribe to joystick control permission switch event with a callback function.
* @note it will be triggered once the joystick control permission switch event occurs.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_RegJoystickCtrlAuthorityEventCallback(JoystickCtrlAuthorityEventCbFunc callback);
@ -605,7 +601,7 @@ T_DjiReturnCode DjiFlightController_ExecuteEmergencyBrakeAction(void);
/**
* @brief Request cancel emergency brake action.
* @note It is only support on M30.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
* "DjiFlightController_CancelEmergencyBrakeAction()" to allow aircraft to execute drone action again.
* "DjiFlightController_CancelEmergencyBrakeAction()" to allow aircraft to execute aircraft action again.
* @return Execution result.
*/
T_DjiReturnCode DjiFlightController_CancelEmergencyBrakeAction(void);
@ -618,11 +614,11 @@ T_DjiReturnCode DjiFlightController_CancelEmergencyBrakeAction(void);
*/
T_DjiReturnCode DjiFlightController_GetGeneralInfo(T_DjiFlightControllerGeneralInfo *generalInfo);
/*! @brief The command decides whether execute RC lost action or not when osdk is running
* @note This setting only affects the behavior of the drone when the RC lost and the OSDK is connected.
* if the command is enable, the drone will not execute rc lost action when rc is lost but OSDK is running;
* if the command is disable, the drone will execute rc lost action when rc is lost but OSDK is running
* the drone will execute rc lost action when rc is lost and OSDK is lost whatever the command is.
/*! @brief The command decides whether execute RC lost action or not when PSDK is running
* @note This setting only affects the behavior of the aircraft when the RC lost and the PSDK is connected.
* if the command is enable, the aircraft will not execute RC lost action when RC is lost but PSDK is running;
* if the command is disable, the aircraft will execute RC lost action when RC is lost but PSDK is running
* the aircraft will execute RC lost action when RC is lost and PSDK is lost whatever the command is.
* default command is disable.
* @param executeRCLostActionOrNotWhenOnboardOn enable:1;disable:0
* @return T_DjiReturnCode error code
@ -630,7 +626,7 @@ T_DjiReturnCode DjiFlightController_GetGeneralInfo(T_DjiFlightControllerGeneralI
T_DjiReturnCode
DjiFlightController_SetRCLostActionEnableStatus(E_DjiFlightControllerRCLostActionEnableStatus command);
/*! @brief get rc lost action enable status(enable or disable)
/*! @brief get RC lost action enable status(enable or disable)
* @param command executeRCLostActionOrNotWhenOnboardOn, enable:1;disable:0
* @return T_DjiReturnCode error code
*/

18
psdk_lib/include/dji_gimbal_manager.h
View File

@ -46,13 +46,13 @@ typedef struct {
dji_f32_t pitch; /*!< Pitch angle in degree, unit: deg */
dji_f32_t roll; /*!< Roll angle in degree, unit: deg */
dji_f32_t yaw; /*!< Yaw angle in degree, unit: deg */
dji_f64_t time; /*!< Expect execution time of gimbal rotation, unit: second. */
dji_f64_t time; /*!< Expected execution time for gimbal rotation, in seconds. */
} T_DjiGimbalManagerRotation;
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the gimbal manager module.
* @note The interface initialization needs to be after DjiCore_Init.
* @note This interface must be initialized after DjiCore_Init..
* @return Execution result.
*/
T_DjiReturnCode DjiGimbalManager_Init(void);
@ -74,7 +74,7 @@ T_DjiReturnCode DjiGimbalManager_SetMode(E_DjiMountPosition mountPosition, E_Dji
/**
* @brief Reset the pitch and yaw of the gimbal.
* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
* @param mode: Reset mode, input limit see enum E_DjiGimbalResetMode
* @param mode: reset mode, input limit see enum E_DjiGimbalResetMode
* @return Execution result.
*/
T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition, E_DjiGimbalResetMode resetMode);
@ -83,17 +83,17 @@ T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition, E_DjiGi
* @brief Rotate the angle of the gimbal.
* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
* @param rotation: the rotation parameters to be executed on the target gimbal, including the rotation mode, target
* angle value and executed time, ref to T_DjiGimbalManagerRotation
* angle value and executed time, refer to T_DjiGimbalManagerRotation
* @return Execution result.
*/
T_DjiReturnCode DjiGimbalManager_Rotate(E_DjiMountPosition mountPosition, T_DjiGimbalManagerRotation rotation);
/*!
* @brief Prototype of callback function used to enable or disable extended pitch axis angle range.
* @details Switching the gimbal limit euler angle of pitch axis to the extended limit angle or the default limit
* @note Switching the gimbal limit euler angle of pitch axis to the extended limit angle or the default limit
* angle.
* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
* @param enabledFlag: flag specified whether enable or disable extended pitch axis angle range.
* @param enabledFlag: flag specifying whether to enable or disable the extended pitch axis angle range..
* @return Execution result.
*/
T_DjiReturnCode DjiGimbalManager_SetPitchRangeExtensionEnabled(E_DjiMountPosition mountPosition, bool enabledFlag);
@ -103,17 +103,17 @@ T_DjiReturnCode DjiGimbalManager_SetPitchRangeExtensionEnabled(E_DjiMountPositio
* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
* @param axis: axis to be set.
* @param maxSpeedPercentage: max speed value. Recommended calculation formula is "spd = default_max_spd * x / 100",
* x is default max speed value. Range from 1 to 100.
* where 'x' is the default maximum speed value. Range from 1 to 100.
* @return Execution result.
*/
T_DjiReturnCode DjiGimbalManager_SetControllerMaxSpeedPercentage(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
uint8_t maxSpeedPercentage);
/**
* @brief Set smooth factor for gimbal controller, using to smooth control.
* @brief Set smooth factor for gimbal controller, using for smooth control.
* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
* @param axis: axis to be set.
* @param smoothingFactor: smooth factor. The larger the value, the smaller the acceleration of gimbal. Recommended
* @param smoothingFactor: smooth factor. A larger value results in slower gimbal acceleration. Recommended
* calculation formula is "acc = 10000 * (0.8 ^ (1 + x)) deg/s^2", x is smooth factor. Range from 0 to 30.
* @return Execution result.
*/

22
psdk_lib/include/dji_liveview.h
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@ -81,7 +81,7 @@ typedef void (*DjiLiveview_H264Callback)(E_DjiLiveViewCameraPosition position, c
/* Exported functions --------------------------------------------------------*/
/**
* @brief Initialize the liveview module.
* @note The interface initialization needs to be after DjiCore_Init.
* @note Must be called after DjiCore_Init.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_Init(void);
@ -93,27 +93,27 @@ T_DjiReturnCode DjiLiveview_Init(void);
T_DjiReturnCode DjiLiveview_Deinit(void);
/**
* @brief Start the FPV or Camera H264 Stream by selected position.
* @param position: point out which camera to output the H264 stream
* @param source: point out which sub camera to output the H264 stream
* @param callback: callback function that is called in a callback thread when a new h264 frame is received
* @brief Start the FPV or camera H264 stream from the specified position.
* @param position: Camera position for the H264 stream output.
* @param source: sub-camera source for the H264 stream output.
* @param callback: Callback function in a callback thread when a new h264 frame is received
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_StartH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source,
DjiLiveview_H264Callback callback);
/**
* @brief Stop the FPV or Camera H264 Stream by selected position.
* @param position: point out which camera to output the H264 stream
* @param source: point out which sub camera to output the H264 stream
* @brief Stop the FPV or Camera H264 Stream from the specified position.
* @param position: Camera position for the H264 stream output.
* @param source: sub-camera source for the H264 stream output.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
/**
* @brief Request the intraframe Frame of Camera H264 Stream by selected position.
* @param position: point out which camera to output the H264 stream
* @param source: point out which sub camera to output the H264 stream
* @brief Request the intraframe Frame of camera H264 stream from the specified position.
* @param position: Camera position for the H264 stream output.
* @param source: sub-camera source for the H264 stream output.
* @return Execution result.
*/
T_DjiReturnCode DjiLiveview_RequestIntraframeFrameData(E_DjiLiveViewCameraPosition position,

2
psdk_lib/include/dji_typedef.h
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@ -136,6 +136,8 @@ typedef enum {
DJI_CAMERA_TYPE_M3T = 67, /*!< Camera type is M3T. */
DJI_CAMERA_TYPE_M3D = 80, /*!< Camera type is Matrice 3D. */
DJI_CAMERA_TYPE_M3TD = 81, /*!< Camera type is Matrice 3TD. */
DJI_CAMERA_TYPE_H30 = 82, /*!< Camera type is H30. */
DJI_CAMERA_TYPE_H30T = 83, /*!< Camera type is H30T. */
} E_DjiCameraType;
/**

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psdk_lib/include/dji_version.h
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@ -34,10 +34,10 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
#define DJI_VERSION_MAJOR 3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 8 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 1 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_MINOR 9 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
#define DJI_VERSION_BUILD 2006 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
#define DJI_VERSION_BUILD 2044 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
/* Exported types ------------------------------------------------------------*/

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