上传psdk所有文件
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tangchao0503
334
psdk_lib/api_headers/psdk_gimbal.h
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334
psdk_lib/api_headers/psdk_gimbal.h
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/**
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********************************************************************
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* @file psdk_gimbal.h
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* @brief PSDK gimbal module is used to achieve the third gimbal for developer. The module can be used only when the PSDK
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* adapter is Skyport, rather than XPort.
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*
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* @copyright (c) 2018 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef PSDK_GIMBAL_H
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#define PSDK_GIMBAL_H
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/* Includes ------------------------------------------------------------------*/
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#include "psdk_typedef.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/**
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* @brief Gimbal work mode, specifies how gimbal follow aircraft movement.
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*/
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typedef enum {
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PSDK_GIMBAL_MODE_FREE = 0, /*!< Free mode, fix gimbal attitude in the ground coordinate, ignoring movement of aircraft. */
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PSDK_GIMBAL_MODE_FPV = 1, /*!< FPV (First Person View) mode, only control roll and yaw angle of gimbal in the ground coordinate to follow aircraft. */
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PSDK_GIMBAL_MODE_YAW_FOLLOW = 2, /*!< Yaw follow mode, only control yaw angle of gimbal in the ground coordinate to follow aircraft. */
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} E_PsdkGimbalMode;
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/**
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* @brief Gimbal calibration stage and result.
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*/
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typedef enum {
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PSDK_GIMBAL_CALIBRATION_STAGE_COMPLETE = 0, /*!< Calibration have been completed and the result is successful. */
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PSDK_GIMBAL_CALIBRATION_STAGE_PROCRESSING = 1, /*!< Gimbal is calibrating. */
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PSDK_GIMBAL_CALIBRATION_STAGE_FAILED = 3, /*!< Calibration have been completed and the result is failure. */
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} E_PsdkGimbalCalibrationStage;
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/**
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* @brief Gimbal rotation mode, specifies control style.
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*/
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typedef enum {
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PSDK_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE = 0, /*!< Relative angle rotation mode, represents rotating gimbal specified angles based on current angles. */
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PSDK_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE = 1, /*!< Absolute angle rotation mode, represents rotating gimbal to specified angles in the ground coordinate. */
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PSDK_GIMBAL_ROTATION_MODE_SPEED = 2, /*!< Speed rotation mode, specifies rotation speed of gimbal in the ground coordinate. */
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} E_PsdkGimbalRotationMode;
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/**
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* @brief Axis of gimbal.
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*/
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typedef enum {
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PSDK_GIMBAL_AXIS_PITCH = 0, /*!< Pitch axis. */
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PSDK_GIMBAL_AXIS_ROLL = 1, /*!< Roll axis. */
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PSDK_GIMBAL_AXIS_YAW = 2, /*!< Yaw axis. */
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} E_PsdkGimbalAxis;
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/**
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* @brief Reset mode of gimbal.
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*/
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typedef enum {
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/*! Only reset yaw axis of gimbal. Reset angle of yaw axis to the sum of yaw axis angle of aircraft and fine tune angle
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* of yaw axis of gimbal. */
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PSDK_GIMBAL_RESET_MODE_YAW = 1,
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/*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune
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* angle of yaw axis of gimbal, and reset pitch axis angle to the fine tune angle. */
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PSDK_GIMBAL_RESET_MODE_PITCH_AND_YAW = 3,
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/*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune
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* angle of yaw axis of gimbal, and reset pitch axis angle to sum of -90 degree and fine tune angle if gimbal
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* downward, sum of 90 degree and fine tune angle if upward. */
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PSDK_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD_AND_YAW = 11,
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/*! Reset pitch axis of gimbal. Reset pitch axis angle to sum of -90 degree and fine tune angle if gimbal downward,
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* sum of 90 degree and fine tune angle if upward. */
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PSDK_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD = 12,
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} E_PsdkGimbalResetMode;
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/**
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* @brief Smooth factor of gimbal controller.
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*/
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typedef struct {
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uint8_t pitch; /*!< Smooth factor of pitch axis, range from 0 to 30. */
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uint8_t yaw; /*!< Smooth factor of yaw axis, range from 0 to 30. */
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} T_PsdkGimbalControllerSmoothFactor;
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/**
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* @brief Max speed percentage of every axis of gimbal.
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*/
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typedef struct {
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uint8_t pitch; /*!< Max speed percentage of pitch axis, range from 1 to 100. */
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uint8_t yaw; /*!< Max speed percentage of yaw axis, range from 1 to 100. */
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} T_PsdkGimbalControllerMaxSpeedPercentage;
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/**
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* @brief Data structure describes gimbal system state.
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*/
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typedef struct {
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bool resettingFlag; /*!< Specifies whether gimbal is resetting now or not. */
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bool mountedUpward; /*!< Specifies whether gimbal is upward or not. */
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bool blockingFlag; /*!< Specifies whether gimbal is stuck or not. */
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bool pitchRangeExtensionEnabledFlag; /*!< Specifies whether extended angle range of gimbal pitch axis is enabled or not. */
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E_PsdkGimbalMode gimbalMode; /*!< Gimbal mode. */
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T_PsdkAttitude3d fineTuneAngle; /*!< Fine tune angles, unit: 0.1 degree. */
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T_PsdkGimbalControllerSmoothFactor smoothFactor; /*!< Smooth factor of gimbal controller. */
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T_PsdkGimbalControllerMaxSpeedPercentage maxSpeedPercentage; /*!< Max speed percentage of gimbal controller. */
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} T_PsdkGimbalSystemState;
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/**
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* @brief Reach limit flag.
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*/
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typedef struct {
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bool pitch; /*!< Specifies whether gimbal has reached angle limit of pitch axis, if true, reached the limit. */
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bool roll; /*!< Specifies whether gimbal has reached angle limit of roll axis, if true, reached the limit. */
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bool yaw; /*!< Specifies whether gimbal has reached angle limit of yaw axis, if true, reached the limit. */
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} T_PsdkGimbalReachLimitFlag;
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/**
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* @brief Gimbal attitude related information.
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*/
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typedef struct {
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T_PsdkAttitude3d attitude; /*!< Gimbal attitude in the ground coordinate, unit: 0.1 degree. */
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T_PsdkGimbalReachLimitFlag reachLimitFlag; /*!< Reach limit flag, being set when the joint angles of gimbal reach limits. */
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} T_PsdkGimbalAttitudeInformation;
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/**
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* @brief Gimbal calibration state.
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*/
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typedef struct {
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bool calibratingFlag; /*!< Specifies whether gimbal is calibrating now or not. */
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bool lastCalibrationResult; /*!< Result of the last calibration, and true specifies success. */
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uint8_t currentCalibrationProgress; /*!< Progress percentage of current calibration. If gimbal is calibrating now and fill in real progress percentage, if not, fill in zero. The item ranges from 0 to 100. */
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E_PsdkGimbalCalibrationStage currentCalibrationStage; /*!< Current calibration stage and result. If gimbal is calibrating now and fill in ::PSDK_GIMBAL_CALIBRATION_STAGE_PROCRESSING, if not, fill in result of the last calibration. */
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} T_PsdkGimbalCalibrationState;
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/**
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* @brief Gimbal rotation command property.
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*/
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typedef struct {
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struct {
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bool pitch; /*!< Specifies whether ignore rotation command of pitch axis, and true specifies ignoring. */
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bool roll; /*!< Specifies whether ignore rotation command of roll axis, and true specifies ignoring. */
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bool yaw; /*!< Specifies whether ignore rotation command of yaw axis, and true specifies ignoring. */
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} rotationValueInvalidFlag; /*!< Specifies whether ignore rotation command of some axis, including pitch, roll and yaw. */
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union {
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struct {
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uint16_t actionTime; /*!< Action time during which gimbal move to target angles, unit: 0.01s. */
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} relativeAngleRotation; /*!< Property of relative angle rotation command. */
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struct {
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uint16_t actionTime; /*!< Action time during which gimbal move to target angles, unit: 0.01s. */
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/*! Joint angle valid flag, specifying whether
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* T_PsdkGimbalRotationProperty::absoluteAngleRotation::jointAngle is valid when absolute angle control. */
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bool jointAngleValid;
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/*! Joint angles of gimbal, unit: 0.1 degree. If
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* T_PsdkGimbalRotationProperty::absoluteAngleRotation::jointAngleValid is false, specifying here joint
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* angles are invalid, and please ignore the joint angles. If joint angles are valid, users should ensure
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* that target joint angles of gimbal is approximately the same as the specified value. */
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T_PsdkAttitude3d jointAngle;
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} absoluteAngleRotation; /*!< Property of absolute angle rotation command. */
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};
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} T_PsdkGimbalRotationProperty;
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/**
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* @brief Common handler function prototypes of gimbal, that is, some common callback function prototypes of gimbal.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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*/
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typedef struct {
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/*!
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* @brief Prototype of callback function used to report system state of gimbal.
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* @param systemState: pointer to memory space used to store gimbal system state.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*GetSystemState)(T_PsdkGimbalSystemState *systemState);
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/*!
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* @brief Prototype of callback function used to report attitude information of gimbal.
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* @param attitudeInformation: pointer to memory space used to store gimbal attitude information.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*GetAttitudeInformation)(T_PsdkGimbalAttitudeInformation *attitudeInformation);
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/*!
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* @brief Prototype of callback function used to report calibration state of gimbal.
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* @param calibrationState: pointer to memory space used to store gimbal calibration state.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*GetCalibrationState)(T_PsdkGimbalCalibrationState *calibrationState);
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/*!
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* @brief Prototype of callback function used to rotate gimbal. Rotation callback function will be called when
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* other modules control gimbal.
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* @warning User should control execution time of the callback function to be short, because this callback function
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* may be called at very high frequency in some scenarios, just like 200Hz.
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* @param rotationMode: mode of rotation command.
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* @param rotationProperty: property of rotation command.
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* @param rotationValue: value of rotation command, unit: 0.1 degree (if rotation mode is
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* ::PSDK_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE or ::PSDK_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE), 0.1 degree/s
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* (if rotation mode is ::PSDK_GIMBAL_ROTATION_MODE_SPEED).
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* @return Execution result.
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*/
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T_PsdkReturnCode (*Rotate)(E_PsdkGimbalRotationMode rotationMode, T_PsdkGimbalRotationProperty rotationProperty,
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T_PsdkAttitude3d rotationValue);
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/*!
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* @brief Prototype of callback function used to start calibrating gimbal.
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* @note Maximum allowable time of gimbal calibration is 120s. If gimbal has not completed calibration during
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* 120s, DJI Pilot believe calibration failed.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*StartCalibrate)(void);
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/**
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* @brief Set smooth factor for gimbal controller, using to smooth control.
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* @param smoothingFactor: smooth factor. The larger the value, the smaller the acceleration of gimbal. Recommended
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* calculation formula is "acc = 10000 * (0.8 ^ (1 + x)) deg/s^2", x is smooth factor. Range from 0 to 30.
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* @param axis: axis to be set.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*SetControllerSmoothFactor)(uint8_t smoothingFactor, E_PsdkGimbalAxis axis);
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/*!
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* @brief Prototype of callback function used to enable or disable extended pitch axis angle range.
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* @details Switching the gimbal limit euler angle of pitch axis to the extended limit angle or the default limit
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* angle.
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* @param enabledFlag: flag specified whether enable or disable extended pitch axis angle range.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*SetPitchRangeExtensionEnabled)(bool enabledFlag);
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/**
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* @brief Set max speed percentage for gimbal controller.
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* @param maxSpeedPercentage: max speed value. Recommended calculation formula is "spd = default_max_spd * x / 100",
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* x is default max speed value. Range from 1 to 100.
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* @param axis: axis to be set.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*SetControllerMaxSpeedPercentage)(uint8_t maxSpeedPercentage, E_PsdkGimbalAxis axis);
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/**
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* @brief Restore factory settings of gimbal, including fine tune angle, pitch angle extension enable flag and max
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* speed etc.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*RestoreFactorySettings)(void);
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/*!
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* @brief Prototype of callback function used to set gimbal work mode.
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* @param mode: gimbal work mode.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*SetMode)(E_PsdkGimbalMode mode);
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/*!
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* @brief Prototype of callback function used to reset gimbal.
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* @note Reset command will interrupt rotation process.
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* @param mode: Reset mode.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*Reset)(E_PsdkGimbalResetMode mode);
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/*!
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* @brief Prototype of callback function used to fine tune angle of gimbal.
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* @param fineTuneAngle: fine tune angle, unit: 0.1 degree. Angle value of greater than 0 specifies rotation
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* towards the positive direction of body coordinate.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*FineTuneAngle)(T_PsdkAttitude3d fineTuneAngle);
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/**
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* @brief Prototype of callback function used to report rotation speed of gimbal.
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* @note The callback function will be called at 50 Hz. Developers should ensure that, the average rotation speed
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* of gimbal within 20 ms after the callback function is called is approximately equal to the reported rotation
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* speed.
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* @param rotationSpeed: pointer to memory space used to store rotation speed, in body coordinate, unit:
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* 0.1 degree/s.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*GetRotationSpeed)(T_PsdkAttitude3d *rotationSpeed);
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/**
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* @brief Prototype of callback function used to report joint angle of gimbal.
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* @param jointAngle: pointer to memory space used to store joint angles, unit: 0.1 degree.
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* @return Execution result.
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*/
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T_PsdkReturnCode (*GetJointAngle)(T_PsdkAttitude3d *jointAngle);
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} T_PsdkGimbalCommonHandler;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise gimbal module, and user should call this function before using gimbal features.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_Init(void);
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/**
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* @brief Deinitialise gimbal module.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_DeInit(void);
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/**
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* @brief Register common handler functions/callback functions of gimbal. After registering, callback functions will be
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* called automatically.
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* @param commonHandler: pointer to common handler functions of gimbal.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_RegCommonHandler(const T_PsdkGimbalCommonHandler *commonHandler);
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#ifdef __cplusplus
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}
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#endif
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#endif // PSDK_GIMBAL_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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