137 lines
5.9 KiB
C
137 lines
5.9 KiB
C
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/**
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********************************************************************
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* @file dji_gimbal_manager.h
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* @brief This is the header file for "dji_gimbal_manager.c", defining the structure and
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* (exported) function prototypes.
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*
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* @copyright (c) 2021 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 DJI_GIMBAL_MANAGER_H
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#define DJI_GIMBAL_MANAGER_H
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/* Includes ------------------------------------------------------------------*/
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#include <dji_gimbal.h>
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#include "dji_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 manager rotation command property.
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*/
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typedef struct {
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E_DjiGimbalRotationMode rotationMode; /*!< Rotation gimbal mode. */
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dji_f32_t pitch; /*!< Pitch angle in degree, unit: deg */
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dji_f32_t roll; /*!< Roll angle in degree, unit: deg */
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dji_f32_t yaw; /*!< Yaw angle in degree, unit: deg */
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dji_f64_t time; /*!< Expected execution time for gimbal rotation, in seconds. */
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} T_DjiGimbalManagerRotation;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialize the gimbal manager module.
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* @note This interface must be initialized after DjiCore_Init.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_Init(void);
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/**
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* @brief DeInitialize the gimbal manager module.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_Deinit(void);
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/**
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* @brief Set the work mode of the gimbal.
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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param mode: gimbal work mode, input limit see enum E_DjiGimbalMode
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_SetMode(E_DjiMountPosition mountPosition, E_DjiGimbalMode mode);
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/**
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* @brief Reset the pitch and yaw of the gimbal.
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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param mode: reset mode, input limit see enum E_DjiGimbalResetMode
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition, E_DjiGimbalResetMode resetMode);
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/**
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* @brief Rotate the angle of the gimbal.
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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param rotation: the rotation parameters to be executed on the target gimbal, including the rotation mode, target
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* angle value and executed time, refer to T_DjiGimbalManagerRotation
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_Rotate(E_DjiMountPosition mountPosition, T_DjiGimbalManagerRotation rotation);
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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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* @note 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 mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param enabledFlag: flag specifying whether to enable or disable the extended pitch axis angle range..
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_SetPitchRangeExtensionEnabled(E_DjiMountPosition mountPosition, bool enabledFlag);
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/**
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* @brief Set max speed percentage for gimbal controller.
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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param axis: axis to be set.
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* @param maxSpeedPercentage: max speed value. Recommended calculation formula is "spd = default_max_spd * x / 100",
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* where 'x' is the default maximum speed value. Range from 1 to 100.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_SetControllerMaxSpeedPercentage(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
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uint8_t maxSpeedPercentage);
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/**
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* @brief Set smooth factor for gimbal controller, using for smooth control.
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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @param axis: axis to be set.
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* @param smoothingFactor: smooth factor. A larger value results in slower gimbal acceleration. 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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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_SetControllerSmoothFactor(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
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uint8_t smoothingFactor);
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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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* @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
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* @return Execution result.
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*/
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T_DjiReturnCode DjiGimbalManager_RestoreFactorySettings(E_DjiMountPosition mountPosition);
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#ifdef __cplusplus
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}
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#endif
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#endif // DJI_GIMBAL_MANAGER_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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