NEW: release DJI Payload-SDK version 3.0
Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
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DJI-Martin
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psdk_lib/include/dji_positioning.h
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137
psdk_lib/include/dji_positioning.h
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/**
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********************************************************************
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* @file dji_positioning.h
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* @brief This is the header file for "dji_positioning.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_POSITIONING_H
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#define DJI_POSITIONING_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.h"
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#include "dji_time_sync.h"
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#include "dji_fc_subscription.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 Data structure that describes a positioning event.
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*/
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typedef struct {
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/*! Index of event set in which positioning event is located. The item will be written to mark file in aircraft for
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* some post-precess work. If not needed, fill in 0. */
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uint16_t eventSetIndex;
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/*! Index of target point in payload whose position user is requesting. The item will be written to mark file in
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* aircraft for some post-precess work. If not needed, fill in 0. */
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uint8_t targetPointIndex;
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/*! Timestamp in aircraft time system when the positioning event occur. Users should transfer time in local time
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* system to time in aircraft time system by DjiTimeSync_TransferToAircraftTime() interface in time
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* synchronization module. */
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T_DjiTimeSyncAircraftTime eventTime;
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} T_DjiPositioningEventInfo;
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/**
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* @brief Data structure that describes position of a point.
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*/
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typedef struct {
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dji_f64_t longitude; /*!< Specifies longitude, unit: degree. */
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dji_f64_t latitude; /*!< Specifies latitude, unit: degree. */
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dji_f64_t height; /*!< Specifies height above sea level, unit: m. */
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} T_DjiPositioningPosition;
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/**
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* @brief Position value standard deviation.
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*/
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typedef struct {
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dji_f32_t longitude; /*!< Specifies longitude standard deviation, unit: degree. */
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dji_f32_t latitude; /*!< Specifies latitude standard deviation， unit: degree. */
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dji_f32_t height; /*!< Specifies height standard deviation， unit: m. */
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} T_DjiPositioningPositionStandardDeviation;
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/**
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* @brief Position of target point and other details returned by interface of requesting position.
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*/
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typedef struct {
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E_DjiFcSubscriptionPositionSolutionProperty positionSolutionProperty; /*!< Property of position solution. */
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T_DjiAttitude3d uavAttitude; /*!< Specifies UAV attitude, unit: degree. */
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T_DjiVector3d offsetBetweenMainAntennaAndTargetPoint; /*!< Specifies position offset from RTK main antenna to target points in NED coordinate system, unit: mm. */
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T_DjiPositioningPosition targetPointPosition; /*!< Specifies position of target points in GROUND coordinate system. */
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T_DjiPositioningPositionStandardDeviation targetPointPositionStandardDeviation; /*!< Specifies position standard deviation of target points. */
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} T_DjiPositioningPositionInfo;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise positioning module in blocking mode. User should call this function before all other positioning
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* operations, just like setting task index, register callback function and requesting positions.
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* @note Max execution time of this function is slightly larger than 500ms.
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* @note This function has to be called in user task, rather than main() function, and after scheduler being started.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiPositioning_Init(void);
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/**
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* @brief Set task index, specifying a sequence number of operations, using to write to mark the file for some post-process
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* flows.
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* @details One operation may be a precise surveying and mapping task or ten exposures of camera. The default task index
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* is 0.
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* @param index: task index.
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*/
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void DjiPositioning_SetTaskIndex(uint8_t index);
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/**
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* @brief The interface is used to get the position of target points and other information (refer to
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* ::T_DjiPositioningPositionInfo) based on the timestamp in aircraft time system when some events (positioning events) are
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* triggered. The function uses blocking mode.
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* @details Users can request positions for multiple events (event set) conveniently, such as sync exposure of
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* multiple cameras. User must register callback function used to get the newest PPS triggered timestamp (refer to
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* DjiPositioning_RegGetNewestPpsTriggerTimeCallback()) before requesting position. When users have set structure
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* parameters of payload and interest points (the points whose position user hope to get, e.g. center point of the camera
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* image sensor), the target points are interest points, otherwise the target points are main gimbal interface center.
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* Users can use position information of gimbal interface center, position offset between gimbal interface center and
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* RTK main antenna, UAV attitude, gimbal structure parameters ,and gimbal attitude to calculate the position of interest
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* points in the payload.
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* @note Max execution time of this function is slightly larger than 600ms.
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* @note All requested timestamp have to be between the time point 2 seconds earlier than the newest synchronized
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* timestamp and the time point 1 seconds earlier than the newest synchronized timestamp.
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* @param eventCount: count of positioning event set specified by eventInfo parameter. Please ensure the count is less
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* than 5.
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* @param eventInfo: pointer to positioning event information array.
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* @param positionInfo: the position of target points. In Matrice 210 RTK V2 and Matrice 300 RTK aircraft system, it is
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* the position of the main gimbal interface always.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiPositioning_GetPositionInformationSync(uint8_t eventCount, T_DjiPositioningEventInfo *eventInfo,
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T_DjiPositioningPositionInfo *positionInfo);
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#ifdef __cplusplus
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}
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#endif
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#endif //DJI_POSITIONING_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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