NEW: release DJI Payload-SDK version 3.0

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/legacy_psdk2.x/psdk_positioning.h

@@ -0,0 +1,113 @@
+/**
+ ********************************************************************
+ * @file    psdk_positioning.h
+ * @brief   This is the header file for "psdk_positioning.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef PSDK_POSITIONING_H
+#define PSDK_POSITIONING_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "legacy_psdk2.x/psdk_typedef.h"
+#include "legacy_psdk2.x/psdk_time_sync.h"
+#include "dji_positioning.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief Data structure that describes a positioning event.
+ */
+typedef T_DjiPositioningEventInfo T_PsdkPositioningEventInfo;
+
+/**
+ * @brief Data structure that describes position of a point.
+ */
+typedef T_DjiPositioningPosition T_PsdkPositioningPosition;
+
+/**
+ * @brief Position value standard deviation.
+ */
+typedef T_DjiPositioningPositionStandardDeviation T_PsdkPositioningPositionStandardDeviation;
+
+/**
+ * @brief Position of target point and other details returned by interface of requesting position.
+ */
+typedef T_DjiPositioningPositionInfo T_PsdkPositioningPositionInfo;
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialise positioning module in blocking mode. User should call this function before all other positioning
+ * operations, just like setting task index, register callback function and requesting positions.
+ * @note Max execution time of this function is slightly larger than 500ms.
+ * @note This function has to be called in user task, rather than main() function, and after scheduler being started.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkPositioning_Init(void);
+
+/**
+ * @brief Set task index, specifying a sequence number of operations, using to write to mark the file for some post-process
+ * flows.
+ * @details One operation may be a precise surveying and mapping task or ten exposures of camera. The default task index
+ * is 0.
+ * @param index: task index.
+ */
+void PsdkPositioning_SetTaskIndex(uint8_t index);
+
+/**
+ * @brief The interface is used to get the position of target points and other information (refer to
+ * ::T_PsdkPositioningPositionInfo) based on the timestamp in aircraft time system when some events (positioning events) are
+ * triggered. The function uses blocking mode.
+ * @details Users can request positions for multiple events (event set) conveniently, such as sync exposure of
+ * multiple cameras. User must register callback function used to get the newest PPS triggered timestamp (refer to
+ * PsdkPositioning_RegGetNewestPpsTriggerTimeCallback()) before requesting position. When users have set structure
+ * parameters of payload and interest points (the points whose position user hope to get, e.g. center point of the camera
+ * image sensor), the target points are interest points, otherwise the target points are main gimbal interface center.
+ * Users can use position information of gimbal interface center, position offset between gimbal interface center and
+ * RTK main antenna, UAV attitude, gimbal structure parameters ,and gimbal attitude to calculate the position of interest
+ * points in the payload.
+ * @note Max execution time of this function is slightly larger than 600ms.
+ * @note All requested timestamp have to be between the time point 2 seconds earlier than the newest synchronized
+ * timestamp and the time point 1 seconds earlier than the newest synchronized timestamp.
+ * @param eventCount: count of positioning event set specified by eventInfo parameter. Please ensure the count is less
+ * than 5.
+ * @param eventInfo: pointer to positioning event information array.
+ * @param positionInfo: the position of target points. In Matrice 210 RTK V2 and Matrice 300 RTK aircraft system, it is
+ * the position of the main gimbal interface always.
+ * @return Execution result.
+ */
+T_PsdkReturnCode PsdkPositioning_GetPositionInformationSync(uint8_t eventCount, T_PsdkPositioningEventInfo *eventInfo,
+                                                            T_PsdkPositioningPositionInfo *positionInfo);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //PSDK_POSITIONING_H
+
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/