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