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PSDK/psdk_lib/include/dji_gimbal_manager.h

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+/**
+ ********************************************************************
+ * @file    dji_gimbal_manager.h
+ * @brief   This is the header file for "dji_gimbal_manager.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 DJI_GIMBAL_MANAGER_H
+#define DJI_GIMBAL_MANAGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <dji_gimbal.h>
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief Gimbal manager rotation command property.
+ */
+typedef struct {
+    E_DjiGimbalRotationMode rotationMode; /*!< Rotation gimbal mode. */
+    dji_f32_t pitch; /*!< Pitch angle in degree, unit: deg */
+    dji_f32_t roll; /*!< Roll angle in degree, unit: deg */
+    dji_f32_t yaw; /*!< Yaw angle in degree, unit: deg */
+    dji_f64_t time; /*!< Expected execution time for gimbal rotation, in seconds. */
+} T_DjiGimbalManagerRotation;
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialize the gimbal manager module.
+ * @note This interface must be initialized after DjiCore_Init.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_Init(void);
+
+/**
+ * @brief DeInitialize the gimbal manager module.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_Deinit(void);
+
+/**
+ * @brief Set the work mode of the gimbal.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param mode: gimbal work mode, input limit see enum E_DjiGimbalMode
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetMode(E_DjiMountPosition mountPosition, E_DjiGimbalMode mode);
+
+/**
+ * @brief Reset the pitch and yaw of the gimbal.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param mode: reset mode, input limit see enum E_DjiGimbalResetMode
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition, E_DjiGimbalResetMode resetMode);
+
+/**
+ * @brief Rotate the angle of the gimbal.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param rotation: the rotation parameters to be executed on the target gimbal, including the rotation mode, target
+ * angle value and executed time, refer to T_DjiGimbalManagerRotation
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_Rotate(E_DjiMountPosition mountPosition, T_DjiGimbalManagerRotation rotation);
+
+/*!
+ * @brief Prototype of callback function used to enable or disable extended pitch axis angle range.
+ * @note Switching the gimbal limit euler angle of pitch axis to the extended limit angle or the default limit
+ * angle.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param enabledFlag: flag specifying whether to enable or disable the extended pitch axis angle range..
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetPitchRangeExtensionEnabled(E_DjiMountPosition mountPosition, bool enabledFlag);
+
+/**
+ * @brief Set max speed percentage for gimbal controller.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param axis: axis to be set.
+ * @param maxSpeedPercentage: max speed value. Recommended calculation formula is "spd = default_max_spd * x / 100",
+ * where 'x' is the default maximum speed value. Range from 1 to 100.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetControllerMaxSpeedPercentage(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
+                                                                 uint8_t maxSpeedPercentage);
+
+/**
+ * @brief Set smooth factor for gimbal controller, using for smooth control.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param axis: axis to be set.
+ * @param smoothingFactor: smooth factor. A larger value results in slower gimbal acceleration. Recommended
+ * calculation formula is "acc = 10000 * (0.8 ^ (1 + x)) deg/s^2", x is smooth factor. Range from 0 to 30.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetControllerSmoothFactor(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
+                                                           uint8_t smoothingFactor);
+
+/**
+ * @brief Restore factory settings of gimbal, including fine tune angle, pitch angle extension enable flag and max
+ * speed etc.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_RestoreFactorySettings(E_DjiMountPosition mountPosition);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_GIMBAL_MANAGER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/