658 lines
30 KiB
C
658 lines
30 KiB
C
/**
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********************************************************************
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* @file dji_flight_controller.h
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* @brief This is the header file for "dji_flight_controller.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_FLIGHT_CONTROLLER_H
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#define DJI_FLIGHT_CONTROLLER_H
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/* Includes ------------------------------------------------------------------*/
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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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#define EMERGENCY_STOP_MOTOR_MSG_MAX_LENGTH 10 /*!< Max length of emergency stop motor message. */
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/* Exported types ------------------------------------------------------------*/
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typedef uint16_t E_DjiFlightControllerGoHomeAltitude; /*!< Unit:meter, range 20~500 */
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/**
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* @brief The aircraft's actions when RC is lost.
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_HOVER = 0, /*!< Aircraft will execute hover action when RC is lost. */
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DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_LANDING = 1, /*!< Aircraft will execute land action when RC is lost. */
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DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME = 2, /*!< Aircraft will execute go-home action when RC is lost. */
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} E_DjiFlightControllerRCLostAction;
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/**
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* @brief Enable/Disable RTK position enum
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_DISABLE_RTK_POSITION = 0, /*!< 0: The aircraft will use GPS data instead of RTK data to execute
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* actions which requires location information(waypoint, go home...)
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*/
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DJI_FLIGHT_CONTROLLER_ENABLE_RTK_POSITION = 1, /*!< 1:The aircraft will use RTK data instead of GPS data to execute
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* actions which requires location information(waypoint, go home...)*/
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} E_DjiFlightControllerRtkPositionEnableStatus;
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/**
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* @brief Enable/Disable obstacle sensing enum
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_DISABLE_OBSTACLE_AVOIDANCE = 0, /*!< 0: The aircraft will not perform obstacle sensing in
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* the specified direction */
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DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE = 1, /*!< 0: The aircraft will perform obstacle sensing in the
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* specified direction */
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} E_DjiFlightControllerObstacleAvoidanceEnableStatus;
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/**
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* @brief Enable/Disable emergency stop motor function enum
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* @note Enable emergency-stop-motor function is very dangerous in the air. It will make the aircraft crash!!!
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_ENABLE_EMERGENCY_STOP_MOTOR = 0x01, /*!< Execute emergency-stop-motor action */
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} E_DjiFlightControllerEmergencyStopMotor;
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/**
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* @brief Obtain/Release joystick control permission command enum
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* @note You have obtained joystick control permission successfully before using joystick.
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_RELEASE_JOYSTICK_CTRL_AUTHORITY = 0, /*!< Obtain joystick permission */
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DJI_FLIGHT_CONTROLLER_OBTAIN_JOYSTICK_CTRL_AUTHORITY = 1, /*!< Release joystick permission */
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} E_DjiFlightControllerJoystickCtrlAuthorityAction;
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/**
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* @brief The aircraft's joystick control permission owner enum
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_RC = 0, /*!< RC could control aircraft with joystick. */
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DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_MSDK = 1, /*!< MSDK could control aircraft with joystick. */
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DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_INTERNAL = 2, /*!< Special Internal modules could control aircraft
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* with joystick. */
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DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK = 4, /*!< PSDK could control aircraft with joystick. */
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} E_DjiFlightControllerJoystickCtrlAuthority;
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/**
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* @brief The aircraft's joystick control permission switch reason enum
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_MSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 1, /*!< MSDK gets the joystick control permission. */
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DJI_FLIGHT_CONTROLLER_INTERNAL_GET_JOYSTICK_CTRL_AUTH_EVENT = 2, /*!< A specific internal modules gets the joystick control permission. */
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DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT = 3, /*!< PSDK gets the joystick control permission. */
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DJI_FLIGHT_CONTROLLER_RC_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 4, /*!< Reset the joystick control permission to RC when executing RC lost action */
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DJI_FLIGHT_CONTROLLER_RC_NOT_P_MODE_RESET_JOYSTICK_CTRL_AUTH_EVENT = 5, /*!< Reset the joystick control permission to RC when RC is not in P mode */
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DJI_FLIGHT_CONTROLLER_RC_SWITCH_MODE_GET_JOYSTICK_CTRL_AUTH_EVENT = 6, /*!< Set the joystick control permission to RC when RC switches control mode(T/APS) */
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DJI_FLIGHT_CONTROLLER_RC_PAUSE_GET_JOYSTICK_CTRL_AUTH_EVENT = 7, /*!< Reset the joystick control permission to RC when RC pauses */
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DJI_FLIGHT_CONTROLLER_RC_REQUEST_GO_HOME_GET_JOYSTICK_CTRL_AUTH_EVENT = 8, /*!< Reset the joystick control permission to RC when RC requests to go home*/
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DJI_FLIGHT_CONTROLLER_LOW_BATTERY_GO_HOME_RESET_JOYSTICK_CTRL_AUTH_EVENT = 9, /*!< Reset the joystick control permission to RC when aircraft is executing low-battery-go-home*/
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DJI_FLIGHT_CONTROLLER_LOW_BATTERY_LANDING_RESET_JOYSTICK_CTRL_AUTH_EVENT = 10, /*!< Reset the joystick control permission to RC when aircraft is executing low-battery-landing*/
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DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT = 11, /*!< Reset the joystick control permission to RC when PSDK is lost*/
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DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT = 12, /*!< Reset the joystick control permission to RC when aircraft is near boundary.*/
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} E_DjiFlightControllerJoystickCtrlAuthoritySwitchEvent;
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/**
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* @brief The aircraft's joystick control permission switch event info enum
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*/
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typedef struct {
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E_DjiFlightControllerJoystickCtrlAuthority curJoystickCtrlAuthority; /*!< The aircraft's joystick control permission owner */
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E_DjiFlightControllerJoystickCtrlAuthoritySwitchEvent joystickCtrlAuthoritySwitchEvent; /*!< The aircraft's joystick control permission switch reason */
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} T_DjiFlightControllerJoystickCtrlAuthorityEventInfo;
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/**
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* @brief Prototype of callback function used to get joystick control permission switch event info.
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* @return Execution result.
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*/
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typedef T_DjiReturnCode (*JoystickCtrlAuthorityEventCbFunc)(
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T_DjiFlightControllerJoystickCtrlAuthorityEventInfo eventData);
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/**
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* @brief Prototype of callback function used to get the trigger FTS event.
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* @return Execution result.
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*/
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typedef T_DjiReturnCode (*TriggerFtsEventCallback)(void);
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/**
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* @brief Horizon control mode in joystick mode enum
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* @note Only when the GPS signal is good (health_flag >=3)，horizontal position control (DJI_FLIGHT_CONTROLLER_HORIZONTAL_POSITION_CONTROL_MODE)
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* related control modes can be used. Only when GPS signal is good (health_flag >=3)，or advanced sensing system is working properly with Autopilot，
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* horizontal velocity control（DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE) related control modes can be used.
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*/
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typedef enum {
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/**
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* @brief Control pitch & roll & angle of the aircraft.
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* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting.
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* Limit: -35 degree to 35 degree
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*/
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_ANGLE_CONTROL_MODE = 0,
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/**
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* @brief Set the control mode to control horizontal vehicle velocities.
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* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
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* Limit: -30m/s to 30 m/s
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*/
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE = 1,
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/**
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* @brief Set the control mode to control position offsets of pitch & roll directions.
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* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
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* Limit: N/A
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*/
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_POSITION_CONTROL_MODE = 2,
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/**
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* @brief Set the control mode to control rate of change of the vehicle's attitude.
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* @note Need to be referenced to either the ground or body frame by E_DjiFlightControllerHorizontalCoordinate setting
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* Limit: -150deg/s to 150.0 deg/s
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*/
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_ANGULAR_RATE_CONTROL_MODE = 3
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} E_DjiFlightControllerHorizontalControlMode;
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/**
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* @brief Vertical control mode enum in joystick mode
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* @note We don not recommend using VERTICAL_POSITION control mode indoors when the aircraft's flying height exceeds 3 meters.
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* This is because barometer can be inaccurate indoors, and the vertical controller may fail to keep the height of the aircraft.
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*/
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typedef enum {
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/**
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* @brief Set the control mode to control the vertical speed of aircraft, setting the upward as positive/
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* @note Limit: -5 m/s to 5 m/s
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*/
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DJI_FLIGHT_CONTROLLER_VERTICAL_VELOCITY_CONTROL_MODE = 0,
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/**
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* @brief Set the control mode to control the height of aircraft
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* @note Limit: 0 m to 120 m
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*/
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DJI_FLIGHT_CONTROLLER_VERTICAL_POSITION_CONTROL_MODE = 1,
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/**
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* @brief Set the control mode to directly control the thrust
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* @note Range: 0 % to 100 %
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*/
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DJI_FLIGHT_CONTROLLER_VERTICAL_THRUST_CONTROL_MODE = 2,
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} E_DjiFlightControllerVerticalControlMode;
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/**
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* @brief Yaw control mode enum in joystick mode
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*/
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typedef enum {
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/**
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* @brief Set the control mode to control yaw angle.
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* @note Yaw angle is referenced to the ground frame. In this control mode, Ground frame is enforced in Autopilot.
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*/
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DJI_FLIGHT_CONTROLLER_YAW_ANGLE_CONTROL_MODE = 0x00,
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/**
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* @brief Set the control-mode to control yaw angular velocity
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* @note Same reference frame as YAW_ANGLE.
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* Limit: -150 deg/s to 150 deg/s
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*/
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DJI_FLIGHT_CONTROLLER_YAW_ANGLE_RATE_CONTROL_MODE = 1
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} E_DjiFlightControllerYawControlMode;
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/**
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* @brief Horizontal coordinate enum in joystick mode
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_GROUND_COORDINATE = 0, /*!< Set the x-y of ground frame as the horizontal frame (NEU) */
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DJI_FLIGHT_CONTROLLER_HORIZONTAL_BODY_COORDINATE = 1 /*!< Set the x-y of body frame as the horizontal frame (FRU) */
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} E_DjiFlightControllerHorizontalCoordinate;
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/*!
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* @brief Stable mode enum in joystick mode
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* @note Only works in horizontal velocity control mode. In velocity stable mode, aircraft will brake and hover at one position once
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* the input command is zero. In velocity non-stable mode, aircraft will follow the velocity command and not hover when the command is zero.
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* That means aircraft will drift with the wind.
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*/
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typedef enum {
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DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_DISABLE = 0, /*!< Disable the stable mode */
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DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_ENABLE = 1 /*!< Enable the stable mode */
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} E_DjiFlightControllerStableControlMode;
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typedef enum {
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DJI_FLIGHT_CONTROLLER_ENABLE_RC_LOST_ACTION = 0,
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DJI_FLIGHT_CONTROLLER_DISABLE_RC_LOST_ACTION = 1,
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} E_DjiFlightControllerRCLostActionEnableStatus;
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/**
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* @brief Joystick mode.
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* @note You need to set joystick mode first before start to send joystick command to aircraft.
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*/
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typedef struct {
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E_DjiFlightControllerHorizontalControlMode horizontalControlMode; /*!< See reference of E_DjiFlightControllerHorizontalControlMode*/
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E_DjiFlightControllerVerticalControlMode verticalControlMode; /*!< See reference of E_DjiFlightControllerVerticalControlMode*/
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E_DjiFlightControllerYawControlMode yawControlMode; /*!< See reference of E_DjiFlightControllerYawControlMode*/
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E_DjiFlightControllerHorizontalCoordinate horizontalCoordinate; /*!< See reference of E_DjiFlightControllerHorizontalCoordinate*/
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E_DjiFlightControllerStableControlMode stableControlMode; /*!< See reference of E_DjiFlightControllerStableControlMode*/
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} T_DjiFlightControllerJoystickMode;
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#pragma pack(1)
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typedef struct {
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dji_f32_t x; /*!< Controls the x axis.*/
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dji_f32_t y; /*!< Controls the y axis.*/
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dji_f32_t z; /*!< Controls the z axis, setting upward as positive. */
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dji_f32_t yaw; /*!< Yaw position/velocity control w.r.t. the ground frame.*/
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} T_DjiFlightControllerJoystickCommand;// pack(1)
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typedef struct {
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dji_f64_t latitude; /*!< unit: rad */
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dji_f64_t longitude; /*!< unit: rad */
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} T_DjiFlightControllerHomeLocation; // pack(1)
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typedef struct {
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char serialNum[32];
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} T_DjiFlightControllerGeneralInfo;
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typedef struct {
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dji_f64_t latitude; /*!< unit: rad */
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dji_f64_t longitude; /*!< unit: rad */
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uint16_t altitude;
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} T_DjiFlightControllerRidInfo;
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#pragma pack()
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise flight controller module
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* @param ridInfo: Must report the correct RID information before using PSDK to control the aircraft.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_Init(T_DjiFlightControllerRidInfo ridInfo);
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/**
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* @brief DeInitialise flight controller module.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_DeInit(void);
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/**
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* @brief Enable/Disable RTK position function.
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* @details Enabling RTK means that RTK data will be used instead of GPS during flight.
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* @param rtkEnableStatus: refer to "E_DjiFlightControllerRtkPositionEnableStatus", inheriting from Pilot.
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* @return Execution result.
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*/
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T_DjiReturnCode
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DjiFlightController_SetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionEnableStatus rtkEnableStatus);
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/**
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* @brief Get RTK enable status.
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* @note Enabling RTK means that RTK data will be used during intelligent flight.
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* @param rtkEnableStatus: refer to "E_DjiFlightControllerRtkPositionEnableStatus", inheriting from Pilot.
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* @return Execution result.
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*/
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T_DjiReturnCode
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DjiFlightController_GetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionEnableStatus *rtkEnableStatus);
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/**
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* @brief Set RC lost action.
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* @note Valid when RC and PSDK are both lost. It only supports M30.
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* @param rcLostAction: actions when RC is lost.(hover/landing/go home).It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_SetRCLostAction(E_DjiFlightControllerRCLostAction rcLostAction);
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/**
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* @brief Get RC lost action(hover/landing/gohome).
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* @note Valid when RC and PSDK are both lost. It only supports M30.
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* @param rcLostAction: see reference of E_DjiFlightControllerRCLostAction.It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_GetRCLostAction(E_DjiFlightControllerRCLostAction *rcLostAction);
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/**
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* @brief Enable/Disable horizontal visual(forwards,backwards,left,right) obstacle sensing.
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* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
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* https://www.dji.com.
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* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_SetHorizontalVisualObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalObstacleAvoidanceEnableStatus);
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/**
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* @brief Get the switch status of horizontal visual(forwards,backwards,left,right) obstacle sensing.
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* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
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* https://www.dji.com.
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* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_GetHorizontalVisualObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus *horizontalObstacleAvoidanceEnableStatus);
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/**
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* @brief Enable/Disable horizontal radar obstacle sensing.
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* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
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* it is recommended to read the official user manual in https://www.dji.com.
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* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus horizontalObstacleAvoidanceEnableStatus);
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/**
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* @brief Get the switch status of horizontal radar obstacle sensing.
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* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
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* it is recommended to read the official user manual in https://www.dji.com/uk/matrice-300/downloads.
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* @param horizontalObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus *horizontalObstacleAvoidanceEnableStatus);
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/**
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* @brief Enable/Disable upwards visual obstacle sensing.
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* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
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* https://www.dji.com.
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* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_SetUpwardsVisualObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsObstacleAvoidanceEnableStatus);
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/**
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* @brief Get the switch status of upwards visual obstacle sensing.
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* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
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* https://www.dji.com.
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* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
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* It inherits from Pilot's param.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiFlightController_GetUpwardsVisualObstacleAvoidanceEnableStatus(
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E_DjiFlightControllerObstacleAvoidanceEnableStatus *upwardsObstacleAvoidanceEnableStatus);
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/**
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* @brief Enable/Disable upwards radar obstacle sensing.
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* @note It will be valid only if you install CSM radar successfully.For detailed parameters of obstacle sensing,
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* it is recommended to read the official user manual in https://www.dji.com.
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* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
|
||
* It inherits from Pilot's param.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
|
||
E_DjiFlightControllerObstacleAvoidanceEnableStatus upwardsObstacleAvoidanceEnableStatus);
|
||
|
||
/**
|
||
* @brief Get the switch status of upwards radar obstacle sensing.
|
||
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
|
||
* https://www.dji.com.
|
||
* @param upwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
|
||
* It inherits from Pilot's param.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
|
||
E_DjiFlightControllerObstacleAvoidanceEnableStatus *upwardsObstacleAvoidanceEnableStatus);
|
||
|
||
/**
|
||
* @brief Enable/Disable downwards visual obstacle sensing.
|
||
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
|
||
* https://www.dji.com.
|
||
* @param downwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
|
||
* It inherits from Pilot's param.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_SetDownwardsVisualObstacleAvoidanceEnableStatus(
|
||
E_DjiFlightControllerObstacleAvoidanceEnableStatus downwardsObstacleAvoidanceEnableStatus);
|
||
|
||
/**
|
||
* @brief Get the switch status of downwards visual obstacle sensing.
|
||
* @note For detailed parameters of obstacle sensing, it is recommended to read the official user manual in
|
||
* https://www.dji.com.
|
||
* @param downwardsObstacleAvoidanceEnableStatus: see reference of E_DjiFlightControllerObstacleAvoidanceEnableStatus.
|
||
* It inherits from Pilot's param.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(
|
||
E_DjiFlightControllerObstacleAvoidanceEnableStatus *downwardsObstacleAvoidanceEnableStatus);
|
||
|
||
/**
|
||
* @brief Arrest flying means emergency braking
|
||
* @note When the aircraft is on the ground, it will stop motors and display "hms description" on App. when the aircraft is
|
||
* in the air, it will continue flying and display "hms description" on App only.
|
||
* If you use this interface, you need to use "DjiFlightController_CancelArrestFlying" to quit arrest-flying status, then
|
||
* then the aircraft can fly again.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_ArrestFlying(void);
|
||
|
||
/**
|
||
* @brief Quit status of arrest-flying.
|
||
* @note The aircraft need to quit status of arrest-flying to continue flying after arresting flying.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_CancelArrestFlying(void);
|
||
|
||
/**
|
||
* @brief Turn on motors when the aircraft is on the ground.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_TurnOnMotors(void);
|
||
|
||
/**
|
||
* @brief Turn off motors when the aircraft is on the ground.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_TurnOffMotors(void);
|
||
|
||
/**
|
||
* @brief Emergency stop motor in any case.
|
||
* @note If you want to turn on motor after emergency stopping motor, you need to use the interface to send disable
|
||
* command to quit lock-motor status.
|
||
* @param cmd: see reference of E_DjiFlightControllerEmergencyStopMotor
|
||
* @param debugMsg:inject debug message to flight control FW for logging, size limit: 10 bytes
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_EmergencyStopMotor(E_DjiFlightControllerEmergencyStopMotor cmd,
|
||
char debugMsg[EMERGENCY_STOP_MOTOR_MSG_MAX_LENGTH]);
|
||
/**
|
||
* @brief Request taking off action when the aircraft is on the ground.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_StartTakeoff(void);
|
||
|
||
/**
|
||
* @brief Request landing action when the aircraft is in the air.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_StartLanding(void);
|
||
|
||
/**
|
||
* @brief Request cancelling landing action when the aircraft is landing
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_CancelLanding(void);
|
||
|
||
/**
|
||
* @brief Confirm the landing when the aircraft is 0.7 m above the ground.
|
||
* @note When the clearance between the aircraft and the ground is less than 0.7m, the aircraft will pause landing and
|
||
* wait for user's confirmation. This API is for confirm landing. If the ground is not suitable for landing, user
|
||
* must use RC to control it landing manually or force landing.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_StartConfirmLanding(void);
|
||
|
||
/**
|
||
* @brief Force landing in any case.
|
||
* @note This API will ignore the smart landing function. When using this API, it will landing directly (would not stop
|
||
* at 0.7m and wait user's command). Attention: it may make the aircraft crash!!!
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_StartForceLanding(void);
|
||
|
||
/**
|
||
* @brief Set customized GPS(not RTK) home location.
|
||
* @note Set customized home location failed reason may as follows:
|
||
* 1. The distance between new home location and last home location is larger than MAX_FLY_RADIUS(20 km).
|
||
* 2. Record initial home location failed after start aircraft.
|
||
* @param homeLocation: homeLocation include latitude and longitude
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_SetHomeLocationUsingGPSCoordinates(T_DjiFlightControllerHomeLocation homeLocation);
|
||
|
||
/**
|
||
* @brief Set home location using current aircraft GPS (not RTK) location.
|
||
* @note Set home location failed reasons may as follows:
|
||
* 1. Aircraft's gps level can't reach the condition of recording home location.
|
||
* 2. Record initial home location failed after start aircraft.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_SetHomeLocationUsingCurrentAircraftLocation(void);
|
||
|
||
/**
|
||
* @brief Set go home altitude.
|
||
* @note If aircraft's current altitude is higher than the setting value of go home altitude, aircraft will go home
|
||
* using current altitude. Otherwise, it will climb to setting of go home altitude ,and then execute go home action.
|
||
* Go home altitude setting is 20-1500 m.
|
||
* @param altitude: go home altitude, unit: meter
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_SetGoHomeAltitude(E_DjiFlightControllerGoHomeAltitude altitude);
|
||
|
||
/**
|
||
* @brief Get go home altitude.
|
||
* @param altitude: go home altitude, unit: meter
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_GetGoHomeAltitude(E_DjiFlightControllerGoHomeAltitude *altitude);
|
||
|
||
/**
|
||
* @brief Get country code.
|
||
* @param countryCode: Pointer of buffer to return country code. The country code indicates the current country or
|
||
* region where the aircraft is located. Please refer to the ISO 3166-1 code table for the specific meaning of the
|
||
* country code.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_GetCountryCode(uint16_t *countryCode);
|
||
|
||
/**
|
||
* @brief Request go home action when the aircraft is in the air
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_StartGoHome(void);
|
||
|
||
/**
|
||
* @brief Request cancel go home action when the aircraft is going home
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_CancelGoHome(void);
|
||
|
||
/**
|
||
* @brief Obtain aircraft's joystick control permission.
|
||
* @note 1.You have to obtain joystick control permission successfully before you using joystick to control aircraft.
|
||
* 2. RC must be in p-mode.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_ObtainJoystickCtrlAuthority(void);
|
||
|
||
/**
|
||
* @brief Release aircraft's joystick control permission.
|
||
* @note RC must be in p-mode.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_ReleaseJoystickCtrlAuthority(void);
|
||
|
||
/**
|
||
* @brief Subscribe to joystick control permission switch event with a callback function.
|
||
* @note it will be triggered once the joystick control permission switch event occurs.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_RegJoystickCtrlAuthorityEventCallback(JoystickCtrlAuthorityEventCbFunc callback);
|
||
|
||
/**
|
||
* @brief Set expected joystick mode before requesting joystick.
|
||
* @param joystickMode: include horizontal/vertical/yaw control mode, stable control mode.
|
||
*/
|
||
void DjiFlightController_SetJoystickMode(T_DjiFlightControllerJoystickMode joystickMode);
|
||
|
||
/**
|
||
* @brief Request execute joystick action.
|
||
* @param joystickCommand: include x/y/z/yaw.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_ExecuteJoystickAction(T_DjiFlightControllerJoystickCommand joystickCommand);
|
||
|
||
/**
|
||
* @brief Request emergency brake action.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_ExecuteEmergencyBrakeAction(void);
|
||
|
||
/**
|
||
* @brief Request cancel emergency brake action.
|
||
* @note It is only support on M30.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
|
||
* "DjiFlightController_CancelEmergencyBrakeAction()" to allow aircraft to execute aircraft action again.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_CancelEmergencyBrakeAction(void);
|
||
|
||
/**
|
||
* @brief Get general info of the aircraft.
|
||
* @param generalInfo: the struct stored the serial num which contains a array of chars var in case the user gives an
|
||
* illegal length character pointer
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_GetGeneralInfo(T_DjiFlightControllerGeneralInfo *generalInfo);
|
||
|
||
/*! @brief The command decides whether execute RC lost action or not when PSDK is running
|
||
* @note This setting only affects the behavior of the aircraft when the RC lost and the PSDK is connected.
|
||
* if the command is enable, the aircraft will not execute RC lost action when RC is lost but PSDK is running;
|
||
* if the command is disable, the aircraft will execute RC lost action when RC is lost but PSDK is running
|
||
* the aircraft will execute RC lost action when RC is lost and PSDK is lost whatever the command is.
|
||
* default command is disable.
|
||
* @param executeRCLostActionOrNotWhenOnboardOn enable:1;disable:0
|
||
* @return T_DjiReturnCode error code
|
||
*/
|
||
T_DjiReturnCode
|
||
DjiFlightController_SetRCLostActionEnableStatus(E_DjiFlightControllerRCLostActionEnableStatus command);
|
||
|
||
/*! @brief get RC lost action enable status(enable or disable)
|
||
* @param command executeRCLostActionOrNotWhenOnboardOn, enable:1;disable:0
|
||
* @return T_DjiReturnCode error code
|
||
*/
|
||
T_DjiReturnCode
|
||
DjiFlightController_GetEnableRCLostActionStatus(E_DjiFlightControllerRCLostActionEnableStatus *command);
|
||
|
||
/**
|
||
* @brief Register callback function for the trigger FTS event.
|
||
* @note The timing of the trigger of the callback function of the FTS is determined by the aircraft, and the trigger
|
||
* execution action of the FTS needs to be implemented in the callback function and the correct return value
|
||
* must be returned, otherwise the aircraft will always be triggered.
|
||
* @param callback: the callback for the trigger FTS event.
|
||
* @return Execution result.
|
||
*/
|
||
T_DjiReturnCode DjiFlightController_RegTriggerFtsEventCallback(TriggerFtsEventCallback callback);
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif // DJI_FLIGHT_CONTROLLER_H
|
||
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
|