167 lines
7.2 KiB
C
167 lines
7.2 KiB
C
/**
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********************************************************************
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* @file psdk_gimbal.h
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* @brief PSDK gimbal module is used to achieve the third gimbal for developer. The module can be used only when the PSDK
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* adapter is Skyport, rather than XPort.
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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 PSDK_GIMBAL_H
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#define PSDK_GIMBAL_H
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/* Includes ------------------------------------------------------------------*/
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#include "legacy_psdk2.x/psdk_typedef.h"
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#include "dji_gimbal.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 Gimbal work mode, specifies how gimbal follow aircraft movement.
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*/
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typedef E_DjiGimbalMode E_PsdkGimbalMode;
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/*!< Free mode, fix gimbal attitude in the ground coordinate, ignoring movement of aircraft. */
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#define PSDK_GIMBAL_MODE_FREE DJI_GIMBAL_MODE_FREE
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/*!< FPV (First Person View) mode, only control roll and yaw angle of gimbal in the ground coordinate to follow aircraft. */
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#define PSDK_GIMBAL_MODE_FPV DJI_GIMBAL_MODE_FPV
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/*!< Yaw follow mode, only control yaw angle of gimbal in the ground coordinate to follow aircraft. */
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#define PSDK_GIMBAL_MODE_YAW_FOLLOW DJI_GIMBAL_MODE_YAW_FOLLOW
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/**
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* @brief Gimbal calibration stage and result.
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*/
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typedef E_DjiGimbalCalibrationStage E_PsdkGimbalCalibrationStage;
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/*!< Calibration have been completed and the result is successful. */
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#define PSDK_GIMBAL_CALIBRATION_STAGE_COMPLETE DJI_GIMBAL_CALIBRATION_STAGE_COMPLETE
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/*!< Gimbal is calibrating. */
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#define PSDK_GIMBAL_CALIBRATION_STAGE_PROCRESSING DJI_GIMBAL_CALIBRATION_STAGE_PROCRESSING
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/*!< Calibration have been completed and the result is failure. */
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#define PSDK_GIMBAL_CALIBRATION_STAGE_FAILED DJI_GIMBAL_CALIBRATION_STAGE_FAILED
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/**
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* @brief Gimbal rotation mode, specifies control style.
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*/
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typedef E_DjiGimbalRotationMode E_PsdkGimbalRotationMode;
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#define PSDK_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE /*!< Relative angle rotation mode, represents rotating gimbal specified angles based on current angles. */
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#define PSDK_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE /*!< Absolute angle rotation mode, represents rotating gimbal to specified angles in the ground coordinate. */
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#define PSDK_GIMBAL_ROTATION_MODE_SPEED DJI_GIMBAL_ROTATION_MODE_SPEED /*!< Speed rotation mode, specifies rotation speed of gimbal in the ground coordinate. */
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/**
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* @brief Axis of gimbal.
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*/
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typedef E_DjiGimbalAxis E_PsdkGimbalAxis;
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#define PSDK_GIMBAL_AXIS_PITCH DJI_GIMBAL_AXIS_PITCH /*!< Pitch axis. */
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#define PSDK_GIMBAL_AXIS_ROLL DJI_GIMBAL_AXIS_ROLL /*!< Roll axis. */
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#define PSDK_GIMBAL_AXIS_YAW DJI_GIMBAL_AXIS_YAW /*!< Yaw axis. */
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/**
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* @brief Reset mode of gimbal.
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*/
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typedef E_DjiGimbalResetMode E_PsdkGimbalResetMode;
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/*! Only reset yaw axis of gimbal. Reset angle of yaw axis to the sum of yaw axis angle of aircraft and fine tune angle
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* of yaw axis of gimbal. */
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#define PSDK_GIMBAL_RESET_MODE_YAW DJI_GIMBAL_RESET_MODE_YAW
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/*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune
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* angle of yaw axis of gimbal, and reset pitch axis angle to the fine tune angle. */
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#define PSDK_GIMBAL_RESET_MODE_PITCH_AND_YAW DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW
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/*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune
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* angle of yaw axis of gimbal, and reset pitch axis angle to sum of -90 degree and fine tune angle if gimbal
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* downward, sum of 90 degree and fine tune angle if upward. */
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#define PSDK_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD_AND_YAW DJI_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD_AND_YAW
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/*! Reset pitch axis of gimbal. Reset pitch axis angle to sum of -90 degree and fine tune angle if gimbal downward,
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* sum of 90 degree and fine tune angle if upward. */
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#define PSDK_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD DJI_GIMBAL_RESET_MODE_PITCH_DOWNWARD_UPWARD
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/**
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* @brief Smooth factor of gimbal controller.
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*/
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typedef T_DjiGimbalControllerSmoothFactor T_PsdkGimbalControllerSmoothFactor;
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/**
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* @brief Max speed percentage of every axis of gimbal.
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*/
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typedef T_DjiGimbalControllerMaxSpeedPercentage T_PsdkGimbalControllerMaxSpeedPercentage;
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/**
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* @brief Data structure describes gimbal system state.
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*/
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typedef T_DjiGimbalSystemState T_PsdkGimbalSystemState;
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/**
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* @brief Reach limit flag.
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*/
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typedef T_DjiGimbalReachLimitFlag T_PsdkGimbalReachLimitFlag;
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/**
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* @brief Gimbal attitude related information.
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*/
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typedef T_DjiGimbalAttitudeInformation T_PsdkGimbalAttitudeInformation;
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/**
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* @brief Gimbal calibration state.
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*/
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typedef T_DjiGimbalCalibrationState T_PsdkGimbalCalibrationState;
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/**
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* @brief Gimbal rotation command property.
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*/
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typedef T_DjiGimbalRotationProperty T_PsdkGimbalRotationProperty;
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/**
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* @brief Common handler function prototypes of gimbal, that is, some common callback function prototypes of gimbal.
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* @warning User can not execute blocking style operations or functions in callback function, because that will block PSDK
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* root thread, causing problems such as slow system response, payload disconnection or infinite loop.
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*/
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typedef T_DjiGimbalCommonHandler T_PsdkGimbalCommonHandler;
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Initialise gimbal module, and user should call this function before using gimbal features.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_Init(void);
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/**
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* @brief Deinitialise gimbal module.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_DeInit(void);
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/**
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* @brief Register common handler functions/callback functions of gimbal. After registering, callback functions will be
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* called automatically.
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* @param commonHandler: pointer to common handler functions of gimbal.
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* @return Execution result.
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*/
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T_PsdkReturnCode PsdkGimbal_RegCommonHandler(const T_PsdkGimbalCommonHandler *commonHandler);
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#ifdef __cplusplus
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}
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#endif
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#endif // PSDK_GIMBAL_H
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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