46 VERTICAL_VELOCITY = 0x00,
47 VERTICAL_POSITION = 0x10,
48 VERTICAL_THRUST = 0x20,
53 HORIZONTAL_ANGLE = 0x00,
54 HORIZONTAL_VELOCITY = 0x40,
55 HORIZONTAL_POSITION = 0X80,
64 enum HorizontalCoordinate
66 HORIZONTAL_GROUND = 0x00,
67 HORIZONTAL_BODY = 0x02
79 SMOOTH_DISABLE = 0x00,
85 STATUS_GROUND_STANDBY = 1,
87 STATUS_SKY_STANDBY = 3,
89 STATUS_FINISHING_LANDING = 5,
103 HORIZ_ANG_VERT_VEL_YAW_ANG = 1,
104 HORIZ_ANG_VERT_VEL_YAW_RATE = 2,
105 HORIZ_VEL_VERT_VEL_YAW_ANG = 3,
106 HORIZ_VEL_VERT_VEL_YAW_RATE = 4,
107 HORIZ_POS_VERT_VEL_YAW_ANG = 5,
108 HORIZ_POS_VERT_VEL_YAW_RATE = 6,
109 HORIZ_ANG_VERT_POS_YAW_ANG = 7,
110 HORIZ_ANG_VERT_POS_YAW_RATE = 8,
111 HORIZ_VEL_VERT_POS_YAW_ANG = 9,
112 HORIZ_VEL_VERT_POS_YAW_RATE = 10,
113 HORIZ_POS_VERT_POS_YAW_ANG = 11,
114 HORIZ_POS_VERT_POS_YAW_RATE = 12,
115 HORIZ_ANG_VERT_THR_YAW_ANG = 13,
116 HORIZ_ANG_VERT_THR_YAW_RATE = 14,
117 HORIZ_VEL_VERT_THR_YAW_ANG = 15,
118 HORIZ_VEL_VERT_THR_YAW_RATE = 16,
119 HORIZ_POS_VERT_THR_YAW_ANG = 17,
120 HORIZ_POS_VERT_THR_YAW_RATE = 18,
121 GPS_ATII_CTRL_CL_YAW_RATE = 97,
122 GPS_ATTI_CTRL_YAW_RATE = 98,
123 ATTI_CTRL_YAW_RATE = 99,
124 ATTI_CTRL_STOP = 100,
125 MODE_NOT_SUPPORTED = 0xFF
139 void task(TASK taskname, CallBack TaskCallback = 0, UserData userData = 0);
140 void setArm(
bool enable, CallBack ArmCallback = 0, UserData userData = 0);
141 void control(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw);
142 void setMovementControl(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw);
158 Device getControlDevice()
const;
159 Status getStatus()
const;
160 Mode getControlMode()
const;
162 Angle getYaw()
const;
163 Angle getRoll()
const;
164 Angle getPitch()
const;
167 static void armCallback(
CoreAPI *api,
Header *protoclHeader, UserData userData = 0);
168 static void taskCallback(
CoreAPI *api,
Header *protocolHeader, UserData userData = 0);
191 #ifdef USE_SIMULATION 193 bool isSimulating()
const;
194 void setSimulating(
bool value);
201 #endif // USE_SIMULATION 206 #endif // DJI_FLIGHT_H Definition: DJICommonType.h:81
Definition: DJI_Type.h:309
Core API for DJI onboardSDK library.
YawCoordinate
Definition: DJI_Flight.h:71
CoreAPI implements core Open Protocol communication between M100/M600/A3 and your onboard embedded pl...
Definition: DJI_API.h:195
Definition: DJICommonType.h:60
Definition: DJI_Type.h:366
Definition: DJI_Type.h:269
Definition: DJI_Flight.h:22
Mode
Definition: DJI_Flight.h:100
double Angle
Definition: DJICommonType.h:78
SmoothMode
Definition: DJI_Flight.h:77
Definition: DJI_Type.h:259
Flight class encapsulates all flight control related functions provided by the DJI OnboardSDK...
Definition: DJI_Flight.h:34
Definition: DJI_Type.h:234
Definition: DJI_Mission.cpp:16
Definition: DJI_Type.h:243
Definition: DJICommonType.h:89