Flight controller API: set or get parameter, execute flight actions. More...

#include <dji_flight_controller.hpp>

Public Types
typedef Telemetry::HomeLocationData	HomeLocation

typedef FlightAssistant::RtkEnableData	RtkEnabled

typedef FlightAssistant::AvoidEnable	AvoidEnable

typedef FlightAssistant::UpwardsAvoidEnable	UpwardsAvoidEnable

typedef FlightAssistant::GoHomeAltitude	GoHomeHeight

typedef FlightJoystick::ControlCommand	JoystickCommand

typedef enum FlightJoystick::HorizontalLogic	HorizontalLogic

typedef enum FlightJoystick::VerticalLogic	VerticalLogic

typedef enum FlightJoystick::YawLogic	YawLogic

typedef enum FlightJoystick::HorizontalCoordinate	HorizontalCoordinate

typedef enum FlightJoystick::StableMode	StableMode

typedef enum FlightActions::KillSwitch	KillSwitch

typedef struct DJI::OSDK::FlightController::JoystickMode	JoystickMode

Public Member Functions
	FlightController (Vehicle *vehicle)

void	obtainJoystickCtrlAuthorityAsync (void(*userCB)(ErrorCode::ErrorCodeType, UserData userData), UserData userData, int timeout, int retryTime)
	Obtain the control authority of the api (non-blocking call) More...

ErrorCode::ErrorCodeType	obtainJoystickCtrlAuthoritySync (int timeout)
	Obtain the control authority of the api (blocking call) More...

void	releaseJoystickCtrlAuthorityAsync (void(*userCB)(ErrorCode::ErrorCodeType, UserData userData), UserData userData, int timeout, int retryTime)
	Release the control authority of the api (non-blocking call) More...

ErrorCode::ErrorCodeType	releaseJoystickCtrlAuthoritySync (int timeout)
	Release the control authority of the api (blocking call) More...

ErrorCode::ErrorCodeType	setRtkEnableSync (RtkEnabled rtkEnable, int timeout)
	Set RTK enable or disable, blocking calls. More...

void	setRtkEnableAsync (RtkEnabled rtkEnable, void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set RTK enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	getRtkEnableSync (RtkEnabled &rtkEnable, int timeout)
	Get rtk enable or disable, blocking calls. More...

void	getRtkEnableAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, RtkEnabled rtkEnable, UserData userData), UserData userData)
	Get RTK enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	setGoHomeAltitudeSync (GoHomeHeight altitude, int timeout)
	Set go home altitude, blocking calls. More...

void	setGoHomeAltitudeAsync (GoHomeHeight altitude, void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set go home altitude, non-blocking calls. More...

ErrorCode::ErrorCodeType	getGoHomeAltitudeSync (GoHomeHeight &altitude, int timeout)
	Get go home altitude, blocking calls. More...

void	getGoHomeAltitudeAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, GoHomeHeight altitude, UserData userData), UserData userData)
	Get go home altitude, non-blocking calls. More...

ErrorCode::ErrorCodeType	setCollisionAvoidanceEnabledSync (AvoidEnable avoidEnable, int timeout)
	Set collision avoidance enable or disable, blocking calls. More...

void	setCollisionAvoidanceEnabledAsync (AvoidEnable avoidEnable, void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set collision avoidance enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	getCollisionAvoidanceEnabledSync (AvoidEnable &avoidEnable, int timeout)
	Get collision avoidance enable or disable, blocking calls. More...

void	getCollisionAvoidanceEnabledAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, AvoidEnable avoidEnable, UserData userData), UserData userData)
	Get collision avoidance enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	setUpwardsAvoidanceEnabledSync (UpwardsAvoidEnable upwardsAvoidEnable, int timeout)
	Set upwards avoidance enable or disable, blocking calls. More...

void	setUpwardsAvoidanceEnabledAsync (UpwardsAvoidEnable upwardsAvoidEnable, void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set upwards avoidance enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	getUpwardsAvoidanceEnabledSync (UpwardsAvoidEnable &upwardsAvoidEnable, int timeout)
	Get upwards avoidance enable or disable, blocking calls. More...

void	getUpwardsAvoidanceEnabledAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UpwardsAvoidEnable upwardsEnable, UserData userData), UserData userData)
	Get upwards avoidance enable or disable, non-blocking calls. More...

ErrorCode::ErrorCodeType	setHomeLocationSync (HomeLocation homeLocation, int timeout)
	Set customized GPS(not RTK) home location, blocking calls. More...

void	setHomeLocationAsync (HomeLocation homeLocation, void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set customized GPS(not RTK) home location, non-blocking calls. More...

ErrorCode::ErrorCodeType	setHomeLocationUsingCurrentAircraftLocationSync (int timeout)
	Set home location using current aircraft GPS(not RTK) location, blocking calls. More...

void	setHomeLocationUsingCurrentAircraftLocationAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Set home location using current aircraft GPS(not RTK) location, non-blocking calls. More...

ErrorCode::ErrorCodeType	turnOnMotorsSync (int timeout)
	Wrapper function for turn on motors, blocking calls. More...

void	turnOnMotorsAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for turn on motors, non-blocking calls. More...

ErrorCode::ErrorCodeType	turnOffMotorsSync (int timeout)
	Wrapper function for turn off motors, blocking calls. More...

void	turnOffMotorsAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for turn off motors, non-blocking calls. More...

ErrorCode::ErrorCodeType	startTakeoffSync (int timeout)
	Wrapper function for aircraft takeoff, blocking calls. More...

void	startTakeoffAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for aircraft takeoff, non-blocking calls. More...

ErrorCode::ErrorCodeType	startLandingSync (int timeout)
	Wrapper function for aircraft landing, blocking calls. More...

void	startLandingAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for aircraft landing, non-blocking calls. More...

ErrorCode::ErrorCodeType	cancelLandingSync (int timeout)
	Wrapper function for cancel aircraft landing, blocking calls. More...

void	cancelLandingAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for cancel aircraft landing, non-blocking calls. More...

ErrorCode::ErrorCodeType	startForceLandingSync (int timeout)
	Wrapper function for aircraft force landing, blocking calls. More...

void	startForceLandingAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for aircraft force landing, non-blocking calls. More...

ErrorCode::ErrorCodeType	startConfirmLandingSync (int timeout)
	Wrapper function for aircraft confirm landing and avoid ground, blocking calls. More...

void	startConfirmLandingAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for aircraft confirm landing and avoid ground, non-blocking calls. More...

ErrorCode::ErrorCodeType	startGoHomeSync (int timeout)
	Wrapper function for go home action, blocking calls. More...

void	startGoHomeAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for go home action, non-blocking calls. More...

ErrorCode::ErrorCodeType	cancelGoHomeSync (int timeout)
	Wrapper function for stop go home action, blocking calls. More...

void	cancelGoHomeAsync (void(*UserCallBack)(ErrorCode::ErrorCodeType retCode, UserData userData), UserData userData)
	Wrapper function for stop go home action, non-blocking calls. More...

void	setJoystickMode (const JoystickMode &joystickMode)
	Wrapper function for set joystick mode, non-blocking calls. More...

void	setJoystickCommand (const JoystickCommand &JoystickCommand)
	Wrapper function for set joystick command, non-blocking calls. More...

void	joystickAction ()
	Wrapper function for set joystick action, non-blocking calls. More...

void	getJoystickMode (FlightJoystick::ControlMode &joystickMode)
	Wrapper function for get joystick mode, non-blocking calls. More...

void	getJoystickCommand (JoystickCommand &joystickCommand)
	Wrapper function for get joystick command, non-blocking calls. More...

ErrorCode::ErrorCodeType	killSwitch (KillSwitch cmd, int wait_timeout, char debugMsg[10])
	Turn on or off the kill switch. More...

void	emergencyBrakeAction (void)
	Stop the vehicle in horiz velocity, vert velocity, yaw rate mode (body frame) More...

Detailed Description

Flight controller API: set or get parameter, execute flight actions.

Member Typedef Documentation

◆ GoHomeHeight

typedef FlightAssistant::GoHomeAltitude DJI::OSDK::FlightController::GoHomeHeight

unit:meter, range 20~500

◆ RtkEnabled

typedef FlightAssistant::RtkEnableData DJI::OSDK::FlightController::RtkEnabled

0: disable, 1: enable

Member Function Documentation

◆ cancelGoHomeAsync()

void FlightController::cancelGoHomeAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for stop go home action, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ cancelGoHomeSync()

ErrorCode::ErrorCodeType FlightController::cancelGoHomeSync ( int timeout )

Wrapper function for stop go home action, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ cancelLandingAsync()

void FlightController::cancelLandingAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for cancel aircraft landing, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ cancelLandingSync()

ErrorCode::ErrorCodeType FlightController::cancelLandingSync ( int timeout )

Wrapper function for cancel aircraft landing, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ emergencyBrakeAction()

void FlightController::emergencyBrakeAction ( void )

Stop the vehicle in horiz velocity, vert velocity, yaw rate mode (body frame)

Supported Platforms : M210V2, M300

◆ getCollisionAvoidanceEnabledAsync()

void FlightController::getCollisionAvoidanceEnabledAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, AvoidEnable avoidEnable, UserData userData)	UserCallBack,
		UserData	userData
	)

Get collision avoidance enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode the OSDK ErrorCode::ErrorCodeType error code avoidEnable AvoidEnable, AVOID_DISABLE: disable, AVOID_ENABLE: enable userData the interface to pass userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ getCollisionAvoidanceEnabledSync()

ErrorCode::ErrorCodeType FlightController::getCollisionAvoidanceEnabledSync	(	AvoidEnable &	avoidEnable,
		int	timeout
	)

Get collision avoidance enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

avoidEnable	AvoidEnable, AVOID_DISABLE: disable, AVOID_ENABLE: enable
timeout	blocking timeout in seconds

Returns: OSDK ErrorCode::ErrorCodeType error code

◆ getGoHomeAltitudeAsync()

void FlightController::getGoHomeAltitudeAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, GoHomeHeight altitude, UserData userData)	UserCallBack,
		UserData	userData
	)

Get go home altitude, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code altitude go home altitude userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ getGoHomeAltitudeSync()

ErrorCode::ErrorCodeType FlightController::getGoHomeAltitudeSync	(	GoHomeHeight &	altitude,
		int	timeout
	)

Get go home altitude, blocking calls.

Supported Platforms : M210V2, M300

Parameters

altitude	go home altitude
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ getJoystickCommand()

void FlightController::getJoystickCommand ( JoystickCommand & joystickCommand )

Wrapper function for get joystick command, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

JoystickCommand FlightController::JoystickCommand include x, y, z and yaw's command.

◆ getJoystickMode()

void FlightController::getJoystickMode ( FlightJoystick::ControlMode & joystickMode )

Wrapper function for get joystick mode, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

JoystickMode FlightController::JoystickMode include horizontal logic,vertical logic,yaw logic, horizontal coordinate, stable mode.

◆ getRtkEnableAsync()

void FlightController::getRtkEnableAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, RtkEnabled rtkEnable, UserData userData)	UserCallBack,
		UserData	userData
	)

Get RTK enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code rtkEnable reference in RtkEnabled, RTK_DISABLE: disable, RTK_ENABLE: enable userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ getRtkEnableSync()

ErrorCode::ErrorCodeType FlightController::getRtkEnableSync	(	RtkEnabled &	rtkEnable,
		int	timeout
	)

Get rtk enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

rtkEnable	reference in RtkEnabled, RTK_DISABLE: disable, RTK_ENABLE: enable
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ getUpwardsAvoidanceEnabledAsync()

void FlightController::getUpwardsAvoidanceEnabledAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UpwardsAvoidEnable upwardsEnable, UserData userData)	UserCallBack,
		UserData	userData
	)

Get upwards avoidance enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode the OSDK ErrorCode::ErrorCodeType error code upwardsEnable UpwardsAvoidEnable, UPWARDS_AVOID_DISABLE: disable, UPWARDS_AVOID_ENABLE: enable userData the interface to pass userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ getUpwardsAvoidanceEnabledSync()

ErrorCode::ErrorCodeType FlightController::getUpwardsAvoidanceEnabledSync	(	UpwardsAvoidEnable &	upwardsAvoidEnable,
		int	timeout
	)

Get upwards avoidance enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

upwardsAvoidEnable	UpwardsAvoidEnable UPWARDS_AVOID_DISABLE: disable, UPWARDS_AVOID_ENABLE: enable
timeout	blocking timeout in seconds

Returns: OSDK ErrorCode::ErrorCodeType error code

◆ joystickAction()

void FlightController::joystickAction ( )

Wrapper function for set joystick action, non-blocking calls.

Supported Platforms : M210V2, M300

Note: User must set the joystick mode and command before using this function to execute the command.

◆ killSwitch()

ErrorCode::ErrorCodeType FlightController::killSwitch	(	KillSwitch	cmd,
		int	wait_timeout,
		char	debugMsg[10]
	)

Turn on or off the kill switch.

Supported Platforms : M210V2, M300

Parameters

cmd	enable or disable the kill switch
wait_timeout	timeout for blocking call
debugMsg	inject debug message to flight control FW for logging, size limit: 10 bytes

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ obtainJoystickCtrlAuthorityAsync()

void FlightController::obtainJoystickCtrlAuthorityAsync	(	void(*)(ErrorCode::ErrorCodeType, UserData userData)	userCB,
		UserData	userData,
		int	timeout,
		int	retryTime
	)

Obtain the control authority of the api (non-blocking call)

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ obtainJoystickCtrlAuthoritySync()

ErrorCode::ErrorCodeType FlightController::obtainJoystickCtrlAuthoritySync ( int timeout )

Obtain the control authority of the api (blocking call)

Supported Platforms : M210V2, M300

Parameters

timeout time(s) to wait for ACK

◆ releaseJoystickCtrlAuthorityAsync()

void FlightController::releaseJoystickCtrlAuthorityAsync	(	void(*)(ErrorCode::ErrorCodeType, UserData userData)	userCB,
		UserData	userData,
		int	timeout,
		int	retryTime
	)

Release the control authority of the api (non-blocking call)

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ releaseJoystickCtrlAuthoritySync()

ErrorCode::ErrorCodeType FlightController::releaseJoystickCtrlAuthoritySync ( int timeout )

Release the control authority of the api (blocking call)

Supported Platforms : M210V2, M300

Parameters

timeout time(s) to wait for ACK

◆ setCollisionAvoidanceEnabledAsync()

void FlightController::setCollisionAvoidanceEnabledAsync	(	AvoidEnable	avoidEnable,
		void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set collision avoidance enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

avoidEnable	AvoidEnable, AVOID_DISABLE: disable, AVOID_ENABLE: enable
UserCallBack	callback function defined by user retCode OSDK ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setCollisionAvoidanceEnabledSync()

ErrorCode::ErrorCodeType FlightController::setCollisionAvoidanceEnabledSync	(	AvoidEnable	avoidEnable,
		int	timeout
	)

Set collision avoidance enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

avoidEnable	AvoidEnable, AVOID_DISABLE: disable, AVOID_ENABLE: enable
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ setGoHomeAltitudeAsync()

void FlightController::setGoHomeAltitudeAsync	(	GoHomeHeight	altitude,
		void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set go home altitude, non-blocking calls.

Supported Platforms : M210V2, M300

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. The details could be find in the documentation. Go home altitude setting is between MIN_GO_HOME_HEIGHT to MAX_FLIGHT_HEIGHT.

Parameters

altitude	go home altitude settings, unit: meter
UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setGoHomeAltitudeSync()

ErrorCode::ErrorCodeType FlightController::setGoHomeAltitudeSync	(	GoHomeHeight	altitude,
		int	timeout
	)

Set go home altitude, blocking calls.

Supported Platforms : M210V2, M300

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. The details could be find in the documentation. Go home altitude setting is between MIN_GO_HOME_HEIGHT to MAX_FLIGHT_HEIGHT.

Parameters

altitude	go home altitude settings, unit: meter
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ setHomeLocationAsync()

void FlightController::setHomeLocationAsync	(	HomeLocation	homeLocation,
		void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set customized GPS(not RTK) home location, non-blocking calls.

Supported Platforms : M210V2, M300

Note

Set customized home location failed reasons may as follows:

The distance between new home location and last home location is larger than MAX_FLY_RADIUS(20km)
Set init home location failed after start aircraft.

Parameters

homeLocation	HomeLocation include latitude and longitude
UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setHomeLocationSync()

ErrorCode::ErrorCodeType FlightController::setHomeLocationSync	(	HomeLocation	homeLocation,
		int	timeout
	)

Set customized GPS(not RTK) home location, blocking calls.

Supported Platforms : M210V2, M300

Note

Set customized home location failed reason may as follows:

The distance between new home location and last home location is larger than MAX_FLY_RADIUS(20km).
Set init home location failed after start aircraft.

Parameters

homeLocation	HomeLocation include latitude and longitude
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ setHomeLocationUsingCurrentAircraftLocationAsync()

void FlightController::setHomeLocationUsingCurrentAircraftLocationAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set home location using current aircraft GPS(not RTK) location, non-blocking calls.

Supported Platforms : M210V2, M300

Note

Set home location failed reasons may as follows:

Aircraft's gps level can't reach the condition of recording home location.
There's no init home location before you set.

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setHomeLocationUsingCurrentAircraftLocationSync()

ErrorCode::ErrorCodeType FlightController::setHomeLocationUsingCurrentAircraftLocationSync ( int timeout )

Set home location using current aircraft GPS(not RTK) location, blocking calls.

Supported Platforms : M210V2, M300

Note

Set home location failed reasons may as follows:

Aircraft's gps level can't reach the condition of recording home location.
Set init home location failed after start aircraft.

Parameters

timeout blocking timeout in seconds

◆ setJoystickCommand()

void FlightController::setJoystickCommand ( const JoystickCommand & JoystickCommand )

Wrapper function for set joystick command, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

JoystickCommand FlightController::JoystickCommand include x, y, z and yaw's command.

◆ setJoystickMode()

void FlightController::setJoystickMode ( const JoystickMode & joystickMode )

Wrapper function for set joystick mode, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

JoystickMode FlightController::JoystickMode include horizontal logic,vertical logic,yaw logic, horizontal coordinate, stable mode.

◆ setRtkEnableAsync()

void FlightController::setRtkEnableAsync	(	RtkEnabled	rtkEnable,
		void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set RTK enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

rtkEnable	reference in RtkEnabled, RTK_DISABLE: disable, RTK_ENABLE: enable
UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setRtkEnableSync()

ErrorCode::ErrorCodeType FlightController::setRtkEnableSync	(	RtkEnabled	rtkEnable,
		int	timeout
	)

Set RTK enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

rtkEnable	reference in RtkEnabled, RTK_DISABLE: disable, RTK_ENABLE: enable
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ setUpwardsAvoidanceEnabledAsync()

void FlightController::setUpwardsAvoidanceEnabledAsync	(	UpwardsAvoidEnable	upwardsAvoidEnable,
		void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Set upwards avoidance enable or disable, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

upwardsAvoidEnable	UpwardsAvoidEnable UPWARDS_AVOID_DISABLE: disable, UPWARDS_AVOID_ENABLE: enable
UserCallBack	callback function defined by user retCode OSDK ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ setUpwardsAvoidanceEnabledSync()

ErrorCode::ErrorCodeType FlightController::setUpwardsAvoidanceEnabledSync	(	UpwardsAvoidEnable	upwardsAvoidEnable,
		int	timeout
	)

Set upwards avoidance enable or disable, blocking calls.

Supported Platforms : M210V2, M300

Parameters

UpwardsAvoidEnable	UpwardsAvoidEnable UPWARDS_AVOID_DISABLE: disable, UPWARDS_AVOID_ENABLE: enable
timeout	blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ startConfirmLandingAsync()

void FlightController::startConfirmLandingAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for aircraft confirm landing and avoid ground, non-blocking calls.

Supported Platforms : M210V2, M300

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 use for confirm landing. If the ground is not suitable for landing ,user must use RC to control it landing manually or force landing.

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ startConfirmLandingSync()

ErrorCode::ErrorCodeType FlightController::startConfirmLandingSync ( int timeout )

Wrapper function for aircraft confirm landing and avoid ground, blocking calls.

Supported Platforms : M210V2, M300

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 use for confirm landing. If the ground is not suitable for landing ,user must use RC to control it landing manually or force landing.

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ startForceLandingAsync()

void FlightController::startForceLandingAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for aircraft force landing, non-blocking calls.

Supported Platforms : M210V2, M300

Note: This api will ignore the smart landing function, when use this api, it will landing directly (would not stop at 0.7m and wait user's command),it may make the aircraft crash.

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ startForceLandingSync()

ErrorCode::ErrorCodeType FlightController::startForceLandingSync ( int timeout )

Wrapper function for aircraft force landing, blocking calls.

Supported Platforms : M210V2, M300

Note: This api will ignore the smart landing function, when use this api, it will landing directly (would not stop at 0.7m and wait user's command),it may make the aircraft crash.

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ startGoHomeAsync()

void FlightController::startGoHomeAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for go home action, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ startGoHomeSync()

ErrorCode::ErrorCodeType FlightController::startGoHomeSync ( int timeout )

Wrapper function for go home action, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ startLandingAsync()

void FlightController::startLandingAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for aircraft landing, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ startLandingSync()

ErrorCode::ErrorCodeType FlightController::startLandingSync ( int timeout )

Wrapper function for aircraft landing, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ startTakeoffAsync()

void FlightController::startTakeoffAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for aircraft takeoff, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ startTakeoffSync()

ErrorCode::ErrorCodeType FlightController::startTakeoffSync ( int timeout )

Wrapper function for aircraft takeoff, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ turnOffMotorsAsync()

void FlightController::turnOffMotorsAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for turn off motors, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ turnOffMotorsSync()

ErrorCode::ErrorCodeType FlightController::turnOffMotorsSync ( int timeout )

Wrapper function for turn off motors, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

◆ turnOnMotorsAsync()

void FlightController::turnOnMotorsAsync	(	void(*)(ErrorCode::ErrorCodeType retCode, UserData userData)	UserCallBack,
		UserData	userData
	)

Wrapper function for turn on motors, non-blocking calls.

Supported Platforms : M210V2, M300

Parameters

UserCallBack	callback function defined by user retCode ErrorCode::ErrorCodeType error code userData the interface to transfer userData in when the callback is called
userData	when UserCallBack is called, used in UserCallBack

◆ turnOnMotorsSync()

ErrorCode::ErrorCodeType FlightController::turnOnMotorsSync ( int timeout )

Wrapper function for turn on motors, blocking calls.

Supported Platforms : M210V2, M300

Parameters

timeout blocking timeout in seconds

Returns: ErrorCode::ErrorCodeType error code

The documentation for this class was generated from the following files:

osdk-core/api/inc/dji_flight_controller.hpp
osdk-core/api/src/dji_flight_controller.cpp

Onboard SDK

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ GoHomeHeight

◆ RtkEnabled

Member Function Documentation

◆ cancelGoHomeAsync()

◆ cancelGoHomeSync()

◆ cancelLandingAsync()

◆ cancelLandingSync()

◆ emergencyBrakeAction()

◆ getCollisionAvoidanceEnabledAsync()

◆ getCollisionAvoidanceEnabledSync()

◆ getGoHomeAltitudeAsync()

◆ getGoHomeAltitudeSync()

◆ getJoystickCommand()

◆ getJoystickMode()

◆ getRtkEnableAsync()

◆ getRtkEnableSync()

◆ getUpwardsAvoidanceEnabledAsync()

◆ getUpwardsAvoidanceEnabledSync()

◆ joystickAction()

◆ killSwitch()

◆ obtainJoystickCtrlAuthorityAsync()

◆ obtainJoystickCtrlAuthoritySync()

◆ releaseJoystickCtrlAuthorityAsync()

◆ releaseJoystickCtrlAuthoritySync()

◆ setCollisionAvoidanceEnabledAsync()

◆ setCollisionAvoidanceEnabledSync()

◆ setGoHomeAltitudeAsync()

◆ setGoHomeAltitudeSync()

◆ setHomeLocationAsync()

◆ setHomeLocationSync()

◆ setHomeLocationUsingCurrentAircraftLocationAsync()

◆ setHomeLocationUsingCurrentAircraftLocationSync()

◆ setJoystickCommand()

◆ setJoystickMode()

◆ setRtkEnableAsync()

◆ setRtkEnableSync()

◆ setUpwardsAvoidanceEnabledAsync()

◆ setUpwardsAvoidanceEnabledSync()

◆ startConfirmLandingAsync()

◆ startConfirmLandingSync()

◆ startForceLandingAsync()

◆ startForceLandingSync()

◆ startGoHomeAsync()

◆ startGoHomeSync()

◆ startLandingAsync()

◆ startLandingSync()

◆ startTakeoffAsync()

◆ startTakeoffSync()

◆ turnOffMotorsAsync()

◆ turnOffMotorsSync()

◆ turnOnMotorsAsync()

◆ turnOnMotorsSync()