This section provides API Reference for the DJI Onboard SDK (OSDK). The OSDK provides a set of APIs for implementing the various functionality available through the DJI Open Protocol on compatible products from the Matrice series and stand-alone flight controllers.
Introduction
Click on the Files/Classes/Modules tabs above to see more information about the API within the OSDK. To get started, follow the Getting Started section below.
The complete documentation for the SDK can be found on the DJI Developer Website.
Getting Started
To get started, click on the various links here to go to the API reference of the main features of the SDK
Vehicle Class
This is your most important resource for any SDK application - an object of type Vehicle instantiates a serial driver, threads, a protocol parser and objects for all the features described below.
Features
Developers can gain an end-to-end understanding of each feature, from the high-level ideas all the way to the API documentation, using this table:
| Component | Feature Documentation | Related API Groups | Description |
|---|---|---|---|
| Data Telemetry | Guide and Sample | Telemetry | Namespace encapsulating all telemetry topics and data structures |
| Broadcast | Class providing old broadcast-style push data telemetry (APIs and data structures) | ||
| Subscription | Class providing new subscription-style telemetry (APIs and data structures) | ||
| Flight Control | Guide and Sample | Control | Class with APIs & data structures for low-level control modes and high-level flight actions, this class will be replaced by FlightController step by step |
| FlightController | Class with APIs & data structures for flight assistant and flight actions. | ||
| GPS Missions | Guide and Sample | MissionManager | Manager class that handles waypoint and hotpoint mission instantiations. |
| HotpointMission | Class exposing APIs for GPS hotpoint (Point of Interest) missions | ||
| WaypointMission | Class exposing APIs for GPS waypoint missions (supported by M210 V2 and M210 RTK V2) | ||
| WaypointV2MissionOperator | Class exposing APIs for waypoint V2 missions (supported by M300 RTK) | ||
| Camera/Gimbal | Guide and Sample | Camera(Deprecated) | Class exposing camera action APIs & data structures |
| Gimbal(Deprecated) | Class exposing gimbal motion control APIs & data structures | ||
| Sample | CameraManager | Class exposing APIs & data structures for camera actions, parameters setting and getting | |
| GimbalManager | Class exposing APIs & data structures for gimbal actions | ||
| Multi-Function IO | Guide and Sample | MFIO | Class with APIs & data structures for configuring, reading from and writing to MFIO channels |
| Hardware Synchronization | Guide | HardwareSync | Class for configuring a hardware sync pulse from a physical port |
| Mobile SDK Communication | Guide and Sample | MobileDevice | Class providing APIs & data structures for upstream and downstream communication with the DJI Mobile SDK |
| Payload SDK Communication | Guide and Sample | PayloadDevice | Class providing APIs & data structures for upstream and downstream communication with the DJI Payload SDK |
| PSDKManager | Class providing APIs & data structures for upstream and downstream data and widgets values communication with the DJI Payload SDK | ||
| MOP | Guide | MopServer | Class providing APIs & data structures for acting as a MOP server |
| MopClient | Class providing APIs & data structures for acting as a MOP client(in PSDKManager) | ||
| Advanced Sensing | Guide and Sample | AdvancedSensing | Class providing access to stereo camera, FPV camera and main camera from M210 and M210-RTK |
| Status, Error and ACKs | Each API in this API reference documentation has corresponding ACKs & errors. Statuses are obtained from telemetry. | VehicleStatus | Enums for the flight mode, landing gear and API control mode |
| ErrorCode | Sub-Classes that group API return values by command set (equivalent to a component) | ||
| ACK | Class containing data structures for non-standard ACKs that a few APIs receive from the aircraft/FC | ||
| dji_mission_type.hpp | File containing data structures shared between GPS Mission commands (OSDK --> FC) and ACKs (FC --> OSDK) |