Rohit Sant
554 linhas
21 KiB
C++
554 linhas
21 KiB
C++
/** @file dji_error.hpp
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* @version 3.3
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* @date April 2017
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*
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* @brief All DJI OSDK OpenProtocol ACK Error Codes
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*
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* @copyright 2017 DJI. All rights reserved.
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*
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*/
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#ifndef DJI_ERROR_H
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#define DJI_ERROR_H
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#include <stdint.h>
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namespace DJI
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{
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namespace OSDK
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{
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/*! @class ErrorCode contains all the acknowledgments sent by the aircraft
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* @details Each component of the SDK has its own subclass defined within the
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* ErrorCode class.
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*/
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class ErrorCode
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{
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public:
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/*!
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* @brief Common ACK Error Codes
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*/
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class CommonACK
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{
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public:
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const static uint16_t SUCCESS;
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const static uint16_t KEY_ERROR;
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const static uint16_t NO_AUTHORIZATION_ERROR;
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const static uint16_t NO_RIGHTS_ERROR;
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const static uint16_t NO_RESPONSE_ERROR;
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// These error codes would return either from
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// CMDSet Control::Task or from Missions
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const static uint8_t MOTOR_FAIL_NONE;
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/*! The compass being used appears as follows: <br>
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* (1) The compass data has too much noise. <br>
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* (2) The compass data is stuck. <br>
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* (3) The compass is disconnected. <br>
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* (4) Compass user compilation error. <br>
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* For the flight control of N3, A3 and M600, there are
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* more situations: <br>
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* (5) The compass is disturbed. <br>
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* (6) Multiple compasses point different directions. <br>
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* (7) Compass calibration failed. <br>
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* (8) The compass is not calibrated. */
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const static uint8_t MOTOR_FAIL_COMPASS_ABNORMAL;
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/*! The aircraft is connected to the software for debugging parameters via
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the
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USB cable. */
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const static uint8_t MOTOR_FAIL_ASSISTANT_PROTECTED;
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/*! The structure of the parameter list has changed after the FW upgrade.*/
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const static uint8_t MOTOR_FAIL_DEVICE_LOCKED;
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/*! The IMU being used appears as follows: <br>
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* (1) The accelerometer output exceeds its range. <br>
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* (2) The accelerometer is stuck. <br>
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* (3) The accelerometer data has too much noise. <br>
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* (4) The accelerometer outputs illegal floating numbers. <br>
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* (5) The factory data of IMU has exception. <br>
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* (6) Multiple accelerometers output differently. <br>
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* (7) The temperature of the IMU is too high. <br>
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* (8) The temperature of the IMU is very high. <br>
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* (9) The gyro output exceeds its range. <br>
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* (10) The gyro is stuck. <br>
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* (11) The gyro data has too much noise. <br>
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* (12) The gyro outputs illegal floating numbers. <br>
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* (13) Multiple accelerometers output differently. <br>
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* (14) The temperature control of gyro is abnormal. <br>
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* For the flight control of Inspire 2, there are more situations: <br>
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* (15)The default IMU exception causes the switch to backup IMU.*/
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const static uint8_t MOTOR_FAIL_IMU_NEED_ADV_CALIBRATION;
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/*! The SN status is wrong. */
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const static uint8_t MOTOR_FAIL_IMU_SN_ERROR;
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/*! The IMU being used is preheated and current temperature is not wihin the
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calibration range. */
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const static uint8_t MOTOR_FAIL_IMU_PREHEATING;
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const static uint8_t MOTOR_FAIL_COMPASS_CALIBRATING;
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const static uint8_t MOTOR_FAIL_IMU_NO_ATTITUDE;
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/*! The aircraft is in Novice Mode without gps. */
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const static uint8_t MOTOR_FAIL_NO_GPS_IN_NOVICE_MODE;
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const static uint8_t MOTOR_FAIL_BATTERY_CELL_ERROR;
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const static uint8_t MOTOR_FAIL_BATTERY_COMMUNICATION_ERROR;
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const static uint8_t MOTOR_FAIL_BATTERY_VOLTAGE_TOO_LOW;
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/*! The volume (%) is below the second-level power set by user. */
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const static uint8_t MOTOR_FAIL_BATTERY_USER_LOW_LAND;
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/*! The voltage is below the second-level power set by user. */
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const static uint8_t MOTOR_FAIL_BATTERY_MAIN_VOL_LOW;
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const static uint8_t MOTOR_FAIL_BATTERY_TEMP_VOL_LOW;
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/*! Flight contol calculates that current power is only adequate to land.*/
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const static uint8_t MOTOR_FAIL_BATTERY_SMART_LOW_LAND;
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/*! This error occurs whin 7s after power up.
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* Also, it occurs if the battery certification hasn't passed yet.*/
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const static uint8_t MOTOR_FAIL_BATTERY_NOT_READY;
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const static uint8_t MOTOR_FAIL_RUNNING_SIMULATOR;
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/*! The aircraft (Inspire series) is setting itself to packing config.*/
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const static uint8_t MOTOR_FAIL_PACK_MODE;
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const static uint8_t MOTOR_FAIL_IMU_ATTI_LIMIT;
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const static uint8_t MOTOR_FAIL_NOT_ACTIVATED;
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const static uint8_t MOTOR_FAIL_IN_FLYLIMIT_AREA;
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/*! The IMU is too biased if the gyro's bias is over 0.03rad/s
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* or the accelerometer's bias is over 50 mg when first started up.*/
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const static uint8_t MOTOR_FAIL_IMU_BIAS_LIMIT;
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const static uint8_t MOTOR_FAIL_ESC_ERROR;
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/*! The IMU is initializing.The attitude data of the current
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* navigation system has not converged yet and the height
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* data of the current navigation system is not ready.*/
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const static uint8_t MOTOR_FAIL_IMU_INITING;
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const static uint8_t MOTOR_FAIL_UPGRADING;
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/*! The simulator has already been run.*/
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const static uint8_t MOTOR_FAIL_HAVE_RUN_SIM;
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/*! The IMU is in calibration or the aircraft should reset after IMU
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calibration.*/
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const static uint8_t MOTOR_FAIL_IMU_CALIBRATING;
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const static uint8_t MOTOR_FAIL_TAKEOFF_TILT_TOO_LARGE;
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const static uint8_t MOTOR_FAIL_RESERVED_31;
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const static uint8_t MOTOR_FAIL_RESERVED_32;
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const static uint8_t MOTOR_FAIL_RESERVED_33;
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const static uint8_t MOTOR_FAIL_RESERVED_34;
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const static uint8_t MOTOR_FAIL_RESERVED_35;
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const static uint8_t MOTOR_FAIL_RESERVED_36;
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const static uint8_t MOTOR_FAIL_RESERVED_37;
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const static uint8_t MOTOR_FAIL_RESERVED_38;
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const static uint8_t MOTOR_FAIL_RESERVED_39;
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const static uint8_t MOTOR_FAIL_RESERVED_40;
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/*! invalid serial number */
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const static uint8_t MOTOR_FAIL_INVALID_SN;
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const static uint8_t MOTOR_FAIL_RESERVED_42;
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const static uint8_t MOTOR_FAIL_RESERVED_43;
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/*! accessing flash data, MCU is blocked */
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const static uint8_t MOTOR_FAIL_FLASH_OPERATING;
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const static uint8_t MOTOR_FAIL_GPS_DISCONNECT;
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const static uint8_t MOTOR_FAIL_INTERNAL_46;
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/*! SD card has an exception. Please repair SD card if repeats after
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* reset.*/
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const static uint8_t MOTOR_FAIL_RECORDER_ERROR;
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/*! The firmware is unmatched with configured type.*/
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const static uint8_t MOTOR_FAIL_INVALID_PRODUCT;
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const static uint8_t MOTOR_FAIL_RESERVED_49;
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const static uint8_t MOTOR_FAIL_RESERVED_50;
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const static uint8_t MOTOR_FAIL_RESERVED_51;
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const static uint8_t MOTOR_FAIL_RESERVED_52;
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const static uint8_t MOTOR_FAIL_RESERVED_53;
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const static uint8_t MOTOR_FAIL_RESERVED_54;
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const static uint8_t MOTOR_FAIL_RESERVED_55;
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const static uint8_t MOTOR_FAIL_RESERVED_56;
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const static uint8_t MOTOR_FAIL_RESERVED_57;
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const static uint8_t MOTOR_FAIL_RESERVED_58;
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const static uint8_t MOTOR_FAIL_RESERVED_59;
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const static uint8_t MOTOR_FAIL_RESERVED_60;
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const static uint8_t MOTOR_FAIL_IMU_DISCONNECTED;
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const static uint8_t MOTOR_FAIL_RC_CALIBRATING;
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const static uint8_t MOTOR_FAIL_RC_CALI_DATA_OUT_RANGE;
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const static uint8_t MOTOR_FAIL_RC_QUIT_CALI;
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const static uint8_t MOTOR_FAIL_RC_CENTER_OUT_RANGE;
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const static uint8_t MOTOR_FAIL_RC_MAP_ERROR;
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/*! The aircraft type in flash is unmatched with the type in firmware. <br>
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* Please check the aircraft type.*/
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const static uint8_t MOTOR_FAIL_WRONG_AIRCRAFT_TYPE;
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const static uint8_t MOTOR_FAIL_SOME_MODULE_NOT_CONFIGURED;
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const static uint8_t MOTOR_FAIL_RESERVED_69;
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const static uint8_t MOTOR_FAIL_RESERVED_70;
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const static uint8_t MOTOR_FAIL_RESERVED_71;
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const static uint8_t MOTOR_FAIL_RESERVED_72;
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const static uint8_t MOTOR_FAIL_RESERVED_73;
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/*! navigation system abnormal */
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const static uint8_t MOTOR_FAIL_NS_ABNORMAL;
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/*! Each craft has a set of devices to register. <br>
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* It won't take off if a class of device is missing. Please reset and check
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* the connection.*/
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const static uint8_t MOTOR_FAIL_TOPOLOGY_ABNORMAL;
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const static uint8_t MOTOR_FAIL_RC_NEED_CALI;
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/*! invalid data, system will block motor spinning */
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const static uint8_t MOTOR_FAIL_INVALID_FLOAT;
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const static uint8_t MOTOR_FAIL_M600_BAT_TOO_FEW;
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const static uint8_t MOTOR_FAIL_M600_BAT_AUTH_ERR;
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const static uint8_t MOTOR_FAIL_M600_BAT_COMM_ERR;
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/*! Battery voltage difference is too large. Please check the battery
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status.*/
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const static uint8_t MOTOR_FAIL_M600_BAT_DIF_VOLT_LARGE_1;
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const static uint8_t MOTOR_FAIL_BATTERY_BOLTAHGE_DIFF_82;
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const static uint8_t MOTOR_FAIL_INVALID_VERSION;
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/*! There is an gimbal attitude error which happens only in M600.*/
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const static uint8_t MOTOR_FAIL_GIMBAL_GYRO_ABNORMAL;
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const static uint8_t MOTOR_FAIL_GIMBAL_ESC_PITCH_NO_DATA;
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const static uint8_t MOTOR_FAIL_GIMBAL_ESC_ROLL_NO_DATA;
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const static uint8_t MOTOR_FAIL_GIMBAL_ESC_YAW_NO_DATA;
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const static uint8_t MOTOR_FAIL_GIMBAL_FIRM_IS_UPDATING;
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const static uint8_t MOTOR_FAIL_GIMBAL_OUT_OF_CONTROL;
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/*! The gimbal has self-oscillation in the pitch direction. <br>
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* Please lock the camera or reduce the gimbal sensitivity.*/
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const static uint8_t MOTOR_FAIL_GIMBAL_PITCH_SHOCK;
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/*! The gimbal has self-oscillation in the roll direction. <br>
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* Please lock the camera or reduce the gimbal sensitivity.*/
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const static uint8_t MOTOR_FAIL_GIMBAL_ROLL_SHOCK;
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/*! The gimbal has self-oscillation in the yaw direction. <br>
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* Please lock the camera or reduce the gimbal sensitivity.*/
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const static uint8_t MOTOR_FAIL_GIMBAL_YAW_SHOCK;
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/*! IMU calibration finished. Please reset aircraft.*/
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const static uint8_t MOTOR_FAIL_IMU_CALI_SUCCESS;
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const static uint8_t MOTOR_FAIL_TAKEOFF_EXCEPTION;
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/*! The motor is locked. Please check the status of the motors and blades.*/
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const static uint8_t MOTOR_FAIL_ESC_STALL_NEAR_GOUND;
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/*! The feedback speed of motor is different with the input command.*/
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const static uint8_t MOTOR_FAIL_ESC_UNBALANCE_ON_GRD;
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/*! There are some no-load motors. Please check the status of the motors and
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blades.*/
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const static uint8_t MOTOR_FAIL_ESC_PART_EMPTY_ON_GRD;
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/*! During starting, the speed of any motor is less than the minimum
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* starting
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* speed. <br>
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* For N3 and A3, the minimum starting speed is 100rpm. <br>
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* For M600, the minimum starting speed is 700rpm. <br>
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* For other aircrafts, the minimum starting speed is 1100rpm.*/
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const static uint8_t MOTOR_FAIL_ENGINE_START_FAILED;
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const static uint8_t MOTOR_FAIL_AUTO_TAKEOFF_LAUNCH_FAILED;
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const static uint8_t MOTOR_FAIL_ROLL_OVER_ON_GRD;
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const static uint8_t MOTOR_FAIL_BAT_VERSION_ERR;
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const static uint8_t MOTOR_FAIL_RTK_INITING;
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/*! rtk yaw and magnetometer yaw misaligned */
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const static uint8_t MOTOR_FAIL_RTK_FAIL_TO_INIT;
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const static uint8_t MOTOR_FAIL_RESERVED_104;
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const static uint8_t MOTOR_FAIL_RESERVED_105;
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const static uint8_t MOTOR_FAIL_RESERVED_106;
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const static uint8_t MOTOR_FAIL_RESERVED_107;
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const static uint8_t MOTOR_FAIL_RESERVED_108;
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const static uint8_t MOTOR_FAIL_RESERVED_109;
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/*! The motor status shows the motor has been started.*/
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const static uint8_t START_MOTOR_FAIL_MOTOR_STARTED;
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const static uint8_t MOTOR_FAIL_INTERNAL_111;
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const static uint8_t MOTOR_FAIL_ESC_CALIBRATING;
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const static uint8_t MOTOR_FAIL_GPS_SIGNATURE_INVALID;
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const static uint8_t MOTOR_FAIL_GIMBAL_CALIBRATING;
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/*! The aircraft is force locked by APP.*/
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const static uint8_t MOTOR_FAIL_FORCE_DISABLE;
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/*! The height of the takeoff is abnormal. <br>
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* This error happens when the takeoff height relative to ground is up to
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* 100m.*/
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const static uint8_t TAKEOFF_HEIGHT_EXCEPTION;
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const static uint8_t MOTOR_FAIL_ESC_NEED_UPGRADE;
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/*! IMU direction is misaligned.*/
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const static uint8_t MOTOR_FAIL_GYRO_DATA_NOT_MATCH;
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/*! APP stops the takeoff.*/
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const static uint8_t MOTOR_FAIL_APP_NOT_ALLOW;
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const static uint8_t MOTOR_FAIL_COMPASS_IMU_MISALIGN;
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const static uint8_t MOTOR_FAIL_FLASH_UNLOCK;
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/*! The ESC is in the buzzing mode.*/
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const static uint8_t MOTOR_FAIL_ESC_SCREAMING;
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const static uint8_t MOTOR_FAIL_ESC_TEMP_HIGH;
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/*! The battery is not in place. */
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const static uint8_t MOTOR_FAIL_BAT_ERR;
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/*! The aircraft detects an impact if the measured value of
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* accelerometer exceeds 8g near ground.*/
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const static uint8_t IMPACT_IS_DETECTED;
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/*! Under the P stall, the aircraft mode degenerates to the Attitude mode.*/
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const static uint8_t MOTOR_FAIL_MODE_FAILURE;
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/*! The aircraft recently had an error of NO. 125.*/
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const static uint8_t MOTOR_FAIL_CRAFT_FAIL_LATELY;
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/*! The code logic is illegal.*/
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const static uint8_t MOTOR_FAIL_MOTOR_CODE_ERROR;
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/*! @brief Flight Status enum
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* @note this is not just an acknowledgement,
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* it is also a DataBroadcast/DataSubscription telemetry message.
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*
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*/
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typedef struct FlightStatus
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{
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const static uint8_t STOPED;
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const static uint8_t ON_GROUND;
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const static uint8_t IN_AIR;
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} FlightStatus;
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};
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/*!
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* @brief CMDSet: Activation ACK Error Codes
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*/
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class ActivationACK
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{
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public:
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const static uint16_t SUCCESS;
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const static uint16_t PARAMETER_ERROR;
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const static uint16_t ENCODE_ERROR;
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const static uint16_t NEW_DEVICE_ERROR;
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const static uint16_t DJIGO_APP_NOT_CONNECTED;
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const static uint16_t NETWORK_ERROR;
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const static uint16_t SERVER_ACCESS_REFUSED;
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const static uint16_t ACCESS_LEVEL_ERROR;
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const static uint16_t OSDK_VERSION_ERROR;
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};
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/*!
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* @brief CMDSet: Control ACK Error Codes
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*/
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class ControlACK
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{
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public:
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/*!
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* @brief CMDID: SetControl
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*/
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typedef struct SetControl
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{
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const static uint16_t RC_MODE_ERROR;
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const static uint16_t RELEASE_CONTROL_SUCCESS;
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const static uint16_t OBTAIN_CONTROL_SUCCESS;
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const static uint16_t OBTAIN_CONTROL_IN_PROGRESS;
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const static uint16_t RELEASE_CONTROL_IN_PROGRESS;
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const static uint16_t RC_NEED_MODE_F;
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const static uint16_t RC_NEED_MODE_P;
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const static uint16_t IOC_OBTAIN_CONTROL_ERROR;
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} SetControl;
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/*!
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* @note New 3.3 release
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*
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* @brief CMDID: Task
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*/
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typedef struct Task
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{
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const static uint16_t SUCCESS;
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const static uint16_t MOTOR_ON;
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const static uint16_t MOTOR_OFF;
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const static uint16_t IN_AIR;
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const static uint16_t NOT_IN_AIR;
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const static uint16_t NO_HOMEPOINT;
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const static uint16_t BAD_GPS;
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// Do not consider as error?
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const static uint16_t IN_SIMULATOR_MODE;
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const static uint16_t ALREADY_RUNNING;
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const static uint16_t NOT_RUNNING;
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const static uint16_t INVAILD_COMMAND;
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const static uint16_t NO_LANDING_GEAR;
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// Do not consider as error?
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const static uint16_t GIMBAL_MOUNTED;
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const static uint16_t BAD_SENSOR;
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const static uint16_t ALREADY_PACKED;
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const static uint16_t NO_PACKED;
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const static uint16_t PACKED_MODE_NOT_SUPPORTED;
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} Task;
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}; // Control class
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/*!
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* @note New in 3.3 release
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*
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* @brief CMDSet: Subscribe
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*/
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class SubscribeACK
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{
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public:
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const static uint8_t SUCCESS;
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const static uint8_t ILLEGAL_INPUT;
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const static uint8_t VERSION_DOES_NOT_MATCH;
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const static uint8_t PACKAGE_OUT_OF_RANGE;
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const static uint8_t PACKAGE_ALREADY_EXISTS;
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const static uint8_t PACKAGE_DOES_NOT_EXIST;
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const static uint8_t ILLEGAL_FREQUENCY;
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const static uint8_t PACKAGE_TOO_LARGE;
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const static uint8_t PIPELINE_OVERFLOW;
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const static uint8_t INTERNAL_ERROR_0X09;
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const static uint8_t PACKAGE_EMPTY;
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const static uint8_t INPUT_SEGMENTATION_FAULT;
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const static uint8_t ILLEGAL_UID;
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const static uint8_t PERMISSION_DENY;
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const static uint8_t MULTIPLE_SUBSCRIBE;
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const static uint8_t SOUCE_DEVICE_OFFLINE;
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const static uint8_t PAUSED;
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const static uint8_t RESUMED;
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const static uint8_t INTERNAL_ERROR_0X4A;
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const static uint8_t INTERNAL_ERROR_0X50;
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const static uint8_t VERSION_VERSION_TOO_FAR;
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const static uint8_t VERSION_UNKNOWN_ERROR;
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const static uint8_t INTERNAL_ERROR_0XFF;
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};
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/*!
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* @brief Mission ACK Error Codes
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*/
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class MissionACK
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{
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public:
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/*! @brief Common Mission ACK codes
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*
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*/
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typedef struct Common
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{
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const static uint8_t SUCCESS;
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const static uint8_t WRONG_WAYPOINT_INDEX;
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const static uint8_t RC_NOT_IN_MODE_F;
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const static uint8_t OBTAIN_CONTROL_REQUIRED;
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const static uint8_t CLOSE_IOC_REQUIRED;
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const static uint8_t NOT_INITIALIZED;
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const static uint8_t NOT_RUNNING;
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|
const static uint8_t IN_PROGRESS;
|
|
/*!Estimated time needed to perform a task is greater
|
|
* than the flight time left*/
|
|
const static uint8_t TASK_TIMEOUT;
|
|
const static uint8_t OTHER_MISSION_RUNNING;
|
|
/*!GPS signal GPS_LEVEL < 3*/
|
|
const static uint8_t BAD_GPS;
|
|
const static uint8_t RTK_NOT_READY;
|
|
/*!Battery beyond first-stage voltage for non-smart battery
|
|
* OR first-stage volume for smart battery*/
|
|
const static uint8_t LOW_BATTERY;
|
|
const static uint8_t VEHICLE_DID_NOT_TAKE_OFF;
|
|
const static uint8_t INVALID_PARAMETER;
|
|
/*!Execution condition is not satisfied
|
|
* @note Aircraft not in one of the following modes:
|
|
* Assist Takeoff
|
|
* Auto Takeoff
|
|
* Auto Landing
|
|
* Go Home
|
|
*/
|
|
const static uint8_t CONDITIONS_NOT_SATISFIED;
|
|
const static uint8_t CROSSING_NO_FLY_ZONE;
|
|
/*!HomePoint not recorded*/
|
|
const static uint8_t UNRECORDED_HOME;
|
|
const static uint8_t AT_NO_FLY_ZONE;
|
|
/*!Height is too high (higher than MAX flying height
|
|
* set by user (default: 120m))*/
|
|
const static uint8_t TOO_HIGH;
|
|
/*!Height is too low (lower than 5m)*/
|
|
const static uint8_t TOO_LOW;
|
|
const static uint8_t TOO_FAR_FROM_HOME;
|
|
/*!Mission not supported*/
|
|
const static uint8_t NOT_SUPPORTED;
|
|
/*!Current position of aircraft is too far from the HotPoint
|
|
* or first point*/
|
|
const static uint8_t TOO_FAR_FROM_CURRENT_POSITION;
|
|
const static uint8_t BEGGINER_MODE_NOT_SUPPORTED;
|
|
const static uint8_t TAKE_OFF_IN_PROGRESS;
|
|
const static uint8_t LANDING_IN_PROGRESS;
|
|
const static uint8_t RRETURN_HOME_IN_PROGRESS;
|
|
const static uint8_t START_MOTORS_IN_PROGRESS;
|
|
const static uint8_t INVALID_COMMAND;
|
|
const static uint8_t UNKNOWN_ERROR;
|
|
} Common;
|
|
|
|
//! @brief Follow Mission ACK Error Code
|
|
typedef struct Follow
|
|
{
|
|
const static uint8_t TOO_FAR_FROM_YOUR_POSITION_LACK_OF_RADIO_CONNECTION;
|
|
const static uint8_t CUTOFF_TIME_OVERFLOW;
|
|
const static uint8_t GIMBAL_PITCH_ANGLE_OVERFLOW;
|
|
} Follow;
|
|
|
|
//! @brief HotPoint Mission ACK Error Code
|
|
typedef struct HotPoint
|
|
{
|
|
const static uint8_t INVALID_RADIUS;
|
|
const static uint8_t YAW_RATE_OVERFLOW;
|
|
/*
|
|
* Start point given by user during HotPoint mission initialization is
|
|
* invalid.
|
|
* Available options are :
|
|
* 0 - North to the HP
|
|
* 1 - South
|
|
* 2 - West
|
|
* 3 - East
|
|
* 4 - Nearest Point
|
|
*/
|
|
const static uint8_t INVALID_START_POINT;
|
|
const static uint8_t INVALID_YAW_MODE;
|
|
const static uint8_t TOO_FAR_FROM_HOTPOINT;
|
|
const static uint8_t INVALID_PAREMETER;
|
|
const static uint8_t INVALID_LATITUDE_OR_LONGITUTE;
|
|
const static uint8_t INVALID_DIRECTION;
|
|
const static uint8_t IN_PAUSED_MODE;
|
|
const static uint8_t FAILED_TO_PAUSE;
|
|
} HotPoint;
|
|
|
|
//! @brief WayPoint Mission ACK Error Code
|
|
typedef struct WayPoint
|
|
{
|
|
const static uint8_t INVALID_DATA;
|
|
const static uint8_t INVALID_POINT_DATA;
|
|
const static uint8_t DISTANCE_OVERFLOW;
|
|
const static uint8_t TIMEOUT;
|
|
const static uint8_t POINT_OVERFLOW;
|
|
const static uint8_t POINTS_TOO_CLOSE;
|
|
const static uint8_t POINTS_TOO_FAR;
|
|
const static uint8_t CHECK_FAILED;
|
|
const static uint8_t INVALID_ACTION;
|
|
const static uint8_t POINT_DATA_NOT_ENOUGH;
|
|
const static uint8_t DATA_NOT_ENOUGH;
|
|
const static uint8_t POINTS_NOT_ENOUGH;
|
|
const static uint8_t IN_PROGRESS;
|
|
const static uint8_t NOT_IN_PROGRESS;
|
|
const static uint8_t INVALID_VELOCITY;
|
|
} WayPoint;
|
|
|
|
//! @brief IOC ACK Mission Error Code
|
|
typedef struct IOC
|
|
{
|
|
const static uint8_t TOO_CLOSE_TO_HOME;
|
|
const static uint8_t UNKNOWN_TYPE;
|
|
} IOC;
|
|
|
|
}; // Class Mission
|
|
|
|
/*!
|
|
* @brief CMDSet: MFIO
|
|
* @note New in 3.3 release
|
|
*/
|
|
class MFIOACK
|
|
{
|
|
public:
|
|
/*!
|
|
* @brief CMDID: init
|
|
*/
|
|
typedef struct init
|
|
{
|
|
const static uint8_t SUCCESS;
|
|
const static uint8_t UNKNOWN_ERROR;
|
|
const static uint8_t PORT_NUMBER_ERROR;
|
|
const static uint8_t PORT_MODE_ERROR;
|
|
const static uint8_t PORT_DATA_ERROR;
|
|
} init;
|
|
|
|
/*!
|
|
* @brief CMDID: set
|
|
*/
|
|
typedef struct set
|
|
{
|
|
const static uint8_t SUCCESS;
|
|
/*!Port not exit or not an output configuration*/
|
|
const static uint8_t CHANNEL_ERROR;
|
|
/*! Port not map to f channel*/
|
|
const static uint8_t PORT_NOT_MAPPED_ERROR;
|
|
} set;
|
|
|
|
/*!
|
|
* @brief CMDID: get
|
|
*/
|
|
typedef struct get
|
|
{
|
|
const static uint8_t SUCCESS; //! @note Anything else is failure
|
|
} get;
|
|
|
|
}; // Class MFIO
|
|
|
|
}; // Class ErrorCode
|
|
|
|
} // namespace OSDK
|
|
} // namespace DJI
|
|
|
|
#endif /* DJI_ERROR_H */
|