Rohit Sant
119 linhas
3.8 KiB
C++
119 linhas
3.8 KiB
C++
/** @file dji_gimbal.hpp
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* @version 3.3
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* @date April 2017
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*
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* @brief Gimbal API for OSDK library
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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 GIMBAL_H
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#define GIMBAL_H
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#include "dji_command.hpp"
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#include "dji_type.hpp"
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namespace DJI
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{
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namespace OSDK
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{
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// Forward Declaration
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class Vehicle;
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/*!
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* @brief The Gimbal class for controlling gimbal-related functions
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*/
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class Gimbal
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{
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public:
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#pragma pack(1)
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/*! @brief The Angle Data struct for gimbal control.
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The relationship bewteen the angle reference in absolute control mode and
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gimbal mode configuration in DJI Go App
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Gimbal Mode | Roll | Pitch | Yaw | Gimbal Follow UAV's Head
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---------- |--------- |--------- |----- |------------------
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Follow | Ground | Ground |Body | Y
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FPV | N/A | Ground | N/A | Y
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Free | Ground | Ground | Ground| N
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@note
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- Rotating 90 degree in pitch direction will cause gimbal lock
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problem, in which the value of roll and yaw are not reliable.
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- M600 with A3 only supports Ronin-MX/Zenmuse X5 Series/Zenmuse
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X3/Zenmuse XT when operating gimbal control in angle.
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*/
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typedef struct AngleData
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{
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int16_t yaw; /*!< Yaw angle, unit 0.1 degree , input range [-3200,3200] */
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int16_t roll; /*!< Roll angle, unit 0.1 degree, input range [-350,350] */
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int16_t pitch; /*!< Pitch angle, unit 0.1 degree, input range [-900,300] */
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uint8_t mode;
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// clang-format off
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/*!< Mode is 1 byte size:
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Bit #: | Set to 0: | Set to 1:
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------------- | ------------- | -------------
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bit 0 | Incremental control, the angle reference is the current Gimbal location | Absolute control, the angle reference is related to configuration in DJI Go App
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bit 1 | Gimbal will follow the command in Yaw | Gimbal will maintain position in Yaw
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bit 2 | Roll invalid bit, the same as bit[1] | Roll invalid bit, the same as bit[1]|
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bit 3 |Pitch invalid bit, the same as bit[1] | Pitch invalid bit, the same as bit[1]
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bit [4:7] | bit [4:7]: reserved, set to be 0| |
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*/
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// clang-format on
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uint8_t duration; /*!< Command completion time.
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- Unit 0.1s, for example 20 means gimbal will reach
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the commended postition in 2 seconds.
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- Rotate rate beyond 400º/s is not recommand */
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} AngleData; // pack(1)
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/*! @brief The Speed Data struct for gimbal control
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*
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* The angle reference frame is same in AngleData free mode.
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*/
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typedef struct SpeedData
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{
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int16_t yaw; /*!< Yaw in rate, unit 0.1 deg/s, input range[-1800,1800] */
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int16_t roll; /*!< Roll in rate, unit 0.1 deg/s, input range[-1800,1800] */
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int16_t
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pitch; /*!< Pitch in rate, unit 0.1 deg/s, input range[-1800,1800] */
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uint8_t reserved; /*!< @note always 0x80 */
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} SpeedData; // pack(1)
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#pragma pack()
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public:
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Gimbal(Vehicle* vehicle);
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~Gimbal();
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public:
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/*! @brief Function for setting Gimbal Angle
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*
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* Define the mode and the angles for the gimbal angle control in the
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* AngleData struct and pass it to setAngle().
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*
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* @param data AngleData struct containing all the angle values, mode
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* and duration
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* @return void
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*/
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void setAngle(Gimbal::AngleData* data);
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/*! @brief Function for setting Gimbal Speed
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*
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* Define the rate of change for the gimbal angle in SpeedData struct and
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* pass it to setSpeed();
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*
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* @param data SpeedData struct containing the roll, pitch and yaw
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* rates
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* @return void
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*/
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void setSpeed(Gimbal::SpeedData* data);
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private:
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Vehicle* vehicle;
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};
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} // OSDK
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} // DJI
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#endif // GIMBAL_H
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