DJI Mobile SDK Documentation

      class FlightControllerKey

      @Keep
      class FlightControllerKey extends DJIFlightControllerKey
      Package:dji.sdk.keyvalue.key
      Inherits From:DJIFlightControllerKey
      Description:

      FlightControllerKeyprovides a set of methods to set and get the flight controller parameters and behavior. The flight controller is a microcomputer. It is receiving the control data from aircraft and sensor data from transducers and combines them to adjust each blade power to fly. This class can get the aircraft attitude, aircraft state, flight mode, flight control settings, compass and IMU, etc.

      This class is supported since MSDK 5.0

      Class Members:

      Basic Information

      Connection Status
      final KeyConnection
      static final DJIKeyInfo<Boolean> KeyConnection = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"Connection", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means flight controller is connected.

      Supported since MSDK 5.0.0

      Flight Status
      final KeyIsFlying
      static final DJIKeyInfo<Boolean> KeyIsFlying = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsFlying", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      true means aircraft is in flight.

      Supported since MSDK 5.0.0

      final KeyFlightTimeInSeconds
      static final DJIKeyInfo<Integer> KeyFlightTimeInSeconds = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"FlightTimeInSeconds", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Accumulated flight time since the aircraft motor started. unit: 0.1s. Cleared after power on again.

      Supported since MSDK 5.0.0

      Aircraft Location
      final KeyAircraftLocation3D
      static final DJIKeyInfo<LocationCoordinate3D> KeyAircraftLocation3D = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"AircraftLocation3D", new DJIValueConverter<>(LocationCoordinate3D.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To get the position of the aircraft, including longitude, latitude and altitude.

      Supported since MSDK 5.0.0

      Aircraft Attitude Data
      final KeyAircraftAttitude
      static final DJIKeyInfo<Attitude> KeyAircraftAttitude = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"AircraftAttitude", new DJIValueConverter<>(Attitude.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("Attitude")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Attitude

      Current aircraft attitude data. The value range of pitch, roll and yaw are [-180,180]. if the value of pitch, roll and yaw are 0, it means that the aircraft will hover horizontally heading north.

      Supported since MSDK 5.0.0

      Aircraft Speed
      final KeyAircraftVelocity
      static final DJIKeyInfo<Velocity3D> KeyAircraftVelocity = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"AircraftVelocity", new DJIValueConverter<>(Velocity3D.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("Velocity")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Velocity3D

      Current flight speed of the aircraft using NED coordinate system.

      Supported since MSDK 5.0.0

      final KeyTakeoffLocationAltitude
      static final DJIKeyInfo<Double> KeyTakeoffLocationAltitude = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"TakeoffLocationAltitude", SingleValueConverter.DoubleConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Double

      The taking off altitude of aircraft. Unit:meter.

      Supported since MSDK 5.0.0

      final KeyIsLandingConfirmationNeeded
      static final DJIKeyInfo<Boolean> KeyIsLandingConfirmationNeeded = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsLandingConfirmationNeeded", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that when the aircraft landed 0.5 meters above the ground, the forced landing command KeyConfirmLanding should be sent to continue the landing process.

      Supported since MSDK 5.0.0

      final KeyFlightLogIndex
      static final DJIKeyInfo<Integer> KeyFlightLogIndex = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"FlightLogIndex", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the current index of the flight log, which is useful when one needs to find the corresponding flight log.

      Supported since MSDK 5.0.0

      Serial Number
      final KeySerialNumber
      static final DJIKeyInfo<String> KeySerialNumber = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"SerialNumber", SingleValueConverter.StringConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: String

      To get the serial number of flight controller.

      Supported since MSDK 5.0.0

      Firmware Version
      final KeyFirmwareVersion
      static final DJIKeyInfo<String> KeyFirmwareVersion = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"FirmwareVersion", SingleValueConverter.StringConverter).canGet(true).canSet(false).canListen(false).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: String

      To get the firmware version of flight controller.

      Supported since MSDK 5.0.0


      Sensor

      final KeyGPSSatelliteCount
      static final DJIKeyInfo<Integer> KeyGPSSatelliteCount = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"GPSSatelliteCount", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("SatelliteCount")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the number of GPS satellites. Usually the number can reach more than 12 when flying at a high altitude. When the period is good, the number can reach 18~19.

      Supported since MSDK 5.0.0

      final KeyGPSSignalLevel
      static final DJIKeyInfo<GPSSignalLevel> KeyGPSSignalLevel = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"GPSSignalLevel", new SingleValueConverter<>(GPSSignalLevel.class,FCGPSSignalLevelMsg.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: GPSSignalLevel

      To get the signal level of GPS.

      Supported since MSDK 5.0.0

      final KeyCompassCount
      static final DJIKeyInfo<Integer> KeyCompassCount = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"CompassCount", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the number of compass.

      Supported since MSDK 5.0.0

      final KeyCompassHeading
      static final DJIKeyInfo<Double> KeyCompassHeading = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"CompassHeading", SingleValueConverter.DoubleConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Double

      To get the heading of the compass. Unit: degree. The north is 0 degrees, the east is 90 degrees. The value range is [-180,180].

      Supported since MSDK 5.0.0

      final KeyCompassHasError
      static final DJIKeyInfo<Boolean> KeyCompassHasError = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"CompassHasError", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the compass data is wrong. When the aircraft is used in areas with strong interference or magnetic fields, compass data Key_Gimbal_RestoreFactorySettings might occur. KeyStartCompassCalibration should be called to calibrate compass.

      Supported since MSDK 5.0.0

      final KeyStartCompassCalibration
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStartCompassCalibration = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StartCompassCalibration", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To start compass calibration. Make sure there are not any magnets or metal objects near the aircraft and lift the aircraft to about 1.5m above the groud. Calibration status can be obtained through KeyCompassCalibrationStatus.
      The following is the operation process of compass calibration, taking M30 as an example:

    • 1. Call KeyStartCompassCalibration to start compass calibration, CompassCalibrationState will change to horizontal calibration stateHORIZONTAL, refer to the figure below to rotate the aircraft 360 degrees horizontally for horizontal calibration.
    • 2. After the horizontal calibration is successful, CompassCalibrationState will change to vertical calibration stateVERTICAL,refer to the figure below to rotate the aircraft 360 degrees vertically for vertical calibration.
    • 3. After the calibration is successful, CompassCalibrationState will change to success state SUCCEEDED.

    • note:
      Please do not start the compass calibration after the aircraft motor starts. call KeyAreMotorsOn to judge whether the aircraft motor starts.


      Supported since MSDK 5.0.0

      final KeyStopCompassCalibration
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStopCompassCalibration = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StopCompassCalibration", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To stop compass calibration.

      Supported since MSDK 5.0.0

      final KeyIsCompassCalibrating
      static final DJIKeyInfo<Boolean> KeyIsCompassCalibrating = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsCompassCalibrating", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the compass is calibrating.

      Supported since MSDK 5.0.0

      final KeyCompassCalibrationStatus
      static final DJIKeyInfo<CompassCalibrationState> KeyCompassCalibrationStatus = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"CompassCalibrationStatus", new SingleValueConverter<>(CompassCalibrationState.class,FCCompassCalibrationStateMsg.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("CompassCalibrationState")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: CompassCalibrationState

      To get compass calibration status.

      Supported since MSDK 5.0.0

      final KeyIMUCount
      static final DJIKeyInfo<Integer> KeyIMUCount = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IMUCount", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the number of IMU.

      Supported since MSDK 5.0.0

      final KeyStartIMUCalibration
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStartIMUCalibration = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StartIMUCalibration", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To start IMU calibration. For aircraft with multiple IMUs, this method will calibrate all IMUs. Calling KeyRebootDevice to restart the device after IMU calibration is suggested.

      The following is the operation process of IMU calibration:

    • 1. Call KeyStartIMUCalibration to start IMU calibration, and listen KeyIMUCalibrationInfo to get the IMU calibration information. IMUCalibrationState change to CALIBRATING indicates that IMU calibration is successfully started.
    • 2. Call getOrientationsToCalibrate to get the aircraft orientations that have not been calibrated yet. Reference to the figure in IMUCalibrationOrientation, place the aircraft in turn for IMU calibration in each direction, and keep the aircraft stationary and level during the calibration process.
    • 3. Call getOrientationCalibrationState to get the IMU calibration state for each orientation, when the calibraion status changes to SUCCESSFUL then put the aircraft in the next direction.
    • 3. When the uncalibrated orientation list getOrientationsToCalibrate is empty, and the calibraion state getOrientationCalibrationState changes to SUCCESSFUL indicates that the IMU calibraion has been completed.

    • note:
      Please do not start the IMU calibration after the aircraft motor starts. call KeyAreMotorsOn to judge whether the aircraft motor starts.


      Supported since MSDK 5.0.0

      final KeyIMUCalibrationInfo
      static final DJIKeyInfo<IMUCalibrationInfo> KeyIMUCalibrationInfo = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IMUCalibrationInfo", new DJIValueConverter<>(IMUCalibrationInfo.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("IMUCalibrationHint")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: IMUCalibrationInfo

      To get IMU calibration information. IMU calibration includes IMU calibration of multiple aircraft orientations. IMU calibration information includes the overall calibration status of IMU, the calibration status of each aircraft orientation, as well as the list of uncalibrated aircraft orientations and the list of calibrated aircraft orientations.

      Supported since MSDK 5.1.0

      final KeyUltrasonicHeight
      static final DJIKeyInfo<Integer> KeyUltrasonicHeight = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"UltrasonicHeight", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the height of ultrasound distance measuring. The height is the distance measured from top to bottom after the aircraft takes off. unit:dm. The maximum measurable distance is 25.5 meters.

      Supported since MSDK 5.0.0

      Wind Speed
      final KeyWindWarning
      static final DJIKeyInfo<WindWarning> KeyWindWarning = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"WindWarning", new SingleValueConverter<>(WindWarning.class,FCWindWarningMsg.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: WindWarning

      To get current wind speed level.

      Supported since MSDK 5.0.0

      final KeyWindSpeed
      static final DJIKeyInfo<Integer> KeyWindSpeed = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"WindSpeed", SingleValueConverter.IntegerConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get current wind speed, unit: dm/s.

      Supported since MSDK 5.0.0

      final KeyWindDirection
      static final DJIKeyInfo<WindDirection> KeyWindDirection = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"WindDirection", new SingleValueConverter<>(WindDirection.class,FCWindDirectionStatusMsg.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: WindDirection

      To get current wind direction and the world coordinate is used.

      Supported since MSDK 5.0.0


      Basic Setting

      final KeyMultipleFlightModeEnabled
      static final DJIKeyInfo<Boolean> KeyMultipleFlightModeEnabled = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"MultipleFlightModeEnabled", SingleValueConverter.BooleanConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that flight mode switch is allowed. KeyFlightMode can be set to T - tripod, A - attitude, P(N) - position, S - sport mode by flipping the three-segment selector switch on the remote control. false means the flight mode will maintain P(N) - position mode and can not be changed.

      Supported since MSDK 5.0.0

      final KeyRemoteControllerFlightMode
      static final DJIKeyInfo<RemoteControllerFlightMode> KeyRemoteControllerFlightMode = new KeyRemoteControllerFlightMode().canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: RemoteControllerFlightMode

      To get the remote controller switch Mode.

      Supported since MSDK 5.0.0

      final KeyFlightMode
      static final DJIKeyInfo<FlightMode> KeyFlightMode = new KeyFlightMode().canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: FlightMode

      To get the flight Mode.

      Supported since MSDK 5.1.0

      Fail Safe
      final KeyIsFailSafe
      static final DJIKeyInfo<Boolean> KeyIsFailSafe = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsFailSafe", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the aircraft is out of control and is about to perform fail safe behavior.

      Supported since MSDK 5.0.0

      final KeyFailsafeAction
      static final DJIKeyInfo<FailsafeAction> KeyFailsafeAction = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"FailsafeAction", new SingleValueConverter<>(FailsafeAction.class,FCFailsafeActionMsg.class)).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: FailsafeAction

      To set and get fail safe behavior. When the remote controller loses connection with the aircraft, the aircraft will perform according to the set fail safe behavior.

      Supported since MSDK 5.0.0

      final KeyLowBatteryWarningThreshold
      static final DJIKeyInfo<Integer> KeyLowBatteryWarningThreshold = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"LowBatteryWarningThreshold", SingleValueConverter.IntegerConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To set and get the threshold for battery low power warning. The threshold is a percentage and the range is [15,50]. When the battery power is lower than the threshold, the aircraft will make a low battery alarm.

      Supported since MSDK 5.0.0

      final KeyIsLowBatteryWarning
      static final DJIKeyInfo<Boolean> KeyIsLowBatteryWarning = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsLowBatteryWarning", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the battery is in low power status.

      Supported since MSDK 5.0.0

      final KeySeriousLowBatteryWarningThreshold
      static final DJIKeyInfo<Integer> KeySeriousLowBatteryWarningThreshold = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"SeriousLowBatteryWarningThreshold", SingleValueConverter.IntegerConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To get the threshold of severely low battery warning. The default threshold is 10%, and it can not be set for Matrice 30 Series. If the battery power is lower than the threshold, the aircraft will go back to home.

      Supported since MSDK 5.0.0

      final KeyIsSeriousLowBatteryWarning
      static final DJIKeyInfo<Boolean> KeyIsSeriousLowBatteryWarning = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsSeriousLowBatteryWarning", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the battery is in severely low status.

      Supported since MSDK 5.0.0

      final KeyLEDsSettings
      static final DJIKeyInfo<LEDsSettings> KeyLEDsSettings = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"LEDsSettings", new DJIValueConverter<>(LEDsSettings.class)).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: LEDsSettings

      LED related settings. The settings for forearm lights, status indicators and night lights are supported.

      Supportd since MSDK 5.0

      Motor ESC
      final KeyAreMotorsOn
      static final DJIKeyInfo<Boolean> KeyAreMotorsOn = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"AreMotorsOn", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the motor starts.

      Supported since MSDK 5.0.0

      final KeyLockMotors
      static final DJIKeyInfo<Boolean> KeyLockMotors = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"LockMotors", SingleValueConverter.BooleanConverter).canGet(false).canSet(true).canListen(false).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means that the motor is locked and will not turn when the remote controller stick is moved.

      Supported since MSDK 5.0.0

      final KeyESCBeepEnabled
      static final DJIKeyInfo<Boolean> KeyESCBeepEnabled = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"ESCBeepEnabled", SingleValueConverter.BooleanConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the ESC beeping function is opened. When the aircraft loses contact by accident, this function can be turned on to identify the position of the aircraft by sound. If motors are running, Stop them and try again.

      Supported since MSDK 5.0.0

      Coordinated Turn
      final KeyCoordinatedTurnEnabled
      static final DJIKeyInfo<Boolean> KeyCoordinatedTurnEnabled = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"CoordinatedTurnEnabled", SingleValueConverter.BooleanConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the coordinated turn function is opened. When the aircraft turns, the node follows the flight direction. There is no sideslip flight, and the resistance of flight is smaller.

      Supported since MSDK 5.0.0

      final KeyNavigationSatelliteSystemSource
      static final DJIKeyInfo<NavigationSatelliteSystem> KeyNavigationSatelliteSystemSource = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"NavigationSatelliteSystemSource", new SingleValueConverter<>(NavigationSatelliteSystem.class,NavigationSatelliteSystemMsg.class)).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: NavigationSatelliteSystem

      To set the GNSS used. The GNSS is only supported when the RTK location function is closed, and can not be changed when the aircraft is in the air. After the GNSS is switched, do not take off until satellite signal strength reaches at least level 3. If RTK location function is opened, the aircraft will use GPS, GLONASS, Galileo and Beidou GNSS.

      Supported since MSDK 5.0.0


      Basic Operation

      final KeyStartTakeoff
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStartTakeoff = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StartTakeoff", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To start the autonomously taking off of the aircraft. When the aircraft hovers at an altitude of 1.2 meters(4 feet) above the ground, taking off is completed. If the motor is already opened, this command can not be executed.

      Supported since MSDK 5.0.0

      final KeyStopTakeoff
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStopTakeoff = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StopTakeoff", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To stop the autonomous take-off of the aircraft. If this interface is called before autonomous take-off is finished, the aircraft will stop taking off and hover at the current altitude.

      Supported since MSDK 5.0.0

      final KeyStartAutoLanding
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStartAutoLanding = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StartAutoLanding", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To start the autonomous landing of the aircraft.

      Supported since MSDK 5.0.0

      final KeyStopAutoLanding
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStopAutoLanding = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StopAutoLanding", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To stop the autonomuous landing of the aircraft. If this interface is called during the autonomous landing process, the aircraft will stop landing and hover at the current altitude.

      Supported since MSDK 5.0.0

      final KeyConfirmLanding
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyConfirmLanding = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"ConfirmLanding", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To confirm continue landing. When the aircraft is at an altitude of less than 0.7 meters above the ground, the aircraft will stop landing and wait for confirmation. KeyIsLandingConfirmationNeeded can be used to check whether landing confirmation is needed.

      Supported since MSDK 5.0.0

      final KeyRebootDevice
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyRebootDevice = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"RebootDevice", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To restart the core device of the aircraft. It is suggested to call this method after IMU calibration.
      note:
      Please do not restart the core device of the aircraft after the aircraft motor starts. call KeyAreMotorsOn to judge whether the aircraft motor starts.


      Supported since MSDK 5.0.0

      Maximum Altitude
      final KeyHeightLimitRange
      static final DJIKeyInfo<IntMinMax> KeyHeightLimitRange = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"HeightLimitRange", new DJIValueConverter<>(IntMinMax.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: IntMinMax

      To get the height limit setting range. Unit: meter.

      Supported since MSDK 5.0.0

      final KeyHeightLimit
      static final DJIKeyInfo<Integer> KeyHeightLimit = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"HeightLimit", SingleValueConverter.IntegerConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To set the maximum flight altitude of the aircraft. Unit: meter. KeyHeightLimitRange can be used to get setting range.

      Supported since MSDK 5.0.0

      final KeyIsNearHeightLimit
      static final DJIKeyInfo<Boolean> KeyIsNearHeightLimit = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsNearHeightLimit", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the aircraft has reached the maximum flight altitude.

      Supported since MSDK 5.0.0

      Maximum Flight Distance
      final KeyDistanceLimitEnabled
      static final DJIKeyInfo<Boolean> KeyDistanceLimitEnabled = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"DistanceLimitEnabled", SingleValueConverter.BooleanConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the distance limitation switch is opened. After this switch is opened, KeyDistanceLimit can be used to set the maximum flight distance of the aircraft.

      Supported since MSDK 5.0.0

      final KeyDistanceLimitRange
      static final DJIKeyInfo<IntMinMax> KeyDistanceLimitRange = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"DistanceLimitRange", new DJIValueConverter<>(IntMinMax.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: IntMinMax

      To get diatance limitation setting range. Unit: meter.

      Supported since MSDK 5.0.0

      final KeyDistanceLimit
      static final DJIKeyInfo<Integer> KeyDistanceLimit = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"DistanceLimit", SingleValueConverter.IntegerConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To set the maximum flight distance of the aircraft. Unit: meter. This value is the distance between aircraft and home point. KeyDistanceLimitRange can be used to get the setting range.

      Supported since MSDK 5.0.0

      final KeyIsNearDistanceLimit
      static final DJIKeyInfo<Boolean> KeyIsNearDistanceLimit = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsNearDistanceLimit", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means the aircraft has reached the maximum flight distance.

      Supported since MSDK 5.0.0


      Return-to-Home Function

      Intelligent Return-to-Home
      final KeyIsHomeLocationSet
      static final DJIKeyInfo<Boolean> KeyIsHomeLocationSet = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"IsHomeLocationSet", SingleValueConverter.BooleanConverter).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means home point has been set. When the GPS signal is good, the aircraft will automatically set the current position as home point. KeyIsHomeLocationSet will return true.

      Supported since MSDK 5.0.0

      final KeyHomeLocation
      static final DJIKeyInfo<LocationCoordinate2D> KeyHomeLocation = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"HomeLocation", new DJIValueConverter<>(LocationCoordinate2D.class)).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: LocationCoordinate2D

      To set and get current home point location, including longitude and latitude. When GPS signal is good, aircraft will automatically set current position as home point. This key can also be used to change home point location.

      Supported since MSDK 5.0.0

      final KeyGoHomeHeight
      static final DJIKeyInfo<Integer> KeyGoHomeHeight = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"GoHomeHeight", SingleValueConverter.IntegerConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Integer

      To set and get relative altitude when returning home. Unit: meter. This value is related to the altitude when taking off. KeyGoHomeHeightRange can be used to get return-to-home height setting range. If the horizontal distance between aircraft and home point is within 50 meters, the aircraft will ignore the set return-to-home altitude and return at current altitude. If the forward vision system does not work properly, the aircraft will climb to the set altitude and return.

      Supported since MSDK 5.0.0

      final KeyGoHomeHeightRange
      static final DJIKeyInfo<IntMinMax> KeyGoHomeHeightRange = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"GoHomeHeightRange", new DJIValueConverter<>(IntMinMax.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: IntMinMax

      To get the setting range of the return-to-home altitude. Unit: meter.

      Supported since MSDK 5.0.0

      final KeyHomeLocationUsingCurrentAircraftLocation
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyHomeLocationUsingCurrentAircraftLocation = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"HomeLocationUsingCurrentAircraftLocation", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To set current aircraft location as home point location.

      Supported since MSDK 5.0.0

      final KeyStartGoHome
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStartGoHome = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StartGoHome", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To start intelligent return-to-home. When the GPS signal is not good, intelligent return-to-home can not be started. Intelligent return-to-home can also be started by the smart return-to-home button on the remote controller. During the return-to-home home process, the user can control the altitude of the aircraft with the throttle stick and control the speed of the aircraft with the pitch stick to avoid obstacles. During the return-to-home process, the user can regain control of the aircraft after exiting the intelligent return-to-home home via the intelligent return-to-home button or by calling KeyStopGoHome. KeyGoHomeStatus can be used to get intelligent return-to-home status.

      Supported since MSDK 5.0.0

      final KeyStopGoHome
      static final DJIActionKeyInfo<EmptyMsg,EmptyMsg> KeyStopGoHome = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"StopGoHome", EmptyValueConverter.converter,EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      To stop intelligent return-to-home.

      Supported since MSDK 5.0.0

      final KeyGoHomeStatus
      static final DJIKeyInfo<GoHomeState> KeyGoHomeStatus = new KeyGoHomeStatus().canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false)
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: GoHomeState

      To get intelligent return-to-home status.

      Supported since MSDK 5.0.0

      Low Battery Return-to-Home
      final KeyLowBatteryRTHEnabled
      static final DJIKeyInfo<Boolean> KeyLowBatteryRTHEnabled = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"LowBatteryRTHEnabled", SingleValueConverter.BooleanConverter).canGet(true).canSet(true).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("SmartBatteryRTHEnabled")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: Boolean

      true means intelligent low battery return-to-home function is opened. To avoid unnecessary dangers dangerous due to the low battery, aircraft will intelligently judge whether the current battery is sufficient according to the flight position information. If current battery power is only enough to complete the return-to-home process, MSDK will prompt whether operate the return-to-home process. If the user does not make a selection within 10s, MSDK will automatically return-to-home after 10s. During the returning process, you can short press the smart return-to-home button on the remote control to cancel the return-to-home process. Smart low battery return-to-home only occurs once during one flight. If the user cancels the low-battery return-to-home reminder and continues to fly, the aircraft may be forced to land due to insufficient power when returning, resulting in the aircraft being lost or crashed. For security reasons, it is not recommended to turn this function off.

      Supported since MSDK 5.0.0

      final KeyLowBatteryRTHInfo
      static final DJIKeyInfo<LowBatteryRTHInfo> KeyLowBatteryRTHInfo = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"LowBatteryRTHInfo", new DJIValueConverter<>(LowBatteryRTHInfo.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("GoHomeAssessment")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: LowBatteryRTHInfo

      To get related information of the intelligent low battery power. This function is only valid when KeyLowBatteryRTHEnabled is enabled.

      Supported since MSDK 5.0.0


      Security Code

      final KeyAccessLockerAllDeviceStatus
      static final DJIKeyInfo<List<AccessLockerDeviceStatus>> KeyAccessLockerAllDeviceStatus = new DJIKeyInfo<>(componentType.value(),subComponentType.value(),"AccessLockerAllDeviceStatus", new SingleValueConverter<>((Class)List.class,AccessLockerV1AllDeviceStates.class)).canGet(true).canSet(false).canListen(true).canPerformAction(false).setIsEvent(false).setInnerIdentifier("AccessLockerV1AllDeviceStates")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: List<AccessLockerDeviceStatus>

      Get the security code status of the storage device. Through this interface, you can obtain whether the storage device on the aircraft supports the security code function, whether the security code function is enabled, and whether the security code needs to be verified.
      Security code is to keep your media data safe. After the security code is set, the MSDK App needs to perform password verification after connecting to the aircraft. After the verification is passed, it can take photos, record videos and read and write media data in the storage device.

    • getIsFeatureSupported is true, indicating that the storage device supports the security code function. You can call KeyAccessLockerSetSecurityCode to set the security code.
    • getIsFeatureEnabled is true, indicating that the security code function of the storage device is enabled. You can call KeyAccessLockerModifySecurityCode for security code modification. If you forget the security code, you can call KeyAccessLockerResetSecurityCode to reset the security code.
    • getIsFeatureNeedToBeVerified is true, indicating that the storage device needs to verify the security code. Please call KeyAccessLockerVerifySecurityCode for security code verification, otherwise, you will not be able to take photos and record videos, and you will not be able to read and write media data in the storage device. The security code is usually required to be verified when the aircraft is restarted or the storage device is inserted.
    • Security code is neither saved on device nor accessible by DJI.
    • It is not possible to reset security code. If security code is lost, format SD card to delete code.
    • Security code settings only available for Zenmuse H20 and Matrice 30 series cameras. Zenmuse P1, Zenmuse L1, and third-party payloads currently not supported.

      Supported since MSDK 5.1.0
    • final KeyAccessLockerSetSecurityCode
      static final DJIActionKeyInfo<AccessLockerSetSecurityCodeInfo,EmptyMsg> KeyAccessLockerSetSecurityCode = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"AccessLockerSetSecurityCode", new DJIValueConverter<>(AccessLockerSetSecurityCodeInfo.class),EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false).setInnerIdentifier("AccessLockerV1SetupUserAccount")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: AccessLockerSetSecurityCodeInfo

      Set a security code. The device and storage type can be selected for security code setting through this interface.

    • The storage device will be formatted after setting the security code, please make sure the media data has been backed up.
    • Please keep the security code in a safe place. If you lose it, you will not be able to retrieve it. You can only unlock the storage device by formatting it.
    • you should set a security code with a length of at least 4 characters. It is recommended that use numbers, uppercase and lowercase letters to form the security code.


    • Supported since MSDK 5.1.0
      final KeyAccessLockerVerifySecurityCode
      static final DJIActionKeyInfo<AccessLockerVerifySecurityCodeInfo,EmptyMsg> KeyAccessLockerVerifySecurityCode = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"AccessLockerVerifySecurityCode", new DJIValueConverter<>(AccessLockerVerifySecurityCodeInfo.class),EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false).setInnerIdentifier("AccessLockerV1VerifyUserAccount")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: AccessLockerVerifySecurityCodeInfo

      Verify the security code. The security code can be verified through this interface. After the verification is passed, you can take photos, record videos and read and write media data in the storage device.

      Supported since MSDK 5.1.0

      final KeyAccessLockerModifySecurityCode
      static final DJIActionKeyInfo<AccessLockerModifySecurityCodeInfo,EmptyMsg> KeyAccessLockerModifySecurityCode = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"AccessLockerModifySecurityCode", new DJIValueConverter<>(AccessLockerModifySecurityCodeInfo.class),EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false).setInnerIdentifier("AccessLockerV1ModifyUserAccount")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: AccessLockerModifySecurityCodeInfo

      Modify the security code.

      Supported since MSDK 5.1.0

      final KeyAccessLockerResetSecurityCode
      static final DJIActionKeyInfo<AccessLockerResetSecurityCodeInfo,EmptyMsg> KeyAccessLockerResetSecurityCode = new DJIActionKeyInfo<>(componentType.value(),subComponentType.value(),"AccessLockerResetSecurityCode", new DJIValueConverter<>(AccessLockerResetSecurityCodeInfo.class),EmptyValueConverter.converter).canGet(false).canSet(false).canListen(false).canPerformAction(true).setIsEvent(false).setInnerIdentifier("AccessLockerV1ResetUserAccount")
      Package:dji.sdk.keyvalue.key
      Description:

      Parameter: AccessLockerResetSecurityCodeInfo

      Reset the security code. Reset the security security code will format the storage device, please make sure the media data is backed up.

      Supported since MSDK 5.1.0