DJI Mobile SDK Documentation

      class RTK

      class RTK implements DJIParamAccessListener
      Package:dji.sdk.flightcontroller
      Description:

      Real Time Kinematic

      Class Members:
      State Updates
      method
      method setStateCallback
      void setStateCallback(@Nullable RTKState.Callback callback)
      Package:dji.sdk.flightcontroller
      Description:

      Set RTK state update callback.

      Input Parameters:
      @Nullable RTKState.Callback callbackThe execution callback with the execution result returned.
      method addReferenceStationSourceCallback
      void addReferenceStationSourceCallback(@NonNull ReferenceStationSource.Callback callback)
      Package:dji.sdk.flightcontroller
      Description:

      Adds a listener to receive the reference station source.

      Input Parameters:
      @NonNull ReferenceStationSource.Callback callbackCallback to receive reference station source.
      method removeReferenceStationSourceCallback
      void removeReferenceStationSourceCallback(@NonNull ReferenceStationSource.Callback callback)
      Package:dji.sdk.flightcontroller
      Description:

      Removes a listener that receives the reference station source.

      Input Parameters:
      @NonNull ReferenceStationSource.Callback callbackCallback to receive reference station source.
      RTK Enabled
      method
      method setRtkEnabled
      void setRtkEnabled(boolean enabled, @Nullable final CompletionCallback callback)
      Package:dji.sdk.flightcontroller
      SDK Key:FlightControllerKey.RTK_ENABLED
      Description:

      Enables RTK positioning. Disable RTK when in poor signal environments, where incorrect positioning information might make controlling the aircraft difficult. Can only be set when the motors are off.

      Input Parameters:
      boolean enabledtrue to enable RTK positioning.
      @Nullable final CompletionCallback callbackThe execution callback with the execution result returned.
      Is Connected
      method
      method isConnected
      boolean isConnected()
      Package:dji.sdk.flightcontroller
      Description:

      true if RTK is connected to the aircraft.

      Return:
      booleanA boolean value.
      Get RTK Enabled
      method
      method getRtkEnabled
      void getRtkEnabled(@NonNull final CommonCallbacks.CompletionCallbackWith<Boolean> callback)
      Package:dji.sdk.flightcontroller
      Description:

      Determines if RTK is enabled. Phantom 4 RTK has different behavior from the other products that supports RTK:
      - For aircrafts except Phantom 4 RTK, disabling RTK will stop RTK from pushing valid position.
      - For Phantom 4 RTK, RTK will continue to push latest RTK coordinate if there is strong satellite signal after disabling RTK. However, the flight controller will not use the RTK coordinate for navigation.

      Input Parameters:
      @NonNull final CommonCallbacks.CompletionCallbackWith<Boolean> callbackThe completion block that receives the result.
      Set Reference Station Source
      method
      method setReferenceStationSource
      void setReferenceStationSource(@NonNull final ReferenceStationSource source, @Nullable final CompletionCallback callback)
      Package:dji.sdk.flightcontroller
      Description:

      Sets the reference station source that provides real-time corrections for the RTK air system. It is only supported by Phantom 4 RTK. For Matrice 210 RTK and Matrice 600 series, the reference station is always the physical base station.

      Input Parameters:
      @NonNull final ReferenceStationSource sourceReference station source to set.
      @Nullable final CompletionCallback callbackThe completion block that receives the result.
      enum DataSource
      enum DataSource
      Package:dji.common.flightcontroller.rtk
      Description:

      This enum defines the data source (either GPS or RTK) of a recorded location, e.g. home point. Only support by Phantom 4 RTK.

      Enum Members:
      GPSThe location coordinate is from GPS.
      RTKThe location coordinate is from RTK.
      UNKNOWNData source is unknown.
      Class Members:
      enum CoordinateSystem
      enum CoordinateSystem
      Package:dji.common.flightcontroller.rtk
      Description:

      Coordinate System for Network RTK. It is supported by Phantom 4 RTK.

      Enum Members:
      WGS84The coordinate system is World Geodetic System 1984.
      CGCS2000The coordinate system is China Geodetic Coordinate System 2000.
      UNKNOWNThe coordinate system is unknown.
      Class Members:
      enum NetworkServiceAccountState
      enum NetworkServiceAccountState
      Package:dji.common.flightcontroller.rtk
      Description:

      All the possible state of CoordinateSystem. It is supported by Phantom 4 RTK.

      Enum Members:
      NOT_PURCHASEDNetwork RTK service is not purchased.
      UNBOUNDDevice is not bound.
      BOUNDDevice is bound.
      UNKNOWNNetwork RTK service account state is unknown.
      Class Members:
      enum NetworkServicePlanType
      enum NetworkServicePlanType
      Package:dji.common.flightcontroller.rtk
      Description:

      Network RTK service plan type.

      Enum Members:
      APlan type A.
      BPlan type B.
      UNKNOWNUnknown Plan type.
      Class Members:
      enum NetworkServicePlanState
      enum NetworkServicePlanState
      Package:dji.common.flightcontroller.rtk
      Description:

      Network RTK Service Plan's State.

      Enum Members:
      UNACTIVATEDThe plan has not activated.
      ACTIVATEDThe plan has activated.
      EXPIREDThe plan has Expired.
      UNKNOWNThe plan state is unknown.
      Class Members:
      enum ReferenceStationSource
      enum ReferenceStationSource
      Package:dji.common.flightcontroller.rtk
      Description:

      All the possible state of ReferenceStationSource. It is only supported by Phantom 4 RTK and Matrice 210 RTK V2.

      Enum Members:
      NONENot using any reference station source.
      BASE_STATIONRTK is using the D-RTK 2 base station as the reference station.
      CUSTOM_NETWORK_SERVICERTK is using third-party network service as the reference station. The network service should use NTRIP(Networked Transport of RTCM via Internet Protocol).
      NETWORK_RTKDefault virtual reference station solution to provide cm level accurate position. The frame can be either WGS84 or CGCS 2000. Please note that this default solution can only be used in China. Please add the "djinetworkrtkhelper" to the project via gradle:
      implementation 'com.dji:library-networkrtk-helper:1.0' It is only supported by Phantom 4 RTK.
      UNKNOWNUnknown reference station source.
      Class Members:
      State Updates
      interface
      interface Callback
      interface Callback
      Package:dji.common.flightcontroller.rtk
      Description:

      Updates the RTK reference station source.

      Interface Methods:
      method onReferenceStationSourceUpdate
      void onReferenceStationSourceUpdate(ReferenceStationSource referenceStationSource)
      Package:dji.common.flightcontroller.rtk
      Description:

      Callback function that updates the RTK reference station source.

      Input Parameters:
      ReferenceStationSource referenceStationSourceThe source of the reference station.
      enum HeadingSolution
      @EXClassNullAway
      enum HeadingSolution
      Package:dji.common.flightcontroller
      Description:

      This enum defines the Heading solution currently being used. The heading solution describes the method used to determine heading. And Indicates the accuracy of the getHeading. It is supported by Phantom 4 RTK and Matrice 200 Series V2.

      Enum Members:
      NONENo heading solution. This can be caused by an insufficient number of satellites in view, insufficient time to lock onto the satellites, or a loss in communication link between the mobile station and base station.
      SINGLE_POINTRTK point Heading.
      FLOATFloat solution Heading.
      FIXED_POINTFixed-point solution direction (most accurate).
      UNKNOWNUnknown.
      Class Members: