class DJIPayload

@interface DJIPayload : DJIBaseComponent

Header:	DJIPayload.h
Inherits From:	`DJIBaseComponent`

Description:

Class used to interact with the payload device mounted on DJI aircraft.

Class Members:

Delegate

property

delegate

property delegate

@property(nonatomic, weak) id<DJIPayloadDelegate> delegate

Header:

DJIPayload.h

Description:

Delegate to receive the update information.

Description:

The pipelines to transmit data between DJI Payload device and DJI mobile SDK. This function does not support dual controllers scenarios. It's only supported by Matrice 300 RTK.

Description:

Gets the bandwidth of the upstream (from Mobile SDK to Payload). The unit is bytes/s. The bandwidth is determined by the firmware and currently it is not larger than 500 bytes/s.

Input Parameters:

NSUInteger upstreamBandwidth	The upstream bandwidth determined by the firmware.
NSError * _Nullable error	Error retrieving the value.
void (^)(NSUInteger upstreamBandwidth, NSError * _Nullable error) completion	Completion block to receive the result.

Product Name

method

getPayloadProductName

method getPayloadProductName

- (NSString * _Nullable)getPayloadProductName

Header:

DJIPayload.h

Description:

Gets the product name defined by the manufacturer of the payload device.

Return:

NSString * _Nullable

The product name of the payload device.

Check Function Limited

method

isFunctionLimited

method isFunctionLimited

- (BOOL)isFunctionLimited

Header:

DJIPayload.h

Description:

Gets if function is limited. If Payload's function is limited, it may happen because:
- The payload is not functioning properly.
- Skyport or X-Port is not bound.
- The encryption chip has exception.
- The aircraft doesn't support this Payload model.

Return:

BOOL	`YES` if the product's function is limited.

Check activation

method

isActivated

method isActivated

- (BOOL)isActivated

Header:

DJIPayload.h

Description:

Gets the product activation status.

Return:

BOOL	`YES` if the product is activated.

Check Video Streaming Channel Available

method

isDJIVideoStreamingChannelAvailable

method isDJIVideoStreamingChannelAvailable

- (BOOL)isDJIVideoStreamingChannelAvailable

Header:

DJIPayload.h

Description:

When it returns YES, video stream type on PSDK is set to DJI video streaming channel. Please use DJIVideoFeed in DJIVideoFeeder to receive the video data. When it returns NO, video stream type on PSDK is set to custom video streaming channel. Please use payload:didReceiveVideoData to receive custom video data.

Return:

BOOL	`YES` if DJI video streaming channel is available.

Widget Value

method

configureWidgetValue:type:index:withCompletion

method configureWidgetValue:type:index:withCompletion

- (void)configureWidgetValue:(NSUInteger)value type:(DJIPayloadWidgetType)type index:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Set the value for a widget of the payload device. Different widget types requires different value:
- for DJIPayloadWidgetTypeInput, the input should be an unsigned 32-bit integer
- for DJIPayloadWidgetTypeSwitch, the input should be value of DJIPayloadSwitchState
- for DJIPayloadWidgetTypeRange, the input should be a integer from value 0 to 100
- for DJIPayloadWidgetTypeList, the input should be a integer not larger than list size minus one.
Widget with type DJIPayloadWidgetTypeButton is not configurable.

Input Parameters:

NSUInteger value	The value to configure.
DJIPayloadWidgetType type	Type of the widget to configure.
NSUInteger index	Index of the widget to configure.
DJICompletionBlock completion	Completion block to receive the execution result.

Switch State

method

setSwitchState:index:withCompletion

method setSwitchState:index:withCompletion

- (void)setSwitchState:(DJIPayloadSwitchState)state index:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Sets the switch state for the switch widget with the specific index. It has the same effect as configureWidgetValue:type:index:withCompletion with DJIPayloadWidgetTypeSwitch as the argument.

Input Parameters:

DJIPayloadSwitchState state	Switch state to set.
NSUInteger index	Widget index to set.
DJICompletionBlock completion	Completion block to receive the execution result.

Range Value

method

setRangeValue:index:withCompletion

method setRangeValue:index:withCompletion

- (void)setRangeValue:(NSUInteger)rangeValue index:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Sets the range value for the range widget with the specific index. It has the same effect as configureWidgetValue:type:index:withCompletion with DJIPayloadWidgetTypeRange as the argument.

Input Parameters:

NSUInteger rangeValue	Range value to set. The valid range is [0, 100].
NSUInteger index	Widget index to set.
DJICompletionBlock completion	Completion block to receive the execution result.

Selected Item

method

setSelectedItem:index:withCompletion

method setSelectedItem:index:withCompletion

- (void)setSelectedItem:(NSUInteger)selectedItemIndex index:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Sets the selected item index for the list widget with the specific index. It has the same effect as configureWidgetValue:type:index:withCompletion with DJIPayloadWidgetTypeList as the argument.

Input Parameters:

NSUInteger selectedItemIndex	Index of the selected item. The valid range is from 0 to list size - 1.
NSUInteger index	Widget index to set.
DJICompletionBlock completion	Completion block to receive the execution result.

Input Value

method

setInputValue:index:withCompletion

method setInputValue:index:withCompletion

- (void)setInputValue:(NSUInteger)inputValue index:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Sets the input value for the input widget with the specific index. It has the same effect as configureWidgetValue:type:index:withCompletion with DJIPayloadWidgetTypeList as the argument.

Input Parameters:

NSUInteger inputValue	Input value to set. The valid value is an unsigned 32-bit integer.
NSUInteger index	Widget index to set.
DJICompletionBlock completion	Completion block to receive the execution result.

Get Widget

method

getWidget:index

method getWidget:index

- (DJIPayloadWidget * _Nullable)getWidget:(DJIPayloadWidgetType)widgetType index:(NSInteger)widgetIndex

Header:

DJIPayload.h

Description:

Gets a widget by specifying the widget type and the index.

Input Parameters:

DJIPayloadWidgetType widgetType	Widget type to get.
NSInteger widgetIndex	Widget index to get.

Return:

DJIPayloadWidget * _Nullable The widget corresponding to the widget type and the index. nil if the widgets are not ready or there is no widget corresponding to the widget type and the index.

Get Main Interface Widgets

method

getMainInterfaceWidgets

method getMainInterfaceWidgets

- (NSArray<DJIPayloadWidget*> * _Nullable)getMainInterfaceWidgets

Header:

DJIPayload.h

Description:

Gets the main interface widget list on the payload device. An empty array will be returned if the payload's data is regarded as invalid.

Return:

NSArray<DJIPayloadWidget*> * _Nullable

A list of widgets. Returns nil if no widgets are fetched.

Get Config Interface Widgets

method

getConfigInterfaceWidgets

method getConfigInterfaceWidgets

- (NSArray<DJIPayloadWidget*> * _Nullable)getConfigInterfaceWidgets

Header:

DJIPayload.h

Description:

Gets the configuration interface widget list on the payload device. An empty array will be returned if the payload's data is regarded as invalid.

Return:

NSArray<DJIPayloadWidget*> * _Nullable

A list of widgets. Returns nil if no widgets are fetched.

Send Data

method

sendDataToPayload:withCompletion

method sendDataToPayload:withCompletion

- (void)sendDataToPayload:(NSData *)data withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Sends data to payload.
- The length of the data to send cannot exceed 32 bytes for Matrice 200 series.
- The length of the data to send cannot exceed 128 bytes for Matrice 200 V2 series. The throughput cannot exceed the bandwidth returned by getUpstreamBandwidthWithCompletion.

Input Parameters:

NSData * data	Data that will be sent to the payload device.
DJICompletionBlock completion	Completion block to receive the execution result.

method

getDeviceTypeWithCompletion

method getDeviceTypeWithCompletion

- (void)getDeviceTypeWithCompletion:(void (^)(DJIPayloadDeviceType deviceType, NSError *_Nullable error))completion

Header:

DJIPayload.h

Description:

Gets the device type.

Input Parameters:

DJIPayloadDeviceType deviceType	An enum value of the `DJIPayloadDeviceType`.
NSError *_Nullable error	Error retrieving the value.
void (^)(DJIPayloadDeviceType deviceType, NSError *_Nullable error) completion	Completion block to receive the execution result.

method

getProductPhaseWithCompletion

method getProductPhaseWithCompletion

- (void)getProductPhaseWithCompletion:(void (^)(DJIPayloadProductPhase mode, NSError *_Nullable error))completion

Header:

DJIPayload.h

Description:

Gets current payload product phase.

Input Parameters:

DJIPayloadProductPhase mode	An enum value of the `DJIPayloadProductPhase`.
NSError *_Nullable error	Error retrieving the value.
void (^)(DJIPayloadProductPhase mode, NSError *_Nullable error) completion	Completion block to receive the execution result.

General

class

DJIPayloadWidget

State Updates

protocol

DJIPayloadDelegate

protocol DJIPayloadDelegate

@protocol DJIPayloadDelegate <NSObject>

Header:	DJIPayload.h
Inherits From:	`NSObject`

Description:

Delegate class to receive updated state related to Payload.

Protocol Methods:

Protocol Method

State

method

payload:didReceiveCommandData

method payload:didReceiveCommandData

@optional
- (void)payload:(DJIPayload *)payload didReceiveCommandData:(NSData *)data

Header:

DJIPayload.h

Description:

Receives the command data sent from the payload device. The command data is sent from the UART/CAN channel of the payload device and the bandwidth of this channel is 3K bytes/s on M200 series.

Input Parameters:

DJIPayload * payload	The payload instance received the command data from the payload device.
NSData * data	The data that received by the payload instance.

method

payload:didReceiveStreamData

method payload:didReceiveStreamData

@optional
- (void)payload:(DJIPayload *)payload didReceiveStreamData:(NSData *)data

Header:

DJIPayload.h

Description:

Receives the stream data sent from the payload device. The stream data is sent from the UDP channel of the payload device. This channel has wider bandwidth than the channel for command data but data might get lost without re-transmission.

Input Parameters:

DJIPayload * payload	The payload instance received the stream data from the payload device.
NSData * data	The data that received by the payload instance.

method

payload:didReceiveVideoData

method payload:didReceiveVideoData

@optional
- (void)payload:(DJIPayload *)payload didReceiveVideoData:(NSData *)data

Header:

DJIPayload.h

Description:

Receives the video data sent from the payload device. The data may be live view or playback. Only supported by Matrice 300 RTK.

Input Parameters:

DJIPayload * payload	The payload instance received the video data from the payload device.
NSData * data	The video data that received by the payload instance.

method

payload:didReceiveMessage

method payload:didReceiveMessage

@optional
- (void)payload:(DJIPayload *)payload didReceiveMessage:(NSString *)message

Header:

DJIPayload.h

Description:

Receives a text message sent from the payload device.

Input Parameters:

DJIPayload * payload	The payload instance received the text message from the payload device.
NSString * message	The message that received by the payload instance.

method

payload:didUpdateMainInterfaceWidgets

method payload:didUpdateMainInterfaceWidgets

@optional
- (void)payload:(DJIPayload *)payload didUpdateMainInterfaceWidgets:(NSArray<DJIPayloadWidget*> *)widgets

Header:

DJIPayload.h

Description:

Updates a set of payload shortcuts in main interface. if the pay load's data is invalid, an empty array will be updated. It is only supported by DJI Skyport 2.0 and DJI X-Port.

Input Parameters:

DJIPayload * payload	The payload instance received the updated widget values.
NSArray<DJIPayloadWidget> widgets	The updated value for widgets.

method

payload:didUpdateConfigInterfaceWidgets

method payload:didUpdateConfigInterfaceWidgets

@optional
- (void)payload:(DJIPayload *)payload didUpdateConfigInterfaceWidgets:(NSArray<DJIPayloadWidget*> *)widgets

Header:

DJIPayload.h

Description:

Updates setting for payload widgets. If the pay load's data is invalid, an empty array will be updated.

Input Parameters:

DJIPayload * payload	The payload instance received the updated widget values.
NSArray<DJIPayloadWidget> widgets	The updated value for widgets.

typedef block

DJIPayloadFetchWidgetConfigurationProgressBlock

typedef block DJIPayloadFetchWidgetConfigurationProgressBlock

typedef void (^_Nullable DJIPayloadFetchWidgetConfigurationProgressBlock)(NSProgress  * _Nullable progress)

Header:

DJIPayload.h

Description:

Called when fetching widget data is in progress.

Input Parameters:

NSProgress * _Nullable progress An object of NSProgress.

typedef block

DJIPayloadFetchWidgetConfigurationSuccessBlock

typedef block DJIPayloadFetchWidgetConfigurationSuccessBlock

typedef void (^_Nullable DJIPayloadFetchWidgetConfigurationSuccessBlock)()

Header:

DJIPayload.h

Description:

Called when fetching widget data successful. An array of DJIPayloadWidget will be returned.

typedef block

DJIPayloadFetchWidgetConfigurationFailureBlock

typedef block DJIPayloadFetchWidgetConfigurationFailureBlock

typedef void (^_Nullable DJIPayloadFetchWidgetConfigurationFailureBlock)(NSError  * _Nullable error)

Header:

DJIPayload.h

Description:

Called when fetching widget data failed. Error indicating the reason will be returned.

Input Parameters:

NSError * _Nullable error

Error retrieving the value.

method

fetchWidgetConfigurationWithProgress:success:failure

method fetchWidgetConfigurationWithProgress:success:failure

- (void)fetchWidgetConfigurationWithProgress:(DJIPayloadFetchWidgetConfigurationProgressBlock)progressBlock
                                      success:(DJIPayloadFetchWidgetConfigurationSuccessBlock)successBlock
                                     failure:(DJIPayloadFetchWidgetConfigurationFailureBlock)failureBlock

Header:

DJIPayload.h

Description:

Fetches widget configuration. Mobile SDK will fetch the configuration when it first launches. Returns nil if initial fetching failed. It is only supported by DJI SKYPORT 2.0.

Input Parameters:

DJIPayloadFetchWidgetConfigurationProgressBlock progressBlock	Updates the fetching progress.
DJIPayloadFetchWidgetConfigurationSuccessBlock successBlock	Called when the task finishes successfully.
DJIPayloadFetchWidgetConfigurationFailureBlock failureBlock	Called when the task is interrupted by an error.

method

setPayloadChannelPriority:onPhysicalSource:withCompletion

method setPayloadChannelPriority:onPhysicalSource:withCompletion

- (void)setPayloadChannelPriority:(DJIVideoFeedPriority)priority
                 onPhysicalSource:(DJIVideoFeedPhysicalSource)physicalSource
                   withCompletion:(DJICompletionBlock)completion

Header:

DJIPayload.h

Description:

Set the channel priority of the payload. Priority will affect the bandwidth allocation if it is not DJIVideoFeedPriorityUnknown, which is the default value. For example, if the data that comes from the payload device mounted on left gimbal is preferred, please set the priority to DJIVideoFeedPriorityHigh, and physicalSource is DJIVideoFeedPhysicalSourceLeftCamera. The others should be set to DJIVideoFeedPriorityMedium or DJIVideoFeedPriorityLow. Only supported by Matrice 300 RTK.

Input Parameters:

DJIVideoFeedPriority priority	The priority to be set, see `DJIVideoFeedPriority`.
DJIVideoFeedPhysicalSource physicalSource	See `DJIVideoFeedPhysicalSource`.
DJICompletionBlock completion	Completion block to receive the execution result.

method

getPayloadChannelPriorityOnPhysicalSource:withCompletion

method getPayloadChannelPriorityOnPhysicalSource:withCompletion

- (void)getPayloadChannelPriorityOnPhysicalSource:(DJIVideoFeedPhysicalSource)physicalSource withCompletion:(void (^)(DJIVideoFeedPriority priority, NSError *_Nullable error))completion

Header:

DJIPayload.h

Description:

Get the channel priority of the payload. Only supported by Matrice 300 RTK.

Input Parameters:

DJIVideoFeedPhysicalSource physicalSource	See `DJIVideoFeedPhysicalSource`.
DJIVideoFeedPriority priority	An enum value of `DJIVideoFeedPriority`.
NSError *_Nullable error	Error retrieving the value.
void (^)(DJIVideoFeedPriority priority, NSError *_Nullable error) completion	Completion block to receive the execution result.

enum

DJIPayloadProductPhase

enum DJIPayloadProductPhase

typedef NS_ENUM(uint8_t, DJIPayloadProductPhase)

Header:

DJIPayloadBaseTypes.h

Description:

Development phase has more settings than product phase, including control parameters auto-tuning, coaxiality detection, balance detection, stiffness adjustment. Please note that this phase should be used with DJI Assistant 2, which has bound with Payload SDK developer account. Product phase means that the product is in the stage ready to sell. During this stage, development settings, i.e., control parameters auto-tuning, coaxiality detection, balance detection, stiffness adjustment, should be hidden from user interface.

Enum Members:

DJIPayloadProductPhaseDevelopment	The product is in the development phase.
DJIPayloadProductPhaseRelease	The product is in the release phase.
DJIPayloadProductPhaseUnknown	Unknown.

enum

DJIPayloadDeviceType

enum DJIPayloadDeviceType

typedef NS_ENUM(uint8_t, DJIPayloadDeviceType)

Header:

DJIPayloadBaseTypes.h

Description:

All the possible mode of DJIPayloadDeviceType.

Enum Members:

DJIPayloadDeviceType_DJI_Skyport_1	DJI Skyport 1.0.
DJIPayloadDeviceType_DJI_Skyport_2	DJI Skyport 2.0.
DJIPayloadDeviceType_DJI_X_Port	DJI X-Port.
DJIPayloadDeviceTypeUnknown	Unknown.

Mobile SDK

class DJIPayload

Description:

Class Members:

property delegate

Description:

See Also:

property pipelines

Description:

See Also:

method getUpstreamBandwidthWithCompletion

Description:

Input Parameters:

method getPayloadProductName

Description:

Return:

method isFunctionLimited

Description:

Return:

method isActivated

Description:

Return:

method isDJIVideoStreamingChannelAvailable

Description:

Return:

method configureWidgetValue:type:index:withCompletion

Description:

Input Parameters:

method setSwitchState:index:withCompletion

Description:

Input Parameters:

method setRangeValue:index:withCompletion

Description:

Input Parameters:

method setSelectedItem:index:withCompletion

Description:

Input Parameters:

method setInputValue:index:withCompletion

Description:

Input Parameters:

method getWidget:index

Description:

Input Parameters:

Return:

method getMainInterfaceWidgets

Description:

Return:

method getConfigInterfaceWidgets

Description:

Return:

method sendDataToPayload:withCompletion

Description:

Input Parameters:

method getDeviceTypeWithCompletion

Description:

Input Parameters:

method getProductPhaseWithCompletion

Description:

Input Parameters:

Related:

protocol DJIPayloadDelegate

Description:

Protocol Methods:

Protocol Method

method payload:didReceiveCommandData

Description:

Input Parameters:

method payload:didReceiveStreamData

Description:

Input Parameters:

method payload:didReceiveVideoData

Description:

Input Parameters:

method payload:didReceiveMessage

Description:

Input Parameters:

method payload:didUpdateMainInterfaceWidgets

Description:

Input Parameters:

method payload:didUpdateConfigInterfaceWidgets