DJI Mobile SDK Documentation

      class DJIRTKState

      @interface DJIRTKState : NSObject
      Header:DJIRTK.h
      Inherits From:NSObject
      Description:

      This class holds the state of the RTK system, including position, positioning solution, and receiver information. Receiver 1 is used for positioning. Receiver 2 is used for orienteering.

      Class Members:

      Use and Position

      Use
      property
      property isRTKBeingUsed
      @property(nonatomic, readonly) BOOL isRTKBeingUsed
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamIsRTKBeingUsed
      Description:

      Whether the RTK is being used.

      property distanceToHomePointDataSource
      @property(nonatomic, readonly) DJIRTKDataSource distanceToHomePointDataSource
      Header:DJIRTK.h
      Description:

      Distance to home point data source. Only Supported by Phantom 4 RTK.

      See Also:

      DJIRTKDataSource

      property isTakeoffAltitudeRecorded
      @property(nonatomic, readonly) BOOL isTakeoffAltitudeRecorded
      Header:DJIRTK.h
      Description:

      YES if the altitude is recorded by the flight controller when the aircraft takes off. Only Supported by Phantom 4 RTK.

      Data Source
      property
      property homePointDataSource
      @property(nonatomic, readonly) DJIRTKDataSource homePointDataSource
      Header:DJIRTK.h
      Description:

      Home point data source. Only Supported by Phantom 4 RTK.

      See Also:

      DJIRTKDataSource

      Satellite Count
      property
      property satelliteCount
      @property(nonatomic, readonly) int satelliteCount
      Header:DJIRTK.h
      Description:

      Gps or RTK satellite count. Only Supported by Phantom 4 RTK.

      Home Point Location
      property
      property homePointLocation
      @property(nonatomic, readonly) CLLocationCoordinate2D homePointLocation
      Header:DJIRTK.h
      Description:

      Home point location. Only Supported by Phantom 4 RTK.

      Take Off Altitude
      property
      property takeoffAltitude
      @property(nonatomic, readonly) float takeoffAltitude
      Header:DJIRTK.h
      Description:

      Takeoff altitude. Only Supported by Phantom 4 RTK.

      Distance to Home Point
      property
      property distanceToHomePoint
      @property(nonatomic, readonly) float distanceToHomePoint
      Header:DJIRTK.h
      Description:

      Distance to home point. Only Supported by Phantom 4 RTK.

      Positioning Solution
      property
      property positioningSolution
      @property(nonatomic, readonly) DJIRTKPositioningSolution positioningSolution
      Header:DJIRTK.h
      Description:

      The positioning solution describes the method used to determine positioning. The solutions vary in accuracy, from DJIRTKPositioningSolutionNone (no positioning) to DJIRTKPositioningSolutionFixedPoint.

      See Also:

      DJIRTKPositioningSolution

      Error
      property
      property error
      @property(nonatomic, readonly) NSError *_Nullable error
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamRTKError
      Description:

      Gets RTK errors, if any. Returns nil when RTK is normal.

      Heading
      property
      property heading
      @property(nonatomic, readonly) float heading
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamRTKHeadingAngle
      Description:

      Heading relative to True North as defined by the vector formed from Antenna 2 to Antenna 1 on the mobile station. Unit is degrees.

      Heading Solution
      property
      property headingSolution
      @property(nonatomic, readonly) DJIRTKHeadingSolution headingSolution
      Header:DJIRTK.h
      Description:

      The heading solution describes the method used to determine heading. The solutions vary in accuracy, from DJIRTKHeadingSolutionNone (no heading) to DJIRTKHeadingSolutionFixedPoint. It's supported by Matrice 200 series V2 and Phantom 4 RTK.

      See Also:

      DJIRTKHeadingSolution

      Mobile Station Position
      property
      property mobileStationLocation
      @property(nonatomic, readonly) CLLocationCoordinate2D mobileStationLocation
      Header:DJIRTK.h
      Description:

      Always indicate RTK location data. Location information of the mobile station's receiver 1 antenna. This location information is relative to the base station's location and is in degrees when positioningSolution is DJIRTKPositioningSolutionFixedPoint.

      property mobileStationAltitude
      @property(nonatomic, readonly) float mobileStationAltitude
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamRTKMobileStationAltitude
      Description:

      Always indicate RTK altitude data. Altitude in meters of the mobile station's receiver 1 antenna relative to sea level.

      Mobile Station Deviation
      property
      property mobileStationStandardDeviation
      @property(nonatomic, readonly) DJILocationStandardDeviation *mobileStationStandardDeviation
      Header:DJIRTK.h
      Description:

      Standard deviation of location accuracy in meters. Returns nil when the aircraft receives no signal. Only Supported by Phantom 4 RTK.

      See Also:

      DJILocationStandardDeviation

      Mobile Station Fusion Location
      property
      property mobileStationFusionLocation
      @property(nonatomic, readonly) CLLocationCoordinate2D mobileStationFusionLocation
      Header:DJIRTK.h
      Description:

      The fusion location of the mobile station (in degrees). It is the combination of GPS and RTK. The flight controller uses this location for navigation (e.g. waypoint mission) when RTK is available.

      Mobile Station Fusion Altitude
      property
      property mobileStationFusionAltitude
      @property(nonatomic, readonly) float mobileStationFusionAltitude
      Header:DJIRTK.h
      Description:

      The fusion altitude of the mobile station. The flight controller fuses the data from GPS, RTK and the barometer. The flight controller uses this altitude for navigation (e.g. waypoint mission) when RTK is available.

      Mobile Station Fusion Heading
      property
      property mobileStationFusionHeading
      @property(nonatomic, readonly) float mobileStationFusionHeading
      Header:DJIRTK.h
      Description:

      The fusion heading of the mobile station. It is the combination of RTK and the compass. The flight controller uses this heading for navigation (e.g. waypoint mission) when RTK is available.

      Base Station Position
      property
      property baseStationLocation
      @property(nonatomic, readonly) CLLocationCoordinate2D baseStationLocation
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamRTKBaseStationLocation
      Description:

      Base station's location coordinates, in degrees.

      property baseStationAltitude
      @property(nonatomic, readonly) float baseStationAltitude
      Header:DJIRTK.h
      SDK Key:DJIFlightControllerParamRTKBaseStationAltitude
      Description:

      Altitude of the base station above sea level, in meters.


      Satellite Information

      Mobile Station
      property
      property mobileStationReceiver1GPSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GPSInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 1 GPS info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver1BeiDouInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1BeiDouInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 1 BeiDou info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver1GLONASSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GLONASSInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 1 GLONASS info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver1GalileoInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GalileoInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 1 Galileo info. Only Supported by Phantom 4 RTK.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver2GPSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2GPSInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 2 GPS info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver2BeiDouInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2BeiDouInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 2 BeiDou info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver2GLONASSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2GLONASSInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 2 GLONASS info.

      See Also:

      DJIRTKReceiverInfo

      property mobileStationReceiver2GalileoInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2GalileoInfo
      Header:DJIRTK.h
      Description:

      Mobile station (aircraft) receiver 2 Galileo info. Only Supported by Phantom 4 RTK.

      See Also:

      DJIRTKReceiverInfo

      Base Station
      property
      property baseStationReceiverGPSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGPSInfo
      Header:DJIRTK.h
      Description:

      Base station receiver GPS info.

      See Also:

      DJIRTKReceiverInfo

      property baseStationReceiverBeiDouInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull baseStationReceiverBeiDouInfo
      Header:DJIRTK.h
      Description:

      Base station receiver BeiDou info.

      See Also:

      DJIRTKReceiverInfo

      property baseStationReceiverGLONASSInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGLONASSInfo
      Header:DJIRTK.h
      Description:

      Base station receiver GLONASS info.

      See Also:

      DJIRTKReceiverInfo

      property baseStationReceiverGalileoInfo
      @property(nonatomic, readonly) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGalileoInfo
      Header:DJIRTK.h
      Description:

      Base station receiver Galileo info. Only Supported by Phantom 4 RTK.

      See Also:

      DJIRTKReceiverInfo


      enum DJIRTKPositioningSolution
      typedef NS_ENUM (uint8_t, DJIRTKPositioningSolution)
      Header:DJIRTKServcieBaseTypes.h
      Description:

      This enum defines the positioning solution currently being used.

      Enum Members:
      DJIRTKPositioningSolutionNoneNo positioning 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.
      DJIRTKPositioningSolutionSinglePointRTK point positioning.
      DJIRTKPositioningSolutionFloatFloat solution positioning.
      DJIRTKPositioningSolutionFixedPointFixed-point solution positioning (most accurate).
      DJIRTKPositioningSolutionUnknownUnknown.