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
Maintain Position Accuracy
property
property isMaintainingPositionAccuracy@property (nonatomic , readonly ) BOOL isMaintainingPositionAccuracy
Description:
Whether aircraft is maintaining position accuracy after losing RTK signal. If return YES, the aircraft will maintain position accuracy about 10 minutes after losing RTK signal.
property isRTKBeingUsed@property (nonatomic , readonly ) BOOL isRTKBeingUsed
Header: DJIRTK.h SDK Key: DJIFlightControllerParamIsRTKBeingUsed
Description:
It will be true when the positioning solution is fixed and the RTK location data received period is between 2 seconds. The flight controller will use RTK data when isRTKBeingUsed is true.
property distanceToHomePointDataSource@property (nonatomic , readonly ) DJIRTKDataSource distanceToHomePointDataSource
Description:
Distance to home point data source. Only Supported by Phantom 4 RTK.
See Also:
DJIRTKDataSource
property isTakeoffAltitudeRecorded@property (nonatomic , readonly ) BOOL isTakeoffAltitudeRecorded
Description:
YES if the altitude is recorded by the flight controller when the aircraft takes off. Only Supported by Phantom 4 RTK.
property homePointDataSource@property (nonatomic , readonly ) DJIRTKDataSource homePointDataSource
Description:
Home point data source. Only Supported by Phantom 4 RTK.
See Also:
DJIRTKDataSource
property satelliteCount@property (nonatomic , readonly ) int satelliteCount
Description:
Gps or RTK satellite count. Only Supported by Phantom 4 RTK.
Home Point Location
property
property homePointLocation@property (nonatomic , readonly ) CLLocationCoordinate2D homePointLocation
Description:
Home point location. Only Supported by Phantom 4 RTK.
Take Off Altitude
property
property takeoffAltitude@property (nonatomic , readonly ) float takeoffAltitude
Description:
Takeoff altitude. Only Supported by Phantom 4 RTK.
Distance to Home Point
property
property distanceToHomePoint@property (nonatomic , readonly ) float distanceToHomePoint
Description:
Distance to home point. Only Supported by Phantom 4 RTK.
property ellipsoidHeight@property (nonatomic , readonly ) float ellipsoidHeight
Description:
Ellipsoid height. An absolute altitude above sea level read from GPS. Only Supported by Matrice 300 RTK.
Aircraft altitude
property
property aircraftAltitude@property (nonatomic , readonly ) float aircraftAltitude
Description:
Aircraft altitude. Aircraft's absolute altitude above sea level. When RTK is used and valid, this value will be a fusion RTK altitude. Otherwise, it is a fusion barometer altitude. Supported by Matrice 300 RTK, Phantom 4 RTK and P4 Multispectral.
Positioning Solution
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.
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.
Mobile Station Position
property
property mobileStationLocation@property (nonatomic , readonly ) CLLocationCoordinate2D mobileStationLocation
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 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
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
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
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
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.
property mobileStationReceiver1GPSInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GPSInfo
Description:
Mobile station (aircraft) receiver 1 GPS info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver1BeiDouInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1BeiDouInfo
Description:
Mobile station (aircraft) receiver 1 BeiDou info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver1GLONASSInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GLONASSInfo
Description:
Mobile station (aircraft) receiver 1 GLONASS info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver1GalileoInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver1GalileoInfo
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
Description:
Mobile station (aircraft) receiver 2 GPS info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver2BeiDouInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2BeiDouInfo
Description:
Mobile station (aircraft) receiver 2 BeiDou info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver2GLONASSInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2GLONASSInfo
Description:
Mobile station (aircraft) receiver 2 GLONASS info.
See Also:
DJIRTKReceiverInfo
property mobileStationReceiver2GalileoInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull mobileStationReceiver2GalileoInfo
Description:
Mobile station (aircraft) receiver 2 Galileo info. Only Supported by Phantom 4 RTK.
See Also:
DJIRTKReceiverInfo
property baseStationReceiverGPSInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGPSInfo
Description:
Base station receiver GPS info.
See Also:
DJIRTKReceiverInfo
property baseStationReceiverBeiDouInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull baseStationReceiverBeiDouInfo
Description:
Base station receiver BeiDou info.
See Also:
DJIRTKReceiverInfo
property baseStationReceiverGLONASSInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGLONASSInfo
Description:
Base station receiver GLONASS info.
See Also:
DJIRTKReceiverInfo
property baseStationReceiverGalileoInfo@property (nonatomic , readonly ) DJIRTKReceiverInfo *_Nonnull baseStationReceiverGalileoInfo
Description:
Base station receiver Galileo info. Only Supported by Phantom 4 RTK.
See Also:
DJIRTKReceiverInfo
enum DJIRTKPositioningSolutiontypedef NS_ENUM (uint8_t, DJIRTKPositioningSolution)
Header: DJIRTKServcieBaseTypes.h
Description:
This enum defines the positioning solution currently being used.
Enum Members:
No 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. RTK point positioning. Float solution positioning. Fixed-point solution positioning (most accurate). Unknown.