DJI Mobile SDK Documentation

Mobile SDK

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      class DJIObstacleDetectionSector

      @interface DJIObstacleDetectionSector : NSObject
      Header:DJIVisionTypes.h
      Inherits From:NSObject
      Description:

      The vision system can see in front of the aircraft with a 60 degree horizontal field of view (FOV) and 55 degree vertical FOV. The horizontal FOV is split into four equal sectors, and this class gives the distance and warning level for one sector.

      Class Members:
      property
      warningLevel
      property warningLevel
      @property(nonatomic, readonly) DJIObstacleDetectionSectorWarning warningLevel
      Header:DJIVisionTypes.h
      Description:

      The warning level based on distance.

      See Also:

      DJIObstacleDetectionSectorWarning

      property obstacleDistanceInMeters
      @property(nonatomic, readonly) double obstacleDistanceInMeters
      Header:DJIVisionTypes.h
      Description:

      The detected obstacle distance to the aircraft in meters. The left and right obstacle avoidance system is a monocular vision system, so it can only detect whether there are obstacles. 0 represents no obstacles and 1 represents obstacles. For mavic 2 series, it only supports returning this value in T mode.

      enum DJIObstacleDetectionSectorWarning
      typedef NS_ENUM (NSInteger, DJIObstacleDetectionSectorWarning)
      Header:DJIVisionTypes.h
      Description:

      Distance warning returned by each sector of the front vision system. Warning Level 6 is the most serious level. For different aircraft, the same warning level will refer to different distances. Spark only supports the follow warning levels:

      Enum Members:
      DJIObstacleDetectionSectorWarningInvalidThe warning level is invalid. The sector cannot determine depth of the scene in front of it.
      DJIObstacleDetectionSectorWarningLevel1Warning level 1.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is over 10 meters.
      - Spark: the distance between the obstacle detected by the sector and the aircraft is over 4 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is over 20 meters.
      DJIObstacleDetectionSectorWarningLevel2Warning level 2.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is between 8 - 10 meters.
      - Spark: the distance between the obstacle detected by the sector and the aircraft is between 2 - 4 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is between 15 - 20 meters.
      DJIObstacleDetectionSectorWarningLevel3Warning level 3.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is between 6 - 8 meters.
      - Spark: the distance between the obstacle detected by the sector and the aircraft is less than 2 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is between 10 - 15 meters.
      DJIObstacleDetectionSectorWarningLevel4Warning level 4.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is between 4 - 6 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is between 6 - 10 meters. Spark does not support this warning level.
      DJIObstacleDetectionSectorWarningLevel5Warning level 5.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is between 2 - 4 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is between 3 - 6 meters. Spark does not support this warning level.
      DJIObstacleDetectionSectorWarningLevel6Warning level 6.
      - Phantom 4 and Mavic Pro: the distance between the obstacle detected by the sector and the aircraft is less than 2 meters.
      - Others: the distance between the obstacle detected by the sector and the aircraft is less than 3 meters. Spark does not support this warning level.
      DJIObstacleDetectionSectorWarningUnknownThe distance warning is unknown. This warning is returned when an exception occurs.