DJI Windows SDK Documentation

Windows SDK

      Manager Classes
      DJISDKManager
      FlyZoneManager
      WaypointMissionManager
      ComponentManager
      MediaTaskManager
      UserAccountManager
      VideoFeeder
      VirtualRemoteController

      class GimbalHandler

      sealed class GimbalHandler
      Declaration:DJI.WindowsSDK.Components
      Description:

      Handler.

      Class Members:
      property
      ProductIndex
      property ProductIndex
      uint ProductIndex { get; }
      Declaration:DJI.WindowsSDK.Components
      Description:

      The index of the product to which this component handler belongs. The default product index is 0.

      property ComponentIndex
      uint ComponentIndex { get; }
      Declaration:DJI.WindowsSDK.Components
      Description:

      The index of the component. It is unique for a type of components inside a product. It is useful when a product has multiple handlers of the same kind. If the product only has one handler of this kind, the index is 0.

      method ~GimbalHandler
      ~GimbalHandler()
      Declaration:DJI.WindowsSDK.Components
      Description:

      The destructor. It should not be called explicitly.

      struct GimbalResetCommandMsg
      struct GimbalResetCommandMsg
      Declaration:DJI.WindowsSDK
      Description:

      A class that contains a reset command type of gimbals.

      Struct Members:
      GimbalResetCommand valueThe actual value of the class.
      struct GimbalAngleRotation
      struct GimbalAngleRotation
      Declaration:DJI.WindowsSDK
      Description:

      A class that used to control the gimbal to rotate a specific angle.

      Struct Members:
      GimbalAngleRotationMode modeThe rotation mode, either it is relative or absolute.
      double pitchThe pitch property of a gimbal rotation operation, how much the gimbal rotates on the pitch axis. It only takes effect when bool pitchIgnored is false.
      double rollThe roll property of a gimbal rotation operation, how much the gimbal rotates on the pitch axis. It only takes effect when bool rollIgnored is false.
      double yawThe yaw property of a gimbal rotation operation, how much the gimbal rotates on the pitch axis. It only takes effect when bool yawIgnored is false.
      bool pitchIgnoredtrue to ignore the pitch value of this rotation so that the gimbal will not rotate pitch.
      bool rollIgnoredtrue to ignore the roll value of this rotation so that the gimbal will not rotate roll.
      bool yawIgnoredtrue to ignore the yaw value of this rotation so that the gimbal will not rotate yaw.
      double durationThe duration for the rotation operation. A longer duration can slower the rotation.
      struct GimbalSpeedRotation
      struct GimbalSpeedRotation
      Declaration:DJI.WindowsSDK
      Description:

      A class that used to control the gimbal to rotate in a specific speed.

      Struct Members:
      double pitchThe speed on the pitch dimension.
      double yawThe speed on the yaw dimension.
      double rollThe speed on the roll dimension.
      struct GimbalCalibrationState
      struct GimbalCalibrationState
      Declaration:DJI.WindowsSDK
      Description:

      The calibration state, which contains the status and the progress if valid.

      Struct Members:
      GimbalCalibrationStatus statusThe calibration status.
      int progressThe calibration progress in percentage. It is valid when GimbalCalibrationStatus status is IN_PROGRESS.
      enum GimbalResetCommand
      enum GimbalResetCommand
      Declaration:DJI.WindowsSDK
      Description:

      Commands to reset the gimbal to some specific attitude.

      Enum Members:
      TOGGLE_PITCHToggles gimbal's pitch position, either point forward or point to the ground.
      UNKNOWNUnknown.
      struct GimbalAttitudeRange
      struct GimbalAttitudeRange
      Declaration:DJI.WindowsSDK
      Description:

      The valid range of attitudes supported by the connected gimbal.

      Struct Members:
      DoubleMinMax rollThe valid range in roll axis in degrees.
      DoubleMinMax pitchThe valid range in pitch axis in degrees.
      DoubleMinMax yawThe valid range in yaw axis in degrees.
      enum GimbalMode
      enum GimbalMode
      Declaration:DJI.WindowsSDK
      Description:

      Gimbal work modes.

      Enum Members:
      FREEThe gimbal can move independently of the aircraft's yaw. In this mode, even if the aircraft yaw changes, the camera will continue pointing in the same world direction.
      FPVThe gimbal's work mode is FPV mode. In this mode, the gimbal yaw will follow the aircraft's heading, and the gimbal roll will follow the RC's roll channel value. The pitch will be available to move.
      YAW_FOLLOWThe gimbal's work mode is such that it will follow the yaw. In this mode, the gimbal yaw will be fixed, while pitch and roll will be available to move.
      UNKNOWNUnknown.
      enum GimbalAngleRotationMode
      enum GimbalAngleRotationMode
      Declaration:DJI.WindowsSDK
      Description:

      The mode of the gimbal angle rotation.

      Enum Members:
      RELATIVE_ANGLEThe angle value, when the gimbal is rotating, relative to the current angle.
      ABSOLUTE_ANGLEThe angle value, when the gimbal is rotating, relative to 0 degrees (aircraft heading).
      UNKNOWNUnknown.
      enum GimbalCalibrationStatus
      enum GimbalCalibrationStatus
      Declaration:DJI.WindowsSDK
      Description:

      The calibration satus of gimbals.

      Enum Members:
      IDLEThe gimbal is idle.
      IN_PROGRESSThe calibration is in progress.
      FAILEDThe calibration failed.
      UNKNOWNUnknown.
      delegate GimbalCalibrationStateChangedEventHandler
      delegate void GimbalCalibrationStateChangedEventHandler(object sender, GimbalCalibrationState? value)
      Declaration:DJI.WindowsSDK
      Description:

      A delegate type used to subscribe the updated values in type GimbalCalibrationState.

      delegate GimbalAttitudeRangeChangedEventHandler
      delegate void GimbalAttitudeRangeChangedEventHandler(object sender, GimbalAttitudeRange? value)
      Declaration:DJI.WindowsSDK
      Description:

      A delegate type used to subscribe the updated values in type GimbalAttitudeRange.

      Methods
      method
      ResetGimbalAsync
      method ResetGimbalAsync
      async Task<SDKError> ResetGimbalAsync(GimbalResetCommandMsg value)
      Declaration:DJI.WindowsSDK.Components
      Description:

      Resets the gimbal. The gimbal will have different behaviors with different gimbal reset modes.

      Input Parameters:
      GimbalResetCommandMsg valueA parameter object of type GimbalResetCommandMsg.
      Return:
      async Task<SDKError>A Task<SDKErrorCode> object.
      method GetGimbalAttitudeAsync
      async Task<ResultValue<Attitude?>> GetGimbalAttitudeAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Gets the attitude of the gimbal.

      Return:
      async Task<ResultValue<Attitude?>>A Task<ResultValue<Attitude?>> object.
      method GetYawRelativeToBodyHeadingAsync
      async Task<ResultValue<DoubleMsg?>> GetYawRelativeToBodyHeadingAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Gets the angle between gimbal and the aircraft heading.

      Return:
      async Task<ResultValue<DoubleMsg?>>A Task<ResultValue<DoubleMsg?>> object.
      method RotateByAngleAsync
      async Task<SDKError> RotateByAngleAsync(GimbalAngleRotation value)
      Declaration:DJI.WindowsSDK.Components
      Description:

      Rotate gimbal's pitch, roll, and yaw to the specific angle.

      Input Parameters:
      GimbalAngleRotation valueA parameter object of type GimbalAngleRotation.
      Return:
      async Task<SDKError>A Task<SDKErrorCode> object.
      method RotateBySpeedAsync
      async Task<SDKError> RotateBySpeedAsync(GimbalSpeedRotation value)
      Declaration:DJI.WindowsSDK.Components
      Description:

      Rotate gimbal's pitch, roll, and yaw in a specific speed.

      Input Parameters:
      GimbalSpeedRotation valueA parameter object of type GimbalSpeedRotation.
      Return:
      async Task<SDKError>A Task<SDKErrorCode> object.
      method CalibrateGimbalAsync
      async Task<SDKError> CalibrateGimbalAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Starts calibrating the gimbal. The product should be stationary (not flying, or being held) and horizontal during calibration. For gimbal's with adjustable payloads, the payload should be present and balanced before doing a calibration.

      Return:
      async Task<SDKError>A Task<SDKErrorCode> object.
      method GetGimbalAttitudeRangeAsync
      async Task<ResultValue<GimbalAttitudeRange?>> GetGimbalAttitudeRangeAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Gets the valid range of the gimbal's attitudes.

      Return:
      async Task<ResultValue<GimbalAttitudeRange?>>A Task<ResultValue<GimbalAttitudeRange?>> object.
      method GetGimbalCalibrationStateAsync
      async Task<ResultValue<GimbalCalibrationState?>> GetGimbalCalibrationStateAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Gets the calibration state of the gimbal.

      Return:
      async Task<ResultValue<GimbalCalibrationState?>>A Task<ResultValue<GimbalCalibrationState?>> object.
      method GetConnectionAsync
      async Task<ResultValue<BoolMsg?>> GetConnectionAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Determines if a component is connected or not.

      Return:
      async Task<ResultValue<BoolMsg?>>A Task<ResultValue<BoolMsg?>> object.
      method GetSerialNumberAsync
      async Task<ResultValue<StringMsg?>> GetSerialNumberAsync()
      Declaration:DJI.WindowsSDK.Components
      Description:

      Gets the serial number of the component.

      Return:
      async Task<ResultValue<StringMsg?>>A Task<ResultValue<StringMsg?>> object.
      event GimbalAttitudeChanged
      event AttitudeChangedEventHandler GimbalAttitudeChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive changes of the gimbal's attitude.

      event YawRelativeToBodyHeadingChanged
      event DoubleMsgChangedEventHandler YawRelativeToBodyHeadingChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive changes of the gimbal's yaw relative to the aircraft's heading.

      event GimbalAttitudeRangeChanged
      event GimbalAttitudeRangeChangedEventHandler GimbalAttitudeRangeChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive changes of the gimbal's valid attitude range.

      event GimbalCalibrationStateChanged
      event GimbalCalibrationStateChangedEventHandler GimbalCalibrationStateChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive changes of the gimbal's calibration state.

      event ConnectionChanged
      event BoolMsgChangedEventHandler ConnectionChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive a component's connection change.

      event SerialNumberChanged
      event StringMsgChangedEventHandler SerialNumberChanged
      Declaration:DJI.WindowsSDK.Components
      Description:

      Subscribe the event to receive changes of the serial number of the component.