public abstract class

DJIGimbal

extends DJIBaseComponent
java.lang.Object
   ↳ dji.sdk.base.DJIBaseComponent
     ↳ dji.sdk.gimbal.DJIGimbal

Class Overview

DJIGimbal is the class for controlling the view of the drone. If you want to have a practical view and want to have a first person view of the drone, gimbal could provide a special view for you. Also, if the objective is only focusing on one direction, the DJIGimbal could automatically stabilize the gimbal.

You could use the DJIGimbal class to change the angle for detecting objects. However, except the Inspire 1 series, pitch of the gimbal is the only one direction which could be changed. Other directions, like roll and yaw, should be adjusted by turning the heading of the drone. The gimbal has an acceleromoter and gyroscope that enable it to determine the orientation and position of the camera at any moment, and it stabilizes the camera through rotation around 3 axes. These rotational directions, known as pitch, yaw, and roll, completely describe where the camera is pointing. Each axis has a motor. The Inertial Measurement Unit (IMU) on the gimbal measures changes in rotation about all 3 axes, and compensates through the gimbal's motors. This is how the camera remains completely stable. The motor on each axis has stops (limits of movement), having a range of motion corresponding to a range of angular values, such as -180 to 180 degrees. The gimbal also operates according to a time component, which determines how quickly it moves through space to stabilize the camera.

Axes of Rotation
Yaw measures an object’s rotation about the vertical axis. Adjusting the yaw will keep the aircraft horizontal, but change the direction it is facing.
Pitch measures an object’s rotation about the lateral axis. Adjusting the pitch will tilt the aircraft forwards or backwards.
Roll measures an object’s rotation about the longitudinal axis. Adjusting the roll will tilt the aircraft left or right.

Summary

Nested Classes
interface DJIGimbal.GimbalAdvancedSettingsStateUpdateCallback Supported only by Osmo
This interface provides the method to receive the updated state and user configuration. 
interface DJIGimbal.GimbalBatteryRemainingEnergyUpdateCallback Gimbal energy remaining of Ronin MX in percent. 
interface DJIGimbal.GimbalStateUpdateCallback Callback for updating the gimbal's current state. 
Public Constructors
DJIGimbal()
Public Methods
void configureMotorControl(DJIGimbalMotorControlPreset cameraPreset, DJICommonCallbacks.DJICompletionCallback callback)
Configures gimbal's motor control with a preset configuration applicable for most popular cameras.
abstract void fineTuneGimbalRollInDegrees(float offset, DJICommonCallbacks.DJICompletionCallback callback)
The gimbal roll can be fine tuned with a custom offset.
abstract void getAdvancedSettingsProfile(DJICompletionCallbackWith<DJIGimbalAdvancedSettingsProfile> callback)
Gets profile for the advanced setting.
DJIGimbalAttitude getAttitudeInDegrees()
Returns the latest gimbal attitude data, or null if none is available.
void getCameraUprightEnabled(DJICompletionCallbackWith<Boolean> callback)
Supported only by Ronin MX.
double getCompletionTimeForControlAngleAction()
Sets the completion time, in seconds, to complete an action to control the gimbal.
void getControllerDeadbandOnAxis(DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)
Gets physical controller deadband value on an axis.
abstract void getControllerSmoothingOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)
Gets physical controller smoothing value on an axis.
abstract void getControllerSpeedOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)
Gets physical controller speed value on an axis.
void getEndpointInDirection(DJIGimbalEndpointDirection direction, DJICompletionCallbackWith<Integer> callback)
Gets the farthest points to which the gimbal will rotate during manual controller input.
abstract void getFirmwareVersion(DJICompletionCallbackWith<String> callback)
Sets the gimbal's firmware version.
void getGimbalControllerMode(DJICompletionCallbackWith<DJIGimbalControllerMode> callback)
Supported only by Osmo.
void getInverseControlEnabled(DJIGimbalAxis axis, DJICompletionCallbackWith<Boolean> callback)
Gets if the physical control is inverted for gimbal movement on an axis.
void getMotorControlGyroFilteringOnAxis(DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)
Gets the coefficient of denoising the output.
void getMotorControlPreControlOnAxis(DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)
Gets the value for pre-adjust.
void getMotorControlStiffnessOnAxis(DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)
Gets the coefficient of speed error control.
void getMotorControlStrengthOnAxis(DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)
Gets the coefficient of attitude accuracy control.
void getMotorEnabled(DJICompletionCallbackWith<Boolean> callback)
Supported only by Ronin MX.
abstract void getPitchRangeExtensionEnabled(DJICompletionCallbackWith<Boolean> callback)
Get the extend gimbal pitch range state.
abstract void getSmoothTrackAccelerationOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)
Gets SmoothTrack acceleration on an axis.
abstract void getSmoothTrackDeadbandOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)
Supported only by Osmo
Gets SmoothTrack deadband on an axis.
abstract void getSmoothTrackEnabledOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Boolean> callback)
Gets whether an axis has SmoothTrack enabled.
abstract void getSmoothTrackSpeedOnAxis(DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)
Gets gimbal SmoothTrack speed on an axis.
Map<DJIGimbalCapabilityKey, DJIParamCapability> gimbalCapability()
Returns the gimbal's features and possible range of settings.
boolean isConnected()
This method provides the connection status to detect whether the gimbal is connected.
void loadFactorySettings(DJICommonCallbacks.DJICompletionCallback callback)
Restores the gimbal's settings to factory settings.
abstract void resetGimbal(DJICommonCallbacks.DJICompletionCallback callback)
Resets the gimbal.
abstract void rotateGimbalByAngle(DJIGimbalRotateAngleMode angleMode, DJIGimbalAngleRotation pitch, DJIGimbalAngleRotation roll, DJIGimbalAngleRotation yaw, DJICommonCallbacks.DJICompletionCallback callback)
Rotate the gimbal's pitch, roll, and yaw in Angle Mode.
abstract void rotateGimbalBySpeed(DJIGimbalSpeedRotation pitch, DJIGimbalSpeedRotation roll, DJIGimbalSpeedRotation yaw, DJICommonCallbacks.DJICompletionCallback callback)
Rotate the gimbal's pitch, roll, and yaw in Speed Mode.
abstract void setAdvancedSettingsProfile(DJIGimbalAdvancedSettingsProfile userConfigType, DJICommonCallbacks.DJICompletionCallback callback)
Sets the advanced settings profile.
void setCameraUprightEnabled(boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)
Allows the camera to be mounted in the upright position (on top of the aircraft instead of underneath).
void setCompletionTimeForControlAngleAction(double completionTimeForControlAngleAction)
Sets the completion time, in seconds, to complete an action to control the gimbal.
void setControllerDeadbandOnAxis(DJIGimbalAxis direction, int deadband, DJICommonCallbacks.DJICompletionCallback callback)
Sets physical controller (e.g.
abstract void setControllerSmoothingOnAxis(DJIGimbalAxis axis, int smoothing, DJICommonCallbacks.DJICompletionCallback callback)
Sets physical controller (e.g.
abstract void setControllerSpeedOnAxis(DJIGimbalAxis axis, int speed, DJICommonCallbacks.DJICompletionCallback callback)
Sets physical controller (e.g.
void setEndpointInDirection(DJIGimbalEndpointDirection direction, int endpoint, DJICommonCallbacks.DJICompletionCallback callback)
Endpoint settings determine the farthest points to which the gimbal will rotate during manual controller input.
abstract void setGimbalAdvancedSettingsStateUpdateCallback(DJIGimbal.GimbalAdvancedSettingsStateUpdateCallback gimbalConfigUpdateCallback)
Support only by Osmo
Sets up the gimbal advanced setting state update callback.
void setGimbalBatteryRemainingEnergyUpdateCallback(DJIGimbal.GimbalBatteryRemainingEnergyUpdateCallback gimbalBatteryLifeUpdateCallback)
Sets the gimbal remaining energy callback.
void setGimbalControllerMode(DJIGimbalControllerMode gimbalControlMode, DJICommonCallbacks.DJICompletionCallback callback)
Supported only by Osmo.
abstract void setGimbalStateUpdateCallback(DJIGimbal.GimbalStateUpdateCallback gimbalStateUpdateCallback)
Sets up the gimbal state update callback.
abstract void setGimbalWorkMode(DJIGimbalWorkMode workMode, DJICommonCallbacks.DJICompletionCallback callback)
Sets the gimbal's work mode.
void setInverseControlEnabled(boolean enabled, DJIGimbalAxis axis, DJICommonCallbacks.DJICompletionCallback callback)
Inverts the physical control for gimbal movement on an axis.
void setMotorControlGyroFilteringOnAxis(DJIGimbalAxis direction, int filtering, DJICommonCallbacks.DJICompletionCallback callback)
Sets the coefficient of denoising the output.
void setMotorControlPreControlOnAxis(DJIGimbalAxis direction, int precontrol, DJICommonCallbacks.DJICompletionCallback callback)
Sets the value for pre-adjust.
void setMotorControlStiffnessOnAxis(DJIGimbalAxis direction, int stiffness, DJICommonCallbacks.DJICompletionCallback callback)
Sets the coefficient of speed error control.
void setMotorControlStrengthOnAxis(DJIGimbalAxis direction, int strength, DJICommonCallbacks.DJICompletionCallback callback)
Sets the coefficient of attitude accuracy control.
void setMotorEnabled(boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)
Supported only by Ronin MX.
abstract void setPitchRangeExtensionEnabled(boolean shouldExtend, DJICommonCallbacks.DJICompletionCallback callback)
Extends the pitch range of gimbal.
abstract void setSmoothTrackAccelerationOnAxis(DJIGimbalAxis axis, int accelerate, DJICommonCallbacks.DJICompletionCallback callback)
Sets SmoothTrack acceleration on an axis.
abstract void setSmoothTrackDeadbandOnAxis(DJIGimbalAxis axis, int deadband, DJICommonCallbacks.DJICompletionCallback callback)
Sets SmoothTrack deadband on an axis.
abstract void setSmoothTrackEnabledOnAxis(DJIGimbalAxis axis, boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)
Enables SmoothTrack for the axis.
abstract void setSmoothTrackSpeedOnAxis(DJIGimbalAxis axis, int speed, DJICommonCallbacks.DJICompletionCallback callback)
Sets gimbal SmoothTrack catch up speed on an axis.
abstract void startGimbalAutoCalibration(DJICommonCallbacks.DJICompletionCallback callback)
Starts calibrating the gimbal.
void startGimbalBalanceTest(DJICommonCallbacks.DJICompletionCallback callback)
Supported only by Ronin MX.
void toggleGimbalSelfie(DJICommonCallbacks.DJICompletionCallback callback)
Supported only by Osmo
Enables quick and easy selfie setup.
[Expand]
Inherited Methods
From class dji.sdk.base.DJIBaseComponent
From class java.lang.Object

Public Constructors

public DJIGimbal ()

Public Methods

public void configureMotorControl (DJIGimbalMotorControlPreset cameraPreset, DJICommonCallbacks.DJICompletionCallback callback)

Configures gimbal's motor control with a preset configuration applicable for most popular cameras. In order to the optimize the performance, motor control tuning is still required.

Parameters
cameraPreset The preset configuration to set.
callback The completion callback that receives execution result.

public abstract void fineTuneGimbalRollInDegrees (float offset, DJICommonCallbacks.DJICompletionCallback callback)

The gimbal roll can be fine tuned with a custom offset. The range for the custom offset is [-2.0, 2.0] degrees. If the offset is negative, the gimbal will be fine tuned the specified number of degrees in the anticlockwise direction.

Parameters
offset Fine-tune value in degrees to be set.
callback The execution callback with the returned execution result.

public abstract void getAdvancedSettingsProfile (DJICompletionCallbackWith<DJIGimbalAdvancedSettingsProfile> callback)

Gets profile for the advanced setting. Use DJIGimbalCapabilityKey.AdvancedSettingsProfile in gimbalCapability to check if it is supported by the gimbal.

Parameters
callback Completion callback that receives the execution result.

public DJIGimbalAttitude getAttitudeInDegrees ()

Returns the latest gimbal attitude data, or null if none is available.

public void getCameraUprightEnabled (DJICompletionCallbackWith<Boolean> callback)

Supported only by Ronin MX.
Gets if the camera is allowed to be in the upright position.

Parameters
callback The execution callback with the returned value(s).

public double getCompletionTimeForControlAngleAction ()

Sets the completion time, in seconds, to complete an action to control the gimbal. If the method rotateGimbalByAngle is used to control the gimbal's absolute angle，this property is used to determine in what duration of time the gimbal should rotate to its new position. For example, if the value of this property is set to 2.0 seconds, the gimbal will rotate to its target position in 2.0 seconds. Range is [0.1,25.5] seconds.

public void getControllerDeadbandOnAxis (DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)

Gets physical controller deadband value on an axis. A larger deadband requires more controller movement to start gimbal motion. Use DJIGimbalCapabilityKey.ControllerDeadbandYaw and DJIGimbalCapabilityKey.ControllerDeadbandPitch with gimbalCapability to check if the gimbal supports this feature.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public abstract void getControllerSmoothingOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)

Gets physical controller smoothing value on an axis. Smoothing controls the deceleration of the gimbal. Use DJIGimbalCapabilityKey.ControllerSmoothingYaw and DJIGimbalCapabilityKey.ControllerSmoothingPitch with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis to query.
callback The completion block that receives execution result.

public abstract void getControllerSpeedOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)

Gets physical controller speed value on an axis. Speed setting controls the mapping between the movement of the controller and the gimbal speed. Use DJIGimbalCapabilityKey.ControllerSpeedYaw and DJIGimbalCapabilityKey.ControllerSpeedPitch with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis to query.
callback The completion block that receives execution result.

public void getEndpointInDirection (DJIGimbalEndpointDirection direction, DJICompletionCallbackWith<Integer> callback)

Gets the farthest points to which the gimbal will rotate during manual controller input. Supported only by Ronin MX. Use DJIGimbalCapabilityKey.EndpointPitchUp, DJIGimbalCapabilityKey.EndpointPitchDown, DJIGimbalCapabilityKey.EndpointYawLeft and DJIGimbalCapabilityKey.EndpointYawRight with gimbalCapability to check if the gimbal supports this feature.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public abstract void getFirmwareVersion (DJICompletionCallbackWith<String> callback)

Sets the gimbal's firmware version.

Parameters
callback The execution callback with the returned value(s).

public void getGimbalControllerMode (DJICompletionCallbackWith<DJIGimbalControllerMode> callback)

Supported only by Osmo. Gets the gimabl control mode.

Parameters
callback The execution callback with the returned value(s).

public void getInverseControlEnabled (DJIGimbalAxis axis, DJICompletionCallbackWith<Boolean> callback)

Gets if the physical control is inverted for gimbal movement on an axis. It is only supported by Osmo Mobile. The setting can only be applied to the pitch or yaw axis.

Parameters
axis The axis to query.
callback The execution callback with the returned value(s).

public void getMotorControlGyroFilteringOnAxis (DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)

Gets the coefficient of denoising the output. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlGyroFilteringPitch, DJIGimbalCapabilityKey.MotorControlGyroFilteringYaw and DJIGimbalCapabilityKey.MotorControlGyroFilteringRoll to check if it is supported by the gimbal.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public void getMotorControlPreControlOnAxis (DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)

Gets the value for pre-adjust. It can be seen as the coefficient for the derivative term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlPrecontrolPitch, DJIGimbalCapabilityKey.MotorControlPrecontrolYaw and DJIGimbalCapabilityKey.MotorControlPrecontrolRoll to check if it is supported by the gimbal.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public void getMotorControlStiffnessOnAxis (DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)

Gets the coefficient of speed error control. It can be seen as the coefficient for the proportional term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlStiffnessPitch, DJIGimbalCapabilityKey.MotorControlStiffnessYaw and DJIGimbalCapabilityKey.MotorControlStiffnessRoll to check if it is supported by the gimbal.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public void getMotorControlStrengthOnAxis (DJIGimbalAxis direction, DJICompletionCallbackWith<Integer> callback)

Gets the coefficient of attitude accuracy control. It can be seen as the coefficient for the integral term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlStrengthPitch, DJIGimbalCapabilityKey.MotorControlStrengthYaw and DJIGimbalCapabilityKey.MotorControlStrengthRoll to check if it is supported by the gimbal.

Parameters
direction The axis to query.
callback The completion callback that receives execution result.

public void getMotorEnabled (DJICompletionCallbackWith<Boolean> callback)

Supported only by Ronin MX.
Gets if the motor is enabled to work or not.

Parameters
callback The execution callback with the returned value(s).

public abstract void getPitchRangeExtensionEnabled (DJICompletionCallbackWith<Boolean> callback)

Get the extend gimbal pitch range state. It is only supported by Phantom 3 Series and Phantom 4.

Parameters
callback The completion callback that receives execution result.

public abstract void getSmoothTrackAccelerationOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)

Gets SmoothTrack acceleration on an axis. Acceleration determines how closely the camera will follow the translated yaw handle movement. Use DJIGimbalCapabilityKey.SmoothTrackAccelerationPitch and DJIGimbalCapabilityKey.SmoothTrackAccelerationYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis Gimbal axis.
callback The execution callback with the returned value(s).

public abstract void getSmoothTrackDeadbandOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)

Supported only by Osmo
Gets SmoothTrack deadband on an axis. A larger deadband requires more handle movement to translate into gimbal motion. Use DJIGimbalCapabilityKey.SmoothTrackDeadbandPitch and DJIGimbalCapabilityKey.SmoothTrackDeadbandYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis Gimbal axis.
callback The execution callback with the returned value(s).

public abstract void getSmoothTrackEnabledOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Boolean> callback)

Gets whether an axis has SmoothTrack enabled. It is only supported by Osmo. Ronin MX supports SmoothTrack but it is always enabled for both pitch axis and yaw axis. Use DJIGimbalCapabilityKey.SmoothTrackEnabledPitch and DJIGimbalCapabilityKey.SmoothTrackEnabledYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis to query.
callback The completion callback that receives execution result.

public abstract void getSmoothTrackSpeedOnAxis (DJIGimbalAxis axis, DJICompletionCallbackWith<Integer> callback)

Gets gimbal SmoothTrack speed on an axis. SmoothTrack speed determines how fast the gimbal will catch up with a large, Use DJIGimbalCapabilityKey.SmoothTrackSpeedPitch and DJIGimbalCapabilityKey.SmoothTrackSpeedYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis Gimbal axis.
callback The execution callback with the returned value(s).

public Map<DJIGimbalCapabilityKey, DJIParamCapability> gimbalCapability ()

Returns the gimbal's features and possible range of settings. Each key is a possible gimbal feature and is in DJIGimbalCapabilityKey enum. The value for each key is an instance of DJIParamCapability or its sub-classes. The isSupported property can be used to query if a feature is supported by the gimbal and the getMin and getMax methods of DJIParamCapabilityMinMax can be used to query the valid range for the setting. When a feature is not supported, the values returned by getMin and getMax are undefined.

public boolean isConnected ()

This method provides the connection status to detect whether the gimbal is connected.

See Also

public void loadFactorySettings (DJICommonCallbacks.DJICompletionCallback callback)

Restores the gimbal's settings to factory settings.

Parameters
callback The completion callback that receives execution result.

public abstract void resetGimbal (DJICommonCallbacks.DJICompletionCallback callback)

Resets the gimbal. The behaviours are product-dependent. Osmo series (e.g. Osmo, Osmo Pro):
The gimbal's pitch and yaw will be set to the origin, which is the standard position for the gimbal.
Phantom series (e.g. Phantom 3 Professional, Phantom 4):
The first call sets gimbal to point down vertically to the earth. The second call sets gimbal to the standard position.
Other products (e.g. Inspire 1):
Only the gimbal's pitch will the set to the origin.

Parameters
callback The execution callback with the returned execution result.

public abstract void rotateGimbalByAngle (DJIGimbalRotateAngleMode angleMode, DJIGimbalAngleRotation pitch, DJIGimbalAngleRotation roll, DJIGimbalAngleRotation yaw, DJICommonCallbacks.DJICompletionCallback callback)

Rotate the gimbal's pitch, roll, and yaw in Angle Mode. The direction can either be set to clockwise or counter-clockwise.
For Phantom 3 Professional, Phantom 3 Advanced and Phantom 3 Standard, roll and yaw rotations are not available.
For Inspire 1, Inspire Pro and M100, pitch, roll and yaw rotations are available.
For Osmo, roll rotation is not available.

Parameters
angleMode Gimbal's angle mode.
pitch Gimbal's pitch rotation.
roll Gimbal's roll rotation direction.
yaw Gimbal's yaw rotation direction.
callback The execution callback with the returned execution result.

public abstract void rotateGimbalBySpeed (DJIGimbalSpeedRotation pitch, DJIGimbalSpeedRotation roll, DJIGimbalSpeedRotation yaw, DJICommonCallbacks.DJICompletionCallback callback)

Rotate the gimbal's pitch, roll, and yaw in Speed Mode. The direction can either be set to clockwise or counter-clockwise.
For Phantom 3 Professional, Phantom 3 Advanced and Phantom 3 Standard, roll and yaw rotations are not available.
For Inspire 1, Inspire Pro and M100, pitch, roll and yaw rotations are available.
For Osmo, roll rotation is not available. The yaw angleVelocity of DJIGimbalSpeedRotation range is (0, 120).

Parameters
pitch Gimbal's pitch rotation.
roll Gimbal's roll rotation.
yaw Gimbal's yaw rotation.
callback The execution callback with the returned execution result.

public abstract void setAdvancedSettingsProfile (DJIGimbalAdvancedSettingsProfile userConfigType, DJICommonCallbacks.DJICompletionCallback callback)

Sets the advanced settings profile. The advanced settings profile has options for both preset and custom profiles for SmoothTrack and Controller settings. Settings for SmoothTrack and Controller can only be set manually when using a custom profile. Use DJIGimbalCapabilityKey.AdvancedSettingsProfile in gimbalCapability to check if it is supported by the gimbal. Supported only by Osmo.

Parameters
userConfigType Profile to set.
callback Completion block that receives the execution result.

public void setCameraUprightEnabled (boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)

Allows the camera to be mounted in the upright position (on top of the aircraft instead of underneath). Supported only by Ronin MX.

Parameters
enabled true to allow the camera to be upright.
callback The execution callback with the returned execution result.

public void setCompletionTimeForControlAngleAction (double completionTimeForControlAngleAction)

Sets the completion time, in seconds, to complete an action to control the gimbal. If the method rotateGimbalByAngle is used to control the gimbal's absolute angle，this property is used to determine in what duration of time the gimbal should rotate to its new position. For example, if the value of this property is set to 2.0 seconds, the gimbal will rotate to its target position in 2.0 seconds. Range is [0.1,25.5] seconds.

Parameters
completionTimeForControlAngleAction the completion time

public void setControllerDeadbandOnAxis (DJIGimbalAxis direction, int deadband, DJICommonCallbacks.DJICompletionCallback callback)

Sets physical controller (e.g. the joystick on Osmo or the remote controller of the aircraft) deadband on an axis. A larger deadband requires more controller movement to start gimbal motion. Use DJIGimbalCapabilityKey.ControllerDeadbandYaw and DJIGimbalCapabilityKey.ControllerDeadbandPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Parameters
direction The axis that the setting will be applied to.
deadband The deadband value to be set.
callback The completion callback that receives execution result.

public abstract void setControllerSmoothingOnAxis (DJIGimbalAxis axis, int smoothing, DJICommonCallbacks.DJICompletionCallback callback)

Sets physical controller (e.g. the joystick on Osmo or the remote controller of the aircraft) smoothing on an axis. Smoothing controls the deceleration of the gimbal. Use DJIGimbalCapabilityKey.ControllerSmoothingYaw and DJIGimbalCapabilityKey.ControllerSmoothingPitch with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis that the setting will be applied to.
smoothing The smoothing value to be set.
callback The completion block that receives execution result.

public abstract void setControllerSpeedOnAxis (DJIGimbalAxis axis, int speed, DJICommonCallbacks.DJICompletionCallback callback)

Sets physical controller (e.g. the joystick on Osmo or the remote controller of the aircraft) speed on an axis. Speed setting controls the mapping between the movement of the controller and the gimbal speed. Use DJIGimbalCapabilityKey.ControllerSpeedYaw and DJIGimbalCapabilityKey.ControllerSpeedPitch with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis that the setting will be applied to.
speed The speed value to be set.
callback The completion callback that receives execution result.

public void setEndpointInDirection (DJIGimbalEndpointDirection direction, int endpoint, DJICommonCallbacks.DJICompletionCallback callback)

Endpoint settings determine the farthest points to which the gimbal will rotate during manual controller input. Supported only by Ronin MX. Use DJIGimbalCapabilityKey.EndpointPitchUp, DJIGimbalCapabilityKey.EndpointPitchDown, DJIGimbalCapabilityKey.EndpointYawLeft and DJIGimbalCapabilityKey.EndpointYawRight with gimbalCapability to check if the gimbal supports this feature and what the valid range of enpoints are.

Parameters
direction The direction that the setting will be applied to.
endpoint The endpoint value to set.
callback The completion callback that receives execution result.

public abstract void setGimbalAdvancedSettingsStateUpdateCallback (DJIGimbal.GimbalAdvancedSettingsStateUpdateCallback gimbalConfigUpdateCallback)

Support only by Osmo
Sets up the gimbal advanced setting state update callback.

public void setGimbalBatteryRemainingEnergyUpdateCallback (DJIGimbal.GimbalBatteryRemainingEnergyUpdateCallback gimbalBatteryLifeUpdateCallback)

Sets the gimbal remaining energy callback. The unit is percentage. This method is only supported by Ronin MX Gimbal.

Parameters
gimbalBatteryLifeUpdateCallback The execution callback.

public void setGimbalControllerMode (DJIGimbalControllerMode gimbalControlMode, DJICommonCallbacks.DJICompletionCallback callback)

Supported only by Osmo. The control mode for the gimbal controller (joystick for Osmo). The total controller deflection is a combination of horizontal and vertical deflection. This translates to gimbal movement around the yaw and pitch axes. The gimbal can be set to either move in both yaw and pitch simultaneously based on horizontal and vertical deflection of the controller, or move in only yaw or pitch exclusively based on whether horizontal or vertical deflection is larger. Only supported by Osmo.

Parameters
gimbalControlMode See enum named DJIGimbalControllerMode in DJIGimbal to find details on different gimbal stick control modes.
callback The execution callback with the returned execution result.

public abstract void setGimbalStateUpdateCallback (DJIGimbal.GimbalStateUpdateCallback gimbalStateUpdateCallback)

Sets up the gimbal state update callback.

public abstract void setGimbalWorkMode (DJIGimbalWorkMode workMode, DJICommonCallbacks.DJICompletionCallback callback)

Sets the gimbal's work mode. See enum DJIGimbalWorkMode for modes.

Parameters
workMode Gimbal work mode to be set.
callback The execution callback with the returned execution result.
See Also

public void setInverseControlEnabled (boolean enabled, DJIGimbalAxis axis, DJICommonCallbacks.DJICompletionCallback callback)

Inverts the physical control for gimbal movement on an axis. It is only supported by Osmo Mobile. The setting can only be applied to the pitch or yaw axis.

Parameters
enabled true to enable inverted control.
axis The axis that the setting will be applied to.
callback The execution callback with the returned execution result.

public void setMotorControlGyroFilteringOnAxis (DJIGimbalAxis direction, int filtering, DJICommonCallbacks.DJICompletionCallback callback)

Sets the coefficient of denoising the output. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlGyroFilteringPitch, DJIGimbalCapabilityKey.MotorControlGyroFilteringYaw and DJIGimbalCapabilityKey.MotorControlGyroFilteringRoll to check if it is supported by the gimbal.

Parameters
direction The axis that the setting is applied to.
filtering The gyro filtering value to set.
callback The completion callback that receives execution result.

public void setMotorControlPreControlOnAxis (DJIGimbalAxis direction, int precontrol, DJICommonCallbacks.DJICompletionCallback callback)

Sets the value for pre-adjust. It can be seen as the coefficient for the derivative term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlPrecontrolPitch, DJIGimbalCapabilityKey.MotorControlPrecontrolYaw and DJIGimbalCapabilityKey.MotorControlPrecontrolRoll to check if it is supported by the gimbal.

Parameters
direction The axis that the setting is applied to.
precontrol The Precontrol value to set.
callback The completion callback that receives execution result.

public void setMotorControlStiffnessOnAxis (DJIGimbalAxis direction, int stiffness, DJICommonCallbacks.DJICompletionCallback callback)

Sets the coefficient of speed error control. It can be seen as the coefficient for the proportional term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlStiffnessPitch, DJIGimbalCapabilityKey.MotorControlStiffnessYaw and DJIGimbalCapabilityKey.MotorControlStiffnessRoll to check if it is supported by the gimbal.

Parameters
direction The axis that the setting is applied to.
stiffness The stiffness value to set.
callback The completion callback that receives execution result.

public void setMotorControlStrengthOnAxis (DJIGimbalAxis direction, int strength, DJICommonCallbacks.DJICompletionCallback callback)

Sets the coefficient of attitude accuracy control. It can be seen as the coefficient for the integral term in PID controller. It is only supported by Ronin MX. Use DJIGimbalCapabilityKey.MotorControlStrengthPitch, DJIGimbalCapabilityKey.MotorControlStrengthYaw and DJIGimbalCapabilityKey.MotorControlStrengthRoll to check if it is supported by the gimbal.

Parameters
direction The axis that the setting is applied to.
strength The strength value to set.
callback The completion callback that receives execution result.

public void setMotorEnabled (boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)

Supported only by Ronin MX.
Turns on and off the gimbal motors. false means the gimbal power remains on, however the motors will not work. Supported only by Ronin MX.

Parameters
enabled true to enable the motor.
callback The execution callback with the returned execution result.

public abstract void setPitchRangeExtensionEnabled (boolean shouldExtend, DJICommonCallbacks.DJICompletionCallback callback)

Extends the pitch range of gimbal. Currently, it is only supported by Phantom 3 Series, Phantom 4 and Phantom 4 Pro. If extended, the gimbal's pitch control range can be [-30, 90], otherwise, it's [0, 90]. Use `DJIGimbalParamPitchRangeExtension` to check if it is supported by the gimbal.

Parameters
shouldExtend Whether the pitch range should be extended
callback The completion callback that receives execution result.

public abstract void setSmoothTrackAccelerationOnAxis (DJIGimbalAxis axis, int accelerate, DJICommonCallbacks.DJICompletionCallback callback)

Sets SmoothTrack acceleration on an axis. Acceleration determines how closely the camera will follow the translated yaw handle movement. Use DJIGimbalCapabilityKey.SmoothTrackAccelerationPitch and DJIGimbalCapabilityKey.SmoothTrackAccelerationYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis Gimbal axis.
accelerate SmoothTrack acceleration [0,30].
callback The execution callback with the returned execution result.

public abstract void setSmoothTrackDeadbandOnAxis (DJIGimbalAxis axis, int deadband, DJICommonCallbacks.DJICompletionCallback callback)

Sets SmoothTrack deadband on an axis. A larger deadband requires more handle movement to translate into gimbal motion. Use DJIGimbalCapabilityKey.SmoothTrackDeadbandPitch and DJIGimbalCapabilityKey.SmoothTrackDeadbandYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis Gimbal axis.
deadband SmoothTrack deadband [0,90].
callback The execution callback with the returned execution result.

public abstract void setSmoothTrackEnabledOnAxis (DJIGimbalAxis axis, boolean enabled, DJICommonCallbacks.DJICompletionCallback callback)

Enables SmoothTrack for the axis. It is only supported by Osmo. Ronin MX supports SmoothTrack but it is always enabled for both pitch axis and yaw axis. Use DJIGimbalCapabilityKey.SmoothTrackEnabledPitch and DJIGimbalCapabilityKey.SmoothTrackEnabledYaw with gimbalCapability to check if the gimbal supports this feature.

Parameters
axis The axis that the setting will be applied to.
enabled true to enable SmoothTrack on the axis.
callback The completion callback that receives execution result.

public abstract void setSmoothTrackSpeedOnAxis (DJIGimbalAxis axis, int speed, DJICommonCallbacks.DJICompletionCallback callback)

Sets gimbal SmoothTrack catch up speed on an axis. SmoothTrack speed determines how fast the gimbal will catch up with a large, translated handle movement.

Parameters
axis Gimbal axis.
speed SmoothTrack speed.
callback The execution callback with the returned execution result.

public abstract void startGimbalAutoCalibration (DJICommonCallbacks.DJICompletionCallback callback)

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.

Parameters
callback The execution callback with the returned execution result.

public void startGimbalBalanceTest (DJICommonCallbacks.DJICompletionCallback callback)

Supported only by Ronin MX.
Starts testing the balance of the gimbal payload. For gimbals that allow payloads to be changed, a balance test should be performed to ensure the camera is mounted correctly (the camera center of gravity needs to be aligned with where the gimbal expects it to be). The test will take about 30 seconds and isTestingBalance can be monitored for progress with the result in GimbalBalanceTestRollResult and GimbalBalanceTestPitchResult. The product should be stationary (not flying, or being held) and horizontal during testing. See `DJIGimbalState` for the test result.

Parameters
callback The execution callback with the returned value(s). The callback will execute when the balance test is successfully started.

public void toggleGimbalSelfie (DJICommonCallbacks.DJICompletionCallback callback)

Supported only by Osmo
Enables quick and easy selfie setup. If the gimbal yaw is not at 180 degrees, then calling this method will rotate the gimbal yaw to 180 degrees (effectively pointing the camera to the person holding the gimbal). If the gimbal yaw is at 180 degrees, then the gimbal will rotate in yaw to 0 degrees.

Parameters
callback The execution callback with the returned execution result.