DJIGimbal Class Reference


                    
                    
                    delegate

Returns the delegate of DJIGimbal.

Declaration

Objective-C

@property (readwrite, nonatomic) id<DJIGimbalDelegate> _Nullable delegate;

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

@deprecated Duplicated with the one in DJIGimbalState.
Declaration
Objective-C

@property (readonly, nonatomic) DJIGimbalAttitude attitudeInDegrees;
completionTimeForControlAngleAction
Sets the completion time, in seconds, to complete an action to control the gimbal. If the method rotateGimbalWithAngleMode:pitch:roll:yaw:withCompletion is used to control the gimbal’s absolute angle，this property will be 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.
Declaration
Objective-C

@property (assign, readwrite, nonatomic) double completionTimeForControlAngleAction;
gimbalCapability
Returns the gimbal’s features and possible range of settings. Each dictionary key is a possible gimbal feature and uses the DJIGimbalParam prefix. 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 min and max properties of DJIParamCapabilityMinMax can be used to query the valid range for the setting. When a feature is not supported, the values for min and max are undefined.
Declaration
Objective-C

@property (readonly, nonatomic) NSDictionary *_Nonnull gimbalCapability;

Set Gimbal Work Mode


                    
                    
                    -setGimbalWorkMode:withCompletion:

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

Declaration

Objective-C

- (void)setGimbalWorkMode:(DJIGimbalWorkMode)workMode
           withCompletion:(DJICompletionBlock)block;

Parameters

`workMode`	Gimbal work mode to be set.
`block`	Remote execution result error block.

Gimbal Control


                    
                    
                    -rotateGimbalWithAngleMode:pitch:roll:yaw:withCompletion:

Rotate the gimbal’s pitch, roll, and yaw in Angle Mode. See gimbalCapability for which axes can be moved for the gimbal being used.

Declaration

Objective-C

- (void)rotateGimbalWithAngleMode:(DJIGimbalRotateAngleMode)angleMode
                            pitch:(DJIGimbalAngleRotation)pitch
                             roll:(DJIGimbalAngleRotation)roll
                              yaw:(DJIGimbalAngleRotation)yaw
                   withCompletion:(DJICompletionBlock)block;

Parameters

`pitch`	Gimbal’s pitch rotation.
`roll`	Gimbal’s roll rotation.
`yaw`	Gimbal’s yaw rotation.
`block`	Execution result error block.


                    
                    
                    -rotateGimbalBySpeedWithPitch:roll:yaw:withCompletion:

Rotate the gimbal’s pitch, roll, and yaw using speed. The direction can either be set to clockwise or counter-clockwise. See gimbalCapability for which axes can be moved for the gimbal being used.

Declaration

Objective-C

- (void)rotateGimbalBySpeedWithPitch:(DJIGimbalSpeedRotation)pitch
                                roll:(DJIGimbalSpeedRotation)roll
                                 yaw:(DJIGimbalSpeedRotation)yaw
                      withCompletion:(DJICompletionBlock)block;

Parameters

`pitch`	Gimbal’s pitch rotation.
`roll`	Gimbal’s roll rotation.
`yaw`	Gimbal’s yaw rotation.
`block`	Execution result error block.


                    
                    
                    -resetGimbalWithCompletion:

Resets the gimbal. The behaviors 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 series): 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.

Declaration

Objective-C

- (void)resetGimbalWithCompletion:(DJICompletionBlock)block;

Parameters


                                block

Remote execution result error block.

Gimbal Calibration


                    
                    
                    -startGimbalAutoCalibrationWithCompletion:

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.

Declaration

Objective-C

- (void)startGimbalAutoCalibrationWithCompletion:(DJICompletionBlock)block;

Parameters


                                block

Remote execution result error block.


                    
                    
                    -fineTuneGimbalRollInDegrees:withCompletion:

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 counterclockwise direction.

Declaration

Objective-C

- (void)fineTuneGimbalRollInDegrees:(float)offset
                     withCompletion:(DJICompletionBlock)block;

Parameters

`offset`	Fine-tuned offset, in degrees, to be tuned.
`block`	Completion block.


                    
                    
                    -startGimbalBalanceTestWithCompletion:

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 product should be stationary (not flying, or being held) and horizontal during testing. See DJIGimbalState for the test result. Only supported by Ronin-MX.

Declaration

Objective-C

- (void)startGimbalBalanceTestWithCompletion:(DJICompletionBlock)block;

Parameters


                                block

Completion block that receives the execution result. The completion block will return when the balance test is successfully started.

Gimbal Advanced Setting


                    
                    
                    -setAdvancedSettingsProfile:withCompletion:

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 DJIGimbalParamAdvancedSettingsProfile in gimbalCapability to check if it is supported by the gimbal. Only supported by Osmo.

Declaration

Objective-C

- (void)setAdvancedSettingsProfile:(DJIGimbalAdvancedSettingsProfile)profile
                    withCompletion:(DJICompletionBlock)block;

Parameters

`profile`	Profile to set.
`block`	Completion block that receives the execution result.


                    
                    
                    -getAdvancedSettingsProfileWithCompletion:

Gets the advanced settings profile. Use DJIGimbalParamAdvancedSettingsProfile to check if it is supported by the gimbal. Only supported by Osmo.

Declaration

Objective-C

- (void)getAdvancedSettingsProfileWithCompletion:
    (void (^_Nonnull)(DJIGimbalAdvancedSettingsProfile,
                      NSError *_Nullable))block;

Parameters


                                block

Completion block that receives the execution result.


                    
                    
                    -loadFactorySettings:

Restores the gimbal’s settings to factory settings.

Declaration

Objective-C

- (void)loadFactorySettings:(DJICompletionBlock)block;

Parameters


                                block

The completion block that receives execution result.

Gimbal Range Extension


                    
                    
                    -setPitchRangeExtensionEnabled:withCompletion:

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.

Declaration

Objective-C

- (void)setPitchRangeExtensionEnabled:(BOOL)shouldExtend
                       withCompletion:(DJICompletionBlock)block;

Parameters

`shouldExtend`	Whether the pitch range should be extended
`block`	The completion block that receives execution result.


                    
                    
                    -getPitchRangeExtensionEnabledWithCompletion:

Get the extend gimbal pitch range state. Use DJIGimbalParamPitchRangeExtension to check if it is supported by the gimbal.

Declaration

Objective-C

- (void)getPitchRangeExtensionEnabledWithCompletion:
    (void (^_Nonnull)(BOOL, NSError *_Nullable))block;

Parameters

`shouldExtend`	Whether the pitch range should be extended
`block`	The completion block that receives execution result.

Gimbal Motor Control Configuration


                    
                    
                    -configureMotorControlWithPreset:withCompletion:

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.

Declaration

Objective-C

- (void)configureMotorControlWithPreset:(DJIGimbalMotorControlPreset)preset
                         withCompletion:(DJICompletionBlock)block;

Parameters

`preset`	The preset configuration to set.
`block`	The completion block that receives execution result.


                    
                    
                    -setMotorControlStiffness:onAxis:withCompletion:

Sets the coefficient of speed error control. It can be seen as the coefficient for the proportional term in the PID controller. Use DJIGimbalParamMotorControlStiffnessPitch, DJIGimbalParamMotorControlStiffnessYaw and DJIGimbalParamMotorControlStiffnessRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)setMotorControlStiffness:(NSInteger)stiffness
                          onAxis:(DJIGimbalAxis)axis
                  withCompletion:(DJICompletionBlock)block;

Parameters

`stiffness`	The stiffness value to set.
`axis`	The axis that the setting is applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getMotorControlStiffnessOnAxis:withCompletion:

Gets the coefficient of speed error control. It can be seen as the coefficient for the proportional term in the PID controller. Use DJIGimbalParamMotorControlStiffnessPitch, DJIGimbalParamMotorControlStiffnessYaw and DJIGimbalParamMotorControlStiffnessRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)getMotorControlStiffnessOnAxis:(DJIGimbalAxis)axis
                        withCompletion:
                            (void (^_Nonnull)(NSInteger,
                                              NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setMotorControlStrength:onAxis:withCompletion:

Sets the coefficient of attitude accuracy control. It can be seen as the coefficient for the integral term in the PID controller. Use DJIGimbalParamMotorControlStrengthPitch, DJIGimbalParamMotorControlStrengthYaw and DJIGimbalParamMotorControlStrengthRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)setMotorControlStrength:(NSInteger)strength
                         onAxis:(DJIGimbalAxis)axis
                 withCompletion:(DJICompletionBlock)block;

Parameters

`strength`	The strength value to set.
`axis`	The axis that the setting is applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getMotorControlStrengthOnAxis:withCompletion:

Gets the coefficient of attitude accuracy control. It can be seen as the coefficient for the integral term in the PID controller. Use DJIGimbalParamMotorControlStrengthPitch, DJIGimbalParamMotorControlStrengthYaw and DJIGimbalParamMotorControlStrengthRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)getMotorControlStrengthOnAxis:(DJIGimbalAxis)axis
                       withCompletion:
                           (void (^_Nonnull)(NSInteger,
                                             NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setMotorControlGyroFiltering:onAxis:withCompletion:

Sets the coefficient of denoising the output. Use DJIGimbalParamMotorControlGyroFilteringPitch, DJIGimbalParamMotorControlGyroFilteringYaw and DJIGimbalParamMotorControlGyroFilteringRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)setMotorControlGyroFiltering:(NSInteger)filtering
                              onAxis:(DJIGimbalAxis)axis
                      withCompletion:(DJICompletionBlock)block;

Parameters

`filtering`	The gyro filtering value to set.
`axis`	The axis that the setting is applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getMotorControlGyroFilteringOnAxis:withCompletion:

Gets the coefficient of denoising the output. Use DJIGimbalParamMotorControlGyroFilteringPitch, DJIGimbalParamMotorControlGyroFilteringYaw and DJIGimbalParamMotorControlGyroFilteringRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless). Only supported by Ronin-MX.

Declaration

Objective-C

- (void)getMotorControlGyroFilteringOnAxis:(DJIGimbalAxis)axis
                            withCompletion:
                                (void (^_Nonnull)(NSInteger,
                                                  NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setMotorControlPrecontrol:onAxis:withCompletion:

Sets the value for pre-adjust. It can be seen as the coefficient for the derivative term in the PID controller. Only supported by Ronin-MX. Use DJIGimbalParamMotorControlPrecontrolPitch, DJIGimbalParamMotorControlPrecontrolYaw and DJIGimbalParamMotorControlPrecontrolRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setMotorControlPrecontrol:(NSInteger)precontrol
                           onAxis:(DJIGimbalAxis)axis
                   withCompletion:(DJICompletionBlock)block;

Parameters

`precontrol`	The Precontrol value to set.
`axis`	The axis that the setting is applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getMotorControlPrecontrolOnAxis:withCompletion:

Gets the value for pre-adjust. It can be seen as the coefficient for the derivative term in the PID controller. Only supported by Ronin-MX. Use DJIGimbalParamMotorControlPrecontrolPitch, DJIGimbalParamMotorControlPrecontrolYaw and DJIGimbalParamMotorControlPrecontrolRoll with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getMotorControlPrecontrolOnAxis:(DJIGimbalAxis)axis
                         withCompletion:
                             (void (^_Nonnull)(NSInteger,
                                               NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.

Gimbal Controller Setting


                    
                    
                    -setControllerDeadband:onAxis:withCompletion:

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 DJIGimbalParamControllerDeadbandYaw and DJIGimbalParamControllerDeadbandPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setControllerDeadband:(NSInteger)deadband
                       onAxis:(DJIGimbalAxis)axis
               withCompletion:(DJICompletionBlock)block;

Parameters

`deadband`	The deadband value to be set.
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getControllerDeadbandOnAxis:withCompletion:

Gets physical controller deadband value on an axis. A larger deadband requires more controller movement to start gimbal motion. Use DJIGimbalParamControllerDeadbandYaw and DJIGimbalParamControllerDeadbandPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getControllerDeadbandOnAxis:(DJIGimbalAxis)axis
                     withCompletion:
                         (void (^_Nonnull)(NSInteger, NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setControllerSpeed:onAxis:withCompletion:

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 DJIGimbalParamControllerSpeedYaw and DJIGimbalParamControllerSpeedPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setControllerSpeed:(NSInteger)speed
                    onAxis:(DJIGimbalAxis)axis
            withCompletion:(DJICompletionBlock)block;

Parameters

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


                    
                    
                    -getControllerSpeedOnAxis:withCompletion:

Gets physical controller speed value on an axis. Speed setting controls the mapping between the movement of the controller and the gimbal speed. Use DJIGimbalParamControllerSpeedYaw and DJIGimbalParamControllerSpeedPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getControllerSpeedOnAxis:(DJIGimbalAxis)axis
                  withCompletion:
                      (void (^_Nonnull)(NSInteger, NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setControllerSmoothing:onAxis:withCompletion:

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 DJIGimbalParamControllerSmoothingYaw and DJIGimbalParamControllerSmoothingPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setControllerSmoothing:(NSInteger)smoothing
                        onAxis:(DJIGimbalAxis)axis
                withCompletion:(DJICompletionBlock)block;

Parameters

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


                    
                    
                    -getControllerSmoothingOnAxis:withCompletion:

Gets physical controller smoothing value on an axis. Smoothing controls the deceleration of the gimbal. Use DJIGimbalParamControllerSmoothingYaw and DJIGimbalParamControllerSmoothingPitch with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getControllerSmoothingOnAxis:(DJIGimbalAxis)axis
                      withCompletion:
                          (void (^_Nonnull)(NSInteger,
                                            NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.

Gimbal Smooth Track Setting


                    
                    
                    -setSmoothTrackEnabled:onAxis:withCompletion:

Enables SmoothTrack for the axis. Only supported by Osmo. Ronin-MX supports SmoothTrack but it is always enabled for both pitch axis and yaw axis. Use DJIGimbalParamSmoothTrackEnabledPitch and DJIGimbalParamSmoothTrackEnabledYaw with gimbalCapability to check if the gimbal supports this feature.

Declaration

Objective-C

- (void)setSmoothTrackEnabled:(BOOL)enabled
                       onAxis:(DJIGimbalAxis)axis
               withCompletion:(DJICompletionBlock)block;

Parameters

`enabled`	`YES` to enable SmoothTrack on the axis.
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getSmoothTrackEnabledOnAxis:withCompletion:

Gets whether an axis has SmoothTrack enabled. Only supported by Osmo. Ronin-MX supports SmoothTrack but it is always enabled for both pitch axis and yaw axis. Use DJIGimbalParamSmoothTrackEnabledPitch and DJIGimbalParamSmoothTrackEnabledYaw with gimbalCapability to check if the gimbal supports this feature.

Declaration

Objective-C

- (void)getSmoothTrackEnabledOnAxis:(DJIGimbalAxis)axis
                     withCompletion:
                         (void (^_Nonnull)(BOOL, NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setSmoothTrackSpeed:onAxis:withCompletion:

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. Use DJIGimbalParamSmoothTrackSpeedPitch and DJIGimbalParamSmoothTrackSpeedYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setSmoothTrackSpeed:(NSInteger)speed
                     onAxis:(DJIGimbalAxis)axis
             withCompletion:(DJICompletionBlock)block;

Parameters

`speed`	SmoothTrack speed [0,100].
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getSmoothTrackSpeedOnAxis:withCompletion:

Gets gimbal SmoothTrack speed on an axis. SmoothTrack speed determines how fast the gimbal will catch up with a large, translated handle movement. Use DJIGimbalParamSmoothTrackSpeedPitch and DJIGimbalParamSmoothTrackSpeedYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getSmoothTrackSpeedOnAxis:(DJIGimbalAxis)axis
                   withCompletion:
                       (void (^_Nonnull)(NSInteger, NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setSmoothTrackDeadband:onAxis:withCompletion:

Sets SmoothTrack deadband on an axis. A larger deadband requires more handle movement to translate into gimbal motion. Use DJIGimbalParamSmoothTrackDeadbandPitch and DJIGimbalParamSmoothTrackDeadbandYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values in degrees.

Declaration

Objective-C

- (void)setSmoothTrackDeadband:(NSInteger)deadband
                        onAxis:(DJIGimbalAxis)axis
                withCompletion:(DJICompletionBlock)block;

Parameters

`deadband`	SmoothTrack deadband [0,90].
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getSmoothTrackDeadbandOnAxis:withCompletion:

Gets SmoothTrack deadband on an axis. A larger deadband requires more handle movement to translate into gimbal motion. Use DJIGimbalParamSmoothTrackDeadbandPitch and DJIGimbalParamSmoothTrackDeadbandYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values in degrees.

Declaration

Objective-C

- (void)getSmoothTrackDeadbandOnAxis:(DJIGimbalAxis)axis
                      withCompletion:
                          (void (^_Nonnull)(NSInteger,
                                            NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.


                    
                    
                    -setSmoothTrackAcceleration:onAxis:withCompletion:

Sets SmoothTrack acceleration on an axis. Acceleration determines how closely the camera will follow the translated yaw handle movement. Use DJIGimbalParamSmoothTrackAccelerationPitch and DJIGimbalParamSmoothTrackAccelerationYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)setSmoothTrackAcceleration:(NSInteger)acceleration
                            onAxis:(DJIGimbalAxis)axis
                    withCompletion:(DJICompletionBlock)block;

Parameters

`acceleration`	SmoothTrack acceleration [0,30].
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getSmoothTrackAccelerationOnAxis:withCompletion:

Gets SmoothTrack acceleration on an axis. Acceleration determines how closely the camera will follow the translated yaw handle movement. Use DJIGimbalParamSmoothTrackAccelerationPitch and DJIGimbalParamSmoothTrackAccelerationYaw with gimbalCapability to check if the gimbal supports this feature and the range of possible values (unitless).

Declaration

Objective-C

- (void)getSmoothTrackAccelerationOnAxis:(DJIGimbalAxis)axis
                          withCompletion:
                              (void (^_Nonnull)(NSInteger,
                                                NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.

Gimbal Endpoint Setting


                    
                    
                    -setEndpoint:inDirection:withCompletion:

Endpoint settings determine the farthest points to which the gimbal will rotate during manual controller input. Only supported by Ronin-MX. Use DJIGimbalParamEndpointPitchUp, DJIGimbalParamEndpointPitchDown, DJIGimbalParamEndpointYawLeft and DJIGimbalParamEndpointYawRight in gimbalCapability to check if the gimbal supports this feature and what the valid range of enpoints are.

Declaration

Objective-C

- (void)setEndpoint:(NSInteger)endpoint
        inDirection:(DJIGimbalEndpointDirection)direction
     withCompletion:(DJICompletionBlock)block;

Parameters

`endpoint`	The endpoint value to set.
`direction`	The endpoint direction.
`block`	The completion block that receives execution result.


                    
                    
                    -getEndpointInDirection:withCompletion:

Gets the farthest points to which the gimbal will rotate during manual controller input. Only supported by Ronin-MX. Use DJIGimbalParamEndpointPitchUp, DJIGimbalParamEndpointPitchDown, DJIGimbalParamEndpointYawLeft and DJIGimbalParamEndpointYawRight with gimbalCapability to check if the gimbal supports this feature.

Declaration

Objective-C

- (void)getEndpointInDirection:(DJIGimbalEndpointDirection)direction
                withCompletion:
                    (void (^_Nonnull)(NSInteger, NSError *_Nullable))block;

Parameters

`direction`	The endpoint direction.
`block`	The completion block that receives execution result.

Others


                    
                    
                    -setCameraUprightEnabled:withCompletion:

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

Declaration

Objective-C

- (void)setCameraUprightEnabled:(BOOL)enabled
                 withCompletion:(DJICompletionBlock)block;

Parameters

`enabled`	`YES` to allow the camera to be upright.
`block`	The completion block that receives execution result.


                    
                    
                    -getCameraUprightEnabledWithCompletion:

Gets if the camera is allowed to be in the upright position. Only supported by Ronin-MX.

Declaration

Objective-C

- (void)getCameraUprightEnabledWithCompletion:
    (void (^_Nonnull)(BOOL, NSError *_Nullable))block;

Parameters


                                block

The completion block that receives execution result.


                    
                    
                    -setMotorEnabled:withCompletion:

Turns on and off the gimbal motors. NO means the gimbal power remains on, however the motors will not work. Only supported by Ronin-MX.

Declaration

Objective-C

- (void)setMotorEnabled:(BOOL)enabled withCompletion:(DJICompletionBlock)block;

Parameters

`enabled`	`YES` to enable the motor.
`block`	The completion block that receives execution result.


                    
                    
                    -getMotorEnabledWithCompletion:

Gets if the gimbal motors are enabled to work or not. Only supported by Ronin-MX.

Declaration

Objective-C

- (void)getMotorEnabledWithCompletion:
    (void (^_Nonnull)(BOOL, NSError *_Nullable))block;

Parameters


                                block

The completion block that receives execution result.


                    
                    
                    -toggleGimbalSelfieWithCompletion:

Resets gimbal position to 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. Only supported by Osmo.

Declaration

Objective-C

- (void)toggleGimbalSelfieWithCompletion:(DJICompletionBlock)block;

Parameters


                                block

The completion block that receives execution result.


                    
                    
                    -setGimbalControllerMode:withCompletion:

Sets the gimbal’s controller mode. 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.

Declaration

Objective-C

- (void)setGimbalControllerMode:(DJIGimbalControllerMode)controlMode
                 withCompletion:(DJICompletionBlock)block;

Parameters

`controlMode`	The stick control mode to set.
`block`	The completion block that receives execution result.


                    
                    
                    -getGimbalControllerModeWithCompletion:

Gets the gimbal’s controller mode. Only supported by Osmo.

Declaration

Objective-C

- (void)getGimbalControllerModeWithCompletion:
    (void (^_Nonnull)(DJIGimbalControllerMode, NSError *_Nullable))block;

Parameters


                                block

The completion block that receives execution result.


                    
                    
                    -setInvertControlEnabled:onAxis:withCompletion:

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.

Declaration

Objective-C

- (void)setInvertControlEnabled:(BOOL)enabled
                         onAxis:(DJIGimbalAxis)axis
                 withCompletion:(DJICompletionBlock)block;

Parameters

`enabled`	`YES` to enable inverted control.
`axis`	The axis that the setting will be applied to.
`block`	The completion block that receives execution result.


                    
                    
                    -getInvertControlEnabledOnAxis:withCompletion:

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.

Declaration

Objective-C

- (void)getInvertControlEnabledOnAxis:(DJIGimbalAxis)axis
                       withCompletion:
                           (void (^_Nonnull)(BOOL, NSError *_Nullable))block;

Parameters

`axis`	The axis to query.
`block`	The completion block that receives execution result.