Flight control API: high-level actions and low-level control modes. More...

#include <dji_control.hpp>

Classes
struct	AdvancedCtrlData
	AdvancedCtrlData. More...

struct	CtrlData
	CtrlData used for flight control. More...

class	FlightCommand
	Flight control commands. More...

Public Types
enum	VerticalLogic { VERTICAL_VELOCITY = 0x00, VERTICAL_POSITION = 0x10, VERTICAL_THRUST = 0x20 }
	bit 5:4 of the 8-bit (7:0) CtrlData.flag More...

enum	HorizontalLogic { HORIZONTAL_ANGLE = 0x00, HORIZONTAL_VELOCITY = 0x40, HORIZONTAL_POSITION = 0x80, HORIZONTAL_ANGULAR_RATE = 0xC0 }
	bit 7:6 of the 8-bit (7:0) CtrlData.flag More...

enum	YawLogic { YAW_ANGLE = 0x00, YAW_RATE = 0x08 }
	bit 3 of the 8-bit (7:0) CtrlData.flag More...

enum	HorizontalCoordinate { HORIZONTAL_GROUND = 0x00, HORIZONTAL_BODY = 0x02 }
	bit 2:1 of the 8-bit (7:0) CtrlData.flag More...

enum	StableMode { STABLE_DISABLE = 0x00, STABLE_ENABLE = 0x01 }
	bit 0 of the 8-bit (7:0) CtrlData.flag. More...

enum	KillSwitch { ENABLE = 0x01, DISABLE = 0x02 }
	turn on or off the motors for emergency reasons More...

typedef struct DJI::OSDK::Control::CtrlData	CtrlData
	CtrlData used for flight control. More...

typedef struct DJI::OSDK::Control::AdvancedCtrlData	AdvancedCtrlData
	AdvancedCtrlData. More...

typedef struct DJI::OSDK::Control::LegacyCMDData	LegacyCMDData

typedef struct DJI::OSDK::Control::KillSwitchData	KillSwitchData

Public Member Functions
	Control (Vehicle *vehicle=0)

void	obtainCtrlAuthority (VehicleCallBack callback=0, UserData userData=0)
	Obtain the control authority of the api (non-blocking call) More...

ACK::ErrorCode	obtainCtrlAuthority (int timeout)
	Obtain the control authority of the api (blocking call) More...

void	releaseCtrlAuthority (VehicleCallBack callback=0, UserData userData=0)
	Release the control authority of the api (non-blocking call) More...

ACK::ErrorCode	releaseCtrlAuthority (int timeout)
	Release the control authority of the api (blocking call) More...

void	action (const int cmd, VehicleCallBack callback=0, UserData userData=0)
	Basic action command for the vehicle, see FlightCommand for cmd choices. More...

ACK::ErrorCode	action (const int cmd, int timeout)
	Control the vehicle using user-specified mode, see FlightCommand for cmd choices. More...

ACK::ErrorCode	armMotors (int wait_timeout)
	Wrapper function for arming the motors. More...

void	armMotors (VehicleCallBack callback=0, UserData userData=0)
	Wrapper function for arming the motors. More...

ACK::ErrorCode	disArmMotors (int wait_timeout)
	Wrapper function for disarming the motors. More...

void	disArmMotors (VehicleCallBack callback=0, UserData userData=0)
	Wrapper function for disarming the motors. More...

ACK::ErrorCode	takeoff (int wait_timeout)
	Wrapper function for take off. More...

void	takeoff (VehicleCallBack callback=0, UserData userData=0)
	Wrapper function for take off. More...

ACK::ErrorCode	goHome (int wait_timeout)
	Wrapper function for go Home. More...

void	goHome (VehicleCallBack callback=0, UserData userData=0)
	Wrapper function for go Home. More...

ACK::ErrorCode	land (int wait_timeout)
	Wrapper function for landing. More...

void	land (VehicleCallBack callback=0, UserData userData=0)
	Wrapper function for landing. More...

void	flightCtrl (CtrlData data)
	Control the vehicle using user-specified mode. More...

void	flightCtrl (AdvancedCtrlData data)
	Control the vehicle using user-specified mode (overloaded) More...

void	positionAndYawCtrl (float32_t x, float32_t y, float32_t z, float32_t yaw)
	Control the position and yaw angle of the vehicle. The reference frame is the DJI::OSDK::Control::HORIZONTAL_GROUND (NEU). More...

void	velocityAndYawRateCtrl (float32_t Vx, float32_t Vy, float32_t Vz, float32_t yawRate)
	Control the velocity and yaw rate of the vehicle. The reference frame is the DJI::OSDK::Control::HORIZONTAL_GROUND (NEU). More...

void	attitudeAndVertPosCtrl (float32_t roll, float32_t pitch, float32_t yaw, float32_t z)
	Control the attitude and vertical position of the vehicle. More...

void	angularRateAndVertPosCtrl (float32_t rollRate, float32_t pitchRate, float32_t yawRate, float32_t z)
	Control the attitude rate and vertical position of the vehicle. More...

void	emergencyBrake ()
	Stop the vehicle in horiz velocity, vert velocity, yaw rate mode (body frame) More...

ACK::ErrorCode	killSwitch (KillSwitch cmd, int wait_timeout=10, char debugMsg[10]=(char *)"OSDK_API")
	Turn on or off the kill switch. More...

void	killSwitch (KillSwitch cmd, char debugMsg[10]=(char *)"OSDK_API", VehicleCallBack callback=0, UserData userData=0)
	Turn on or off the kill switch. More...

Static Public Member Functions
static void	actionCallback (Vehicle *vehiclePtr, RecvContainer recvFrame, UserData userData)
	A callback function for action non-blocking calls. More...

Public Attributes
Vehicle *	vehicle

Detailed Description

Flight control API: high-level actions and low-level control modes.

Member Typedef Documentation

◆ AdvancedCtrlData

typedef struct DJI::OSDK::Control::AdvancedCtrlData DJI::OSDK::Control::AdvancedCtrlData

AdvancedCtrlData.

Note: for flag, x, y, z, yaw definition see CtrlData.

◆ CtrlData

typedef struct DJI::OSDK::Control::CtrlData DJI::OSDK::Control::CtrlData

CtrlData used for flight control.

The struct for CtrlData

Member Enumeration Documentation

◆ HorizontalCoordinate

enum DJI::OSDK::Control::HorizontalCoordinate

bit 2:1 of the 8-bit (7:0) CtrlData.flag

Enumerator
HORIZONTAL_GROUND	Set the x-y of ground frame as the horizontal frame (NEU)
HORIZONTAL_BODY	Set the x-y of body frame as the horizontal frame (FRU)

◆ HorizontalLogic

enum DJI::OSDK::Control::HorizontalLogic

bit 7:6 of the 8-bit (7:0) CtrlData.flag

Note

Only when the GPS signal is good (health_flag >=3)，horizontal position control (HORIZONTAL_POSITION) related control modes can be used.
Only when GPS signal is good (health_flag >=3)，or when AdvancedSensing system is working properly with Autopilot， horizontal velocity control（HORIZONTAL_VELOCITY）related control modes can be used.

Enumerator
HORIZONTAL_ANGLE	Set the control-mode to control pitch & roll angle of the vehicle. Need to be referenced to either the ground or body frame by HorizontalCoordinate setting. Limit: 35 degree
HORIZONTAL_VELOCITY	Set the control-mode to control horizontal vehicle velocities. Need to be referenced to either the ground or body frame by HorizontalCoordinate setting. Limit: 30 m/s
HORIZONTAL_POSITION	Set the control-mode to control position offsets of pitch & roll directions Need to be referenced to either the ground or body frame by HorizontalCoordinate setting. Limit: N/A
HORIZONTAL_ANGULAR_RATE	Set the control-mode to control rate of change of the vehicle's attitude Need to be referenced to either the ground or body frame by HorizontalCoordinate setting. Limit: 150.0 deg/s

◆ KillSwitch

enum DJI::OSDK::Control::KillSwitch

turn on or off the motors for emergency reasons

Enumerator
ENABLE	Enable the killswitch
DISABLE	Disable the killswitch

◆ StableMode

enum DJI::OSDK::Control::StableMode

bit 0 of the 8-bit (7:0) CtrlData.flag.

Only works in Horizontal velocity control mode In velocity stable mode, drone will brake and hover at one position once the input command is zero. Drone will try to stay in position once in hover state.

In velocity non-stable mode, drone will follow the velocity command and doesn’t hover when the command is zero. That’s to say drone will drift with the wind.

Enumerator
STABLE_DISABLE	Disable the stable mode
STABLE_ENABLE	Enable the stable mode

◆ VerticalLogic

enum DJI::OSDK::Control::VerticalLogic

bit 5:4 of the 8-bit (7:0) CtrlData.flag

We suggest developers do not use VERTICAL_POSITION control mode indoor when your UAV flight height is larger than 3 meters. This is because in indoor environments, barometer can be inaccurate, and the vertical controller may fail to keep the height of the UAV.

Enumerator
VERTICAL_VELOCITY	Set the control-mode to control the vertical speed of UAV, upward is positive Limit: -5 to 5 m/s
VERTICAL_POSITION	Set the control-mode to control the height of UAV Limit: 0 to 120 m
VERTICAL_THRUST	Set the control-mode to directly control the thrust Range: 0% to 100%

◆ YawLogic

enum DJI::OSDK::Control::YawLogic

bit 3 of the 8-bit (7:0) CtrlData.flag

Enumerator
YAW_ANGLE	Set the control-mode to control yaw angle. Yaw angle is referenced to the ground frame. In this control mode, Ground frame is enforeced in Autopilot.
YAW_RATE	Set the control-mode to control yaw angular velocity. Same reference frame as YAW_ANGLE. Limite: 150 deg/s

Member Function Documentation

◆ action() [1/2]

void Control::action	(	const int	cmd,
		VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Basic action command for the vehicle, see FlightCommand for cmd choices.

Supported Platforms : M210V2, M300

Parameters

cmd	action command from FlightCommand
callback	callback function
userData	user data (void ptr)

◆ action() [2/2]

ACK::ErrorCode Control::action	(	const int	cmd,
		int	timeout
	)

Control the vehicle using user-specified mode, see FlightCommand for cmd choices.

Supported Platforms : M210V2, M300

Parameters

cmd	action command from FlightCommand
timeout	timeout to wait for ACK

Returns: ErrorCode

◆ actionCallback()

void Control::actionCallback	(	Vehicle *	vehiclePtr,
		RecvContainer	recvFrame,
		UserData	userData
	)

static

A callback function for action non-blocking calls.

Parameters

recvFrame	the data comes with the callback function
userData	a void ptr that user can manipulate inside the callback

◆ angularRateAndVertPosCtrl()

void Control::angularRateAndVertPosCtrl	(	float32_t	rollRate,
		float32_t	pitchRate,
		float32_t	yawRate,
		float32_t	z
	)

Control the attitude rate and vertical position of the vehicle.

Supported Platforms : M210V2, M300

Parameters

rollRate	attitude rate set-point in x axis of body frame (FRU) (deg/s)
pitchRate	attitude rate set-point in y axis of body frame (FRU) (deg/s)
yawRate	attitude rate set-point in z axis of body frame (FRU) (deg/s), input limit see DJI::OSDK::Control::YAW_RATE
z	z position set-point in z axis of ground frame (NED) (m), input limit see DJI::OSDK::Control::VERTICAL_POSITION

Note: 218 is the flag value of this mode

◆ armMotors() [1/2]

ACK::ErrorCode Control::armMotors ( int wait_timeout )

Wrapper function for arming the motors.

Supported Platforms : M210V2, M300

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ armMotors() [2/2]

void Control::armMotors	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Wrapper function for arming the motors.

Supported Platforms : M210V2, M300

Note: If user does not provide his/her own callback, default callback will be executed

◆ attitudeAndVertPosCtrl()

void Control::attitudeAndVertPosCtrl	(	float32_t	roll,
		float32_t	pitch,
		float32_t	yaw,
		float32_t	z
	)

Control the attitude and vertical position of the vehicle.

Supported Platforms : M210V2, M300

Parameters

roll	attitude set-point in x axis of body frame (FRU) (deg), input limit see DJI::OSDK::Control::HORIZONTAL_ANGLE
pitch	attitude set-point in y axis of body frame (FRU) (deg), input limit see DJI::OSDK::Control::HORIZONTAL_ANGLE
z	z position set-point in z axis of ground frame (NED) (m), input limit see DJI::OSDK::Control::VERTICAL_POSITION
yaw	attitude set-point in z axis of ground frame (NED) (deg)

Note: 18 is the flag value of this mode

◆ disArmMotors() [1/2]

ACK::ErrorCode Control::disArmMotors ( int wait_timeout )

Wrapper function for disarming the motors.

Supported Platforms : M210V2, M300

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ disArmMotors() [2/2]

void Control::disArmMotors	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Wrapper function for disarming the motors.

Supported Platforms : M210V2, M300

Note: If user does not provide his/her own callback, default callback will be executed

◆ emergencyBrake()

void Control::emergencyBrake ( )

Stop the vehicle in horiz velocity, vert velocity, yaw rate mode (body frame)

Supported Platforms : M210V2, M300

Note: 75 is the flag value of this mode

◆ flightCtrl() [1/2]

void Control::flightCtrl ( CtrlData data )

Control the vehicle using user-specified mode.

Supported Platforms : M210V2, M300

Parameters

data	control set-points and flags

Control Mode Byte

bit 7:6	bit 5:4	bit 3	bit 2:1	bit 0
0b00: HORI_ATTI_TILT_ANG	0b00: VERT_VEL	0b00: YAW_ANG	0b00: ground frame	0b0: non-stable mode
0b01: HORI_VEL	0b01: VERT_POS	0b01: YAW_RATE	0b01: body frame	0b1: stable mode
0b10: HORI_POS	0b10: VERT_THRUST		(horizontal frame)
0b11: HORI_ANG_VEL

Command Value

ctrl_flag	ctrl_byte	roll_or_x	pitch_or_y	thr_z	yaw	feedforward_x	feedforward_y
uint8_t	uint8_t	float32	float32	float32	float32	float32	float32

Mode	Input Limit
vert_thrust	0 to 100 %
vert_vel	-5 to 5 m/s
vert_pos	0 to 120m
hori_ang	35 degrees
hori_vel	30 m/s
hori_acc	7 m/s^2
yaw_rate	150 deg/s

◆ flightCtrl() [2/2]

void Control::flightCtrl ( AdvancedCtrlData data )

Control the vehicle using user-specified mode (overloaded)

Supported Platforms : M210V2, M300

Note: this mode only works in HORIZONTAL_VELOCITY and the unit of feedforward term is m/s^2

Parameters

data	control set-points and flags

Control Advanced Byte

bit 7	bit 6	bit 5	bit 4:3	bit 2:0
adv flag	brake_flag	yaw_ctrl_flag	avoid_atti_limit_enable	reserved
(1 for ON, 0 for OFF)	(1 for ON, 0 for OFF)		(1 for ON, 2 for OFF)

If adv_flag is ON, feedforward of x axis and y axis will work in horiz_vel

If brake_flag is ON, emergency brake will work when you use joystick.

If avoid_atti_limit_enable is ON, copter's atti limit will use avoid_atti_limit, that means the camera could not see the propeller.

If avoid_atti_limit_enable is OFF, copter's atti limit won't use avoid_atti_limit, that means the camera may see the propeller.

◆ goHome() [1/2]

ACK::ErrorCode Control::goHome ( int wait_timeout )

Wrapper function for go Home.

Supported Platforms : M210V2, M300

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ goHome() [2/2]

void Control::goHome	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Wrapper function for go Home.

Supported Platforms : M210V2, M300

Note: If user does not provide his/her own callback, default callback will be executed

◆ killSwitch() [1/2]

ACK::ErrorCode Control::killSwitch	(	KillSwitch	cmd,
		int	wait_timeout = `10`,
		char	debugMsg[10] = `(char *)"OSDK_API"`
	)

Turn on or off the kill switch.

Supported Platforms : M210V2, M300

Parameters

cmd	enable or disable the kill switch
wait_timeout	timeout for blocking call
debugMsg	inject debug message to flight control FW for logging, size limit: 10 bytes

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ killSwitch() [2/2]

void Control::killSwitch	(	KillSwitch	cmd,
		char	debugMsg[10] = `(char *)"OSDK_API"`,
		VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Turn on or off the kill switch.

Supported Platforms : M210V2, M300

Parameters

cmd	enable or disable the kill switch
debugMsg	inject debug message to flight control FW for logging, size limit: 10 bytes
callback	callback function you want called upon ACK
userData	additional data you want the callback function to have access to

Note: If user does not provide his/her own callback, default callback will be executed

◆ land() [1/2]

ACK::ErrorCode Control::land ( int wait_timeout )

Wrapper function for landing.

Supported Platforms : M210V2, M300

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ land() [2/2]

void Control::land	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Wrapper function for landing.

Supported Platforms : M210V2, M300

Note: If user does not provide his/her own callback, default callback will be executed

◆ obtainCtrlAuthority() [1/2]

void Control::obtainCtrlAuthority	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Obtain the control authority of the api (non-blocking call)

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ obtainCtrlAuthority() [2/2]

ACK::ErrorCode Control::obtainCtrlAuthority ( int timeout )

Obtain the control authority of the api (blocking call)

Supported Platforms : M210V2, M300

Parameters

timeout time to wait for ACK

◆ positionAndYawCtrl()

void Control::positionAndYawCtrl	(	float32_t	x,
		float32_t	y,
		float32_t	z,
		float32_t	yaw
	)

Control the position and yaw angle of the vehicle. The reference frame is the DJI::OSDK::Control::HORIZONTAL_GROUND (NEU).

Supported Platforms : M210V2, M300

Parameters

x	position set-point in x axis of ground frame (m)
y	position set-point in y axis of ground frame (m)
z	position set-point in z axis of ground frame (m), input limit see DJI::OSDK::Control::VERTICAL_POSITION
yaw	yaw set-point (deg)

Note: 145 is the flag value of this mode

◆ releaseCtrlAuthority() [1/2]

void Control::releaseCtrlAuthority	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Release the control authority of the api (non-blocking call)

Supported Platforms : M210V2, M300

Parameters

callback	callback function
userData	user data (void ptr)

◆ releaseCtrlAuthority() [2/2]

ACK::ErrorCode Control::releaseCtrlAuthority ( int timeout )

Release the control authority of the api (blocking call)

Supported Platforms : M210V2, M300

Parameters

timeout time to wait for ACK

◆ takeoff() [1/2]

ACK::ErrorCode Control::takeoff ( int wait_timeout )

Wrapper function for take off.

Supported Platforms : M210V2, M300

Returns: ACK::ErrorCode struct with the acknowledgement from the FC

◆ takeoff() [2/2]

void Control::takeoff	(	VehicleCallBack	callback = `0`,
		UserData	userData = `0`
	)

Wrapper function for take off.

Supported Platforms : M210V2, M300

Note: If user does not provide his/her own callback, default callback will be executed

◆ velocityAndYawRateCtrl()

void Control::velocityAndYawRateCtrl	(	float32_t	Vx,
		float32_t	Vy,
		float32_t	Vz,
		float32_t	yawRate
	)

Control the velocity and yaw rate of the vehicle. The reference frame is the DJI::OSDK::Control::HORIZONTAL_GROUND (NEU).

Supported Platforms : M210V2, M300

Parameters

Vx	velocity set-point in x axis of ground frame (m/s), input limit see DJI::OSDK::Control::HORIZONTAL_VELOCITY
Vy	velocity set-point in y axis of ground frame (m/s), input limit see DJI::OSDK::Control::HORIZONTAL_VELOCITY
Vz	velocity set-point in z axis of ground frame (m/s), input limit see DJI::OSDK::Control::VERTICAL_VELOCITY
yawRate	yawRate set-point (deg/s)

Note: 72 is the flag value of this mode

The documentation for this class was generated from the following files:

osdk-core/api/inc/dji_control.hpp
osdk-core/api/src/dji_control.cpp

Onboard SDK

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ AdvancedCtrlData

◆ CtrlData

Member Enumeration Documentation

◆ HorizontalCoordinate

◆ HorizontalLogic

◆ KillSwitch

◆ StableMode

◆ VerticalLogic

◆ YawLogic

Member Function Documentation

◆ action() [1/2]

◆ action() [2/2]

◆ actionCallback()

◆ angularRateAndVertPosCtrl()

◆ armMotors() [1/2]

◆ armMotors() [2/2]

◆ attitudeAndVertPosCtrl()

◆ disArmMotors() [1/2]

◆ disArmMotors() [2/2]

◆ emergencyBrake()

◆ flightCtrl() [1/2]

◆ flightCtrl() [2/2]

◆ goHome() [1/2]

◆ goHome() [2/2]

◆ killSwitch() [1/2]

◆ killSwitch() [2/2]

◆ land() [1/2]

◆ land() [2/2]

◆ obtainCtrlAuthority() [1/2]

◆ obtainCtrlAuthority() [2/2]

◆ positionAndYawCtrl()

◆ releaseCtrlAuthority() [1/2]

◆ releaseCtrlAuthority() [2/2]

◆ takeoff() [1/2]

◆ takeoff() [2/2]

◆ velocityAndYawRateCtrl()