Namespaces
	MOP
	This namespace encapsulates all available telemetry topics through either Broadcast or Subscribe.

	Telemetry
	This namespace encapsulates all available telemetry topics through either Broadcast or Subscribe.

	VehicleStatus
	info about vehicle

Classes
class	ACK
	Class for handling acknowledgements from the aircraft. More...

class	AdvancedSensing

struct	BatteryWholeInfo

struct	BatteryWholeInfoImpl

class	Camera
	Camera class for controlling camera-related functions available through open protocol. More...

class	CameraManager
	The manager of camera module. More...

class	CameraModule
	CameraModule of PayloadNode. More...

struct	CGPoint

struct	CMD_SETSupportMatrix
	Define CMD_SET support matrix. More...

struct	CommonCallBackHandler
	The CallBackHandler struct allows users to encapsulate callbacks and data in one struct. This is a more common method. More...

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

class	DataBroadcast
	Telemetry API through asynchronous "Broadcast"-style messages. More...

class	DataSubscription
	Telemetry API through asynchronous "Subscribe"-style messages. More...

struct	DispatchInfo
	Dispatch info. More...

struct	DJIGimbalRotation

class	DJIHMS
	DJI health manager system of drone. More...

struct	DJIWaypointV2Action

struct	DJIWaypointV2Actuator

struct	DJIWaypointV2AircraftControlFlyingParam

struct	DJIWaypointV2AircraftControlParam

struct	DJIWaypointV2AircraftControlRotateHeadingParam

struct	DJIWaypointV2AssociateTriggerParam

struct	DJIWaypointV2CameraActuatorParam

struct	DJIWaypointV2CameraFocalLengthParam

struct	DJIWaypointV2CameraFocusParam

struct	DJIWaypointV2GimbalActuatorParam

struct	DJIWaypointV2IntervalTriggerParam

struct	DJIWaypointV2TrajectoryTriggerParam

struct	DJIWholeBatteryState

struct	DJIWholeBatteryStateImpl

struct	DownloadMissionAck

struct	DownloadMissionRsp

struct	ErrList

class	ErrorCode

union	Eventdata

class	FlightController
	Flight controller API: set or get parameter, execute flight actions. More...

struct	GetGlobalCruiseVelAck

struct	GetRemainRamAck

struct	GetWaypontStartEndIndexAck

class	Gimbal
	The Gimbal class for controlling gimbal-related functions. More...

class	GimbalManager
	The manager of gimbal module. More...

class	GimbalModule
	gimbal module More...

class	HardwareSync
	APIs for controlling Hardware Sync. More...

struct	HMSErrCodeInfo

struct	HMSPushData

struct	HMSPushPacket

class	HotpointMission
	APIs for Hotpoint (Point of Interest) Missions. More...

struct	HotPointSettings
	HotPoint Mission Initialization settings. More...

class	MFIO
	APIs for Multi-Function Input-Output functionality. More...

class	MissionBase
	Mission Base class for commonality between SDK Missions. More...

struct	MissionEventPushAck

class	MissionManager
	MissionManager class for chaining/managing missions. More...

struct	MissionStateCommanData

struct	MissionStatePushAck

class	MobileDevice
	APIs for Mobile-Onboard SDK Communication. More...

class	MopClient
	Class providing APIs & data structures for acting as a MOP client. More...

class	MopPipeline
	Class providing APIs & data structures MOP pipeline operations. More...

class	MopServer
	Class providing APIs & data structures for acting as a MOP server. More...

struct	OpenHeader
	The Header struct is meant to handle the open protocol header. More...

class	PayloadBase
	PayloadBase. More...

class	PayloadDevice
	APIs for Payload-Onboard SDK Communication. More...

class	PSDKManager
	The manager of psdk module. More...

class	PSDKModule
	PSDK module. More...

struct	RecvContainer
	Received info. More...

struct	RelativePosition

class	SubscriptionPackage
	Package class to support Subscribe-style telemetry. More...

struct	UploadActionsRawAck

struct	UploadMissionRawAck

struct	VehicleCallBackHandler
	The CallBackHandler struct allows users to encapsulate callbacks and data in one struct. More...

struct	VirtualRCData
	Virtual RC data (supported only on Matrice 100) More...

struct	VirtualRCSetting
	Virtual RC Settings (supported only on Matrice 100) More...

struct	WayPointFinishData
	Waypoint Mission Finish Event Push Data. More...

struct	WayPointInitSettings
	Waypoint Mission Initialization settings. More...

class	WaypointMission
	APIs for GPS Waypoint Missions. More...

struct	WayPointSettings
	Waypoint settings for individual waypoints being added to the mission. More...

struct	WaypointV2

struct	WaypointV2Config

struct	WayPointV2InitSettings
	Waypoint V2 Mission Initialization settings. More...

struct	WayPointV2InitSettingsInternal
	Waypoint V2 Mission Initialization Settings Internal User have no need to use it. More...

struct	WaypointV2Internal

class	WaypointV2MissionOperator

Typedefs
typedef struct DJI::OSDK::RequestBatteryDynamicInfoCmd	RequestBatteryDynamicInfoCmd

typedef struct DJI::OSDK::DJIWholeBatteryState	DJIWholeBatteryState

typedef struct DJI::OSDK::BatteryWholeInfo	BatteryWholeInfo

typedef enum DJI::OSDK::DJISmartBatterySelfCheck	DJISmartBatterySelfCheck

typedef enum DJI::OSDK::DJIBatteryClosedReasonImpl	DJIBatteryClosedReasonImpl

typedef enum DJI::OSDK::DJISmartBatteryHeatState	DJISmartBatteryHeatState

typedef enum DJI::OSDK::DJISmartBatterySocWarning	DJISmartBatterySocWarning

typedef struct DJI::OSDK::DJISmartBatteryState	DJISmartBatteryState

typedef struct DJI::OSDK::SmartBatteryDynamicInfo	SmartBatteryDynamicInfo

typedef struct DJI::OSDK::DJIWholeBatteryStateImpl	DJIWholeBatteryStateImpl

typedef struct DJI::OSDK::BatteryWholeInfoImpl	BatteryWholeInfoImpl

typedef enum DJI::OSDK::DJIBatteryFirmwareAbnormalImpl	DJIBatteryFirmwareAbnormalImpl

typedef struct DJI::OSDK::DJISmartBatteryStateImpl	DJISmartBatteryStateImpl

typedef struct DJI::OSDK::SmartBatteryDynamicInfoImpl	SmartBatteryDynamicInfoImpl

typedef struct DJI::OSDK::ErrList	ErrList

typedef struct DJI::OSDK::HMSPushData	HMSPushData

typedef struct DJI::OSDK::HMSPushPacket	HMSPushPacket

typedef struct DJI::OSDK::HMSErrCodeInfo	HMSErrCodeInfo

typedef enum DJI::OSDK::MissionType	MissionType

typedef struct DJI::OSDK::HotPointSettings	HotPointSettings
	HotPoint Mission Initialization settings. More...

typedef struct DJI::OSDK::WayPointInitSettings	WayPointInitSettings
	Waypoint Mission Initialization settings. More...

typedef struct DJI::OSDK::WayPointSettings	WayPointSettings
	Waypoint settings for individual waypoints being added to the mission. More...

typedef enum DJI::OSDK::WaypointActionTypeFormat	WaypointActionTypeFormat

typedef enum DJI::OSDK::WayPointIncidentType	WayPointIncidentType
	WayPoint Reached Data Incident Type enumerator. More...

typedef enum DJI::OSDK::WayPointPushDataIncidentType	WayPointPushDataIncidentType
	WayPoint Push Data Incident Type enumerator.

typedef struct DJI::OSDK::WayPointFinishData	WayPointFinishData
	Waypoint Mission Finish Event Push Data.

typedef enum DJI::OSDK::DJIWaypointV2FlightPathMode	DJIWaypointV2FlightPathMode

typedef enum DJI::OSDK::DJIWaypointV2HeadingMode	DJIWaypointV2HeadingMode

typedef enum DJI::OSDK::DJIWaypointV2TurnMode	DJIWaypointV2TurnMode

typedef uint8_t	RetCodeType

typedef uint32_t	WaypointV2CommonAck

typedef float32_t	GlobalCruiseSpeed

typedef struct DJI::OSDK::UploadMissionRawAck	UploadMissionRawAck

typedef struct DJI::OSDK::UploadActionsRawAck	UploadActionsRawAck

typedef struct DJI::OSDK::DownloadMissionRsp	DownloadMissionRsp

typedef struct DJI::OSDK::DownloadMissionAck	DownloadMissionAck

typedef struct DJI::OSDK::GetGlobalCruiseVelAck	GetGlobalCruiseVelAck

typedef struct DJI::OSDK::GetRemainRamAck	getRemainRamAck

typedef struct DJI::OSDK::GetWaypontStartEndIndexAck	GetWaypontStartEndIndexAck

typedef struct DJI::OSDK::MissionStateCommanData	MissionStateCommanData

typedef struct DJI::OSDK::MissionStatePushAck	MissionStatePushAck

typedef union DJI::OSDK::Eventdata	Eventdata

typedef struct DJI::OSDK::MissionEventPushAck	MissionEventPushAck

typedef struct DJI::OSDK::WayPointV2InitSettingsInternal	WayPointV2InitSettingsInternal
	Waypoint V2 Mission Initialization Settings Internal User have no need to use it.

typedef struct DJI::OSDK::DownloadInitSettingRawAck	DownloadInitSettingRawAck

typedef struct DJI::OSDK::RelativePosition	RelativePosition

typedef struct DJI::OSDK::WaypointV2Config	WaypointV2Config

typedef struct DJI::OSDK::WaypointV2Internal	WaypointV2Internal

typedef struct DJI::OSDK::WaypointV2	WaypointV2

typedef struct DJI::OSDK::WayPointV2InitSettings	WayPointV2InitSettings
	Waypoint V2 Mission Initialization settings. More...

typedef struct DJI::OSDK::FCGroundStationDataPush	FCGroundStationDataPush

typedef void *	UserData
	This is used as the datatype for all data arguments in callbacks.

typedef uint64_t	time_ms

typedef uint64_t	time_us

typedef float	float32_t

typedef double	float64_t

typedef struct DJI::OSDK::OpenHeader	OpenHeader
	The Header struct is meant to handle the open protocol header.

typedef struct DJI::OSDK::Command	Command

typedef struct DJI::OSDK::MMU_Tab	MMU_Tab

typedef struct DJI::OSDK::CMDSession	CMDSession

typedef struct DJI::OSDK::ACKSession	ACKSession

typedef struct DJI::OSDK::DataBuryPack	DataBuryPack

typedef struct DJI::OSDK::HeartBeatPack	HeartBeatPack

typedef struct DJI::OSDK::VirtualRCSetting	VirtualRCSetting
	Virtual RC Settings (supported only on Matrice 100)

typedef struct DJI::OSDK::VirtualRCData	VirtualRCData
	Virtual RC data (supported only on Matrice 100)

typedef struct DJI::OSDK::DispatchInfo	DispatchInfo
	Dispatch info. More...

typedef struct DJI::OSDK::RecvContainer	RecvContainer
	Received info. More...

typedef void(*	VehicleCallBack) (Vehicle *vehicle, RecvContainer recvFrame, UserData userData)
	Function prototype for all callback functions used in the OSDK. More...

typedef struct DJI::OSDK::VehicleCallBackHandler	VehicleCallBackHandler
	The CallBackHandler struct allows users to encapsulate callbacks and data in one struct. More...

typedef struct DJI::OSDK::CommonCallBackHandler	CommonCallBackHandler
	The CallBackHandler struct allows users to encapsulate callbacks and data in one struct. This is a more common method. More...

typedef struct DJI::OSDK::CMD_SETSupportMatrix	CMD_SETSupportMatrix
	Define CMD_SET support matrix.

typedef E_OsdkStat(*	PushCallback) (struct _CommandHandle cmdHandle, const T_CmdInfo cmdInfo, const uint8_t cmdData, void userData)
	callback type to get the pushing data from waypoint 2.0 More...

typedef struct DJI::OSDK::CGPoint	CGPoint

typedef struct DJI::OSDK::DJIGimbalRotation	DJIGimbalRotation

typedef struct DJI::OSDK::DJIWaypointV2SampleReachPointTriggerParam	DJIWaypointV2SampleReachPointTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2AssociateTriggerParam	DJIWaypointV2AssociateTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2TrajectoryTriggerParam	DJIWaypointV2TrajectoryTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2IntervalTriggerParam	DJIWaypointV2IntervalTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2CameraFocusParam	DJIWaypointV2CameraFocusParam

typedef struct DJI::OSDK::DJIWaypointV2CameraFocalLengthParam	DJIWaypointV2CameraFocalLengthParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlRotateHeadingParam	DJIWaypointV2AircraftControlRotateHeadingParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlFlyingParam	DJIWaypointV2AircraftControlFlyingParam

typedef struct DJI::OSDK::DJIWaypointV2Trigger	DJIWaypointV2Trigger

typedef struct DJI::OSDK::DJIWaypointV2CameraActuatorParam	DJIWaypointV2CameraActuatorParam

typedef struct DJI::OSDK::DJIWaypointV2GimbalActuatorParam	DJIWaypointV2GimbalActuatorParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlParam	DJIWaypointV2AircraftControlParam

typedef struct DJI::OSDK::DJIWaypointV2Actuator	DJIWaypointV2Actuator

typedef struct DJI::OSDK::DJIWaypointV2Action	DJIWaypointV2Action

typedef struct DJI::OSDK::DataConfig	DataConfig

typedef struct DJI::OSDK::ImgConfig	ImgConfig

typedef struct DJI::OSDK::VGAConfig	VGAConfig

typedef struct DJI::OSDK::AdvancedSensingConfig	AdvancedSensingConfig

Enumerations
enum	DJISmartBatterySelfCheck { DJI_BATTERY_SELF_CHECK_NORAML = 0, DJI_BATTERY_SELF_CHECK_NTC_ABNORAML = 1, DJI_BATTERY_SELF_CHECK_MOS_ABNROMAL = 2, DJI_BATTERY_SELF_CHECK_R_ABNORMAL = 3, DJI_BATTERY_SELF_CHECK_CELL_DAMAGE = 4, DJI_BATTERY_SELF_CHECK_CAL_EXP = 5, DJI_BATTERY_SELF_CHECK_GAUGEPARM_EXP = 6, DJI_BATTERY_SELF_CHECK_RES = 7 }

enum	DJIBatteryClosedReasonImpl { DJI_BETTERY_CLOSED_NORMAL = 0, DJI_BETTERY_CLOSED_FORCED = 1, DJI_BETTERY_CLOSED_SCD = 2, DJI_BETTERY_CLOSED_OLD = 3, DJI_BETTERY_CLOSED_OCD = 4, DJI_BETTERY_CLOSED_UVD = 5, DJI_BETTERY_CLOSED_OTD = 6, DJI_BETTERY_CLOSED_SCC = 16, DJI_BETTERY_CLOSED_OCC = 17, DJI_BETTERY_CLOSED_OVC = 18, DJI_BETTERY_CLOSED_OVCER = 19, DJI_BETTERY_CLOSED_LTC = 20, DJI_BETTERY_CLOSED_HTC = 21 }

enum	DJISmartBatterySohState { DJI_SOH_NORMAL = 0, DJI_SOH_ALERT = 1, DJI_SOH_SAFE = 2, DJI_SOH_RESERVE = 3 }

enum	DJISmartBatteryHeatState { DJI_NO_HEAT = 0, DJI_IN_HEAT = 1, DJI_KEEP_WARM = 2 }

enum	DJISmartBatterySocWarning { DJI_SOC_NORMAL = 0, DJI_SOC_ABNORMAL_HIGH = 1, DJI_SOC_JUMP_DOWN = 2, DJI_SOC_JUMP_UP = 3, DJI_SOC_INVALID = 4, DJI_reserved1 = 5, DJI_reserved2 = 6, DJI_reserved3 = 7 }

enum	DJIBatteryFirmwareAbnormalImpl { DJI_APP_FIRAMWARE = 0, DJI_LOADER_FIRMWARE = 1 }

enum	CameraIndex { CameraIndex1 = 1, CameraIndex2 = 2, CameraIndex3 = 3 }

enum	GimbalIndex { GimbalIndex1 = 1, GimbalIndex2 = 2, GimbalIndex3 = 3, InvalidIndex = 0xff }

enum	HMSSubcribeCmd { ResetALLSubcriberExceptAPP = 0, OSDKSubALLData = 1 }

enum	HMSSubcribeStatus { OSDKSubSuccess = 0 }

enum	MissionType { MISSION_MODE_A, MISSION_WAYPOINT, MISSION_HOTPOINT, MISSION_FOLLOW, MISSION_IOC }

enum	DJI_MISSION_TYPE { WAYPOINT = 0, HOTPOINT = 1 }

enum	MISSION_ACTION { START = 0, STOP = 1, PAUSE = 2, RESUME = 3 }

enum	WaypointActionTypeFormat { WP_ACTION_STAY = 0, WP_ACTION_SIMPLE_SHOT = 1, WP_ACTION_VIDEO_START = 2, WP_ACTION_VIDEO_STOP = 3, WP_ACTION_CRAFT_YAW = 4, WP_ACTION_GIMBAL_PITCH = 5 }

enum	WayPointIncidentType { NAVI_UPLOAD_FINISH, NAVI_MISSION_FINISH, NAVI_MISSION_WP_REACH_POINT }
	WayPoint Reached Data Incident Type enumerator. More...

enum	WayPointPushDataIncidentType { NAVI_MODE_ATTI, NAVI_MISSION_WAYPOINT, NAVI_MISSION_HOTPOINT, NAVI_MISSION_FOLLOWME, NAVI_MISSION_IOC }
	WayPoint Push Data Incident Type enumerator.

enum	DJIWaypointV2MissionV2RCLostAction : uint8_t { DJIWaypointV2MissionV2RCLostActionStopMission, DJIWaypointV2MissionV2RCLostActionContinue }

enum	DJIWaypointV2MissionFinishedAction : uint8_t { DJIWaypointV2MissionFinishedNoAction, DJIWaypointV2MissionFinishedGoHome, DJIWaypointV2MissionFinishedAutoLanding, DJIWaypointV2MissionFinishedGoToFirstWaypoint, DJIWaypointV2MissionFinishedContinueUntilStop }

enum	DJIWaypointV2MissionGotoFirstWaypointMode : uint8_t { DJIWaypointV2MissionGotoFirstWaypointModeSafely, DJIWaypointV2MissionGotoFirstWaypointModePointToPoint }

enum	DJIWaypointV2TriggerAssociatedTimingType : uint8_t { DJIWaypointV2TriggerAssociatedTimingTypeSimultaneously = 1, DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised, DJIWaypointV2TriggerAssociatedTimingTypeUnknown = 0xFF }

enum	DJIWaypointV2ActionIntervalType : uint8_t { DJIWaypointV2ActionIntervalTypeTime = 1, DJIWaypointV2ActionIntervalTypeDistance, DJIWaypointV2ActionIntervalTypeUnknown = 0xFF }

enum	DJIWaypointV2ActionTriggerType : uint8_t { DJIWaypointV2ActionTriggerTypeActionAssociated = 2, DJIWaypointV2ActionTriggerTypeTrajectory, DJIWaypointV2ActionTriggerTypeInterval, DJIWaypointV2ActionTriggerTypeSampleReachPoint, DJIWaypointV2ActionTriggerTypeUnknown = 0xFF }

enum	DJIWaypointV2ActionActuatorType : uint8_t { DJIWaypointV2ActionActuatorTypeCamera = 1, DJIWaypointV2ActionActuatorTypeGimbal = 2, DJIWaypointV2ActionActuatorTypeAircraftControl = 4, DJIWaypointV2ActionActuatorTypeUnknown = 0xFF }

enum	DJIWaypointV2ActionActuatorGimbalOperationType : uint16_t { DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal = 1, DJIWaypointV2ActionActuatorGimbalOperationTypeUnknown = 0xFF }

enum	DJIWaypointV2ActionActuatorCameraOperationType : uint16_t { DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto = 1, DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo, DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo, DJIWaypointV2ActionActuatorCameraOperationTypeFocus, DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength }

enum	DJIWaypointV2ActionActuatorAircraftControlOperationType : uint16_t { DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw = 1, DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl = 2, DJIWaypointV2ActionActuatorAircraftControlOperationTypeUnknown = 0xFF }

enum	DJIWaypointV2MissionExecutionState : uint8_t { DJIWaypointV2MissionExecutionStateInitializing, DJIWaypointV2MissionExecutionStateGoToFirstWaypoint, DJIWaypointV2MissionExecutionStateMoving, DJIWaypointV2MissionExecutionStateInterrupted, DJIWaypointV2MissionExecutionStateFinished, DJIWaypointV2MissionExecutionStateGoHome, DJIWaypointV2MissionExecutionStateLanding, DJIWaypointV2MissionExecutionStateReturnToFirstWaypoint, DJIWaypointV2MissionExecutionStateUnknown = 0xFF }

enum	DJIWaypointV2ActionExecutionEvent : uint8_t { DJIWaypointV2ActionExecutionEventBeginAction, DJIWaypointV2ActionExecutionEventFinishedAction, DJIWaypointV2ActionExecutionEventUnknown = 0xFF }

enum	DJIWaypointV2FlightPathMode : uint8_t { DJIWaypointV2FlightPathModeGoToPointAlongACurve, DJIWaypointV2FlightPathModeGoToPointAlongACurveAndStop, DJIWaypointV2FlightPathModeGoToPointInAStraightLineAndStop, DJIWaypointV2FlightPathModeCoordinateTurn, DJIWaypointV2FlightPathModeGoToFirstPointAlongAStraightLine, DJIWaypointV2FlightPathModeStraightOut, DJIWaypointV2FlightPathModeUnknown = 0xFF }

enum	DJIWaypointV2HeadingMode : uint8_t { DJIWaypointV2HeadingModeAuto, DJIWaypointV2HeadingFixed, DJIWaypointV2HeadingManual, DJIWaypointV2HeadingWaypointCustom, DJIWaypointV2HeadingTowardPointOfInterest, DJIWaypointV2HeadingGimbalYawFollow, DJIWaypointV2HeadingUnknown = 0xFF }

enum	DJIWaypointV2TurnMode : uint8_t { DJIWaypointV2TurnModeClockwise, DJIWaypointV2TurnModeCounterClockwise, DJIWaypointV2TurnModeUnknown = 0xFF }

enum	DJIWaypointV2MissionState { DJIWaypointV2MissionStateUnWaypointActionActuatorknown = -1, DJIWaypointV2MissionStateDisconnected = 0, DJIWaypointV2MissionStateReadyToExecute = 1, DJIWaypointV2MissionStateExecuting = 2, DJIWaypointV2MissionStateInterrupted = 3, DJIWaypointV2MissionStateResumeAfterInterrupted = 4, DJIWaypointV2MissionStateExitMission = 5, DJIWaypointV2MissionStateFinishedMission = 6 }

enum	OSDK_HARDWARE_TYPE { UNKNOWN_HARDWARE_TYPE = 0, ARMV7_HARDWARE_TYPE = 1, ARMV8_HARDWARE_TYPE = 2, x86_HARDWARE_TYPE = 3, STM32_HARDWARE_TYPE = 4 }

enum	OSDK_OPERATOR_TYPE { UNKNOWN_OPERATOR_TYPE = 0, LINUX_OPERATOR_TYPE = 1, RTOS_OPERATOR_TYPE = 2, ROS_OPERATOR_TYPE = 3 }

enum	DJI_CAMERA_TAKE_PHOTO_TYPE { DJI_CAMERA_TAKE_PHOTO_TYPE_STOP = 0, DJI_CAMERA_TAKE_PHOTO_TYPE_NORMAL = 1, DJI_CAMERA_TAKE_PHOTO_TYPE_HDR = 2, DJI_CAMERA_TAKE_PHOTO_TYPE_BOKEH = 3, DJI_CAMERA_TAKE_PHOTO_TYPE_BURST = 4, DJI_CAMERA_TAKE_PHOTO_TYPE_AEB = 5, DJI_CAMERA_TAKE_PHOTO_TYPE_TIME_LAPSE = 6, DJI_CAMERA_TAKE_PHOTO_TYPE_PANO_APP = 7, DJI_CAMERA_TAKE_PHOTO_TYPE_TRACKING = 8, DJI_CAMERA_TAKE_PHOTO_TYPE_RAW_BURST = 9, DJI_CAMERA_TAKE_PHOTO_TYPE_EHDR = 10 }

enum	DJI_CAMERA_TAKE_PHOTO_PROFILE { DJI_CAMERA_MODE_PROFILE_PHOTO_NORMAL = 5, DJI_CAMERA_MODE_PROFILE_PHOTO_INTERVAL = 8, DJI_CAMERA_MODE_PROFILE_PHOTO_REGIONAL_SR = 22 }

enum	DJI_CAMERA_ISO_PARAMETER { DJI_CAMERA_ISO_PARAMETER_AUTO = 0, DJI_CAMERA_ISO_PARAMETER_AUTO_HIGH_SENSE = 1, DJI_CAMERA_ISO_PARAMETER_50 = 2, DJI_CAMERA_ISO_PARAMETER_100 = 3, DJI_CAMERA_ISO_PARAMETER_200 = 4, DJI_CAMERA_ISO_PARAMETER_400 = 5, DJI_CAMERA_ISO_PARAMETER_800 = 6, DJI_CAMERA_ISO_PARAMETER_1600 = 7, DJI_CAMERA_ISO_PARAMETER_3200 = 8, DJI_CAMERA_ISO_PARAMETER_6400 = 9, DJI_CAMERA_ISO_PARAMETER_12800 = 10, DJI_CAMERA_ISO_PARAMETER_25600 = 11, DJI_CAMERA_ISO_PARAMETER_FIXED = 255 }

enum	DJI_CAMERA_RECORDING_TYPE { DJI_CAMERA_RECORDING_TYPE_COMMON = 0, DJI_CAMERA_RECORDING_TYPE_DELAY = 1, DJI_CAMERA_RECORDING_TYPE_SLOW_MOTION = 2, DJI_CAMERA_RECORDING_TYPE_QUICK_MOVIE = 3, DJI_CAMERA_RECORDING_TYPE_TIMELAPSE_STATIONARY = 4, DJI_CAMERA_RECORDING_TYPE_TIMELAPSE_MOTION = 5, DJI_CAMERA_RECORDING_TYPE_TIMELAPSE_HYPER = 6, DJI_CAMERA_RECORDING_TYPE_FAST_MOTION = 7, DJI_CAMERA_RECORDING_TYPE_EMERGENCY_VIDEO = 8, DJI_CAMERA_RECORDING_TYPE_HYPERLAPSE = 9, DJI_CAMERA_RECORDING_TYPE_MARK_VIDEO = 10 }

enum	DJI_CAMERA_RECORDING_CONTROL { DJI_CAMERA_RECORDING_CONTROL_STOP = 0, DJI_CAMERA_RECORDING_CONTROL_BEGIN = 1, DJI_CAMERA_RECORDING_CONTROL_PAUSE = 2, DJI_CAMERA_RECORDING_CONTROL_RESUME = 3 }

enum	PayloadIndexType { PAYLOAD_INDEX_0 = 0x00, PAYLOAD_INDEX_1 = 0x01, PAYLOAD_INDEX_2 = 0x02, PAYLOAD_INDEX_CNT = 0x03, PAYLOAD_INDEX_INVALID = 0x03 }
	The payload Index of camera.

Functions
bool	replaceStr (string &str, const string oldReplaceStr, const string newReplaceStr)

void	encodeSender (const uint8_t sender, uint8_t &deviceType, uint8_t &deviceIndex)

Variables
const std::pair< const uint32_t, const char * >	commonData []

const std::pair< const uint32_t, const char * >	activateData []

const std::pair< const uint32_t, const char * >	subscribeData []

const std::pair< const uint32_t, const char * >	setControlData []

const std::pair< const uint32_t, const char * >	setArmData []

const std::pair< const uint32_t, const char * >	taskData []

const std::pair< const uint32_t, const char * >	LegacyTaskData []

const std::pair< const uint32_t, const char * >	missionData []

const std::pair< const uint32_t, const char * >	mfioData []

HMSErrCodeInfo	hmsErrCodeInfoTbl [dbHMSErrNum]

const uint8_t	MaxSmartBatteryNum = 2

const uint32_t	dbHMSErrNum = 700

const float32_t	EARTH_RADIUS = 6378137.0

char	buffer []

const size_t	SESSION_TABLE_NUM = 32

const size_t	CALLBACK_LIST_NUM = 10

const size_t	MAX_INCOMING_DATA_SIZE = 300

const size_t	MAX_ACK_SIZE = 107

static const uint8_t	CAMERA_PAIR_NUM = 5

static const uint8_t	IMAGE_TYPE_NUM = 10

const uint8_t	MAX_OSDK_VERSION_SIZE = 16

const uint8_t	MAX_SEND_DATA_BURY_PKG_COUNT = 5

const Version::FirmWare	mandatoryVersionBase = (Version::FW(3, 1, 10, 0))
	Define FW version that supports "mandatory" CMD_SET. More...

const Version::FirmWare	extendedVersionBase = (Version::FW(3, 2, 36, 6))
	Define FW version that supports "extended" CMD_SET. More...

const Version::FirmWare	versionBase33 = (Version::FW(3,3,0,0))
	Define FW version constant for 3.3.x firmware branch. More...

Detailed Description

Onboard SDK related commands

Typedef Documentation

◆ BatteryWholeInfo

typedef struct DJI::OSDK::BatteryWholeInfo DJI::OSDK::BatteryWholeInfo

The whole battery information push,include: 1.some raw battery data; 2.calculated data; 3.battery state

◆ BatteryWholeInfoImpl

typedef struct DJI::OSDK::BatteryWholeInfoImpl DJI::OSDK::BatteryWholeInfoImpl

The whole battery information push,include: 1.some raw battery data; 2.calculated data; 3.battery state

◆ CGPoint

typedef struct DJI::OSDK::CGPoint DJI::OSDK::CGPoint

Focus point parameter

◆ CommonCallBackHandler

typedef struct DJI::OSDK::CommonCallBackHandler DJI::OSDK::CommonCallBackHandler

The CallBackHandler struct allows users to encapsulate callbacks and data in one struct. This is a more common method.

◆ DispatchInfo

typedef struct DJI::OSDK::DispatchInfo DJI::OSDK::DispatchInfo

Dispatch info.

This struct has booleans that get populated in the protocol layer and help the dispatcher in the Vehicle layer decide what to do with the received packet.

◆ DJIBatteryClosedReasonImpl

typedef enum DJI::OSDK::DJIBatteryClosedReasonImpl DJI::OSDK::DJIBatteryClosedReasonImpl

Smart battery closed reason

◆ DJIBatteryFirmwareAbnormalImpl

typedef enum DJI::OSDK::DJIBatteryFirmwareAbnormalImpl DJI::OSDK::DJIBatteryFirmwareAbnormalImpl

Abnormal battery firmware status

◆ DJIGimbalRotation

typedef struct DJI::OSDK::DJIGimbalRotation DJI::OSDK::DJIGimbalRotation

Gimbal rotation parameter

◆ DJISmartBatteryHeatState

typedef enum DJI::OSDK::DJISmartBatteryHeatState DJI::OSDK::DJISmartBatteryHeatState

Smart battery heating status

◆ DJISmartBatterySelfCheck

typedef enum DJI::OSDK::DJISmartBatterySelfCheck DJI::OSDK::DJISmartBatterySelfCheck

Smart battery self-checkout error flag

◆ DJISmartBatterySocWarning

typedef enum DJI::OSDK::DJISmartBatterySocWarning DJI::OSDK::DJISmartBatterySocWarning

Smart battery abnormal warning

◆ DJIWaypointV2Action

typedef struct DJI::OSDK::DJIWaypointV2Action DJI::OSDK::DJIWaypointV2Action

This class represents an action for DJIWaypointV2Mission. It determines how action is performed when a waypoint mission is executed.

◆ DJIWaypointV2Actuator

typedef struct DJI::OSDK::DJIWaypointV2Actuator DJI::OSDK::DJIWaypointV2Actuator

This class defines an actuator for DJIWaypointV2Action. It determines how the action is performed when a waypoint mission is executed.

◆ DJIWaypointV2AircraftControlFlyingParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlFlyingParam DJI::OSDK::DJIWaypointV2AircraftControlFlyingParam

This class defines if the aircraft starts or stops the flight.

◆ DJIWaypointV2AircraftControlParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlParam DJI::OSDK::DJIWaypointV2AircraftControlParam

This class defines the parameters for DJIWaypointV2Action_DJIWaypointV2Actuator. It determines how the aircraft control actuator will be performed when a waypoint mission is executed.

◆ DJIWaypointV2AircraftControlRotateHeadingParam

typedef struct DJI::OSDK::DJIWaypointV2AircraftControlRotateHeadingParam DJI::OSDK::DJIWaypointV2AircraftControlRotateHeadingParam

This class defines how the aircraft rotates on the yaw axis.

◆ DJIWaypointV2AssociateTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2AssociateTriggerParam DJI::OSDK::DJIWaypointV2AssociateTriggerParam

This class defines DJIWaypointV2MissionV2_DJIWaypointV2ActionTriggerType_ActionAssociated.

◆ DJIWaypointV2CameraActuatorParam

typedef struct DJI::OSDK::DJIWaypointV2CameraActuatorParam DJI::OSDK::DJIWaypointV2CameraActuatorParam

This class defines the parameters for DJIWaypointV2Action_DJIWaypointV2Actuator. This determines how the camera will be performed when a waypoint mission is executing.

◆ DJIWaypointV2CameraFocalLengthParam

typedef struct DJI::OSDK::DJIWaypointV2CameraFocalLengthParam DJI::OSDK::DJIWaypointV2CameraFocalLengthParam

This class defines a camera focal length operation for DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam.

◆ DJIWaypointV2CameraFocusParam

typedef struct DJI::OSDK::DJIWaypointV2CameraFocusParam DJI::OSDK::DJIWaypointV2CameraFocusParam

This class defines a camera focus operation for DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam.

◆ DJIWaypointV2FlightPathMode

typedef enum DJI::OSDK::DJIWaypointV2FlightPathMode DJI::OSDK::DJIWaypointV2FlightPathMode

Waypoint flight path mode.

◆ DJIWaypointV2GimbalActuatorParam

typedef struct DJI::OSDK::DJIWaypointV2GimbalActuatorParam DJI::OSDK::DJIWaypointV2GimbalActuatorParam

This class defines the parameters for DJIWaypointV2Action_DJIWaypointV2Actuator. It determines how the gimbal actuator will be performed when a waypoint mission is executed.

◆ DJIWaypointV2HeadingMode

typedef enum DJI::OSDK::DJIWaypointV2HeadingMode DJI::OSDK::DJIWaypointV2HeadingMode

Represents current aircraft's heading mode on current waypoint.

◆ DJIWaypointV2IntervalTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2IntervalTriggerParam DJI::OSDK::DJIWaypointV2IntervalTriggerParam

This class defines DJIWaypointV2MissionV2_DJIWaypointV2ActionTriggerType_Trajectory.

◆ DJIWaypointV2TrajectoryTriggerParam

typedef struct DJI::OSDK::DJIWaypointV2TrajectoryTriggerParam DJI::OSDK::DJIWaypointV2TrajectoryTriggerParam

This class represents a trajectory trigger action when should be trigger.

◆ DJIWaypointV2TurnMode

typedef enum DJI::OSDK::DJIWaypointV2TurnMode DJI::OSDK::DJIWaypointV2TurnMode

The direction when the aircraft changes its heading to adapt to the heading at the waypoint.

◆ DJIWholeBatteryState

typedef struct DJI::OSDK::DJIWholeBatteryState DJI::OSDK::DJIWholeBatteryState

The whole battery state

◆ DJIWholeBatteryStateImpl

typedef struct DJI::OSDK::DJIWholeBatteryStateImpl DJI::OSDK::DJIWholeBatteryStateImpl

The whole battery state

◆ DownloadMissionAck

typedef struct DJI::OSDK::DownloadMissionAck DJI::OSDK::DownloadMissionAck

Download mission raw ack data

◆ DownloadMissionRsp

typedef struct DJI::OSDK::DownloadMissionRsp DJI::OSDK::DownloadMissionRsp

Download mission raw request data

◆ ErrList

typedef struct DJI::OSDK::ErrList DJI::OSDK::ErrList

the type of error code list in HMS's raw pushing data

◆ Eventdata

typedef union DJI::OSDK::Eventdata DJI::OSDK::Eventdata

Mission's event data

◆ GetGlobalCruiseVelAck

typedef struct DJI::OSDK::GetGlobalCruiseVelAck DJI::OSDK::GetGlobalCruiseVelAck

Get the mission global cruise speed raw ack data

◆ getRemainRamAck

typedef struct DJI::OSDK::GetRemainRamAck DJI::OSDK::getRemainRamAck

Get the remain memory ack data

◆ GetWaypontStartEndIndexAck

typedef struct DJI::OSDK::GetWaypontStartEndIndexAck DJI::OSDK::GetWaypontStartEndIndexAck

Get the mission's start and stop index ack data

◆ GlobalCruiseSpeed

typedef float32_t DJI::OSDK::GlobalCruiseSpeed

Global cruise speed of mission unit: m/s range:[0,WayPointV2InitSettings::maxFlightSpeed]

◆ HMSErrCodeInfo

typedef struct DJI::OSDK::HMSErrCodeInfo DJI::OSDK::HMSErrCodeInfo

the type of HMS's error code information

◆ HMSPushData

typedef struct DJI::OSDK::HMSPushData DJI::OSDK::HMSPushData

the type of HMS's raw pushing data

◆ HMSPushPacket

typedef struct DJI::OSDK::HMSPushPacket DJI::OSDK::HMSPushPacket

the type of HMS's pushing data with a time stamp

◆ HotPointSettings

typedef struct DJI::OSDK::HotPointSettings DJI::OSDK::HotPointSettings

HotPoint Mission Initialization settings.

This is one of the few structs in the OSDK codebase that is used in both a sending and a receiving API.

◆ MissionEventPushAck

typedef struct DJI::OSDK::MissionEventPushAck DJI::OSDK::MissionEventPushAck

Mission's event push ack data

◆ MissionStateCommanData

typedef struct DJI::OSDK::MissionStateCommanData DJI::OSDK::MissionStateCommanData

Mission's state data

◆ MissionStatePushAck

typedef struct DJI::OSDK::MissionStatePushAck DJI::OSDK::MissionStatePushAck

Mission's state push ack data

◆ PushCallback

typedef E_OsdkStat(* DJI::OSDK::PushCallback) (struct _CommandHandle *cmdHandle, const T_CmdInfo *cmdInfo, const uint8_t *cmdData, void *userData)

callback type to get the pushing data from waypoint 2.0

Supported Platforms : M300

◆ RecvContainer

typedef struct DJI::OSDK::RecvContainer DJI::OSDK::RecvContainer

Received info.

This struct contains the ack or data struct return from the vehicle with sending info

◆ RelativePosition

typedef struct DJI::OSDK::RelativePosition DJI::OSDK::RelativePosition

waypoint position relative to WayPointV2InitSettings's reference point unit: m

◆ UploadActionsRawAck

typedef struct DJI::OSDK::UploadActionsRawAck DJI::OSDK::UploadActionsRawAck

Upload actions raw ack data

◆ UploadMissionRawAck

typedef struct DJI::OSDK::UploadMissionRawAck DJI::OSDK::UploadMissionRawAck

Upload mission raw ack data

◆ VehicleCallBack

typedef void(* DJI::OSDK::VehicleCallBack) (Vehicle *vehicle, RecvContainer recvFrame, UserData userData)

Function prototype for all callback functions used in the OSDK.

If you want to register a function as a callback funtion, make sure it matches this prototype.

◆ VehicleCallBackHandler

typedef struct DJI::OSDK::VehicleCallBackHandler DJI::OSDK::VehicleCallBackHandler

The CallBackHandler struct allows users to encapsulate callbacks and data in one struct.

◆ WayPointIncidentType

typedef enum DJI::OSDK::WayPointIncidentType DJI::OSDK::WayPointIncidentType

WayPoint Reached Data Incident Type enumerator.

Note: can be separated by the first bytes of data

◆ WayPointInitSettings

typedef struct DJI::OSDK::WayPointInitSettings DJI::OSDK::WayPointInitSettings

Waypoint Mission Initialization settings.

This is one of the few structs in the OSDK codebase that is used in both a sending and a receiving API.

◆ WayPointSettings

typedef struct DJI::OSDK::WayPointSettings DJI::OSDK::WayPointSettings

Waypoint settings for individual waypoints being added to the mission.

This is one of the few structs in the OSDK codebase that is used in both a sending and a receiving API.

◆ WaypointV2

typedef struct DJI::OSDK::WaypointV2 DJI::OSDK::WaypointV2

The struct represents a target point in the waypoint mission. For a waypoint mission, a flight route consists of multiple WaypointV2 objects.

◆ WaypointV2Config

typedef struct DJI::OSDK::WaypointV2Config DJI::OSDK::WaypointV2Config

Represents current waypoint's speed config.

◆ WayPointV2InitSettings

typedef struct DJI::OSDK::WayPointV2InitSettings DJI::OSDK::WayPointV2InitSettings

Waypoint V2 Mission Initialization settings.

This is one of the few structs in the OSDK codebase that is used in both a sending and a receiving API.

◆ WaypointV2Internal

typedef struct DJI::OSDK::WaypointV2Internal DJI::OSDK::WaypointV2Internal

The struct represents a target point in the waypoint mission. For a waypoint mission, a flight route consists of multiple WaypointV2 objects.

Enumeration Type Documentation

◆ DJI_CAMERA_ISO_PARAMETER

enum DJI::OSDK::DJI_CAMERA_ISO_PARAMETER

Enumerator
DJI_CAMERA_ISO_PARAMETER_AUTO	auto
DJI_CAMERA_ISO_PARAMETER_AUTO_HIGH_SENSE	auto (high sense)
DJI_CAMERA_ISO_PARAMETER_50	50
DJI_CAMERA_ISO_PARAMETER_100	100
DJI_CAMERA_ISO_PARAMETER_200	200
DJI_CAMERA_ISO_PARAMETER_400	400
DJI_CAMERA_ISO_PARAMETER_800	800
DJI_CAMERA_ISO_PARAMETER_1600	1600
DJI_CAMERA_ISO_PARAMETER_3200	3200
DJI_CAMERA_ISO_PARAMETER_6400	6400
DJI_CAMERA_ISO_PARAMETER_12800	12800
DJI_CAMERA_ISO_PARAMETER_25600	25600
DJI_CAMERA_ISO_PARAMETER_FIXED	fixed

◆ DJIBatteryClosedReasonImpl

enum DJI::OSDK::DJIBatteryClosedReasonImpl

Smart battery closed reason

Enumerator
DJI_BETTERY_CLOSED_OLD	Discharge short circuit shutdown
DJI_BETTERY_CLOSED_OCD	Discharge overload shutdown
DJI_BETTERY_CLOSED_UVD	Discharge overcurrent shutdown
DJI_BETTERY_CLOSED_OTD	Discharge undervoltage shutdown
DJI_BETTERY_CLOSED_SCC	Discharge over temperature shutdown
DJI_BETTERY_CLOSED_OCC	Charging short circuit shutdown
DJI_BETTERY_CLOSED_OVC	Charge overcurrent shutdown
DJI_BETTERY_CLOSED_OVCER	Charge overvoltage shutdown
DJI_BETTERY_CLOSED_LTC	Charger overvoltage shutdown
DJI_BETTERY_CLOSED_HTC	Charging low temperature shutdown

◆ DJIBatteryFirmwareAbnormalImpl

enum DJI::OSDK::DJIBatteryFirmwareAbnormalImpl

Abnormal battery firmware status

◆ DJISmartBatteryHeatState

enum DJI::OSDK::DJISmartBatteryHeatState

Smart battery heating status

◆ DJISmartBatterySelfCheck

enum DJI::OSDK::DJISmartBatterySelfCheck

Smart battery self-checkout error flag

◆ DJISmartBatterySocWarning

enum DJI::OSDK::DJISmartBatterySocWarning

Smart battery abnormal warning

◆ DJISmartBatterySohState

enum DJI::OSDK::DJISmartBatterySohState

Smart battery cycle count status

◆ DJIWaypointV2ActionActuatorAircraftControlOperationType

enum DJI::OSDK::DJIWaypointV2ActionActuatorAircraftControlOperationType : uint16_t

Possible types of aircraft control actuator operation.

Enumerator
DJIWaypointV2ActionActuatorAircraftControlOperationTypeRotateYaw	Rotates the aircraft's yaw.
DJIWaypointV2ActionActuatorAircraftControlOperationTypeFlyingControl	Keeps the aircraft stop flying or start flying.
DJIWaypointV2ActionActuatorAircraftControlOperationTypeUnknown	Unknown

◆ DJIWaypointV2ActionActuatorCameraOperationType

enum DJI::OSDK::DJIWaypointV2ActionActuatorCameraOperationType : uint16_t

Possible types of camera actuator operation.

Enumerator
DJIWaypointV2ActionActuatorCameraOperationTypeTakePhoto	Starts to shoot a photo.
DJIWaypointV2ActionActuatorCameraOperationTypeStartRecordVideo	Starts to record a video.
DJIWaypointV2ActionActuatorCameraOperationTypeStopRecordVideo	Stops to record a video.
DJIWaypointV2ActionActuatorCameraOperationTypeFocus	Starts focus.
DJIWaypointV2ActionActuatorCameraOperationTypeFocalLength	Starts focal lenth. Only support those support flocal lenth cameras.

◆ DJIWaypointV2ActionActuatorGimbalOperationType

enum DJI::OSDK::DJIWaypointV2ActionActuatorGimbalOperationType : uint16_t

The type of gimbal actuator operation.

Enumerator
DJIWaypointV2ActionActuatorGimbalOperationTypeRotateGimbal	Rotates the gimbal. Only valid when the trigger type is `DJIWaypointV2MissionV2_DJIWaypointV2TriggerAssociatedTimingType_ReachPoint`.
DJIWaypointV2ActionActuatorGimbalOperationTypeUnknown	Rotates the gimbal. Only valid when the trigger type is `DJIWaypointV2MissionV2_DJIWaypointV2TriggerAssociatedTimingType_Trajectory`.Unknown

◆ DJIWaypointV2ActionActuatorType

enum DJI::OSDK::DJIWaypointV2ActionActuatorType : uint8_t

Possible types of action actuator.

Enumerator
DJIWaypointV2ActionActuatorTypeCamera	The action will be executed by the camera. The parameters should be defined by `DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam`.
DJIWaypointV2ActionActuatorTypeGimbal	The action will be executed by the gimbal. The parameters should be defined by `DJIWaypointV2Action_DJIWaypointV2GimbalActuatorParam`.
DJIWaypointV2ActionActuatorTypeAircraftControl	The action will executes by control aircraft. The parameters should be setting by `DJIWaypointV2Action_DJIWaypointV2CameraActuatorParam`.
DJIWaypointV2ActionActuatorTypeUnknown	Unknown actuator type.

◆ DJIWaypointV2ActionExecutionEvent

enum DJI::OSDK::DJIWaypointV2ActionExecutionEvent : uint8_t

Current waypoint mission action executing event.

Enumerator
DJIWaypointV2ActionExecutionEventBeginAction	Action begin execute event.
DJIWaypointV2ActionExecutionEventFinishedAction	Action finished execute event.
DJIWaypointV2ActionExecutionEventUnknown	Unknown action event.

◆ DJIWaypointV2ActionIntervalType

enum DJI::OSDK::DJIWaypointV2ActionIntervalType : uint8_t

The type of DJIWaypointV2Action_DJIWaypointV2IntervalTriggerParam, Determines the interval type of how action repeats.

Enumerator
DJIWaypointV2ActionIntervalTypeTime	The action will be repeated after a particular period of time.
DJIWaypointV2ActionIntervalTypeDistance	The action will be repeated after a particular distance.
DJIWaypointV2ActionIntervalTypeUnknown	Unknown action trigger type.

◆ DJIWaypointV2ActionTriggerType

enum DJI::OSDK::DJIWaypointV2ActionTriggerType : uint8_t

Possible types of action trigger.

Enumerator
DJIWaypointV2ActionTriggerTypeActionAssociated	The action will be triggered when action associated executes. The parameters should be defined by `DJIWaypointV2Action_DJIWaypointV2AssociateTriggerParam`.
DJIWaypointV2ActionTriggerTypeTrajectory	The action will be triggered when the aircraft flies from one waypoint to the next. The parameters should be defined by `DJIWaypointV2Action_DJIWaypointV2TrajectoryTriggerParam`.
DJIWaypointV2ActionTriggerTypeInterval	The action will be triggered when the aircraft flies between two waypoints The parameters should be defined by `DJIWaypointV2Action_DJIWaypointV2IntervalTriggerParam`.
DJIWaypointV2ActionTriggerTypeSampleReachPoint	The action will be trigger when the aircraft reach the waypoint point. The parameters should be setting by `DJIWaypointV2SampleReachPointTriggerParam`.
DJIWaypointV2ActionTriggerTypeUnknown	Unknown

◆ DJIWaypointV2FlightPathMode

enum DJI::OSDK::DJIWaypointV2FlightPathMode : uint8_t

Waypoint flight path mode.

Enumerator
DJIWaypointV2FlightPathModeGoToPointAlongACurve	In the mission, the aircraft will go to the waypoint along a curve and fly past the waypoint.
DJIWaypointV2FlightPathModeGoToPointAlongACurveAndStop	In the mission, the aircraft will go to the waypoint along a curve and stop at the waypoint.
DJIWaypointV2FlightPathModeGoToPointInAStraightLineAndStop	In the mission, the aircraft will go to the waypoint along a straight line and stop at the waypoint.
DJIWaypointV2FlightPathModeCoordinateTurn	In the mission, the aircraft will fly from the previous waypoint to the next waypoint along a smooth curve without stopping at this waypoint. the next in a curved motion, adhering to the `DJIWaypointV2_dampingDistance`, which is set in `DJIWaypointV2`.
DJIWaypointV2FlightPathModeGoToFirstPointAlongAStraightLine	In the mission, the aircraft will go to the first waypoint along a straight line. This is only valid for the first waypoint.
DJIWaypointV2FlightPathModeStraightOut	Straight exit the Last waypoint, Only valid for last waypoint.
DJIWaypointV2FlightPathModeUnknown	Unknown

◆ DJIWaypointV2HeadingMode

enum DJI::OSDK::DJIWaypointV2HeadingMode : uint8_t

Represents current aircraft's heading mode on current waypoint.

Enumerator
DJIWaypointV2HeadingModeAuto	Aircraft's heading will always be in the direction of flight.
DJIWaypointV2HeadingFixed	Aircraft's heading will be set to the heading when reaching the first waypoint. Before reaching the first waypoint, the aircraft's heading can be controlled by the remote controller. When the aircraft reaches the first waypoint, its heading will be fixed.
DJIWaypointV2HeadingManual	The aircraft's heading in the mission can be controlled by the remote controller.
DJIWaypointV2HeadingWaypointCustom	In the mission, the aircraft's heading will change dynamically and adapt to the heading set at the next waypoint. See `DJIWaypointV2_heading` to preset the heading.
DJIWaypointV2HeadingTowardPointOfInterest	Aircraft's heading will always toward point of interest. using `DJIWaypointV2_pointOfInterest` setting point of interest coordiate and `DJIWaypointV2_pointOfInterestAltitude` setting point of interset altitute.
DJIWaypointV2HeadingGimbalYawFollow	The aircraft's heading rotate simultaneously with its gimbal's yaw.
DJIWaypointV2HeadingUnknown	Unknown.

◆ DJIWaypointV2MissionExecutionState

enum DJI::OSDK::DJIWaypointV2MissionExecutionState : uint8_t

Current waypoint mission executing state.

Enumerator
DJIWaypointV2MissionExecutionStateInitializing	Waypoint mission is initializing, which means the mission has started.
DJIWaypointV2MissionExecutionStateGoToFirstWaypoint	Aircraft is currently is going to the first waypoint.
DJIWaypointV2MissionExecutionStateMoving	Aircraft is currently moving.
DJIWaypointV2MissionExecutionStateInterrupted	Aircraft is currently interrupted by user.
DJIWaypointV2MissionExecutionStateFinished	The aircraft finishes the waypoint mission and is leaving from the last waypoint.
DJIWaypointV2MissionExecutionStateGoHome	The aircraft is going back to the home point. This happens when the `DJIMutableWaypointV2Mission_finishedAction` is set to `DJIWaypointV2MissionV2_DJIWaypointV2MissionFinishedAction_GoHome`.
DJIWaypointV2MissionExecutionStateLanding	The aircraft is landing. This happens when the `DJIMutableWaypointV2Mission_finishedAction` is set to `DJIWaypointV2MissionV2_DJIWaypointV2MissionFinishedAction_AutoLanding`.
DJIWaypointV2MissionExecutionStateReturnToFirstWaypoint	Aircraft start to fly back to the first waypoint. This happens when the `DJIMutableWaypointV2Mission_finishedAction` is set to `DJIWaypointV2MissionV2_DJIWaypointV2MissionFinishedAction_GoToFirstWaypoint`.
DJIWaypointV2MissionExecutionStateUnknown	Unknown execution state.

◆ DJIWaypointV2MissionFinishedAction

enum DJI::OSDK::DJIWaypointV2MissionFinishedAction : uint8_t

Actions will be taken when the waypoint mission is finished.

Enumerator
DJIWaypointV2MissionFinishedNoAction	No further action will be taken. The aircraft can be controlled by the remote controller.
DJIWaypointV2MissionFinishedGoHome	Goes home when the mission is finished. The aircraft will land directly if it is within 20 meters away from the home point.
DJIWaypointV2MissionFinishedAutoLanding	The aircraft will land automatically at the last waypoint.
DJIWaypointV2MissionFinishedGoToFirstWaypoint	The aircraft will go back to the first waypoint and hover.
DJIWaypointV2MissionFinishedContinueUntilStop	When the aircraft reaches its final waypoint, it will hover without ending the mission. The joystick can still be used to pull the aircraft back along its previous waypoints. The only way this mission can end is if stopMission is called.

◆ DJIWaypointV2MissionGotoFirstWaypointMode

enum DJI::OSDK::DJIWaypointV2MissionGotoFirstWaypointMode : uint8_t

Possible flight mode to executes the mission.

Enumerator
DJIWaypointV2MissionGotoFirstWaypointModeSafely	Go to the waypoint safely. The aircraft will rise to the same altitude of the waypoint if the current altitude is lower then the waypoint altitude. It then goes to the waypoint coordinate from the current altitude, and proceeds to the altitude of the waypoint.
DJIWaypointV2MissionGotoFirstWaypointModePointToPoint	Go to the waypoint from the current aircraft point to the waypoint directly.

◆ DJIWaypointV2MissionState

enum DJI::OSDK::DJIWaypointV2MissionState

All the possible state of WaypointV2MissionOperator.

Enumerator
DJIWaypointV2MissionStateUnWaypointActionActuatorknown	The state of the operator is unknown. It is the initial state when the operator is just created.
DJIWaypointV2MissionStateDisconnected	The connection OSDK device, remote controller and aircraft is broken.
DJIWaypointV2MissionStateReadyToExecute	Raed to execute the mission.
DJIWaypointV2MissionStateExecuting	The execution is started successfully.
DJIWaypointV2MissionStateInterrupted	Waypoint mission is paused successfully.
DJIWaypointV2MissionStateResumeAfterInterrupted	Waypoint mission is restarted after interrupted.
DJIWaypointV2MissionStateExitMission	Waypoint mission is exited.
DJIWaypointV2MissionStateFinishedMission	Waypoint mission is finished.

◆ DJIWaypointV2MissionV2RCLostAction

enum DJI::OSDK::DJIWaypointV2MissionV2RCLostAction : uint8_t

The action of waypoint mission that will be executed when the remote controller signal lost.

Enumerator
DJIWaypointV2MissionV2RCLostActionStopMission	Stops current mission when the remote controller signal is lost.
DJIWaypointV2MissionV2RCLostActionContinue	Continues the mission when the remote controller signal is lost.

◆ DJIWaypointV2TriggerAssociatedTimingType

enum DJI::OSDK::DJIWaypointV2TriggerAssociatedTimingType : uint8_t

The type of DJIWaypointV2Action_DJIWaypointV2AssociateTriggerParam, Determines the time to execute the trigger associated with another one.

Enumerator
DJIWaypointV2TriggerAssociatedTimingTypeSimultaneously	The trigger starts simultaneously with the trigger that is associated.
DJIWaypointV2TriggerAssociatedTimingTypeAfterFinised	The trigger starts after the trigger associated has finished.
DJIWaypointV2TriggerAssociatedTimingTypeUnknown	Unkown timing type.

◆ DJIWaypointV2TurnMode

enum DJI::OSDK::DJIWaypointV2TurnMode : uint8_t

The direction when the aircraft changes its heading to adapt to the heading at the waypoint.

Enumerator
DJIWaypointV2TurnModeClockwise	The aircraft's heading rotates clockwise.
DJIWaypointV2TurnModeCounterClockwise	The aircraft's heading rotates counterclockwise.
DJIWaypointV2TurnModeUnknown	Changes the heading of the aircraft by rotating the aircraft anti-clockwise.

◆ WaypointActionTypeFormat

enum DJI::OSDK::WaypointActionTypeFormat

Enumerator
WP_ACTION_STAY	no action.uint of action parameter:ms
WP_ACTION_SIMPLE_SHOT	take picture action.action parameters Action parameter have no effect.limit time:6s
WP_ACTION_VIDEO_START	start take video action.action parameters Action parameter have no effect.limit time:6s
WP_ACTION_VIDEO_STOP	stop video action.action parameters Action parameter have no effect.limit time:6s
WP_ACTION_CRAFT_YAW	craft control yaw action.uint of action parameter:degree. range:-180 ~ 180
WP_ACTION_GIMBAL_PITCH	gimbal control pitch action.uint of action parameter:degree. range:-90 ~ 0

◆ WayPointIncidentType

enum DJI::OSDK::WayPointIncidentType

WayPoint Reached Data Incident Type enumerator.

Note: can be separated by the first bytes of data

Variable Documentation

◆ activateData

const std::pair<const uint32_t, const char*> DJI::OSDK::activateData[]

Initial value:

= {
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::SUCCESS,
                 (const char*)"ACTIVATE_SUCCESS\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::ACCESS_LEVEL_ERROR,
                 (const char*)"ACCESS_LEVEL_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ActivationACK::DJIGO_APP_NOT_CONNECTED,
    (const char*)"DJIGO_APP_NOT_CONNECTED_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::ENCODE_ERROR,
                 (const char*)"ENCODE_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::NETWORK_ERROR,
                 (const char*)"NETWORK_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::NEW_DEVICE_ERROR,
                 (const char*)"NEW_DEVICE_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::OSDK_VERSION_ERROR,
                 (const char*)"OSDK_VERSION_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ActivationACK::PARAMETER_ERROR,
                 (const char*)"PARAMETER_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ActivationACK::SERVER_ACCESS_REFUSED,
    (const char*)"SERVER_ACCESS_REFUSED\n")
}

◆ CAMERA_PAIR_NUM

const uint8_t DJI::OSDK::CAMERA_PAIR_NUM = 5

static

Note: some constants for stereo camera

◆ dbHMSErrNum

const uint32_t DJI::OSDK::dbHMSErrNum = 700

the length of HMS's error code table

◆ extendedVersionBase

const Version::FirmWare DJI::OSDK::extendedVersionBase = (Version::FW(3, 2, 36, 6))

Define FW version that supports "extended" CMD_SET.

Limited products support predefined CMD_SET list

Supported products: M210, A3, N3

◆ hmsErrCodeInfoTbl

HMSErrCodeInfo DJI::OSDK::hmsErrCodeInfoTbl

HMS's error code table

◆ LegacyTaskData

const std::pair<const uint32_t, const char*> DJI::OSDK::LegacyTaskData[]

Initial value:

= {
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::LegacyTask::SUCCESS,
                 (const char*)"CONTROLLER_SUCCESS\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::LegacyTask::FAIL,
                 (const char*)"CONTROLLER_FAIL\n")
}

◆ mandatoryVersionBase

const Version::FirmWare DJI::OSDK::mandatoryVersionBase = (Version::FW(3, 1, 10, 0))

Define FW version that supports "mandatory" CMD_SET.

All supported products implement predefined CMD_SET list

Supported products: M100, M210, M600, A3, N3

◆ MAX_INCOMING_DATA_SIZE

const size_t DJI::OSDK::MAX_INCOMING_DATA_SIZE = 300

Note: size is in Bytes

◆ mfioData

const std::pair<const uint32_t, const char*> DJI::OSDK::mfioData[]

Initial value:

= {
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::init::PORT_DATA_ERROR,
                 (const char*)"MFIO_INIT_PORT_DATA_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::init::PORT_MODE_ERROR,
                 (const char*)"MFIO_INIT_PORT_MODE_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::init::PORT_NUMBER_ERROR,
                 (const char*)"MFIO_INIT_PORT_NUMBER_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::init::SUCCESS,
                 (const char*)"MFIO_INIT_SUCCESS\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::init::UNKNOWN_ERROR,
                 (const char*)"RC_NEED_MODE_F\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::set::CHANNEL_ERROR,
                 (const char*)"MFIO_SET_CHANNEL_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::MFIOACK::set::PORT_NOT_MAPPED_ERROR,
    (const char*)"MFIO_SET_PORT_NOT_MAPPED_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::MFIOACK::set::SUCCESS,
                 (const char*)"MFIO_SET_SUCCESS\n")
}

◆ setArmData

const std::pair<const uint32_t, const char*> DJI::OSDK::setArmData[]

Initial value:

= {
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::SetArm::SUCCESS,
                 (const char*)"SET_ARM_SUCCESS\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetArm::AIRCRAFT_IN_AIR_ERROR,
    (const char*)"SET_ARM_AIRCRAFT_IN_AIR_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetArm::ALREADY_ARMED_ERROR,
    (const char*)"SET_ARM_ALREADY_ARMED_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetArm::OBTAIN_CONTROL_NEEDED_ERROR,
    (const char*)"SET_ARM_OBTAIN_CONTROL_NEEDED_ERROR\n")
}

◆ setControlData

const std::pair<const uint32_t, const char*> DJI::OSDK::setControlData[]

Initial value:

= {
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::SetControl::
                   IOC_OBTAIN_CONTROL_ERROR,
                 (const char*)"IOC_OBTAIN_CONTROL_ERROR\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::SetControl::
                   OBTAIN_CONTROL_IN_PROGRESS,
                 (const char*)"OBTAIN_CONTROL_IN_PROGRESS\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetControl::OBTAIN_CONTROL_SUCCESS,
    (const char*)"OBTAIN_CONTROL_SUCCESS\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetControl::RC_MODE_ERROR,
    (const char*)"RC_MODE_ERROR\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetControl::RC_NEED_MODE_F,
    (const char*)"RC_NEED_MODE_F\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetControl::RC_NEED_MODE_P,
    (const char*)"RC_NEED_MODE_P\n"),
  std::make_pair(OpenProtocolCMD::ErrorCode::ControlACK::SetControl::
                   RELEASE_CONTROL_IN_PROGRESS,
                 (const char*)"RELEASE_CONTROL_IN_PROGRESS\n"),
  std::make_pair(
    OpenProtocolCMD::ErrorCode::ControlACK::SetControl::RELEASE_CONTROL_SUCCESS,
    (const char*)"RELEASE_CONTROL_SUCCESS\n")
}

◆ versionBase33

const Version::FirmWare DJI::OSDK::versionBase33 = (Version::FW(3,3,0,0))

Define FW version constant for 3.3.x firmware branch.

Only the A3 and the N3 support the 3.3.x firmware branch.

Note: Not to be confused with the OSDK version 3.3.x; firmware versions follow a different numbering and cadence.

Onboard SDK

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ BatteryWholeInfo

◆ BatteryWholeInfoImpl

◆ CGPoint

◆ CommonCallBackHandler

◆ DispatchInfo

◆ DJIBatteryClosedReasonImpl

◆ DJIBatteryFirmwareAbnormalImpl

◆ DJIGimbalRotation

◆ DJISmartBatteryHeatState

◆ DJISmartBatterySelfCheck

◆ DJISmartBatterySocWarning

◆ DJIWaypointV2Action

◆ DJIWaypointV2Actuator

◆ DJIWaypointV2AircraftControlFlyingParam

◆ DJIWaypointV2AircraftControlParam

◆ DJIWaypointV2AircraftControlRotateHeadingParam

◆ DJIWaypointV2AssociateTriggerParam

◆ DJIWaypointV2CameraActuatorParam

◆ DJIWaypointV2CameraFocalLengthParam

◆ DJIWaypointV2CameraFocusParam

◆ DJIWaypointV2FlightPathMode

◆ DJIWaypointV2GimbalActuatorParam

◆ DJIWaypointV2HeadingMode

◆ DJIWaypointV2IntervalTriggerParam

◆ DJIWaypointV2TrajectoryTriggerParam

◆ DJIWaypointV2TurnMode

◆ DJIWholeBatteryState

◆ DJIWholeBatteryStateImpl

◆ DownloadMissionAck

◆ DownloadMissionRsp

◆ ErrList

◆ Eventdata

◆ GetGlobalCruiseVelAck

◆ getRemainRamAck

◆ GetWaypontStartEndIndexAck

◆ GlobalCruiseSpeed

◆ HMSErrCodeInfo

◆ HMSPushData

◆ HMSPushPacket

◆ HotPointSettings

◆ MissionEventPushAck

◆ MissionStateCommanData

◆ MissionStatePushAck

◆ PushCallback

◆ RecvContainer

◆ RelativePosition

◆ UploadActionsRawAck

◆ UploadMissionRawAck

◆ VehicleCallBack

◆ VehicleCallBackHandler

◆ WayPointIncidentType

◆ WayPointInitSettings

◆ WayPointSettings

◆ WaypointV2

◆ WaypointV2Config

◆ WayPointV2InitSettings

◆ WaypointV2Internal

Enumeration Type Documentation

◆ DJI_CAMERA_ISO_PARAMETER

◆ DJIBatteryClosedReasonImpl

◆ DJIBatteryFirmwareAbnormalImpl

◆ DJISmartBatteryHeatState

◆ DJISmartBatterySelfCheck

◆ DJISmartBatterySocWarning

◆ DJISmartBatterySohState

◆ DJIWaypointV2ActionActuatorAircraftControlOperationType

◆ DJIWaypointV2ActionActuatorCameraOperationType

◆ DJIWaypointV2ActionActuatorGimbalOperationType

◆ DJIWaypointV2ActionActuatorType

◆ DJIWaypointV2ActionExecutionEvent

◆ DJIWaypointV2ActionIntervalType