00001 00012 #ifndef DJI_CAMERA_H 00013 #define DJI_CAMERA_H 00014 00015 #include "DJI_API.h" 00016 00017 namespace DJI 00018 { 00019 namespace onboardSDK 00020 { 00022 class Camera 00023 { 00024 public: 00025 enum CAMERA_CODE 00026 { 00027 CODE_GIMBAL_SPEED = 0x1A, 00028 CODE_GIMBAL_ANGLE = 0x1B, 00029 CODE_CAMERA_SHOT = 0x20, 00030 CODE_CAMERA_VIDEO_START = 0x21, 00031 CODE_CAMERA_VIDEO_STOP = 0x22 00032 }; 00033 00034 public: 00035 Camera(CoreAPI *ControlAPI = 0); 00036 00039 void setCamera(CAMERA_CODE camera_cmd); 00040 void setGimbalAngle(GimbalAngleData *data); 00041 void setGimbalSpeed(GimbalSpeedData *data); 00042 00043 GimbalData getGimbal() const; 00044 float32_t getYaw() const; 00045 float32_t getRoll() const; 00046 float32_t getPitch() const; 00047 bool isYawLimit() const; 00048 bool isRollLimit() const; 00049 bool isPitchLimit() const; 00050 00051 public: 00052 CoreAPI *getApi() const; 00053 void setApi(CoreAPI *value); 00054 00055 private: 00056 CoreAPI *api; 00057 }; 00058 } // namespace onboardSDK 00059 } // namespace DJI 00060 00061 #endif // DJI_CAMERA_H