class DJIRemoteController

@interface DJIRemoteController : DJIBaseComponent

Header:	DJIRemoteController.h
Inherits From:	`DJIBaseComponent`

Description:

This class represents the remote controller of the aircraft. It provides methods to change the settings of the physical remote controller. For some products (e.g. Inspire 1 and Matrice 100), the class provides methods to manager the slave/master mode of the remote controllers. A remote controller is a device that can have a GPS, battery, radio, buttons, sticks, wheels, and output ports for video. The mobile device is connected to the remote controller, which is always sending out information about what everything is doing. The normal remote controller is called the master. A slave wirelessly connects to the master remote controller at 5 GHz, and the aircraft can also download information to the slave. The slave can send gimbal control commands to the master. This configuration allows one person to fly the aircraft while another person controls the gimbal. This object is available from the DJIAircraft subclass off DJIBaseProduct.

Class Members:

struct

DJIStick

struct DJIStick

typedef struct {
    int horizontalPosition;
    int verticalPosition;
} DJIStick

Header:

DJIStick.h

Description:

DJI hardware stick. For example, the joystick on a remote controller, or the gimbal control stick on a handheld controller.

Struct Members:

int horizontalPosition	Get the stick's horizontal position value, the value it's in the range of [-660, 660].
int verticalPosition	Get the stick's vertical position value, the value it's in the range of [-660, 660].

State Updates

protocol

DJIRemoteControllerDelegate

protocol DJIRemoteControllerDelegate

@protocol DJIRemoteControllerDelegate <NSObject>

Header:	DJIRemoteController.h
Inherits From:	`NSObject`

Description:

This protocol provides delegate methods to receive the updated information related to the remote controller.

Protocol Methods:

Protocol Method

State

method

remoteController:didUpdateHardwareState

method remoteController:didUpdateHardwareState

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateHardwareState:(DJIRCHardwareState)state

Header:

DJIRemoteController.h

Description:

Callback function that updates the Remote Controller's current hardware state (e.g. the state of the physical buttons and joysticks).

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller for which the hardware state will be updated.
DJIRCHardwareState state	Current state of the Remote Controller's hardware state.

method

remoteController:didUpdateGPSData

method remoteController:didUpdateGPSData

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateGPSData:(DJIRCGPSData)gpsData

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGPSData

Description:

Callback function that updates the Remote Controller's current GPS data.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller for which the GPS data will be updated.
DJIRCGPSData gpsData	Current state of the Remote Controller's GPS data.

method

remoteController:didUpdateChargeRemaining

method remoteController:didUpdateChargeRemaining

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateChargeRemaining:(DJIRCChargeRemaining)chargeRemaining

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamChargeRemaining

Description:

Callback function that updates the Remote Controller's current battery state.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller for which the battery state will be updated.
DJIRCChargeRemaining chargeRemaining	Current state of the Remote Controller's battery state.

method

remoteController:didReceiveGimbalControlRequestFromSlave

method remoteController:didReceiveGimbalControlRequestFromSlave

@optional
- (void)remoteController:(DJIRemoteController *)rc didReceiveGimbalControlRequestFromSlave:(DJIRCInformation *)information

Header:

DJIRemoteController.h

Description:

Callback function that gets called when a slave Remote Controller makes a request to a master Remote Controller to control the gimbal using the method requestGimbalControlRightWithCallbackBlock.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller.
DJIRCInformation * information	Information of the slave making the request to the master Remote Controller.

method

remoteController:didUpdateFocusControllerState

method remoteController:didUpdateFocusControllerState

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateFocusControllerState:(DJIRCFocusControllerState)state

Header:

DJIRemoteController.h

Description:

Callback function that updates the Remote Focus State, only support Focus product. If the isRCRemoteFocusCheckingSupported is YES, this delegate method will be called.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller for which the battery state will be updated.
DJIRCFocusControllerState state	Current state of the Remote Focus state.

method

remoteController:didUpdateMasterSlaveState

method remoteController:didUpdateMasterSlaveState

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateMasterSlaveState:(DJIRCMasterSlaveState *)state

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMasterSlaveState

Description:

Callback function that updates the remote controller's state related to the master and slave mode. Only supported by Inspire 2.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller
DJIRCMasterSlaveState * state	The remote controller's state related to the master and slave mode.

method

remoteController:didUpdateButtonAction

method remoteController:didUpdateButtonAction

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateButtonAction:(DJIRCButtonAction)action

Header:

DJIRemoteController.h

Description:

Callback function that receives the button action triggered by a button click. The relationship between a button and an action is defined by DJIRCButtonConfiguration. It is only supported by Cendence.

Input Parameters:

DJIRemoteController * rc	Instance of the Remote Controller
DJIRCButtonAction action	The action triggered by a button click.

method

remoteController:didUpdateCalibrationProgress

method remoteController:didUpdateCalibrationProgress

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateCalibrationProgress:(DJIRCCalibrationProgress *)progress

Header:

DJIRemoteController.h

Description:

Delegate method that receives the calibration progress of the remote controller. The remote controller will start to update the progress after the calibration is started successfully.

Input Parameters:

DJIRemoteController * rc	The remote controller.
DJIRCCalibrationProgress * progress	The calibration progress of the remote controller.

method

remoteController:didUpdateMultiDevicePairingState

method remoteController:didUpdateMultiDevicePairingState

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateMultiDevicePairingState:(DJIRCMultiDeviceAggregationState *)state

Header:

DJIRemoteController.h

Description:

Delegate method to receive the latest pairing state from the remote controller that supporting multi-device pairing.

Input Parameters:

DJIRemoteController * rc	Remote controller that updates the pairing state.
DJIRCMultiDeviceAggregationState * state	The latest pairing state.

method

remoteController:didUpdateRTKChannelEnabled

method remoteController:didUpdateRTKChannelEnabled

@optional
- (void)remoteController:(DJIRemoteController *)rc didUpdateRTKChannelEnabled:(BOOL)enabled

Header:

DJIRemoteController.h

Description:

Delegate method to receive the current RTK channel enabled from the remote controller that supporting multi-device pairing.

Input Parameters:

DJIRemoteController * rc	Remote controller that updates the pairing state.
BOOL enabled	The current RTK channel enabled.

State Updates - Hardware

struct

DJIRCHardwareState

struct DJIRCHardwareState

typedef struct
{
    DJIStick leftStick;
    DJIStick rightStick;
    int leftWheel;
    DJIRCRightWheel rightWheel;
true
true   
trueint leftDials;
true
true   
trueint rightDials;
    DJIRCTransformationSwitch transformationSwitch;
    DJIRCFlightModeSwitch flightModeSwitch;
    DJIRCButton goHomeButton;
    DJIRCButton recordButton;
    DJIRCButton shutterButton;
    DJIRCButton playbackButton;
    DJIRCButton pauseButton;
    DJIRCButton c1Button;
    DJIRCButton c2Button;
    DJIRCButton fnButton;
    DJIRCFiveDButton fiveDButton;
} DJIRCHardwareState

Header:

DJIRemoteControllerBaseTypes.h

Description:

Remote Controller's current state.

Struct Members:

DJIStick leftStick	Get left stick.
DJIStick rightStick	Get right stick.
int leftWheel	Gimbal Dial's (upper left wheel) value in the range of [-660,660], where 0 is untouched and positive is turned in the clockwise direction.
DJIRCRightWheel rightWheel	Current state of the upper right wheel on the Remote Controller (Camera Settings Dial).
int leftDials	Dials value in the range of [-660, 660]. The value represents the difference in an operation. Only Supported by Cendence.
int rightDials	Dials value in the range of [-660, 660]. The value represents the difference in an operation. Only Supported by Cendence.
DJIRCTransformationSwitch transformationSwitch	Current state of the Transformation Switch on the Remote Controller.
DJIRCFlightModeSwitch flightModeSwitch	Current position of the Flight Mode Switch on the Remote Controller.
DJIRCButton goHomeButton	Current state of the Return To Home Button.
DJIRCButton recordButton	Current state of the Video Recording Button.
DJIRCButton shutterButton	Current state of the Shutter Button.
DJIRCButton playbackButton	Current state of the Playback Button. The Playback Button is not supported on Phantom 4 remote controllers.
DJIRCButton pauseButton	Current state of the Pause Button. The Pause button is only supported on Phantom 4 remote controllers.
DJIRCButton c1Button	Current state of custom button 1 (left Back Button). It is not supported by remote controllers for Mavic Air or Spark.
DJIRCButton c2Button	Current state of custom button 2 (right Back Button).
DJIRCButton fnButton	Current state of fn button. It is only supported by remote controllers for Spark or Mavic Air.
DJIRCFiveDButton fiveDButton	Current state of the 5D button. The button can be moved up, down, left and right and can be pressed. The 5D button is supported by Mavic Pro and Mavic 2 remote controllers.

struct

DJIRCRightWheel

struct DJIRCRightWheel

typedef struct
{
    BOOL isPresent;
    BOOL isTurned;
    BOOL isClicked;
    NSInteger value;
} DJIRCRightWheel

Header:

DJIRemoteControllerBaseTypes.h

Description:

Current state of the Camera Settings Dial (upper right wheel on the Remote Controller).

Struct Members:

BOOL isPresent	`YES` if right wheel present.
BOOL isClicked	`YES` if wheel is being pressed.
BOOL isTurned	`YES` if wheel value has changed.
NSInteger value	Wheel value in the range of [-660, 660]. The value represents the difference in an operation.

struct

DJIRCTransformationSwitch

struct DJIRCTransformationSwitch

typedef struct
{
    BOOL isPresent;
    DJIRCTransformationSwitchState state;
} DJIRCTransformationSwitch

Header:

DJIRemoteControllerBaseTypes.h

Description:

Transformation Switch position. The Transformation Switch is around the Return To Home Button on Inspire, Inspire 1 and M100 Remote Controllers, and controls the state of the aircraft's landing gear.

Struct Members:

BOOL isPresent	`YES` if the Transformation Switch present.
DJIRCTransformationSwitchState state	Current transformation switch state.

enum

DJIRCFlightModeSwitch

enum DJIRCFlightModeSwitch

typedef NS_ENUM (uint8_t, DJIRCFlightModeSwitch)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamRCHardwareFlightModeSwitchState

Description:

Remote Controller Flight Mode switch position.

Enum Members:

DJIRCFlightModeSwitchOne	Position One. For all products except Mavic Pro, this is the left most position of the flight mode switch on a remote controller from the perspective of the pilot. For example, on a Phantom 4 remote controller, Position One is labeled "A". For Mavic Pro, Spark and Mavic Air, this is the position that is furthest away from the pilot and labeled "Sport".
DJIRCFlightModeSwitchTwo	Position Two. For all products except Mavic Pro, this is the middle position of the flight mode switch on a remote controller from the perspective of the pilot. For example, on a Phantom 4 remote controller, Position Two is labeled "S". For Mavic Pro, Spark and Mavic Air, this is the position that is closest to the pilot (the P position).
DJIRCFlightModeSwitchThree	Position Three. For all products except Mavic Pro, this is the right most position of the flight mode switch on a remote controller from the perspective of the pilot. For example, on a Phantom 4 remote controller, Position Two is labeled "P". Mavic Pro, Spark or Mavic Air does not have a third position for the flight mode switch.

struct

DJIRCButton

struct DJIRCButton

typedef struct
{
    BOOL isPresent;
    BOOL isClicked;
} DJIRCButton

Header:

DJIRemoteControllerBaseTypes.h

Description:

Remote Controller has numerous momentary push buttons, which will use this state.

Struct Members:

BOOL isPresent	`YES` if the hardware button is present.
BOOL isClicked	`YES` if button is pressed down.

struct

DJIRCFiveDButton

struct DJIRCFiveDButton

typedef struct{
    BOOL isPresent;
    DJIRCFiveDButtonDirection verticalDirection;
    DJIRCFiveDButtonDirection horizontalDirection;
    BOOL isClicked;
}DJIRCFiveDButton

Header:

DJIRemoteControllerBaseTypes.h

Description:

State of the 5D button on the remote controller. Vertical movement, horizontal movement and if it is pressed are not exclusive.

Struct Members:

BOOL isPresent	`YES` if 5D button is present.
DJIRCFiveDButtonDirection verticalDirection	Get the movement in the vertical direction of the 5D button. Up is the positive direction and down is the negative direction.
DJIRCFiveDButtonDirection horizontalDirection	Get the movement in the horizontal direction of the 5D button. Right is the positive direction and left is the negative direction.
BOOL isClicked	`YES` if the 5D button is pressed down.

enum

DJIRCTransformationSwitchState

enum DJIRCTransformationSwitchState

typedef NS_ENUM (uint8_t, DJIRCTransformationSwitchState)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamTransformationSwitchState

Description:

Transformation Switch position states.

Enum Members:

DJIRCTransformationSwitchStateRetract	Retract landing gear switch state.
DJIRCTransformationSwitchStateDeploy	Deploy landing gear switch state.
DJIRCTransformationSwitchStateUnknown	Unknown.

enum

DJIRCFiveDButtonDirection

enum DJIRCFiveDButtonDirection

typedef NS_ENUM(NSUInteger, DJIRCFiveDButtonDirection)

Header:

DJIRemoteControllerBaseTypes.h

Description:

Movement direction of the remote controller's 5D button.

Enum Members:

DJIRCFiveDButtonDirectionMiddle	Button has no movement in either the vertical direction or the horizontal direction.
DJIRCFiveDButtonDirectionPositive	Button is moved in the positive direction which is up or right.
DJIRCFiveDButtonDirectionNegative	Button is moved in the negative direction which is down or left.

State Updates - GPS

struct

DJIRCGPSData

struct DJIRCGPSData

typedef struct
{
    DJIRCGPSTime time;
    CLLocationCoordinate2D location;
    float eastSpeed;
    float northSpeed;
    int satelliteCount;
    float accuracy;
    BOOL isValid;
} DJIRCGPSData

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGPSData

Description:

Remote Controller's GPS data. Only Inspire and M100 Remote Controllers have GPS.

Struct Members:

DJIRCGPSTime time	The Remote Controller's GPS time.
CLLocationCoordinate2D location	The Remote Controller's location.
float eastSpeed	The Remote Controller's speed in the East direction in meters/second. A negative speed means the Remote Controller is moving in the West direction.
float northSpeed	The Remote Controller's speed in the North direction in meters/second. A negative speed means the Remote Controller is moving in the South direction.
int satelliteCount	The number of GPS satellites the Remote Controller detects.
float accuracy	The the margin of error, in meters, for the GPS location.
BOOL isValid	`YES` if the GPS data is valid. The data is not valid if there are too few satellites or the signal strength is too low.

struct

DJIRCGPSTime

struct DJIRCGPSTime

typedef struct
{
    uint8_t hour;
    uint8_t minute;
    uint8_t second;
    uint16_t year;
    uint8_t month;
    uint8_t day;
} DJIRCGPSTime

Header:

DJIRemoteControllerBaseTypes.h

Description:

Remote Controller's GPS time.

Struct Members:

uint8_t hour	Hour value of Remote Controller's GPS time.
uint8_t minute	Minute value of Remote Controller's GPS time.
uint8_t second	Second value of Remote Controller's GPS time.
uint16_t year	Year value of Remote Controller's GPS time.
uint8_t month	Month value of Remote Controller's GPS time.
uint8_t day	Day value of Remote Controller's GPS time.

State Updates - Battery

struct

DJIRCChargeRemaining

struct DJIRCChargeRemaining

typedef struct
{
    uint32_t remainingChargeInmAh;
    uint8_t remainingChargeInPercent;
} DJIRCChargeRemaining

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamChargeRemaining

Description:

Remote Controller's battery info.

Struct Members:

uint32_t remainingChargeInmAh	The remaining power in the Remote Controller's battery in milliamp hours (mAh).
uint8_t remainingChargeInPercent	The remaining power in the Remote Controller's battery as a percentage in the range of [0, 100].

State Updates - Focus

struct

DJIRCFocusControllerState

struct DJIRCFocusControllerState

typedef struct
{
    BOOL isWorking;
    DJIRCFocusControllerControlType controlType;
    DJIRCFocusControllerDirection direction;
} DJIRCFocusControllerState

Header:

DJIRemoteControllerBaseTypes.h

Description:

Remote Controller's Remote Focus State. The focus product has one dial (focus control) that controls two separate parts of the camera: focal length and aperture. However it can only control one of these at any one time and is an absolute dial, meaning that a specific rotational position of the dial corresponds to a specific focal length or aperture. This means that whenever the dial control mode is changed, the dial first has to be reset to the new mode's previous dial position before the dial can be used to adjust the setting of the new mode. Example workflow:

Use dial to set an Aperture of f2.2

Change dial control mode to focal length (set DJIRCFocusControllerControlType)

Use the dial to change the focal length

Change dial control mode back to aperture

set DJIRCFocusControllerControlType
isWorking will now be NO

Adjust dial back to f2.2

DJIRCFocusControllerDirection is the direction the dial should be rotated
isWorking will become YES when set back to f2.2

Now the dial can be used to adjust the aperture.

Struct Members:

BOOL isWorking	`YES` if the focus control works. The control can be either changing the Aperture or Focal Length. If it is `NO`, follow the `DJIRCFocusControllerDirection` to rotate the Remote Focus Device until it turns to `YES` again.
DJIRCFocusControllerControlType controlType	Remote Focus Control Type.
DJIRCFocusControllerDirection direction	Remote Focus Control Direction. Use this with the `isWorking` value. It will give you the correct rotation direction when `isWorking` is `NO`.

enum

DJIRCFocusControllerControlType

enum DJIRCFocusControllerControlType

typedef NS_ENUM (uint8_t, DJIRCFocusControllerControlType)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamFocusControllerControlType

Description:

Remote Focus Control Type.

Enum Members:

DJIRCFocusControllerControlTypeAperture	Control Aperture.
DJIRCFocusControllerControlTypeFocalLength	Control Focal Length.
DJIRCFocusControllerControlTypeFocusDistance	Adjust focus distance.
DJIRCFocusControllerControlTypeUnknown	Unknown types.

enum

DJIRCFocusControllerDirection

enum DJIRCFocusControllerDirection

typedef NS_ENUM (uint8_t, DJIRCFocusControllerDirection)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamFocusControllerDirection

Description:

Remote Focus Control Direction.

Enum Members:

DJIRCRemoteFocusControlDirectionClockwise	Clockwise.
DJIRCRemoteFocusControlDirectionCounterClockwise	CounterClockwise.
DJIRCRemoteFocusControlDirectionUnknown	Unknown.

Aircraft Pairing

enum

DJIRCPairingState

enum DJIRCPairingState

typedef NS_ENUM (uint8_t, DJIRCPairingState)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamPairingState

Description:

Remote Controller pairing state.

Enum Members:

DJIRCPairingStateStateUnpaired	The Remote Controller is not pairing.
DJIRCPairingStateStatePairing	The Remote Controller is currently pairing.
DJIRCPairingStateStatePaired	The Remote Controller's pairing was completed.
DJIRCPairingStateStateUnknown	The Remote Controller's pairing state is unknown.

Customize RC

class

DJIRCAircraftMapping

enum

DJIRCGimbalAxis

enum DJIRCGimbalAxis

typedef NS_ENUM (uint8_t, DJIRCGimbalAxis)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamLeftWheelGimbalControlAxis

Description:

Defines what the Gimbal Dial (upper left wheel on the Remote Controller) will control.

Enum Members:

DJIRCGimbalAxisPitch	The upper left wheel will control the gimbal's pitch.
DJIRCGimbalAxisRoll	The upper left wheel will control the gimbal's roll.
DJIRCGimbalAxisYaw	The upper left wheel will control the gimbal's yaw.

class

DJIRCCustomButtonTags

class

DJIRCButtonConfiguration

class

DJIMutableRCButtonConfiguration

Mobile Device Charging

enum

DJIRCChargeMobileMode

enum DJIRCChargeMobileMode

typedef NS_ENUM (uint8_t, DJIRCChargeMobileMode)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamChargeMobileMode

Description:

Modes to charge an iOS mobile device. Only supported by Inspire 2.

Enum Members:

DJIRCChargeMobileModeNever	The remote controller does not charge the mobile device.
DJIRCChargeMobileModeAlways	The remote controller charges the mobile device until the the mobile device is fully charged.
DJIRCChargeMobileModeIntelligent	The remote controller charges the mobile device in an intelligent mode: The remote controller starts charging when the mobile device's battery is lowered then 20% and stops charging when the mobile device's battery is above 50%.
DJIRCChargeMobileModeUnknown	The Remote Controller's charging mode is unknown.

Calibration Component

enum

DJIRCCalibrationComponent

enum DJIRCCalibrationComponent

typedef NS_ENUM (uint8_t, DJIRCCalibrationComponent)

Header:

DJIRemoteControllerBaseTypes.h

Description:

The components on the remote controller that requires calibration.

Enum Members:

DJIRCCalibrationComponentLeftStickVertical	The components on the remote controller that requires calibration.
DJIRCCalibrationComponentLeftStickHorizontal	The horizontal dimension of the left stick. To calibrate it, user should move the left stick left and right.
DJIRCCalibrationComponentRightStickVertical	The vertical dimension of the right stick. To calibrate it, user should move the right stick up and down.
DJIRCCalibrationComponentRightStickHorizontal	The horizontal dimension of the right stick. To calibrate it, user should move the right stick left and right.
DJIRCCalibrationComponentLeftWheel	The upper left wheel (gimbal dial).
DJIRCCalibrationComponentUnknown	Unknown.

Calibration Overall State

enum

DJIRCCalibrationOverallState

enum DJIRCCalibrationOverallState

typedef NS_ENUM (uint8_t, DJIRCCalibrationOverallState)

Header:

DJIRemoteControllerBaseTypes.h

Description:

The overall state of the remote controller's calibration.

Enum Members:

DJIRCCalibrationOverallStateRecordingCenter	The calibration is started and the remote controller is recording the center position of components. In this phase, user should not move the components.
DJIRCCalibrationOverallStateRecordingPhysicalLimits	The remote controller has recorded the center position of components and is recording the physical limits. In this phase, user should move components (sticks and wheels) all the way to the physical limits in any direction.
DJIRCCalibrationOverallStateTimeout	The calibration took too long to finish.
DJIRCCalibrationOverallStateFailed	The calibration failed. Use `error` to check the reason.
DJIRCCalibrationOverallStateSucceeded	The calibration succeeded.
DJIRCCalibrationOverallStateUnknown	Unknown.

Cendence Button Action

enum

DJIRCButtonAction

enum DJIRCButtonAction

typedef NS_ENUM(NSUInteger, DJIRCButtonAction)

Header:

DJIRemoteControllerBaseTypes.h

Description:

Actions that can be assigned to a customizable button. Some of the actions are reserved and the firmware will execute the corresponding actions even when the application is not connected. Some of the actions are defined by the mobile applications. The application is responsible for implementing the non firmware actions. The definitions used in DJI Go are provided. It is usually recommended to follow DJI Go's definitions for compability so if DJI Go is used at the same time as the SDK application the actions will be expected in both applications.

Enum Members:

DJIRCButtonActionCustom0	Custom action with value 0. In DJI Go, this value represents the action to toggle the camera setting view.
DJIRCButtonActionCustom3	Custom action with value 3. In DJI Go, this value represents the action to switch the the live view and the map view.
DJIRCButtonActionCustom4	Custom action with value 4. In DJI Go, this value represents the action to clear the flight path in the map view.
DJIRCButtonActionCustom5	Custom action with value 5. In DJI Go, this value represents the action to toggle the battery setting view.
DJIRCButtonActionCustom7	Custom action with value 7. In DJI Go, this value represents the action to trigger central exposure metering.
DJIRCButtonActionCustom8	Custom action with value 8. In DJI Go, this value represents the action to toggle AE lock.
DJIRCButtonActionCustom9	Custom action with value 9. In DJI Go, this value represents the action to toggle the LEDs on the four arms.
DJIRCButtonActionResetFPVGimbal	Reset FPV gimbal attitude to the center, the gimbal will rotate 45 degrees in pitch axis up and down when the action is trigger.
DJIRCButtonActionCustom13	Custom action with value 13. In DJI Go, this value represents the action to expand the live view from the FPV camera.
DJIRCButtonActionQuickSpin	Trigger a Quick Spin. This action is handled by the firmware.
DJIRCButtonActionCustom16	Custom action with value 16. In DJI Go, this value represents the action to toggle the playback view.
DJIRCButtonActionCustom17	Custom action with value 17. In DJI Go, this value represents the action to trigger focusing at the center of the live view.
DJIRCButtonActionCustom23	Custom action with value 23. In DJI Go, this value represents the action to request gimbal control (for the slave remote controller).
DJIRCButtonActionCustom24	Custom action with value 24. In DJI Go, this value represents the action to toggle the modes of the gimbal.
DJIRCButtonActionCustom25	Custom action with value 25. In DJI Go, this value represents the action to toggle the customizable button setting view.
DJIRCButtonActionCustom26	Custom action with value 26. In DJI Go, this value represents the action to toggle AF and MF for camera.
DJIRCButtonActionCustom27	Custom action with value 27. In DJI Go, this value represents the action to dismiss the warning tips.
DJIRCButtonActionCustom28	Custom action with value 28. In DJI Go, this value represents the action to toggle the automatic movement of the landing gear.
DJIRCButtonActionCustom29	Custom action with value 29. In DJI Go, this value represents the action to toggle the warning list view.
DJIRCButtonActionSwitchFrequency	Switch frequency bands of the remote controller. This action is handled by the firmware.
DJIRCButtonActionFocus	Trigger the camera focus. This action is handled by the firmware.
DJIRCButtonActionCustom41	Custom action with value 41. In DJI Go, this value represents the action to toggle the composition mode for the Spotlight.
DJIRCButtonActionCustom43	Custom action with value 43. In DJI Go, this value represents the action to toggle the peak focus.
DJIRCButtonActionCustom44	Custom action with value 44. In DJI Go, this value represents the action to toggle the display of grid.
DJIRCButtonActionCustom45	Custom action with value 45. In DJI Go, this value represents the action to toggle the display of histogram.
DJIRCButtonActionCustom46	Custom action with value 46. In DJI Go, this value represents the action to switch the white balance settings.
DJIRCButtonActionCustom47	Custom action with value 47. In DJI Go, this value represents the action to toggle the over-exposure warning.
DJIRCButtonActionCustom52	Custom action with value 52. In DJI Go, this value represents the action to reset the gimbal yaw to align with the aircraft heading.
DJIRCButtonActionToggleLandingGear	Retract or deploy the landing gear. This action is handled by the firmware.
DJIRCButtonActionCustom59	Custom action with value 59. In DJI Go, this value represents the action to toggle the radar map.
DJIRCButtonActionCustom60	Custom action with value 60. In DJI Go, this value represents the action to toggle the downward vision sensors.
DJIRCButtonActionCustom61	Custom action with value 61. In DJI Go, this value represents the action to toggle the forward obstacle avoidance.
DJIRCButtonActionCustom63	Custom action with value 63. In DJI Go, this value represents the action to toggle the full screen mode.
DJIRCButtonActionCustom100	Custom action with value 100. This value is reserved for SDK applications.
DJIRCButtonActionCustom101	Custom action with value 101. This value is reserved for SDK applications.
DJIRCButtonActionCustom102	Custom action with value 102. This value is reserved for SDK applications.
DJIRCButtonActionCustom103	Custom action with value 103. This value is reserved for SDK applications.
DJIRCButtonActionCustom104	Custom action with value 104. This value is reserved for SDK applications.
DJIRCButtonActionCustom105	Custom action with value 105. This value is reserved for SDK applications.
DJIRCButtonActionCustom106	Custom action with value 106. This value is reserved for SDK applications.
DJIRCButtonActionCustom107	Custom action with value 107. This value is reserved for SDK applications.
DJIRCButtonActionCustom108	Custom action with value 108. This value is reserved for SDK applications.
DJIRCButtonActionCustom109	Custom action with value 109. This value is reserved for SDK applications.
DJIRCButtonActionNotDefined	Not defined. It is used to present that no action is bound to a button.

RC Customizable Button

enum

DJIRCCustomizableButton

enum DJIRCCustomizableButton

typedef NS_ENUM(NSUInteger, DJIRCCustomizableButton)

Header:

DJIRemoteControllerBaseTypes.h

Description:

The customizable buttons.

Enum Members:

DJIRCCustomizableButtonC1	The button with C1 label.
DJIRCCustomizableButtonC2	The button with C2 label.
DJIRCCustomizableButtonC3	The button with C3 label.
DJIRCCustomizableButtonC4	The button with C4 label.
DJIRCCustomizableButtonBA	The button with BA label.
DJIRCCustomizableButtonBB	The button with BB label.
DJIRCCustomizableButtonBC	The button with BC label.
DJIRCCustomizableButtonBD	The button with BD label.
DJIRCCustomizableButtonBE	The button with BE label.
DJIRCCustomizableButtonBF	The button with BF label.
DJIRCCustomizableButtonBG	The button with BG label.
DJIRCCustomizableButtonBH	The button with BH label.
DJIRCCustomizableButtonTD	The button with TD label.
DJIRCCustomizableButtonMENU	The button with MENU label.
DJIRCCustomizableButtonUnknown	Unknown.

RC Pairing Device

enum

DJIRCPairingDevice

enum DJIRCPairingDevice

typedef NS_ENUM (uint8_t, DJIRCPairingDevice)

Header:

DJIRemoteControllerBaseTypes.h

Description:

Types of the device that the remote controller can pair with. It is only used when the remote controller supports multi-device pairing. Only Supported by Phantom 4 RTK.

Enum Members:

DJIRCPairingDeviceAircraft	The device to be paired with is an aircraft.
DJIRCPairingDeviceRTKBaseStation	The device to be paired with is an RTK base station.
DJIRCPairingDeviceUnknown	Unknown.

Multi Device State

enum

DJIRCMultiDeviceState

enum DJIRCMultiDeviceState

typedef NS_ENUM(uint8_t, DJIRCMultiDeviceState)

Header:

DJIRemoteControllerBaseTypes.h

Description:

The state (e.g. unpaired, paired, connected, etc.) of a device that may connected to the remote controller. It is only used when the remote controller supports multi-device pairing. Only supported by DJI Phantom 4 RTK.

Enum Members:

DJIRCMultiDeviceStateUnpaired	The remote controller is unpaired with the device. This state is for both aircraft and base station.
DJIRCMultiDeviceStatePairing	The remote controller is pairing with the device. This state is only for aircraft.
DJIRCMultiDeviceStatePaired	The remote controller is paired. This state is only for aircraft.
DJIRCMultiDeviceStateDisconnected	The remote controller is paired with the device but the connection between the device and the remote controller is broken. The remote controller already remembers the device and the connection will receover automatically when it is possible. This state is only for base station. Only Supported by Phantom 4 RTK.
DJIRCMultiDeviceStateConnected	The remote controller is paired with the device and it is connected to the device. This state is only for base station.
DJIRCMultiDeviceStateUnknown	Unknown.

Master/Slave RC

enum

DJIRCMode

enum DJIRCMode

typedef NS_ENUM (uint8_t, DJIRCMode)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMode

Description:

Remote Controller mode of operation can be normal (single RC connected to aircraft), master, slave, or unknown.

Enum Members:

DJIRCModeMaster	Remote Controller is a master (will route a connected slave Remote Controller's commands to the aircraft).
DJIRCModeSlave	Remote Controller is currently a slave Remote Controller (sends commands to aircraft through a master Remote Controller).
DJIRCModeNormal	Remote Controller is not connected to another Remote Controller.
DJIRCModeUnknown	The Remote Controller's mode is unknown.

enum

DJIRCCalibrationState

enum DJIRCCalibrationState

typedef NS_ENUM(uint8_t, DJIRCCalibrationState)

Header:

DJIRemoteControllerBaseTypes.h

Description:

Remote Controller's calibration state.

Enum Members:

DJIRCCalibrationStateNotCalibrating	There is currently no Remote Controller calibration happening.
DJIRCCalibrationStateRecordingCenterPosition	Currently recording the joystick in its center position (joystick is untouched).
DJIRCCalibrationStateRecordingExtremePositions	Currently recording the extreme joystick positions, when joysticks are all the way to their max in any direction (left, right, up, or down).
DJIRCCalibrationStateExit	The Remote Controller is exiting calibration.

class

DJIRCInformation

enum

DJIRCConnectToMasterResult

enum DJIRCConnectToMasterResult

typedef NS_ENUM (uint8_t, DJIRCConnectToMasterResult)

Header:

DJIRemoteControllerBaseTypes.h

Description:

Result when a slave Remote Controller tries to join a master Remote Controller.

Enum Members:

DJIRCConnectToMasterResultAccepted	The slave Remote Controller's attempt to join the master Remote Controller was successful.
DJIRCConnectToMasterResultPasswordError	The slave Remote Controller's attempt to join the master Remote Controller was unsuccessful due to a password error.
DJIRCConnectToMasterResultRejected	The slave Remote Controller's attempt to join the master Remote Controller was rejected.
DJIRCConnectToMasterResultMaximumCapacity	The slave Remote Controller's attempt to join the master Remote Controller was unsuccessful because the master Remote Controller is at the maximum number of slaves it can have.
DJIRCConnectToMasterResultTimeout	The slave Remote Controller's attempt to join the master Remote Controller was unsuccessful because the request timed out.
DJIRCConnectToMasterResultUnknown	The result of the slave Remote Controller's attempt to join the master Remote Controller is unknown.

class

DJIRCMasterSlaveState

class

DJIRCCredentials

struct

DJIRCGimbalControlSpeedCoefficient

struct DJIRCGimbalControlSpeedCoefficient

typedef struct
{
    uint8_t pitchSpeedCoefficient;
    uint8_t rollSpeedCoefficient;
    uint8_t yawSpeedCoefficient;
} DJIRCGimbalControlSpeedCoefficient

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalControlSpeedCoefficient

Description:

Remote Controller's gimbal control speed.

Struct Members:

uint8_t pitchSpeedCoefficient	Gimbal's pitch speed with range [0, 100].
uint8_t rollSpeedCoefficient	Gimbal's roll speed with range [0, 100].
uint8_t yawSpeedCoefficient	Gimbal's yaw speed with range [0, 100].

enum

DJIRCRequestGimbalControlResult

enum DJIRCRequestGimbalControlResult

typedef NS_ENUM (uint8_t, DJIRCRequestGimbalControlResult)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamRequestGimbalControl

Description:

Result when a slave Remote Controller requests permission to control the gimbal.

Enum Members:

DJIRCRequestGimbalControlResultAccepted	The master Remote Controller agrees to the slave's request.
DJIRCRequestGimbalControlResultRejected	The master Remote Controller denies the slave's request. If the slave Remote Controller wants to control the gimbal, it must send a request to the master Remote Controller first. Then the master Remote Controller can decide to approve or deny the request.
DJIRCRequestGimbalControlResultTimeout	The slave Remote Controller's request timed out.
DJIRCRequestGimbalControlResultUnknown	The slave Remote Controller's request is unknown.

class

DJIRCGimbalMapping

Display Name

const

DJIRemoteControllerDisplayNameMavicPro

const DJIRemoteControllerDisplayNameMavicPro

extern NSString *const DJIRemoteControllerDisplayNameMavicPro

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Mavic Pro's remote controller.

const

DJIRemoteControllerDisplayNameInspire1

const DJIRemoteControllerDisplayNameInspire1

extern NSString *const DJIRemoteControllerDisplayNameInspire1

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Inspire 1 series and Matrice 100.

const

DJIRemoteControllerDisplayNameLightbridge2

const DJIRemoteControllerDisplayNameLightbridge2

extern NSString *const DJIRemoteControllerDisplayNameLightbridge2

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Lightbridge 2 wireless module. The module is used by stand-alone Lightbridge 2, A3, N3 and Matrice 600 series.

const

DJIRemoteControllerDisplayNameInspire2

const DJIRemoteControllerDisplayNameInspire2

extern NSString *const DJIRemoteControllerDisplayNameInspire2

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Inspire 2 and Matrice 200 series.

const

DJIRemoteControllerDisplayNameCendence

const DJIRemoteControllerDisplayNameCendence

extern NSString *const DJIRemoteControllerDisplayNameCendence

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the Cendence remote controller.

const

DJIRemoteControllerDisplayNamePhantom3Professinal

const DJIRemoteControllerDisplayNamePhantom3Professinal

extern NSString *const DJIRemoteControllerDisplayNamePhantom3Professinal

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Phantom 3 Professional, Phantom 3 Advanced and Phantom 4.

const

DJIRemoteControllerDisplayNamePhantom3Standard

const DJIRemoteControllerDisplayNamePhantom3Standard

extern NSString *const DJIRemoteControllerDisplayNamePhantom3Standard

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Phantom 3 Standard's remote controller.

const

DJIRemoteControllerDisplayNamePhantom4Pro

const DJIRemoteControllerDisplayNamePhantom4Pro

extern NSString *const DJIRemoteControllerDisplayNamePhantom4Pro

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Phantom 4 Pro's remote controller.

const

DJIRemoteControllerDisplayNamePhantom4Advanced

const DJIRemoteControllerDisplayNamePhantom4Advanced

extern NSString *const DJIRemoteControllerDisplayNamePhantom4Advanced

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Phantom 4 Advanced's remote controller.

const

DJIRemoteControllerDisplayNamePhantom4ProV2

const DJIRemoteControllerDisplayNamePhantom4ProV2

extern NSString *const DJIRemoteControllerDisplayNamePhantom4ProV2

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Phantom 4 Pro V2.

const

DJIRemoteControllerDisplayNamePhantom4RTK

const DJIRemoteControllerDisplayNamePhantom4RTK

extern NSString *const DJIRemoteControllerDisplayNamePhantom4RTK

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of the remote controller for Phantom 4 RTK.

const

DJIRemoteControllerDisplayNameSpark

const DJIRemoteControllerDisplayNameSpark

extern NSString *const DJIRemoteControllerDisplayNameSpark

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Spark's remote controller.

const

DJIRemoteControllerDisplayNameMavicAir

const DJIRemoteControllerDisplayNameMavicAir

extern NSString *const DJIRemoteControllerDisplayNameMavicAir

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Mavic Air's remote controller.

const

DJIRemoteControllerDisplayNameMavic2

const DJIRemoteControllerDisplayNameMavic2

extern NSString *const DJIRemoteControllerDisplayNameMavic2

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Mavic 2's remote controller.

const

DJIRemoteControllerDisplayNameMavic2Enterprise

const DJIRemoteControllerDisplayNameMavic2Enterprise

extern NSString *const DJIRemoteControllerDisplayNameMavic2Enterprise

Header:

DJIRemoteControllerDisplayNames.h

Description:

The display name of Mavic 2 Enterprise's remote controller.

Calibration Component State

class

DJIRCCalibrationComponentState

Calibration Progress

class

DJIRCCalibrationProgress

Aggregation State

class

DJIRCMultiDeviceAggregationState

State Updates - Master/Slave

enum

DJIRCGimbalMappingStyle

enum DJIRCGimbalMappingStyle

typedef NS_ENUM (uint8_t, DJIRCGimbalMappingStyle)

Header:	DJIRemoteControllerBaseTypes.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalMappingStyle

Description:

The gimbal control stick mapping styles.

Enum Members:

DJIRCGimbalMappingStyleDefault	Default
DJIRCGimbalMappingStyleCustom	Custom
DJIRCGimbalMappingStyleUnknown	Unknown

struct

DJIRCGimbalStickMapping

struct DJIRCGimbalStickMapping

typedef struct
{
    DJIRCGimbalStickMappingTarget target;
    BOOL isReversed;
} DJIRCGimbalStickMapping

Header:

DJIRemoteControllerBaseTypes.h

Description:

A struct representing a custom mapping configuration.

Struct Members:

DJIRCGimbalStickMappingTarget target	The specific control to be mapped.
BOOL isReversed	whether or not the control is to be reversed.

State Updates

General

property

delegate

property delegate

@property(nonatomic, weak) id<DJIRemoteControllerDelegate> delegate

Header:

DJIRemoteController.h

Description:

Returns the delegate of Remote Controller.

Aircraft Pairing

Enter Pairing Mode

method

startPairingWithCompletion

method startPairingWithCompletion

- (void)startPairingWithCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamStartPairing

Description:

Enters pairing mode, in which the Remote Controller starts pairing with the aircraft. This method is used when the Remote Controller no longer recognizes which aircraft it is paired with.

Input Parameters:

DJICompletionBlock completion

Completion block.

Exit Pairing Mode

method

stopPairingWithCompletion

method stopPairingWithCompletion

- (void)stopPairingWithCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamStopPairing

Description:

Exits pairing mode.

Input Parameters:

DJICompletionBlock completion

Completion block.

Pairing State

method

getPairingStateWithCompletion

method getPairingStateWithCompletion

- (void)getPairingStateWithCompletion:(void (^_Nonnull)(DJIRCPairingState state, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamPairingState

Description:

Gets the pairing status as the Remote Controller is pairing with the aircraft.

Input Parameters:

DJIRCPairingState state	The pairing state.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCPairingState state, NSError *_Nullable error) completion	Completion block.

Multi Device Pairing

Pairing Supported

method

isMultiDevicePairingSupported

method isMultiDevicePairingSupported

- (BOOL)isMultiDevicePairingSupported

Header:

DJIRemoteController.h

Description:

Determines if multi-device pairing supported by the remote controller. When the remote controller supports multi-device pairing, it can be paired to more than one device (e.g. aircraft, RTK base station) at the same time. When this feature is supported, use startMultiDevicePairingWithTarget:withCompletion and stopMultiDevicePairingWithCompletion to start and stop pairing instead of using the following methods:
- startPairingWithCompletion
- stopPairingWithCompletion
- getPairingStateWithCompletion. This feature is only supported by Phantom 4 RTK.

Return:

BOOL	`YES` if multi-device pairing is supported.

Start Pairing

method

startMultiDevicePairingWithTarget:withCompletion

method startMultiDevicePairingWithTarget:withCompletion

- (void)startMultiDevicePairingWithTarget:(DJIRCPairingDevice)target
                           withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Starts pairing a target with the specific type (aircraft or RTK base station). This paring method is for Phantom 4 RTK only. To use RTK feature with a base station, the Phantom 4 RTK remote controller need to pair both the base station and the aircraft at the same time.
CAUTION: pairing an RTK base station will unpair the paired aircraft. Therefore, to use the base station properly, the user needs to pair the base station first, and the aircraft after. It is only supported when isMultiDevicePairingSupported returns YES.

Input Parameters:

DJIRCPairingDevice target	The device target to start multi-device pairing.
DJICompletionBlock completion	Completion block.

Stop Pairing

method

stopMultiDevicePairingWithCompletion

method stopMultiDevicePairingWithCompletion

- (void)stopMultiDevicePairingWithCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Stops the multi-device pairing. It is used after the pairing is started and before the remote controller is paired to a device successfully. It is not necessary to call this method if the remote controller is paired to a device successfully. Only Supported by Phantom 4 RTK.

Input Parameters:

DJICompletionBlock completion

Completion block.

RTK Channel

Set Enabled

method

setRTKChannelEnabled:withCompletion

method setRTKChannelEnabled:withCompletion

- (void)setRTKChannelEnabled:(BOOL)enabled withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Enables the RTK channel on the remote controller. When RTK air system is using the base station as the reference station, the remote controller should enable the RTK channel and reserve some bandwidth for data transmission between the base station and the air system.
CAUTION: toggling RTK channel will reset the airlink between the remote controller and the aircraft. The airlink may take 3 seconds to recover. DO NOT enable/disable the channel when the aircraft is flying. Only Supported by Phantom 4 RTK.

Input Parameters:

BOOL enabled	`YES` to enable the RTK channel on the remote controller.
DJICompletionBlock completion	Completion block.

Customize RC

Flight Control Stick Mapping

method

setCustomAircraftMapping:withCompletion

method setCustomAircraftMapping:withCompletion

-(void)setCustomAircraftMapping:(DJIRCAircraftMapping *)mapping withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomAircraftMapping

Description:

Set the mapping of custom style. It will change the current mapping style to DJIRCAircraftMappingStyleCustom. The setting will only take effect when the remote controller is in master mode.

Input Parameters:

DJIRCAircraftMapping * mapping	The remote controller aircraft mapping.
DJICompletionBlock completion	Completion block that receives the execution result.

method

getCustomAircraftMappingWithCompletion

method getCustomAircraftMappingWithCompletion

-(void)getCustomAircraftMappingWithCompletion:(void (^_Nonnull)(DJIRCAircraftMapping *_Nullable mapping, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomAircraftMapping

Description:

Retrieves the stick mapping associated with the custom style.

Input Parameters:

DJIRCAircraftMapping *_Nullable mapping	The remote controller aircraft mapping.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCAircraftMapping _Nullable mapping, NSError _Nullable error) completion	Completion block that receives the execution result.

method

setAircraftMappingStyle:withCompletion

method setAircraftMappingStyle:withCompletion

-(void)setAircraftMappingStyle:(DJIRCAircraftMappingStyle)style withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamAircraftMappingStyle

Description:

Sets the Remote Controller's control mode.

Input Parameters:

DJIRCAircraftMappingStyle style	Remote controller control mode to be set.
DJICompletionBlock completion	The execution callback with the execution result returned.

method

getAircraftMappingStyleWithCompletion

method getAircraftMappingStyleWithCompletion

-(void)getAircraftMappingStyleWithCompletion:(void (^_Nonnull)(DJIRCAircraftMappingStyle style, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamAircraftMappingStyle

Description:

Gets the Remote Controller's control mode.

Input Parameters:

DJIRCAircraftMappingStyle style	The remote controller aircraft mapping.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCAircraftMappingStyle style, NSError *_Nullable error) completion	Completion block that receives the execution result.

Gimbal Wheel

method

setLeftWheelGimbalControlAxis:withCompletion

method setLeftWheelGimbalControlAxis:withCompletion

- (void)setLeftWheelGimbalControlAxis:(DJIRCGimbalAxis)axis withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamLeftWheelGimbalControlAxis

Description:

Sets which of the gimbal directions the top left wheel (Gimbal Dial) on the Remote Controller will control. The three options (pitch, roll, and yaw) are outlined in the enum named DJIRCGimbalAxis.

Input Parameters:

DJIRCGimbalAxis axis	Gimbal direction to be set that the top left wheel on the Remote Controller will control.
DJICompletionBlock completion	Completion block.

method

getLeftWheelGimbalControlAxisWithCompletion

method getLeftWheelGimbalControlAxisWithCompletion

- (void)getLeftWheelGimbalControlAxisWithCompletion:(void (^_Nonnull)(DJIRCGimbalAxis axis, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamLeftWheelGimbalControlAxis

Description:

Gets which of the gimbal directions the top left wheel (Gimbal Dial) on the Remote Controller will control.

Input Parameters:

DJIRCGimbalAxis axis	The gimbal directions of the top left wheel on the remote controller.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCGimbalAxis axis, NSError *_Nullable error) completion	Completion block.

method

setLeftWheelGimbalControlSpeedCoefficient:withCompletion

method setLeftWheelGimbalControlSpeedCoefficient:withCompletion

- (void)setLeftWheelGimbalControlSpeedCoefficient:(NSUInteger)coefficient withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Sets gimbal rotation speed of the top left wheel (Gimbal Dial) on the Remote Controller. The valid range is [0, 100].

Input Parameters:

NSUInteger coefficient	Gimbal control speed coefficient to be set. Setting it to zero can disable the gimbal control by the top left wheel.
DJICompletionBlock completion	Completion block.

method

getLeftWheelGimbalControlSpeedCoefficientWithCompletion

method getLeftWheelGimbalControlSpeedCoefficientWithCompletion

- (void)getLeftWheelGimbalControlSpeedCoefficientWithCompletion:(void (^_Nonnull)(NSUInteger coefficient, NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets gimbal rotation speed of the top left wheel (Gimbal Dial) on the Remote Controller. The valid range is [0, 100].

Input Parameters:

NSUInteger coefficient	The gimbal control speed coefficient of the top left wheel on the Remote Controller. When it is zero, gimbal control by the top left wheel is disabled.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(NSUInteger coefficient, NSError *_Nullable error) completion	Completion block.

Custom Buttons

method

setCustomButtonTags:withCompletion

method setCustomButtonTags:withCompletion

- (void)setCustomButtonTags:(DJIRCCustomButtonTags *)tags withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomButtonTags

Description:

Sets custom button's (Back Button's) tags, which can be used by the user to record user settings for a particular Remote Controller. Unlike all other buttons, switches and sticks on the Remote Controller, the custom buttons only send state to the Mobile Device and not the aircraft.

Input Parameters:

DJIRCCustomButtonTags * tags	Back Buttons' custom tags, the value should in the range of [0, 255].
DJICompletionBlock completion	Completion block.

method

getCustomButtonTagsWithCompletion

method getCustomButtonTagsWithCompletion

- (void)getCustomButtonTagsWithCompletion:(void (^_Nonnull)(DJIRCCustomButtonTags *_Nullable tags,
                                                            NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomButtonTags

Description:

Gets the custom button's (Back Button's) tags.

Input Parameters:

DJIRCCustomButtonTags *_Nullable tags	Back Buttons' custom tags.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCCustomButtonTags _Nullable tags, NSError _Nullable error) completion	Completion block.

method

setC1ButtonBindingEnabled:withCompletion

method setC1ButtonBindingEnabled:withCompletion

- (void)setC1ButtonBindingEnabled:(BOOL)enabled withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamC1ButtonBindingEnabled

Description:

Set C1 button enable binding DJI Go app state. If it's enabled, when the user presses the C1 button, an alertView will pop up and ask if you want to open the DJI Go app. This feature only supports MFI certificated Remote Controller.
@attention This feature will affect the user of DJI Go app, we suggest you to call this interface to enable the C1 binding feature when your application enter background. Otherwise, the C1 button will be unbound with DJI Go app forever.

Input Parameters:

BOOL enabled	Enable C1 button bind DJI Go app.
DJICompletionBlock completion	Completion block.

method

getC1ButtonBindingEnabledWithCompletion

method getC1ButtonBindingEnabledWithCompletion

- (void)getC1ButtonBindingEnabledWithCompletion:(void (^_Nonnull)(BOOL enabled, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamC1ButtonBindingEnabled

Description:

Gets the C1 button enable binding DJI Go app state. This feature only supports MFI certificated Remote Controller.

Input Parameters:

BOOL enabled	The enable value.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(BOOL enabled, NSError *_Nullable error) completion	Completion block.

Mobile Device Charging

Charge Mobile Mode

method

setChargeMobileMode:withCompletion

method setChargeMobileMode:withCompletion

- (void)setChargeMobileMode:(DJIRCChargeMobileMode)mode withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Sets the charge mode of a connected iOS device. Note: Android devices are always charging when connected to the remote controller. It is only supported by Inspire 2, M200 series, Cendence and Mavic 2 series.

Input Parameters:

DJIRCChargeMobileMode mode	Charge Mobile mode.
DJICompletionBlock completion	Completion block that receives the setter result.

method

getChargeMobileModeWithCompletion

method getChargeMobileModeWithCompletion

- (void)getChargeMobileModeWithCompletion:(void (^_Nonnull)(DJIRCChargeMobileMode mode, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamChargeMobileMode

Description:

Gets the mode to charge the connected iOS device. Note that Android devices are always charging when connected to the remote controller. It is only supported by Inspire 2, M200 series, Cendence, and Mavic 2 series.

Input Parameters:

DJIRCChargeMobileMode mode	The mode to charge the connected iOS device.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCChargeMobileMode mode, NSError *_Nullable error) completion	Completion block.

Master/Slave RC

Support

method

isMasterSlaveModeSupported

method isMasterSlaveModeSupported

- (BOOL)isMasterSlaveModeSupported

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamIsMasterSlaveModeSupported

Description:

Query method to check if the Remote Controller supports master/slave mode. Master-slave mode is supported by the Inspire 1, Inspire 1 Pro, Matrice 100, Lightbridge 2 (including Matrice 600, Matrice 600 Pro, A3 and N3) and Inspire 2. Inspire 2 is using a new set of interfaces to control the master and slave connection.
- Similar to other products, Inspire 2's remote controller also use set/get DJIRCMode to change the mode.
- A slave remote controller can use getMastersWithCompletion and connectToMasterWithID:authorizationCode:withCompletion to join a master remote controller.
- A master remote controller can use setMasterAuthorizationCode:withCompletion to change the authentication code.

Return:

BOOL	A boolean value.

Mode Selection

method

setMode:withCompletion

method setMode:withCompletion

- (void)setMode:(DJIRCMode)mode withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMode

Description:

Sets the Remote Controller's mode. See the DJIRCMode enum for all possible Remote Controller modes. The master and slave modes are only supported for the Inspire 1, Inspire 1 Pro, M100, Lightbridge 2 (including Matrice 600, Matrice 600 Pro, A3 and N3) and Inspire 2.

Input Parameters:

DJIRCMode mode	Mode of type `DJIRCMode` to be set for the Remote Controller.
DJICompletionBlock completion	Completion block.

method

getModeWithCompletion

method getModeWithCompletion

- (void)getModeWithCompletion:(void (^_Nonnull)(DJIRCMode mode,
                                                NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMode

Description:

Gets the Remote Controller's mode. It is supported by the Inspire 1, Inspire 1 Pro, Matrice 100, Lightbridge 2 (including Matrice 600, Matrice 600 Pro, A3 and N3) and Inspire 2.

Input Parameters:

DJIRCMode mode	The Remote Controller's mode.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCMode mode, NSError *_Nullable error) completion	Completion block.

State

method

getMasterSlaveConnectionStateWithCompletion

method getMasterSlaveConnectionStateWithCompletion

- (void)getMasterSlaveConnectionStateWithCompletion:(void (^_Nonnull)(BOOL isConnected,
                                                                      NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMasterSlaveConnectionState

Description:

Gets the Remote Controller's master and slave connection state. It is supported by the Inspire 1, Inspire 1 Pro, Matrice 100, Lightbridge 2 (including Matrice 600, Matrice 600 Pro, A3 and N3) and Inspire 2.

Input Parameters:

BOOL isConnected	Yes if the master and slave remote controller are connected.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(BOOL isConnected, NSError *_Nullable error) completion	Completion block.

Identifier

method

setName:withCompletion

method setName:withCompletion

- (void)setName:(NSString *_Nonnull)name withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamName

Description:

Sets the Remote Controller's name.

Input Parameters:

NSString *_Nonnull name	Remote controller name to be set. Six characters at most.
DJICompletionBlock completion	Completion block.

method

getNameWithCompletion

method getNameWithCompletion

- (void)getNameWithCompletion:(void (^_Nonnull)(NSString *_Nullable name, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamName

Description:

Gets the Remote Controller's name.

Input Parameters:

NSString *_Nullable name	The remote controller's name.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(NSString _Nullable name, NSError _Nullable error) completion	Completion block.

method

setPassword:withCompletion

method setPassword:withCompletion

- (void)setPassword:(NSString *_Nonnull)password withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamPassword

Description:

Sets the Remote Controller's password.

Input Parameters:

NSString *_Nonnull password	Remote controller password to be set, using a string consisted by 4 digits.
DJICompletionBlock completion	Completion block.

method

getPasswordWithCompletion

method getPasswordWithCompletion

- (void)getPasswordWithCompletion:(void (^_Nonnull)(NSString *_Nullable password, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamPassword

Description:

Gets the Remote Controller's password.

Input Parameters:

NSString *_Nullable password	The remote controller's password.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(NSString _Nullable password, NSError _Nullable error) completion	Completion block.

Connection - Master

method

getSlaveListWithCompletion

method getSlaveListWithCompletion

- (void)getSlaveListWithCompletion:(void (^_Nonnull)(NSArray<DJIRCInformation *> *_Nullable slaveList, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamSlaveList

Description:

Used by the current master Remote Controller to get all the slaves connected to it.

Input Parameters:

NSArray<DJIRCInformation > _Nullable slaveList	The array of DJIRCInformation objects.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(NSArray<DJIRCInformation > _Nullable slaveList, NSError *_Nullable error) completion	The completion block.

Connection - Slave

method

startMasterSearchingWithUpdateBlock:withCompletion

method startMasterSearchingWithUpdateBlock:withCompletion

- (void)startMasterSearchingWithUpdateBlock:(void (^_Nonnull)(NSArray<DJIRCInformation *> *_Nonnull masters))updateBlock
                             withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamStartMasterSearching

Description:

Starts a search by slave Remote Controller for nearby master Remote Controllers.

Input Parameters:

NSArray<DJIRCInformation > _Nonnull masters	RC information of master remote controllers
void (^_Nonnull)(NSArray<DJIRCInformation > _Nonnull masters) updateBlock	updateBlock called every 1 seconds.
DJICompletionBlock completion	Block that receives the information of available master remote controllers. `updateBlock` will be called repeated with 1 second interval once master searching is started successfully. It will stop when the searching is stopped either by the remote controller itself or by calling `stopMasterSearchingWithCompletion`.

method

stopMasterSearchingWithCompletion

method stopMasterSearchingWithCompletion

- (void)stopMasterSearchingWithCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamStopMasterSearching

Description:

Used by a slave Remote Controller to stop the search for nearby master Remote Controllers.

Input Parameters:

DJICompletionBlock completion

Remote execution result callback block.

method

getMasterSearchingStateWithCompletion

method getMasterSearchingStateWithCompletion

- (void)getMasterSearchingStateWithCompletion:(void (^_Nonnull)(BOOL isStarted, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMasterSearchingState

Description:

Returns the state of the master Remote Controller search. The search is initiated by the Mobile Device, but performed by the Remote Controller. Therefore, if the Mobile Device's application crashes while a search is ongoing, this method can be used to let the new instance of the application understand the Remote Controller state.

Input Parameters:

BOOL isStarted	isStarted value.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(BOOL isStarted, NSError *_Nullable error) completion	Remote execution result callback block.

method

connectToMasterWithCredentials:withCompletion

method connectToMasterWithCredentials:withCompletion

- (void)connectToMasterWithCredentials:(DJIRCCredentials* _Nullable)credentials
                        withCompletion:(void (^_Nonnull)(DJIRCConnectToMasterResult result, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamConnectToMasterWithCredentials

Description:

Used by a slave Remote Controller to join a master Remote Controller. If the master Remote Controller accepts the request, the master Remote Controller will control the aircraft, and the slave Remote Controller will control the gimbal and/or be able to view the downlink video.

Input Parameters:

DJIRCCredentials* _Nullable credentials	Include master's name and master's password.
DJIRCConnectToMasterResult result	The result of joining master remote controller.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCConnectToMasterResult result, NSError *_Nullable error) completion	Completion block.

method

getConnectedMasterCredentials

method getConnectedMasterCredentials

- (void)getConnectedMasterCredentials:(void (^_Nonnull)(DJIRCCredentials* _Nullable credentials, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamConnectedMasterCredentials

Description:

Returns the master Remote Controller's information, which includes the unique identifier, name, and password.

Input Parameters:

DJIRCCredentials* _Nullable credentials	Include master's name and master's password.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCCredentials* _Nullable credentials, NSError *_Nullable error) completion	Remote execution result callback block.

Inspire 2 Connection - Master

method

setMasterAuthorizationCode:withCompletion

method setMasterAuthorizationCode:withCompletion

- (void)setMasterAuthorizationCode:(NSString*)authorizationCode
                    withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMasterAuthorizationCode

Description:

Sets the authorization code of a master remote controller. The slave remote controller needs to know the authorization code in order to join the master. A valid input is a string with 6 digits. The default value is "888888". It can only be called when the remote controller is in master mode.

Input Parameters:

NSString* authorizationCode	Authorization code to set.
DJICompletionBlock completion	Completion block that receives the setter result.

Inspire 2 Connection - Slave

method

getMastersWithCompletion

method getMastersWithCompletion

- (void)getMastersWithCompletion:(void (^_Nonnull)(NSArray<NSString *> *_Nullable masters,
                                                   NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamMasters

Description:

Gets a list of the nearby remote controllers in master mode. It can only be called when the remote controller is in slave mode.

Input Parameters:

NSArray<NSString > _Nullable masters	The array of master remote controllers.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(NSArray<NSString > _Nullable masters, NSError *_Nullable error) completion	The completion block.

method

connectToMasterWithID:authorizationCode:withCompletion

method connectToMasterWithID:authorizationCode:withCompletion

- (void)connectToMasterWithID:(NSString *_Nonnull)masterID
            authorizationCode:(NSString *_Nullable)code
               withCompletion:(void (^_Nonnull)(DJIRCConnectToMasterResult result, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamConnectToMasterWithIDAndAuthorizationCode

Description:

Joins the master remote controller with the specific ID. If the remote controller has joined the same master before, the authorization code is not required until the master remote controller changes its authorization code. In this case, code can be nil. It can only be called when the remote controller is in slave mode.

Input Parameters:

NSString *_Nonnull masterID	Master remote controller with the specific ID to join.
NSString *_Nullable code	Authorization code of the master remote controller.
DJIRCConnectToMasterResult result	The DJIRCJoinMasterResult object.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCConnectToMasterResult result, NSError *_Nullable error) completion	The completion block.

Request Gimbal Control

method

requestGimbalControlWithCompletion

method requestGimbalControlWithCompletion

- (void)requestGimbalControlWithCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Requests the gimbal control from the other remote controller. Different from requestLegacyGimbalControlWithCompletion, the gimbal control permission is transferred to the remote controller without the reply from the master remote controller. The master remote controller can attain the gimbal control back by calling the same method. It is only supported by Inspire 2, M200 series and Cendence.

Input Parameters:

DJICompletionBlock completion

The completion block.

Gimbal Control - Master

method

respondToRequestForGimbalControl:fromSlaveRC

method respondToRequestForGimbalControl:fromSlaveRC

-(void) respondToRequestForGimbalControl:(BOOL)response fromSlaveRC:(uint32_t)rcID

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamRespondToRequestForGimbalControl

Description:

When a slave Remote Controller requests a master Remote Controller to control the gimbal, this method is used by a master Remote Controller to respond to the slave Remote Controller's request.

Input Parameters:

BOOL response	<code>YES</code> if the master Remote Controller agrees to give the slave Remote Controller the right to control the gimbal.
uint32_t rcID	The slave Remote Controller's identifier.

Gimbal Control - Slave

method

requestLegacyGimbalControlWithCompletion

method requestLegacyGimbalControlWithCompletion

- (void)requestLegacyGimbalControlWithCompletion:(void (^_Nonnull)(DJIRCRequestGimbalControlResult result, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamRequestGimbalControl

Description:

Called by the slave Remote Controller to request gimbal control from the master Remote Controller. It is only supported by Inspire 1 and DJI Lightbridge 2.

Input Parameters:

DJIRCRequestGimbalControlResult result	DJIRCRequestGimbalControlResult object.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCRequestGimbalControlResult result, NSError *_Nullable error) completion	Remote execution result callback block.

method

setGimbalMappingStyle:withCompletion

method setGimbalMappingStyle:withCompletion

-(void)setGimbalMappingStyle:(DJIRCGimbalMappingStyle)style withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalMappingStyle

Description:

Sets the Remote Controller's slave control mode.

Input Parameters:

DJIRCGimbalMappingStyle style	Control mode to be set.
DJICompletionBlock completion	Remote execution result error callback.

method

getGimbalMappingStyleWithCompletion

method getGimbalMappingStyleWithCompletion

-(void)getGimbalMappingStyleWithCompletion:(void (^_Nonnull)(DJIRCGimbalMappingStyle style, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalMappingStyle

Description:

Gets the Remote Controller's slave control mode.

Input Parameters:

DJIRCGimbalMappingStyle style	Mapping style.
NSError *_Nullable error	Error state of asynchronous execution.
void (^_Nonnull)(DJIRCGimbalMappingStyle style, NSError *_Nullable error) completion	The execution callback with the value(s) returned.

method

setGimbalControlSpeedCoefficient:withCompletion

method setGimbalControlSpeedCoefficient:withCompletion

- (void)setGimbalControlSpeedCoefficient:(DJIRCGimbalControlSpeedCoefficient)speedCoefficient withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalControlSpeedCoefficient

Description:

Called by the slave Remote Controller to set the gimbal's pitch, roll, and yaw speed with a range of [0, 100].

Input Parameters:

DJIRCGimbalControlSpeedCoefficient speedCoefficient	Speed to be set for gimbal's pitch, roll, and yaw, which should be in the range of [0, 100].
DJICompletionBlock completion	Completion block.

method

getGimbalControlSpeedCoefficientWithCompletion

method getGimbalControlSpeedCoefficientWithCompletion

- (void)getGimbalControlSpeedCoefficientWithCompletion:(void (^_Nonnull)(DJIRCGimbalControlSpeedCoefficient speedCoefficient, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamGimbalControlSpeedCoefficient

Description:

Gets the current slave's gimbal's pitch, roll, and yaw speed with a range of [0, 100].

Input Parameters:

DJIRCGimbalControlSpeedCoefficient speedCoefficient	The DJIRCGimbalControlSpeedCoefficient object.
NSError *_Nullable error	Error retrieving the value.
void (^_Nonnull)(DJIRCGimbalControlSpeedCoefficient speedCoefficient, NSError *_Nullable error) completion	The completion block.

Custom Gimbal Mapping

method

setCustomGimbalMapping:withCompletion

method setCustomGimbalMapping:withCompletion

-(void)setCustomGimbalMapping:(DJIRCGimbalMapping *)mapping withCompletion:(DJICompletionBlock)completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomGimbalMapping

Description:

Sets the Remote Controller's slave control mode.

Input Parameters:

DJIRCGimbalMapping * mapping	The DJIRCGimbalMapping object.
DJICompletionBlock completion	Remote execution result completion block.

method

getCustomGimbalMappingWithCompletion

method getCustomGimbalMappingWithCompletion

-(void)getCustomGimbalMappingWithCompletion:(void (^_Nonnull)(DJIRCGimbalMapping *_Nullable mapping, NSError *_Nullable error))completion

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamCustomGimbalMapping

Description:

Gets the Remote Controller's slave control mode.

Input Parameters:

DJIRCGimbalMapping *_Nullable mapping	The DJIRCGimbalMapping object.
NSError *_Nullable error	Error retrieving the value
void (^_Nonnull)(DJIRCGimbalMapping _Nullable mapping, NSError _Nullable error) completion	Remote execution result completion block.

Cendence Custom Buttons

Check Support

property

isCustomizableButtonSupported

property isCustomizableButtonSupported

@property(nonatomic, readonly) BOOL isCustomizableButtonSupported

Header:

DJIRemoteController.h

Description:

YES if the remote controller supports customizable buttons. With the customizable buttons, the user can define the action bound to a button. When the button is clicked, the corresponding action can be received from the delegate method remoteController:didUpdateButtonAction. Only Cendence supports customizable buttons. This is distinct from remote controllers with buttons C1 and C2 that support custom tags and a binding to DJI Go.

Button Profile Group

method

getButtonProfileGroupsWithCompletion

method getButtonProfileGroupsWithCompletion

- (void)getButtonProfileGroupsWithCompletion:(void (^)(NSArray<NSString *> *_Nullable groups,
                                                       NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets the names of the customizable button profile groups. The configurations of the customizable buttons are organized as groups. The maximum number of groups is 5 and each group contains 3 profiles. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSArray<NSString > _Nullable groups	The names of the customizable button profile groups.
NSError *_Nullable error	Error if there is any.
void (^)(NSArray<NSString > _Nullable groups, NSError *_Nullable error) completion	The completion block to receive the result.

method

addButtonProfileGroup:withCompletion

method addButtonProfileGroup:withCompletion

- (void)addButtonProfileGroup:(NSString *)groupName withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Adds a group of customizable button profiles. Three default profiles will be created for the newly added group. The default profile can accessed through defaultButtonActions. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSString * groupName	The name of the group to be added.
DJICompletionBlock completion	The completion block to receive the result.

method

removeButtonProfileGroup:withCompletion

method removeButtonProfileGroup:withCompletion

- (void)removeButtonProfileGroup:(NSString *)groupName withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Removes a group from the customizable button profiles. There must be at least one group, therefore, the removal of the last group will fail. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSString * groupName	The name of the group to be removed.
DJICompletionBlock completion	The completion block to receive the result.

method

renameButtonProfileGroup:to:withCompletion

method renameButtonProfileGroup:to:withCompletion

- (void)renameButtonProfileGroup:(NSString *)oldProfileName to:(NSString *)newProfileName withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Renames a profile group to a new name. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSString * oldProfileName	The name of the group to be renamed.
NSString * newProfileName	The new profile group name.
DJICompletionBlock completion	The completion block to receive the result.

method

selectButtonProfileGroup:withCompletion

method selectButtonProfileGroup:withCompletion

- (void)selectButtonProfileGroup:(NSString *)groupName withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Selects the customizable button profile group. The profile with 0 configIndex in the group will be applied. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSString * groupName	The name of the group to select.
DJICompletionBlock completion	The completion block to receive the result.

method

getSelectedButtonProfileGroupWithCompletion

method getSelectedButtonProfileGroupWithCompletion

- (void)getSelectedButtonProfileGroupWithCompletion:(void (^)(NSString *_Nullable groupName,
                                                              NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets the name of the selected customizable button profile group. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

NSString *_Nullable groupName	The name of the selected profile group.
NSError *_Nullable error	Error if there is any.
void (^)(NSString _Nullable groupName, NSError _Nullable error) completion	Completion block to receive the result.

Button Profile

method

selectButtonProfile:withCompletion

method selectButtonProfile:withCompletion

- (void)selectButtonProfile:(uint8_t)profileIndex withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Selects the customizable button profile with the specific index in the selected profile group. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

uint8_t profileIndex	The index of the profile to select. The valid range is [0, 2].
DJICompletionBlock completion	Completion block to receive the result.

method

getSelectedButtonProfileWithCompletion

method getSelectedButtonProfileWithCompletion

- (void)getSelectedButtonProfileWithCompletion:(void (^_Nonnull)(uint8_t profileIndex,
                                                                 NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets the index of the selected button profile in the selected group. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

uint8_t profileIndex	The index of the selected profile.
NSError *_Nullable error	Error if there is any.
void (^_Nonnull)(uint8_t profileIndex, NSError *_Nullable error) completion	The completion block to receive the result.

Button Config

method

setButtonConfig:withCompletion

method setButtonConfig:withCompletion

- (void)setButtonConfig:(DJIRCButtonConfiguration *)config withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Customizes the button configuration. The configuration will be applied to the remote controller immediately and will be stored into the selected profile of the selected profile group. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

DJIRCButtonConfiguration * config	The configuration to be set.
DJICompletionBlock completion	Completion block if there is any.

method

getButtonConfigWithCompletion

method getButtonConfigWithCompletion

- (void)getButtonConfigWithCompletion:(void (^)(DJIRCButtonConfiguration *_Nullable config,
                                                NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets the button configuration being applied to the remote controller. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

DJIRCButtonConfiguration *_Nullable config	The current configuration.
NSError *_Nullable error	Error if there is any.
void (^)(DJIRCButtonConfiguration _Nullable config, NSError _Nullable error) completion	Completion block to receive the result.

method

resetButtonConfigWithCompletion

method resetButtonConfigWithCompletion

- (void)resetButtonConfigWithCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Resets the selected button configuration to the default settings. The default configuration will be applied to the remote controller and will be stored into the selected index of the activated user. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

DJICompletionBlock completion

Completion block to receive the result.

Customize Button

method

customizeButton:withAction:withCompletion

method customizeButton:withAction:withCompletion

- (void)customizeButton:(DJIRCCustomizableButton)button withAction:(DJIRCButtonAction)action withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Customizes the action of a button. The new setting will be applied to the remote controller and will be stored into the selected profile index of the selected profile group. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

DJIRCCustomizableButton button	The customizable button.
DJIRCButtonAction action	The action to be bound to the button.
DJICompletionBlock completion	Completion block to receive the result.

method

fetchCustomizedActionOfButton:withCompletion

method fetchCustomizedActionOfButton:withCompletion

- (void)fetchCustomizedActionOfButton:(DJIRCCustomizableButton)button withCompletion:(void (^)(DJIRCButtonAction action,
                                                                                      NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Fetches the customized action of a button in the selected configuration. It is only valid when isCustomizableButtonSupported returns YES.

Input Parameters:

DJIRCCustomizableButton button	The customizable button.
DJIRCButtonAction action	The customized action bound to the button.
NSError *_Nullable error	Error if there is any.
void (^)(DJIRCButtonAction action, NSError *_Nullable error) completion	Completion block to receive the result.

RC Commands

Controlling Gimbal

method

setControllingGimbalIndex:withCompletion

method setControllingGimbalIndex:withCompletion

- (void)setControllingGimbalIndex:(NSUInteger)index withCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Directs commands of the physical buttons on the remote controller (rotating gimbal, shoot photo, record video, etc.) to the specific gimbal, when there are multiple gimbals connected. If there is only one gimbal connected, this setting is reset to the remaining gimbal. Enabling setAttitudeSynchronizationEnabled:withCompletion will reset this setting to index 0 and when setAttitudeSynchronizationEnabled:withCompletion is enabled, index can only be set to 0. It is only supported by M210 and M210 RTK.

Input Parameters:

NSUInteger index	Index of the gimbal to receive the remote controller commands.
DJICompletionBlock completion	Completion block to receive the result.

method

getControllingGimbalIndexWithCompletion

method getControllingGimbalIndexWithCompletion

- (void)getControllingGimbalIndexWithCompletion:(void (^)(NSUInteger index,
truetruetruetruetruetruetruetruetruetruetruetruetruetrue  NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

The index of the gimbal that the remote controller is controlling. Commands of the physical buttons (rotating gimbal, shoot photo, record video, etc.) will be directed to the specific gimbal. If there is only one gimbal connected, this setting is reset to the remaining gimbal's index. Enabling setAttitudeSynchronizationEnabled:withCompletion will reset the value to 0. For product that supports only one gimbal, the value is always 0.

Input Parameters:

NSUInteger index	Get the index of the gimbal that the remote controller is controlling.
NSError *_Nullable error	Error retrieving the value.
void (^)(NSUInteger index, NSError *_Nullable error) completion	Completion block to receive the result.

Calibration Components

method

getCalibrationComponentsWithCompletion

method getCalibrationComponentsWithCompletion

- (void)getCalibrationComponentsWithCompletion:(void (^)(NSArray<NSNumber *> *components, NSError *_Nullable error))completion

Header:

DJIRemoteController.h

Description:

Gets the hardware components (sticks or dials) on the remote controller that requires calibration. After starting the calibration, user should move the components returned by this method to their physical limits to complete the calibration. It is only supported by Phantom 4 RTK.

Input Parameters:

NSArray<NSNumber > components	The hardware components requiring calibration. Each element in the array is a value of `DJIRCCalibrationComponent`.
NSError *_Nullable error	Error retrieving the value.
void (^)(NSArray<NSNumber > components, NSError *_Nullable error) completion	Completion block to receive the result.

Start Calibration

method

startCalibrationWithCompletion

method startCalibrationWithCompletion

- (void)startCalibrationWithCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Starts the calibration for the remote controller. Before starting the calibration, all the hardware components requiring calibration (see getCalibrationComponentsWithCompletion) should be returned to their midpoints. The calibration progress for each component can be received from remoteController:didUpdateCalibrationProgress. It is only supported by Phantom 4 RTK.

Input Parameters:

DJICompletionBlock completion

Completion block to receive the result.

Stop Calibration

method

stopCalibrationWithCompletion

method stopCalibrationWithCompletion

- (void)stopCalibrationWithCompletion:(DJICompletionBlock)completion

Header:

DJIRemoteController.h

Description:

Stops the calibration for the remote controller.
CAUTION: stopping the calibration before each hardware component returns its physical limits at least once may cause error in the remote controller. Resolve the error by restarting the calibration. It is only supported by Phantom 4 RTK.

Input Parameters:

DJICompletionBlock completion

Completion block to receive the result.

Focus

Check Remote Focus Support

method

isFocusControllerSupported

method isFocusControllerSupported

- (BOOL)isFocusControllerSupported

Header:	DJIRemoteController.h
SDK Key:	DJIRemoteControllerKey.DJIRemoteControllerParamIsFocusControllerSupported

Description:

Query method to check if the Remote Controller supports Remote Focus State Checking.

Return:

BOOL	A boolean value.

class DJIRemoteController

Description:

Class Members:

Related:

struct DJIStick

Description:

Struct Members:

protocol DJIRemoteControllerDelegate

Description:

Protocol Methods:

Protocol Method

method remoteController:didUpdateHardwareState

Description:

Input Parameters:

method remoteController:didUpdateGPSData

Description:

Input Parameters:

method remoteController:didUpdateChargeRemaining

Description:

Input Parameters:

method remoteController:didReceiveGimbalControlRequestFromSlave

Description:

Input Parameters:

method remoteController:didUpdateFocusControllerState

Description:

Input Parameters:

method remoteController:didUpdateMasterSlaveState

Description:

Input Parameters:

method remoteController:didUpdateButtonAction

Description:

Input Parameters:

method remoteController:didUpdateCalibrationProgress

Description:

Input Parameters:

method remoteController:didUpdateMultiDevicePairingState

Description:

Input Parameters:

method remoteController:didUpdateRTKChannelEnabled

Description:

Input Parameters:

struct DJIRCHardwareState

Description:

Struct Members:

struct DJIRCRightWheel

Description:

Struct Members:

struct DJIRCTransformationSwitch

Description:

Struct Members:

enum DJIRCFlightModeSwitch

Description:

Enum Members:

struct DJIRCButton

Description:

Struct Members:

struct DJIRCFiveDButton

Description:

Struct Members:

enum DJIRCTransformationSwitchState

Description:

Enum Members:

enum DJIRCFiveDButtonDirection

Description:

Enum Members:

struct DJIRCGPSData

Description:

Struct Members:

struct DJIRCGPSTime

Description:

Struct Members:

struct DJIRCChargeRemaining

Description:

Struct Members:

struct DJIRCFocusControllerState

Description:

Struct Members:

enum DJIRCFocusControllerControlType

Description:

Enum Members: