Accessing state information in swift - DJI Mobile SDK iOS - ios

Question

I can't get my head around how to get out simple status data, like the current gimbal pitch for example.
I have not found a solid connection between the DJI SDK and what actually works in xcode. The SDK gives me hints and together with xcode autocompletion a go forwards, slowly..
Class GimbalState has member getAttitudeInDegrees() with description:
"The current gimbal attitude in degrees. Roll, pitch and yaw are 0 if the gimbal is level with the aircraft and points in the forward direction of North Pole." - Great!
However, it does not autocomplete in xcode nor does it compile.
Other approaches tested:
var gimbalStateInformation = DJIGimbalState()
print(gimbalStateInformatoin.attitudeInDegrees.pitch.description)
--> All pitch roll and yaw values come out as 0.0
var gimbalStateInformation = DJUGimbalAttitude()
print(gimbalStateInformatoin.pitch.description)
--> All pitch roll and yaw values come out as 0.0
I've tried to reach the information via keys, but my app crashes when I run the code.
func getGimbalAttitude(){
// Get the key
guard let gimbalAttitudeKey = DJIGimbalKey(param: DJIGimbalParamAttitudeInDegrees) else {
print("Could not create DJIGimbalParamAttitudeInDegrees key")
return
}
// Get the keyManager
guard let keyManager = DJISDKManager.keyManager() else {
print("Could not get the key manager, manke sure you are registered")
return
}
// Test if key is available
let testing = keyManager.isKeySupported(gimbalAttitudeKey)
self.statusLabel.text = String(testing) // This comes out true
// Use key to retreive info
let gimbalAttitudeValue = keyManager.getValueFor(gimbalAttitudeKey)
let gimbalAttitude = gimbalAttitudeValue?.value as! DJIGimbalState
_ = gimbalAttitude.attitudeInDegrees.pitch
// --> Application crashes on the line above
}
I'm working towards a Mavic Mini.
Please advise in general terms how to connect the DJI Mobile SDK to Swift and specifically how I can read out the current gimbal pitch value.

Answer 1

You can access the current Gimbal pitch through its didUpdate state delegate function
import DJISDK
class GimbalController: NSObject, DJIGimbalDelegate {
let gimbal: DJIGimbal
init(gimbal: DJIGimbal) {
self.gimbal = gimbal
super.init()
gimbal.delegate = self
}
func gimbal(_ gimbal: DJIGimbal, didUpdate state: DJIGimbalState) {
print(state.attitudeInDegrees.pitch)
}
}
// create an instance of the custom gimbal controller in some other class
// and pass it the gimbal instance
if let aircraft = DJISDKManager.product() as? DJIAircraft {
if let gimbal = aircraft.gimbal {
let gimbalController = GimbalController(gimbal: gimbal)
}
}