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protocol AUTELFlightLimitation

@protocol AUTELFlightLimitation <NSObject>

describe：This protocol defines the API for reading and writing the flight limit parameters.

method setMaxFlightHeight:withCompletion​

- (void)setMaxFlightHeight:(float)maxHeight withCompletion:(AUTELCompletionBlock)block;

describe：Set the max flight altitude between 30 m (99 ft) and 800 m (2624 ft).

The max flight altitude is the distance between the aircraft and the takeoff point. When the max flight altitude is reached, the aircraft cannot ascend any more. You can check if the aircraft has reached the max flight altitude through AUTELMCSystemState.isReachMaxHeight.

You can check the aircraft's current max flight altitude through getMaxFlightHeightWithCompletion.

In Beginner mode, this parameter will be ignored, and the max flight altitude is 30 m. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion: respectively.

Input parameters：

maxHeight：The unit for max flight altitude is meter.

block：AUTELCompletionBlock，Completion block .

method getMaxFlightHeightWithCompletion​

- (void)getMaxFlightHeightWithCompletion:(void(^_Nullable)(float height, NSError* _Nullable error))block;

describe：Get max flight heigh limitation from aircraft.

You can use setMaxFlightHeight:withCompletion to set the aircraft's max flight altitude.

In Beginner mode, this parameter will be ignored, and the max flight altitude is 30 m. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion: respectively.

Input parameters：

block：Completion block. This block includes 2 parameters. One is the max altitude that the aircraft can fly, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxFlightRadius:withCompletion​

- (void)setMaxFlightRadius:(float)maxRadius withCompletion:(AUTELCompletionBlock)block;

describe：The aircraft's max flight radius is based on the home point as the center point. The maxRadius can be set between 30 m and 10000 m.

When the max flight radius is reached, the aircraft cannot fly out any more. You can check if the aircraft has reached the max flight radius through isReachMaxRange in AUTELMCSystemState.

The flight distance is also relevant to the flight environment. If the control signal is lost during flight, the aircraft will Go Home automatically.

You can check the max flight radius through -getMaxFlightRadiusWithCompletion:.

In Beginner mode, this parameter will be ignored, and the flight radius is 30 m. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion:.

Input parameters：

maxRadius：max flight radius,the unit is meter.

block：AUTELCompletionBlock，Completion block .

method getMaxFlightRadiusWithCompletion​

- (void)getMaxFlightRadiusWithCompletion:(void(^_Nullable)(float radius, NSError * _Nullable error))block;

describe：Get max flight radius limitation from aircraft.

You can use -setMaxFlightRadius:withCompletion: to set the aircraft's max flight radius.

In Beginner mode, this parameter will be ignored, and the flight radius is 30 m. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion:.

Input parameters：

block：Completion block. This block includes 2 parameters. One is the max flight radius that the aircraft can fly, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxFlightHorizontalSpeed:withCompletion​

- (void)setMaxFlightHorizontalSpeed:(float)maxHorizontalSpeed withCompletion:(AUTELCompletionBlock)block;

describe：The max horizontal speed can be set between 2 m/s and 15 m/s.

You can use -getMaxFlightHorizontalSpeedWithCompletion: to check the aircraft's max horizontal speed.

In Beginner mode, this parameter will be ignored, and the max horizontal speed is 6 m/s. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion:.

Input parameters：

maxHorizontalSpeed：Max horizontal speed,the unit is m/s.

block：AUTELCompletionBlock，Completion block .

method getMaxFlightHorizontalSpeedWithCompletion​

- (void)getMaxFlightHorizontalSpeedWithCompletion:(void(^_Nullable)(float speed, NSError * _Nullable error))block;

describe：Request max horizontal speed.

You can use -setMaxFlightHorizontalSpeed:withCompletion: to set the aircraft's max horizontal speed.

In Beginner mode, this parameter will be ignored, and the max horizontal speed is 6 m/s. You can check and modify the parameter in Beginner mode through -getBeginnerModeEnableWithCompletion: and -setBeginnerMode:withCompletion:.

Input parameters：

block：Completion block. This block includes 2 parameters. One is the max horizontal speed that the aircraft can fly, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setBeginnerMode:withCompletion​

- (void)setBeginnerMode:(BOOL)enable withCompletion:(AUTELCompletionBlock)block;

describe：Enable or disable the Beginner mode

If you are a beginner for flight control, you may enable the Beginner mode.In Beginner mode, the max flight altitude is 30 m, the flight radius is 30 m, and the max horizontal speed is 6 m/s.

Input parameters：

enable：YES: enable Beginner mode. NO: disable Beginner mode.

block：AUTELCompletionBlock，Completion block .

method getBeginnerModeEnableWithCompletion​

- (void)getBeginnerModeEnableWithCompletion:(void(^_Nullable)(BOOL enable, NSError * _Nullable error))block;

describe：Check if the Beginner mode is enabled.

You can use -setBeginnerMode:withCompletion: to enable or disable the Beginner mode.

In Beginner mode, the max flight altitude is 30 m, the flight radius is 30 m, and the max horizontal speed is 6 m/s.

Input parameters：

block：Completion block. This block includes 2 parameters. One is the beginner mode, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxAscentSpeed:withCompletion​

- (void)setMaxAscentSpeed:(float)speed withCompletion:(AUTELCompletionBlock)block;

describe：Set the maximum ascent speed

Input parameters：

speed：the maximum ascent speed

block：AUTELCompletionBlock，Completion block .

method getMaxAscentSpeedWithCompletion​

- (void)getMaxAscentSpeedWithCompletion:(void(^_Nullable)(float speed, NSError * _Nullable error))block;

describe：Get the maximum ascent speed

Input parameters：

block：Completion block. This block includes 2 parameters. One is the maximum ascent speed, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxDescentSpeed:withCompletion​

- (void)setMaxDescentSpeed:(float)speed withCompletion:(AUTELCompletionBlock)block;

describe：Set the maximum descent speed

Input parameters：

speed：descent speed

block：AUTELCompletionBlock，Completion block .

method getMaxDescentSpeedWithCompletion​

- (void)getMaxDescentSpeedWithCompletion:(void(^_Nullable)(float speed, NSError * _Nullable error))block;

describe：Get the maximum descent speed

Input parameters：

block：Completion block. This block includes 2 parameters. One is the maximum descent speed, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxPitchAngle:withCompletion​

- (void)setMaxPitchAngle:(float)angle withCompletion:(AUTELCompletionBlock)block;

describe：set maximum pitch angle

Input parameters：

angle：pitch angle

block：AUTELCompletionBlock，Completion block .

method getMaxPitchAngelWithCompletion​

- (void)getMaxPitchAngelWithCompletion:(void(^_Nullable)(float angle, NSError* _Nullable error))block;

describe：get maximum pitch angle

Input parameters：

block：Completion block. This block includes 2 parameters. One is the maximum pitch angle, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setMaxYawAngleSpeed:withCompletion​

- (void)setMaxYawAngleSpeed:(float)speed withCompletion:(AUTELCompletionBlock)block;

describe：set maximum yaw angle speed

Input parameters：

speed：angle speed

block：AUTELCompletionBlock，Completion block .

method getMaxYawAngleSpeedWithCompletion​

- (void)getMaxYawAngleSpeedWithCompletion:(void(^_Nullable)(float speed, NSError* _Nullable error))block;

describe：get maximum yaw angle speed

Input parameters：

block：Completion block. This block includes 2 parameters. One is the maximum yaw angle speed, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setRTKLocationEnable:withCompletion​

- (void)setRTKLocationEnable:(BOOL)enable withCompletion:(AUTELCompletionBlock)block;

describe：Enable or disable the RTK location

Input parameters：

enable：YES: enable RTK location. NO: disable RTK location.

block：AUTELCompletionBlock，Completion block .

method getRTKLocationEnableWithCompletion​

- (void)getRTKLocationEnableWithCompletion:(void(^_Nullable)(BOOL enable, NSError * _Nullable error))block;

describe：Check whether the aircraft has RTK location enabled.

Input parameters：

block：Completion block. This block includes 2 parameters. One is the RTK location switch status, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setRTKRecvDiffType:withCompletion​

- (void)setRTKRecvDiffType:(AUTELRTKRecvDiffType)type withCompletion:(AUTELCompletionBlock)block;

describe：Set the type the aircraft RTK receives RTK signals.

Input parameters：

type：the type the aircraft RTK receives RTK signals.

block：AUTELCompletionBlock，Completion block .

method getRTKRecvDiffTypeWithCompletion​

- (void)getRTKRecvDiffTypeWithCompletion:(void(^_Nullable)(AUTELRTKRecvDiffType type, NSError * _Nullable error))block;

describe：Query how the aircraft receives RTK signals.

Input parameters：

block：Completion block. This block includes 2 parameters. One is how the aircraft receives RTK signals, another one is error which indicates error message. Error retuns nil if this function applies successfully.

method setRTKCoordinateSys:withCompletion​

- (void)setRTKCoordinateSys:(AUTELRTKCoordinateSys)type withCompletion:(AUTELCompletionBlock)block;

describe：Set the aircraft RTK coordinate system

Input parameters：

type：coordinate system type. 0: WGS84，1:CGCS2000

block：AUTELCompletionBlock，Completion block .

method getRTKCoordinateSysWithCompletion​

- (void)getRTKCoordinateSysWithCompletion:(void(^_Nullable)(AUTELRTKCoordinateSys type, NSError * _Nullable error))block;

describe：Query the aircraft's RTK coordinate system.

Input parameters：

block：Completion block. This block includes 2 parameters. One is coordinate system type, another one is error which indicates error message. Error retuns nil if this function applies successfully.