Flight control function implementation

interface AutelFlyController

method setWarningListener

void setWarningListener(CallbackWithTwoParams<ARMWarning, MagnetometerState> listener);

Description: Sets the listener for the flight control warning state to monitor the real-time data.

Input parameter: Callback with parameters of the flight control warning state and magnetometer status. If the parameters are empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithTwoParams, ARMWarning, MagnetometerState

method setCalibrateCompassListener

void setCalibrateCompassListener(final CallbackWithOneParam<CalibrateCompassStatus> listener);

Description: Sets the listener for calibrating the compass to monitor the real-time data.

Input parameter: Callback with the compass status parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, CalibrateCompassStatus

method  setBeginnerModeEnable

void setBeginnerModeEnable(boolean enable, CallbackWithNoParam callback);

Description: Sets the beginner mode.

Input parameter:

• enable*: whether the beginner mode is enabled
• callback*: Listening callback API of whether the beginner mode is enabled

Output parameter: None

**Related parameter: enable, CallbackWithNoParam

method  isBeginnerModeEnable

void isBeginnerModeEnable(CallbackWithOneParam<Boolean> callback);

Description: Checks whether the beginner mode is enabled.

Input parameter:  Callback with the parameter indicating whether the beginner mode is enabled. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam Boolean

method  setMaxHeight

void setMaxHeight(double value, CallbackWithNoParam callback);

Description: Sets the maximum altitude of the aircraft.

Input parameter:

• value*: Altitude limit; the maximum altitude of the aircraft ranges from 30m to 800m.
• callback*: Listening callback of setting the maximum altitude of the aircraft

Output parameter: None

**Related parameter: value,CallbackWithNoParam

method  getMaxHeight

void getMaxHeight(CallbackWithOneParam<Float> callback);

Description: Obtains the maximum altitude of the aircraft.

Input parameter:  Callback with the parameter indicating the maximum altitude of the aircraft. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method  setMaxRange

void setMaxRange(double value, CallbackWithNoParam callback);

Description: Sets the maximum distance of the aircraft.

Input parameter:

• value*: Distance limit; the maximum distance of the aircraft ranges from 30m to 500m.
• callback*: Listening callback of setting the maximum distance of the aircraft

Output parameter: None

**Related parameter: value,CallbackWithNoParam

method  getMaxRange

void getMaxRange(CallbackWithOneParam<Float> callback);

Description: Obtains the maximum distance of the aircraft.

Input parameter:  Callback with the parameter indicating the maximum distance of the aircraft. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method  setReturnHeight

void setReturnHeight(double value, CallbackWithNoParam callback);

Description: Sets the go-home altitude of the aircraft.

Input parameter:

• value*: go-home altitude; ranges from 30m to 200m.
• callback*: Listening callback of setting the maximum distance of the aircraft

Output parameter: None

**Related parameter: value,CallbackWithNoParam

method  getReturnHeight

void getReturnHeight(CallbackWithOneParam<Float> callback);

Description: Obtains the go-home altitude of the aircraft.

Input parameter:  Callback with the parameter indicating the go-home altitude of the aircraft. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method  setMaxHorizontalSpeed

void setMaxHorizontalSpeed(double value, CallbackWithNoParam callback);

Description: Sets the maximum horizontal speed of the aircraft.

Input parameter:

• value*: Horizontal speed limit; the maximum horizontal speed of the aircraft ranges from 0m/s to 15m/s.
• callback*: Listening callback of setting the maximum horizontal speed of the aircraft

Output parameter: None

**Related parameter: value,CallbackWithNoParam

method  getMaxHorizontalSpeed

void getMaxHorizontalSpeed(CallbackWithOneParam<Float> callback);

Description: Obtains the maximum horizontal speed of the aircraft.

Input parameter:  Callback with the parameter indicating the maximum horizontal speed of the aircraft. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method  setAttitudeModeEnable

void setAttitudeModeEnable(boolean enable, CallbackWithNoParam callback);

Description: Sets the attitude mode.

Input parameter:

• enable*: Whether the attitude mode is enabled
• callback*: Listening callback API of whether the attitude mode is enabled

Output parameter: None

**Related parameter: enable, CallbackWithNoParam

method  isAttitudeModeEnable

void isAttitudeModeEnable(CallbackWithOneParam<Boolean> callback);

Description: Checks whether the attitude mode is enabled.

Input parameter:  Callback with the parameter indicating whether the attitude mode is enabled. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, Boolean

method  setLedPilotLamp

void setLedPilotLamp(LedPilotLamp lamp, CallbackWithNoParam callback);

Description: Sets the LED indicator state of the aircraft.

Input parameter:

• lamp*: Enumeration value of the LED indicator state
• callback*: Listening callback of setting the LED indicator state of the aircraft

Output parameter: None

**Related parameter: LedPilotLamp, CallbackWithNoParam

method  getLedPilotLamp

void getLedPilotLamp(CallbackWithOneParam<LedPilotLamp> callback);

Description: Obtains the LED indicator state of the aircraft.

Input parameter:  Callback with the enumeration value parameter indicating the LED indicator state of the aircraft. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, LedPilotLamp

method  startCalibrateCompass

void startCalibrateCompass(CallbackWithOneParam<CalibrateCompassStatus> callback);

Description: Starts to calibrate the compass.

Input parameter:  Callback with the enumeration value parameter indicating the compass calibration status. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, CalibrateCompassStatus

method  takeOff

void takeOff(CallbackWithNoParam callback);

Description: One-touch aircraft takeoff via the remote controller.

Note: It is available only when the aircraft is in GPS mode and has landed.

Input parameter:  Callback of pressing the remote controller and making the aircraft take off

Output parameter: None

**Related parameter: CallbackWithNoParam

method  goHome

void goHome(CallbackWithNoParam callback);

Description: Returns an observable object to make the aircraft return to home.

Note: It is available when the aircraft is not landing or descending. In addition, there must be a GPS signal, a valid home point, a compass, and a running motor.

Input parameter:  Callback of the observable object for making the aircraft return to home

Output parameter: None

**Related parameter: CallbackWithNoParam

method  land

void land(boolean isCancel,CallbackWithNoParam callback);

Description: land the aircraft.

Note: It is available when the aircraft has taken off.

Input parameter:  the callback when make the aircraft land descent.

Output parameter: None

**Related parameter: CallbackWithNoParam

method  cancelReturn

void cancelReturn(CallbackWithNoParam callback);

Description: Returns an observable object to cancel the return operation and make the aircraft hover.

Note: It is available only when the aircraft is in the process of returning to home.

Input parameter:  Callback of canceling the return operation and making the aircraft hover

Output parameter: None

**Related parameter: CallbackWithNoParam

method  doEmergencyAction

void doEmergencyAction(EmergencyAction action, CallbackWithNoParam callback);

Description: Execute an emergency action when a waypoint action is executed.

Input parameter:

• action*: parameter of the emergency action
• callback*: Callback of executing the emergency action when the waypoint action is executed.

Output parameter: None

**Related parameter: EmergencyAction, CallbackWithNoParam

method  setAircraftLocationAsHomePoint

void setAircraftLocationAsHomePoint(CallbackWithNoParam callback);

Description: Returns an observable object to set the current aircraft position as the home point.

Note: It is available if all of the following requirements are met: the motors are running, the aircraft is not in any intelligent mode, the aircraft has not returned to the home point, and the GPS is valid.

Input parameter:  Callback of setting the current aircraft position as the home point

Output parameter: None

**Related parameter: CallbackWithNoParam

method  setLocationAsHomePoint

void setLocationAsHomePoint(double lat, double lng, CallbackWithNoParam callback);

Description: Returns an observable object to set the current phone position as the home point.

Note: It is available if all of the following requirements are met: the motors are running, the aircraft is not in any intelligent mode, the aircraft has not returned to the home point, the GPS of the aircraft and phone is valid, and the distance between the phone and the aircraft is within 5000 meters.

Input parameter:

• lat*: latitude
• lng*: longitude
• callback*: Callback of setting the current phone position as the home point

Output parameter: None

**Related parameter: lat, lng, CallbackWithNoParam

method  getSerialNumber

void getSerialNumber(CallbackWithOneParam<String> callback);

Description: Returns an observable object to obtain the serial number of the aircraft.

Input parameter: Callback with the aircraft SN parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, String

method  getVersionInfo

void getVersionInfo(CallbackWithOneParam<FlyControllerVersionInfo> callback);

Description: Returns an observable object to obtain the version information of the aircraft

Input parameter: Callback with the aircraft version parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, FlyControllerVersionInfo

method  setRemoteControlStick

void setRemoteControlStick(int left_horizontal, int left_vertical,int right_horizontal, int right_vertical, CallbackWithNoParam callback);

Description: Sets the control stick data.

Input parameter:

• left_horizontal*: -100–100; For the left stick, a negative value indicates left, a positive value indicates right, and the median value is 0.
• left_vertical*: -100–100; For the left stick, a negative value indicates down, a positive value indicates up, and the median value is 0.
• right_horizontal*: -100–100; For the right stick, a negative value indicates left, a positive value indicates right, and the median value is 0.
• right_vertical*: -100–100; For the right stick, a negative value indicates down, a positive value indicates up, and the median value is 0.
• callback*: Callback of setting the control stick data

Output parameter: None

**Related parameter: left_horizontal, left_vertical, right_horizontal, right_vertical, CallbackWithNoParam

method  getParameterRangeManager

FlyControllerParameterRangeManager getParameterRangeManager();

Description: Returns the manager within the range of the flight control parameter.

Input parameter: None

Output parameter: Returns the range of the flight control parameter.

method  toRx

RxAutelFlyController toRx();

Description: Converts to the ReactiveX API, which is used to provide the flight control function.

Input parameter: None

Output parameter: Returns the ReactiveX API.

method getMaxVZUp

void getMaxVZUp(CallbackWithOneParam<Float> callback);

Description： get ascent speed.

Input parameter： callback when get ascent speed.

Output parameter： no

Related parameter： CallbackWithOneParam

method setMaxVZUP

void setMaxVZUP(float value, CallbackWithNoParam callback);

Description： Set the ascent speed.

Input parameter： callback when set the ascent speed.

Output parameter： no

Related parameter： value、CallbackWithOneParam

method getMaxVZDown

void getMaxVZDown(CallbackWithOneParam<Float> callback);

Description： get descent speed.

Input parameter： callback when get descent speed.

Output parameter： no

Related parameter： CallbackWithOneParam

method setMaxVZDown

void setMaxVZDown(float value, CallbackWithNoParam callback);

Description： Set the descent speed.

Input parameter： callback when set the descent speed.

Output parameter： no

Related parameter： value、CallbackWithNoParam

method getRiseToPthh

void getRiseToPthh(CallbackWithOneParam<Integer> callback);

Description： get whether to rise to the return home altitude within 50 meters.

Input parameter： callback when get whether to rise to the return home altitude within 50 meters.

Output parameter： no

Related parameter： CallbackWithOneParam

method setRiseToPthh

void setRiseToPthh(int value, CallbackWithNoParam callback);

Description： Set whether to rise to the return home altitude within 50 meters

Input parameter： callback when set whether to rise to the return home altitude within 50 meters.

Output parameter： no

Related parameter： value、CallbackWithNoParam

interface Evo2FlyController

method setTimelapseStatusListener

void setTimelapseStatusListener(CallbackWithOneParam<TimelapseMissionInfo> infoListener);

Description: Reports the time-lapse photography state.

Input parameter: Callback with the parameter indicating the time-lapse photography mission state. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, TimelapseMissionInfo

method setRtkGGAListener

void setRtkGGAListener(CallbackWithOneParam<byte[]> infoListener);

Description: Reports and listens for the GGA data.

Input parameter: Callback with a GGA data parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, byte[]

method setRtkInfoListener

void setRtkInfoListener(CallbackWithOneParam<RTKInternal> infoListener);

Description: Reports and listens for the RTK information.

Input parameter: Callback with the RTK information parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, RTKInternal

method setBreakPointMissionListener

void setBreakPointMissionListener(CallbackWithOneParam<RealTimeInfo> infoListener);

Description: Reports the mission breakpoint position information.

Input parameter: Callback with the mission breakpoint position parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, RealTimeInfo

method setFlyControllerInfoListener

void setFlyControllerInfoListener(final CallbackWithOneParam<EvoFlyControllerInfo> listener);

Description: Sets the listener for the flight control to monitor the real-time data.

Input parameter: Callback with the parameter of EVO flight controller information. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, EvoFlyControllerInfo

method setFlyControllerParameterChangedListener

void setFlyControllerParameterChangedListener(final CallbackWithTwoParams<FmuParameterEvent, Float> listener);

Description: Sets the listener for the flight control to monitor the parameter changes.

Input parameter: Callback with enumeration values of flight control parameters and the corresponding numeric values. If the parameters are empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, EvoFlyControllerInfo

method droneArmed

void droneArmed(CallbackWithNoParam callback);

Description: Returns an observable object to change the aircraft to non-ready mode.

Input parameter: Callback of changing the aircraft to non-ready mode

Output parameter: None

**Related parameter: CallbackWithNoParam

method doSlingCtrl

void doSlingCtrl(SlingCtrlType type, CallbackWithNoParam callback);

Description: Sling.

Input parameter:

• type*: Sling control type
• callback*: Callback of setting the slinger control type

Output parameter: None

**Related parameter: SlingCtrlType, CallbackWithNoParam

method doNightCtrl

void doNightCtrl(int data, CallbackWithNoParam callback);

Description: Sets the brightness of the night light.

Input parameter:

• data*: Brightness of the night light
• callback*: Callback of setting the night light brightness

Output parameter: None

**Related parameter: data, CallbackWithNoParam

method doSlightCtrl

void doSlightCtrl(int data, CallbackWithNoParam callback);

Description: Sets the brightness of the searchlight.

Input parameter:

• data*: Brightness of the searchlight
• callback*: Callback of setting the searchlight brightness

Output parameter: None

**Related parameter: data, CallbackWithNoParam

method doSpeakerCtrl

void doSpeakerCtrl(int data, CallbackWithNoParam callback);

Description: Sets the volume of the speaker.

Input parameter:

• data*: Volume of the speaker
• callback*: Callback of setting the volume of the speaker

Output parameter: None

**Related parameter: data, CallbackWithNoParam

method droneDisarmed

void droneDisarmed(CallbackWithNoParam callback);

Description: Returns an observable object to change the aircraft to ready mode.

Input parameter: Callback of changing the aircraft to ready mode

Output parameter: None

**Related parameter: CallbackWithNoParam

method getParameterRangeManager

EvoFlyControllerParameterRangeManager getParameterRangeManager();

Description: Returns the manager within the range of the flight control parameter.

Input parameter: None

Output parameter: Returns the range of the flight control parameter.

method setAircraftHeadingDirection

void setAircraftHeadingDirection(int direct, CallbackWithNoParam callback);

Description: Sets the course of the aircraft. Course range: -100 to 100. 0 means forward; a negative number indicates the counterclockwise rotation speed; a positive number indicates the clockwise rotation speed.

Input parameter:

• direct*: Course range: -100 to 100
• callback*: Callback of setting the course of the aircraft.

Output parameter: None

**Related parameter: direct, CallbackWithNoParam

method setBoatMode

void setBoatMode(BoatMode boatMode, CallbackWithNoParam callback);

Description: Sets the takeoff mode.

Input parameter:

• boatMode*: Enumeration value of the takeoff mode
• callback*: Callback of setting the takeoff mode

Output parameter: None

**Related parameter: BoatMode, CallbackWithNoParam

method getBoatMode

void getBoatMode(CallbackWithOneParam<BoatMode> callback);

Description: Obtains the takeoff mode.

Input parameter: Callback with the parameter indicating the takeoff mode enumeration value.

Output parameter: None

**Related parameter: CallbackWithOneParam, BoatMode

method isSupportBoatMode

boolean isSupportBoatMode();

Description: Indicates whether takeoff is supported in the current takeoff mode.

Input parameter: None

Output parameter: None

method setTripodParams

void setTripodParams(TripodParams params, CallbackWithNoParam callback);

Description: Sets the tripod mode parameters.

Input parameter:

• params*: Tripod mode parameters to be set
• callback*: Returns the result of setting the tripod mode parameters.

Output parameter: None

**Related parameter: TripodParams, CallbackWithNoParam

method setMotionDelayParams

void setMotionDelayParams(MotionDelayParams params, CallbackWithNoParam callback);

Description: Sets the time-lapse photography mode parameters.

Input parameter:

• params*: Time-lapse photography mode parameters to be set
• callback*: Returns the result of setting the time-lapse photography mode parameters.

Output parameter: None

**Related parameter: MotionDelayParams, CallbackWithNoParam

method cancelMission

void cancelMission(int type, CallbackWithNoParam cancelCallback);

Description: Cancels the current mission.

Input parameter:

• type*: 0-hover, 1-return to home
• callback*: Callback of canceling the the current mission.

Output parameter: None

**Related parameter: type, CallbackWithNoParam

method checkNFZ

void checkNFZ(String country, String md5, CallbackWithOneParam<Boolean> callback);

Description: Checks whether the No Fly Zone data needs to be updated.

Input parameter:

• country*: The value is a file name for a temporary No Fly Zone and a country name for a permanent No Fly Zone.
• md5*: md5 value of the file
• callback*: Callback with the parameter indicating whether the No Fly Zone data needs to be updated

Output parameter: None

**Related parameter: country, md5, CallbackWithOneParam, Boolean

method uploadFileData

void uploadFileData(String filePath, FileDataType type, CallbackWithOneParamProgress<Float> callback);

Description: Uploads the file data to the flight controller.

Input parameter:

• filePath*: Path of the file
• type*: File type
• callback*: Callback of returning the progress of the uploaded file

Output parameter: None

**Related parameter: filePath, type, CallbackWithOneParamProgress, Float

method setGasPedalSensitivity

void setGasPedalSensitivity(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the throttle sensitivity value.

Input parameter:

• value*: Throttle sensitivity
• callback*: Returns the result of setting the throttle sensitivity value.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method getGasPedalSensitivity

void getGasPedalSensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the throttle sensitivity value.

Input parameter: Callback with a throttle sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method resetExpParams

void resetExpParams();

Description: reset exp relative params.

Input parameter: None

Output parameter: None

**Related parameter: None

method setATTISensitivity

void setATTISensitivity(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the attitude sensitivity.

Input parameter:

• value*: Attitude sensitivity
• callback*: Returns the result of setting the attitude sensitivity value.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method getATTISensitivity

void getATTISensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the attitude sensitivity value.

Input parameter: Callback with an attitude sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method setBrakeSensitivity

void setBrakeSensitivity(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the brake sensitivity.

Input parameter:

• value*: Brake sensitivity
• callback*: Returns the result of setting the brake sensitivity value.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method getBrakeSensitivity

void getBrakeSensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the brake sensitivity value.

Input parameter: Callback with a brake sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method setYawStrokeSensitivity

void setYawStrokeSensitivity(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the yaw sensitivity.

Input parameter:

• value*: Yaw sensitivity
• callback*: Returns the result of setting the yaw sensitivity value.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method setAircraftParams

void setAircraftParams(float latitude, float longitude);

Description: Sets the latitude and longitude for the aircraft.

Note: It can only be used to set the aircraft position in a simulation environment for testing.

Input parameter:

• latitude*: Latitude
• longitude*: Longitude

Output parameter: None

**Related parameter: latitude, longitude

method getYawStrokeSensitivity

void getYawStrokeSensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the yaw sensitivity value.

Input parameter: Callback with yaw sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method setPitchAndRollSenCoefficient

void setPitchAndRollSenCoefficient(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the pitch sensitivity and Roll sensitivity.

Input parameter:

• value*: Pitch sensitivity and Roll sensitivity
• callback*: Returns the result of setting the pitch sensitivity and Roll sensitivity.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method setPitchSensitivity

void setPitchSensitivity(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the pitch sensitivity.

Input parameter:

• value*: Pitch sensitivity
• callback*: Returns the result of setting the pitch sensitivity value.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method setPitchAndRollSenCoefficient

void setPitchAndRollSenCoefficient(float value, CallbackWithOneParam<Boolean> callback);

Description: Sets the Roll sensitivity.

Input parameter:

• value*: Roll sensitivity
• callback*: Returns the result of setting the Roll sensitivity.

Output parameter: None

**Related parameter: value, CallbackWithOneParam, Boolean

method getPitchAndRollSenCoefficient

void getPitchAndRollSenCoefficient(CallbackWithOneParam<Float> callback);

Description: Obtains the pitch sensitivity and Roll sensitivity.

Input parameter: Callback with a pitch sensitivity and Roll sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method getPitchSensitivity

void getPitchSensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the pitch sensitivity.

Input parameter: Callback with a pitch value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method getRollSensitivity

void getRollSensitivity(CallbackWithOneParam<Float> callback);

Description: Obtains the Roll sensitivity.

Input parameter: Callback with a Roll sensitivity value

Output parameter: None

**Related parameter: CallbackWithOneParam, Float

method startCalibrationIMU

void startCalibrationIMU(CallbackWithTwoParams<CalibrateIMUStep, CalibrateIMUStatus> callback);

Description: Calibrates the IMU.

Input parameter: Callback with state parameters of two IMU calibration steps. If the parameters are empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithTwoParams, CalibrateIMUStep

method  toRx

RxEvo2FlyController toRx();

Description: Converts to the ReactiveX API, which is used to provide the flight control function.

Input parameter: None

Output parameter: Returns the ReactiveX API.

method getRtkAuthInfo

void getRtkAuthInfo(CallbackWithOneParam<AuthInfo> authInfoCallbackWithOneParam);

Description: Obtains the third-party account information.

Input parameter: Callback with the third-party account parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, AuthInfo

method setUseRTK

void setUseRTK(boolean isUsed, CallbackWithNoParam callback);

Description: Configures whether to use RTK locating results.

Input parameter:

• isUsed*: Whether to use the RTK locating results
• callback*: Returns whether to use the RTK locating results.

Output parameter: None

**Related parameter: isUsed, CallbackWithNoParam

method getUseRTK

void getUseRTK(CallbackWithOneParam<Boolean> callback);

Description: Obtains whether to use the RTK locating results.

Input parameter: Callback with the parameter indicating whether to use the RTK locating results. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, AuthInfo

method setRtkCoordinateSys

void setRtkCoordinateSys(RtkCoordinateSystem coordinateSystem, CallbackWithNoParam callback);

Description: Sets the RTK coordinate type.

Input parameter:

• coordinateSystem*: Type of RTK coordinates to be set
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: coordinateSystem, CallbackWithNoParam

method setRtkRecvType

void setRtkRecvType(int recvType, CallbackWithNoParam callback);

Description: Configures the RTK data receiving method.

Input parameter:

• recvType*: RTK data receiving method
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: recvType, CallbackWithNoParam

method setRtkRecvType

void getRtkCoordinateSys(CallbackWithOneParam<RtkCoordinateSystem> callback);

Description: Obtains the RTK coordinate type.

Input parameter: Callback with the RTK coordinate type parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, RtkCoordinateSystem

method getRtkRecvType

void getRtkRecvType(CallbackWithOneParam<RTKSignalType> callback);

Description: Obtains the RTK data receiving method.

Input parameter: Callback with the parameter indicating the RTK data receiving method. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, RTKSignalType

method setActivateState

void setActivateState(int value, CallbackWithNoParam callback);

Description: Unknown.

Input parameter:

• value*: Unknown
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: value, CallbackWithNoParam

method getImuModelID

void getImuModelID(CallbackWithOneParam<Long> callback);

Description: Unknown.

Input parameter: Unknown.

Output parameter: None

**Related parameter: CallbackWithOneParam, Long

method sendRtkData

void sendRtkData(byte[] data);

Description: Sends the RTK differential data obtained from the third party.

Input parameter:

• data*: Differential data

Output parameter: None

**Related parameter: data

method setBaseStationLocation

void setBaseStationLocation(AutelCoordinate3D coordinate3D, CallbackWithNoParam callback);

Description: Sets the base station location.

Input parameter:

• coordinate3D*: Base station location
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: coordinate3D, CallbackWithNoParam

method setADSBVehicleInfoListener

void setADSBVehicleInfoListener(CallbackWithOneParam<ADSBVehicleDataInfo> callbackWith);

Description: Unknown.

Input parameter: Unknown.

Output parameter: None

**Related parameter: CallbackWithOneParam, ADSBVehicleDataInfo

method setLteModelInfoListener

void setLteModelInfoListener(CallbackWithOneParam<LteModelInfo> callback);

Description: Sets the 4G module information.

Input parameter: Callback with 4G module information. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, LteModelInfo

method setNtripAuthInfo

void setNtripAuthInfo(NtripInfo ntripAuthInfo, CallbackWithOneParam<Boolean> callback);

Description: Sets the ntrip account.

Input parameter:

• ntripAuthInfo*: ntrip account information
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: coordinate3D, CallbackWithOneParam, Boolean

method getNtripAuthInfo

void getNtripAuthInfo(CallbackWithOneParam<NtripInfo> callbackWithOneParam);

Description: Obtains the ntrip account.

Input parameter: Callback with the ntrip account parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, NtripInfo

method setMqttAuthInfo

void setMqttAuthInfo(MqttInfo mqttInfo, CallbackWithOneParam<Boolean> callback);

Description: Sets the mqtt account.

Input parameter:

• mqttInfo*: mqtt account information
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: mqttInfo, CallbackWithOneParam, Boolean

method getMqttAuthInfo

void getMqttAuthInfo(CallbackWithOneParam<MqttInfo> callbackWithOneParam);

Description: Obtains the mqtt account.

Input parameter: Callback with the mqtt account parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, MqttInfo

method setMqttAuthInfo

void setUavTmpParamInfo(SpecialMode specialMode, boolean isFlag, CallbackWithOneParam<Boolean> callback);

Description: Sets the flight control parameters.

Input parameter:

• specialMode*: Type of flight control parameters
• isFlag*: false - no, ture - yes
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: specialMode, isFlag, CallbackWithOneParam, Boolean

method setLandType

void setLandType(int value, final CallbackWithNoParam callback);

Description: Sets the aircraft landing type.

Input parameter:

• value*: 0 - normal aircraft, 1 - aircraft with a landing platform
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: value, CallbackWithNoParam

method setNestAlternatePosition

void setNestAlternatePosition(SitePosition pos, CallbackWithNoParam callback);

Description: Sends the coordinates of the alternate landing site.

Input parameter:

• pos*: Coordinates of the alternate landing site
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: pos, CallbackWithNoParam

method setVisualAprilState

void setVisualAprilState(AutelSwitchState switchState, final CallbackWithNoParam callback);

Description: Sets the visual accurate landing switch.

Input parameter:

• switchState*: Visual accurate landing switch
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: switchState, CallbackWithNoParam

method setVisualAprilParams

void setVisualAprilParams(AprilTagData params, final CallbackWithNoParam callback);

Description: Sets control parameters for visual accurate landing.

Input parameter:

• params*: Control parameters for visual accurate landing
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: params, CallbackWithNoParam

method setVisualAprilInfoListener

void setVisualAprilInfoListener(String key, CallbackWithOneParam<AprilTagParams> callback);

Description: Sets reporting of control parameters for visual accurate landing.

Input parameter:

• key*: Unknown.
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: params, CallbackWithNoParam

method getDroneKind

DroneKind getDroneKind();

Description: Obtains the aircraft type.

Input parameter: None

Output parameter: Aircraft type parameter

**Related parameter:

method setAPNAccount

void setAPNAccount(APNInfo account, CallbackWithNoParam cb);

Description: Sets the apn account.

Input parameter:

• account*: apn account information
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: account, CallbackWithNoParam

method setAPNAccount

void getAPNAccount(CallbackWithOneParam<APNInfo> cb);

Description: Obtains the apn account.

Input parameter: Callback with the apn account parameter. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam, APNInfo

method setAircraftRTKEnable

void setAircraftRTKEnable(boolean enable, CallbackWithOneParam<Boolean> callback);

Description: Sets the onboard RTK switch.

Input parameter:

• enable*: true: enable onboard RTK; false: disable onboard RTK
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: enable, CallbackWithOneParam, Boolean

method setLetNetEnable

void setLetNetEnable(boolean enable, CallbackWithOneParam<Boolean> callback);

Description: Sets the 4G module network switch.

Input parameter:

• enable*: true: enable 4G module network; false:disable 4G module network
• callback*: Returns the setting result (success or failure).

Output parameter: None

**Related parameter: enable, CallbackWithOneParam, Boolean

method activation

void activation(CallbackWithTwoParams<Boolean,String> callback);

Description: Activates the aircraft.

Input parameter: Callback with parameters of the aircraft state and whether to activate the aircraft

Output parameter: None

**Related parameter: CallbackWithTwoParams, Boolean, String

method getMaxVZUp

    void getMaxVZUp(CallbackWithOneParam<Float> callback);

Description: Get ascent speed

Input parameter:

• callback*:Callback with the ascent speed. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam

method setMaxVZUP

    void setMaxVZUP(float value, CallbackWithNoParam callback);

Description: Set ascent speed

Input parameter:

• enable*: value of ascent speed

• callback*:returns the setting result.

Output parameter: None

**Related parameter: CallbackWithNoParam,float

method getMaxVZDown

    void getMaxVZDown(CallbackWithOneParam<Float> callback);

Description: Set descent speed

Input parameter:

• callback*:Callback with the desecnt speed. If the parameter is empty, the listener will be canceled.

Output parameter: None

**Related parameter: CallbackWithOneParam

method setMaxVZDown

    void setMaxVZDown(float value, CallbackWithNoParam callback);

Description: Set descent speed

Input parameter:

• enable*: value of descent speed

• callback*:returns the setting result.

Output parameter: None

**Related parameter: CallbackWithNoParam,float

method getRiseToPthh

    void getRiseToPthh(CallbackWithOneParam<Integer> callback);

Description: Get whether you have risen to the return altitude within 50 meters and returned to home

Input parameter:

• callback*:Callback when altitude reaches 50 meters .

Output parameter: None

**Related parameter: CallbackWithOneParam

method setRiseToPthh

    void setRiseToPthh(int value, CallbackWithNoParam callback);

Description: Set whether to return to the home altitude within 50 meters.

Input parameter:

• value*: value of altitude

• callback*:returns the setting result.

Output parameter: None

**Related parameter: CallbackWithNoParam,int

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