Obstacle Avoidance Sensor Data Using the DJI SDK (V4.3.2)

Question

I am currently working with the Inspire 2 & the M210 RTK. Can anyone help me in getting the Obstacle Avoidance sensor data output from the drone using the Mobile-SDK? I would like to get the exact distance reading from the object in front of the drone in an constantly updating value. Any code examples? I am relatively new to the DJI SDK so any help would be greatly appreciated. Thanks in advance!

Answer 1

Before getting into this, keep in mind that the distance you receive is not perfectly accurate.

There is a few ways you can access the sensors with the mobile SDK.

1/ Traditional interfaces using the obstacle avoidance part of the DJIFlightAssistant

• Implement the delegate DJIFlightAssistantDelegate
• Implement the didUpdateVisionDetectionState method
• In the DJIVisionDetectionState object, there is a detectionSectors property which is an array of DJIObstacleDetectionSector which have a obstacleDistanceInMeters .

2/ Using the keys, you can start listening to the Flight Controller key DJIFlightAssistantParamDetectionSectors . The block called will contain an array of DJIObstacleDetectionSector which have a obstacleDistanceInMeters :

guard let detectionSectorsKey = DJIFlightControllerKey(param: DJIFlightAssistantParamDetectionSectors) else {
    // failed to create the key
    return;
}

guard let keyManager = DJISDKManager.keyManager()? else {
    // failed to access the keyManager. You're most likely not registered yet.
    return;
}

keyManager.startListeningForChanges(on: detectionSectorsKey, withListener: self, andUpdate: { (oldValue, newValue) in
    let sectors = newValue?.value as! [DJIObstacleDetectionSector]

    //do stuff.
})