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NEW: release DJI Payload-SDK version 3.1

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-03-21 22:25:37 +08:00
parent 7b5f853e87
commit 0e06bc3fd3
62 changed files with 9042 additions and 348 deletions
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16
samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c
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@ -127,6 +127,12 @@ T_DjiReturnCode DjiTest_GimbalStartService(void)
s_commonHandler.Reset = Reset;
s_commonHandler.FineTuneAngle = FineTuneAngle;
djiStat = DjiFcSubscription_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("init data subscription module error.");
return djiStat;
}
if (osalHandler->MutexCreate(&s_commonMutex) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("mutex create error");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@ -145,11 +151,13 @@ T_DjiReturnCode DjiTest_GimbalStartService(void)
djiStat = DjiGimbal_Init();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("init gimbal module error: 0x%08llX", djiStat);
return djiStat;
}
djiStat = DjiGimbal_RegCommonHandler(&s_commonHandler);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("gimbal register common handler error: 0x%08llX", djiStat);
return djiStat;
}
if (osalHandler->TaskCreate("user_gimbal_task", UserGimbal_Task,
@ -379,6 +387,14 @@ static void *UserGimbal_Task(void *arg)
USER_UTIL_UNUSED(arg);
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
NULL);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe topic quaternion error.");
} else {
USER_LOG_DEBUG("Subscribe topic quaternion success.");
}
while (1) {
osalHandler->TaskSleepMs(1000 / PAYLOAD_GIMBAL_TASK_FREQ);
step++;