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FIX: fixed the following issues

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1.fixed the problem of setting the gimbal mode abnormally when the gimbal is not rotated.
2.fixed the waypoint v2 mission state enum description error.
3.fixed the problem that large-capacity video download fails on M30/M30T.
4.added the api doc for uart available baudrate list.
5.added the enum defines for single smart battery info.

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-03-06 22:48:59 +08:00
parent 84714c112a
commit 23c461830a
18 changed files with 109 additions and 58 deletions
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93
psdk_lib/include/dji_fc_subscription.h
View File

@ -662,6 +662,67 @@ typedef enum {
DJI_FC_SUBSCRIPTION_HOME_POINT_SET_STATUS_SUCCESS = 1, /*!< The home point was set successfully. */
} E_DjiFcSubscriptionHomePointSetStatus;
/**
* @brief Smart battery self-check result.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_NORMAL = 0, /*!< Battery self-check is normal. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_NTC_ABNORMAL = 1, /*!< Battery self-check NTC is abnormal. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_MOS_ABNORMAL = 2, /*!< Battery self-check MOS is abnormal. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_R_ABNORMAL = 3, /*!< Battery self-check sampling resistance is abnormal. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_CELL_DAMAGE = 4, /*!< Battery cell self-check is damaged. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_CAL_EXP = 5, /*!< Battery self-check is not calibrated. */
DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_GAUGE_PARM_EXP = 6, /*!< Battery self-check fuel gauge parameters is abnormal. */
} E_DJIFcSubscriptionBatterySelfCheck;
/**
* @brief Smart battery closed reason.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_NORMAL = 0, /*!< Battery closed reason is normal shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_FORCED = 1, /*!< Battery closed reason is forced by flight controller shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_SCD = 2, /*!< Battery closed reason is discharge short circuit shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OLD = 3, /*!< Battery closed reason is discharge overload shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OCD = 4, /*!< Battery closed reason is discharge over current shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_UVD = 5, /*!< Battery closed reason is discharge under voltage shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OTD = 6, /*!< Battery closed reason is discharge over temperature shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_SCC = 16, /*!< Battery closed reason is charging short circuit shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OCC = 17, /*!< Battery closed reason is charging over current shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OVC = 18, /*!< Battery closed reason is charging over voltage shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_CHARGER_OVC = 19, /*!< Battery closed reason is charger over voltage shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_LTC = 20, /*!< Battery closed reason is charging low temperature shutdown. */
DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_HTC = 21, /*!< Battery closed reason is charging high temperature shutdown. */
} E_DJIFcSubscriptionBatteryClosedReason;
/**
* @brief Smart battery SOH state.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_SOH_NORMAL = 0, /*!< Battery SOH state is normal. */
DJI_FC_SUBSCRIPTION_BATTERY_SOH_ALERT = 1, /*!< Battery SOH state is alert. */
DJI_FC_SUBSCRIPTION_BATTERY_SOH_SAFE = 2, /*!< Battery SOH state is safe. */
} E_DJIFcSubscriptionBatterySohState;
/**
* @brief Smart battery heart state.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_NO_HEAT = 0, /*!< Battery is in no heat state. */
DJI_FC_SUBSCRIPTION_BATTERY_IN_HEAT = 1, /*!< Battery is in heat state. */
DJI_FC_SUBSCRIPTION_BATTERY_KEEP_WARM = 2, /*!< Battery is in keep warm state. */
} E_DJIFcSubscriptionBatteryHeatState;
/**
* @brief Smart battery SOC state.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_SOC_NORMAL = 0, /*!< Battery SOC state is normal. */
DJI_FC_SUBSCRIPTION_BATTERY_SOC_ABNORMAL_HIGH = 1, /*!< Battery SOC state is abnormal high. */
DJI_FC_SUBSCRIPTION_BATTERY_SOC_JUMP_DOWN = 2, /*!< Battery SOC state is jump down. */
DJI_FC_SUBSCRIPTION_BATTERY_SOC_JUMP_UP = 3, /*!< Battery SOC state is jump up. */
DJI_FC_SUBSCRIPTION_BATTERY_SOC_INVALID = 4, /*!< Battery SOC state is invalid. */
} E_DJIFcSubscriptionBatterySocState;
#pragma pack(1)
/**
@ -885,22 +946,22 @@ typedef uint16_t T_DjiFcSubscriptionMotorStartError;
typedef struct {
uint32_t reserved: 12;
uint32_t cellBreak: 5; /*! 0:normal;other:Undervoltage core index(0x01-0x1F)*/
uint32_t selfCheckError: 3; /*! enum-type: DJISmartBatterySelfCheck*/
uint32_t cellBreak: 5; /*!< 0: normal; other: under voltage core index(0x01-0x1F). */
uint32_t selfCheckError: 3; /*!< enum-type: E_DJIFcSubscriptionBatterySelfCheck. */
uint32_t reserved1: 7;
uint32_t batteryClosedReason: 5; /*! enum-type: DJI_BETTERY_CLOSED_REASON*/
uint8_t reserved2: 6; /*! [0]CHG state；[1]DSG state；[2]ORING state*/
uint8_t batSOHState: 2; /*! enum-type: DJISmartBatterySohState*/
uint8_t maxCycleLimit: 6; /*! APP:cycle_limit*10*/
uint32_t batteryClosedReason: 5; /*!< enum-type: E_DJIFcSubscriptionBatteryClosedReason. */
uint8_t reserved2: 6; /*!< 0: CHG state; 1: DSG state; 2: ORING state. */
uint8_t batSOHState: 2; /*!< enum-type: E_DJIFcSubscriptionBatterySohState. */
uint8_t maxCycleLimit: 6; /*!< APP: cycle_limit*10. */
uint8_t reserved3: 2;
uint16_t lessBattery: 1;
uint16_t batteryCommunicationAbnormal: 1;
uint16_t reserved4: 3;
uint16_t hasCellBreak: 1;
uint16_t reserved5: 4;
uint16_t isBatteryEmbed: 1; /*! 0:embed;1:unmebed*/
uint16_t heatState: 2; /*!enum-type: DJISmartBatteryHeatState*/
uint16_t socState: 3; /*!enum-type: DJISmartBatterySocWarning*/
uint16_t isBatteryEmbed: 1; /*!< 0:embed; 1:not embed. */
uint16_t heatState: 2; /*!< enum-type: E_DJIFcSubscriptionBatteryHeatState. */
uint16_t socState: 3; /*!< enum-type: E_DJIFcSubscriptionBatterySocState. */
} T_DjiFcSubscriptionSingleBatteryState;
/**
@ -916,17 +977,17 @@ typedef struct BatteryWholeInfo {
typedef struct BatterySingleInfo {
uint8_t reserve;
uint8_t batteryIndex;
int32_t currentVoltage; /*! uint:mV*/
int32_t currentElectric; /*!uint:mA*/
uint32_t fullCapacity; /*!uint:mAh*/
uint32_t remainedCapacity; /*!uint:mAh*/
int16_t batteryTemperature; /*!uint:℃*/
int32_t currentVoltage; /*!< uint:mV. */
int32_t currentElectric; /*!< uint:mA. */
uint32_t fullCapacity; /*!< uint:mAh. */
uint32_t remainedCapacity; /*!< uint:mAh. */
int16_t batteryTemperature; /*!< uint:℃. */
uint8_t cellCount;
uint8_t batteryCapacityPercent; /*!uint:%*/
uint8_t batteryCapacityPercent; /*!< uint:%. */
T_DjiFcSubscriptionSingleBatteryState batteryState;
uint8_t reserve1;
uint8_t reserve2;
uint8_t SOP; /*!Relative power percentage*/
uint8_t SOP; /*!< Relative power percentage. */
} T_DjiFcSubscriptionSingleBatteryInfo;
/*!

11
psdk_lib/include/dji_platform.h
View File

@ -83,7 +83,18 @@ typedef void *T_DjiDirHandle;
typedef void *T_DjiSocketHandle;
typedef enum {
/**
* All aircraft type support，users can connect via chip serial port or USB to TTL serial port.
* Baud rate support list on M300 RTK Payload Port: 115200, 230400, 460800, 921600.
* Baud rate support list on M300 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
* Baud rate support list on M30/M30T: 115200, 230400, 460800, 921600, 1000000.
* Baud rate support list on M3E/M3T: 921600.
* */
DJI_HAL_UART_NUM_0,
/**
* Only support on M300 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
* Baud rate support list on M300 RTK Extension Port: 921600.
* */
DJI_HAL_UART_NUM_1,
} E_DjiHalUartNum;

2
psdk_lib/include/dji_version.h
View File

@ -37,7 +37,7 @@ extern "C" {
#define DJI_VERSION_MINOR 3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
#define DJI_VERSION_MODIFY 0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
#define DJI_VERSION_BETA 0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
#define DJI_VERSION_BUILD 1684 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
#define DJI_VERSION_BUILD 1695 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
/* Exported types ------------------------------------------------------------*/

61
psdk_lib/include/dji_waypoint_v2_type.h
View File

@ -37,6 +37,7 @@ extern "C" {
/* Exported types ------------------------------------------------------------*/
typedef dji_f32_t T_DjiWaypointV2GlobalCruiseSpeed;
/**
* Actions will be taken when the waypoint mission is finished.
*/
@ -217,52 +218,44 @@ typedef enum {
DJI_WAYPOINT_V2_TURN_MODE_UNKNOWN = 0xFF,
} E_DJIWaypointV2TurnMode;
/**
* All the possible state of ``WaypointV2MissionOperator``.
*/
typedef enum {
/**
* The state of the operator is unknown. It is the initial state when the operator
* is just created.
*/
DJI_WAYPOINT_V2_MISSION_STATE_UNKNOWN = -1,
* Waypoint mission state is ground station not start.
*/
DJI_WAYPOINT_V2_MISSION_STATE_GROUND_STATION_NOT_START = 0,
/**
* The connection OSDK device, remote controller and aircraft is
* broken.
* Waypoint mission state is mission prepared.
*/
DJI_WAYPOINT_V2_MISSION_STATE_DISCONNECTED = 0,
DJI_WAYPOINT_V2_MISSION_STATE_MISSION_PREPARED = 1,
/**
* Raed to execute the mission.
* Waypoint mission state is enter mission.
*/
DJI_WAYPOINT_V2_MISSION_STATE_READY_TO_EXECUTE = 1,
DJI_WAYPOINT_V2_MISSION_STATE_ENTER_MISSION = 2,
/**
* The execution is started successfully.
* Waypoint mission state is execute flying route mission.
*/
DJI_WAYPOINT_V2_MISSION_STATE_EXECUTING = 2,
DJI_WAYPOINT_V2_MISSION_STATE_EXECUTING = 3,
/**
* Waypoint mission is paused successfully.
* Waypoint mission state is pause state.
*/
DJI_WAYPOINT_V2_MISSION_STATE_INTERRUPTED = 3,
DJI_WAYPOINT_V2_MISSION_STATE_PAUSED = 4,
/**
* Waypoint mission is restarted after interrupted.
* Waypoint mission state is enter mission after ending pause.
*/
DJI_WAYPOINT_V2_MISSION_STATE_RESUME_AFTER_INTERRUPTED = 4,
DJI_WAYPOINT_V2_MISSION_STATE_ENTER_MISSION_AFTER_ENDING_PAUSE = 5,
/**
* Waypoint mission is exited.
* Waypoint mission state is exit mission.
*/
DJI_WAYPOINT_V2_MISSION_STATE_EXIT_MISSION = 5,
/**
* Waypoint mission is finished.
*/
DJI_WAYPOINT_V2_MISSION_STATE_FINISHED_MISSION = 6,
DJI_WAYPOINT_V2_MISSION_STATE_EXIT_MISSION = 6,
} E_DJIWaypointV2MissionState;
/*! waypoint position relative to WayPointV2InitSettings's reference point
@ -371,8 +364,6 @@ typedef struct {
uint16_t waypointV2Num;
} T_DjiWaypointV2List;
//Action Notes
/**
* Possible types of action trigger.
*/
@ -450,7 +441,6 @@ typedef enum {
DJI_WAYPOINT_V2_ACTION_INTERVAL_TYPE_UNKNOWN = 0xFF,
} E_DJIWaypointV2ActionIntervalType;
/**
* Possible types of action actuator.
*/
@ -638,7 +628,6 @@ typedef struct {
} T_DJIWaypointV2IntervalTriggerParam;
typedef struct {
//see "E_DJIWaypointV2ActionTriggerType"
uint8_t actionTriggerType;
@ -650,7 +639,6 @@ typedef struct {
};
} T_DJIWaypointV2Trigger;
/*! Focus point parameter
*/
typedef struct {
@ -968,7 +956,7 @@ typedef struct {
dji_f64_t refLati;
dji_f64_t refLong;
dji_f32_t refAlti;
} T_WayPointV2InitSettingsInternal;// pack(1)
} T_WayPointV2InitSettingsInternal;
/*! Mission's event data
*/
@ -1049,24 +1037,15 @@ typedef struct {
uint8_t event;
uint32_t FCTimestamp;
U_DjiWaypointV2EventData data;
} T_DjiWaypointV2MissionEventPush;// pack(1)
} T_DjiWaypointV2MissionEventPush;
#pragma pack()
/*! Mission's state push data
*/
typedef struct {
uint16_t curWaypointIndex;
/*!
* 0x0:ground station not start.
* 0x1:mission prepared.
* 0x2:enter mission.
* 0x3:execute flying route mission.
* 0x4:pause state.
* 0x5:enter mission after ending pause.
* 0x6:exit mission.
*/
uint8_t state;
uint16_t velocity; //uint:0.01m/s
uint8_t state; /*!< enum-type: E_DJIWaypointV2MissionState. */
uint16_t velocity; /*!< Uint:0.01m/s. */
} T_DjiWaypointV2MissionStatePush;
typedef struct {