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NEW: release DJI Payload-SDK version 3.10.0

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This commit is contained in:
minghuah.chen
2025-01-10 10:30:38 +08:00
parent 860751ae15
commit 292a6fcb52
104 changed files with 11506 additions and 7194764 deletions
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10
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_base.c
View File

@ -907,15 +907,7 @@ static T_DjiReturnCode DjiTest_CameraRotationGimbal(T_TestCameraGimbalRotationAr
return returnCode;
}
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
returnCode = DjiTest_GimbalRotate(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
gimbalRotationArgument.rotationValue);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("rotate gimbal error: 0x%08llX.", returnCode);
return returnCode;
}
} else if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
if (aircraftBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT) {
returnCode = DjiXPort_RotateSync(gimbalRotationArgument.rotationMode, gimbalRotationArgument.rotationProperty,
gimbalRotationArgument.rotationValue);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

7
samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
View File

@ -23,6 +23,7 @@
*/
/* Includes ------------------------------------------------------------------*/
#include <errno.h>
#include <fcntl.h>
#include <stdlib.h>
#include "dji_logger.h"
@ -726,7 +727,7 @@ static T_DjiReturnCode DjiPlayback_GetFrameRateOfVideoFile(const char *path, flo
ret = fscanf(fpCommand, "r_frame_rate=%d/%d", &frameRateMolecule, &frameRateDenominator);
if (ret <= 0) {
USER_LOG_ERROR("can not find frame rate.");
USER_LOG_ERROR("can not find frame rate form \"%s\".", path);
returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_NOT_FOUND;
goto out;
}
@ -1196,7 +1197,7 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
exit(1);
}
if (s_isMediaFileDirPathConfigured == true) {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%sPSDK_0005.h264", s_mediaFileDirPath);
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", s_mediaFileDirPath);
} else {
snprintf(tempPath, DJI_FILE_PATH_SIZE_MAX, "%smedia_file/PSDK_0005.h264", curFileDirPath);
}
@ -1309,7 +1310,7 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
fpFile = fopen(transcodedFilePath, "rb+");
if (fpFile == NULL) {
USER_LOG_ERROR("open video file fail.");
USER_LOG_ERROR("open video file:\"%s\" fail:%d.", transcodedFilePath, errno);
continue;
}

49
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -74,6 +74,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
{DJI_CAMERA_TYPE_M3TD, "M3TD Camera"},
{DJI_CAMERA_TYPE_H30, "H30 Camera"},
{DJI_CAMERA_TYPE_H30T, "H30T Camera"},
{DJI_CAMERA_TYPE_M4T, "M4T Camera"},
{DJI_CAMERA_TYPE_M4E, "M4E Camera"},
};
static FILE *s_downloadMediaFile = NULL;
@ -846,12 +848,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED: {
USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_M3TD || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_H30T) {
if (DJI_CAMERA_TYPE_H20 == cameraType || DJI_CAMERA_TYPE_H20T == cameraType
|| DJI_CAMERA_TYPE_H20N == cameraType
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -887,12 +891,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE: {
USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
|| cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
|| cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
|| cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D
|| cameraType == DJI_CAMERA_TYPE_M3TD || cameraType == DJI_CAMERA_TYPE_H30
|| cameraType == DJI_CAMERA_TYPE_H30T) {
if (DJI_CAMERA_TYPE_H20 == cameraType || DJI_CAMERA_TYPE_H20T == cameraType
|| DJI_CAMERA_TYPE_H20N == cameraType
|| DJI_CAMERA_TYPE_M30 == cameraType || DJI_CAMERA_TYPE_M30T == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
|| DJI_CAMERA_TYPE_H30 == cameraType || DJI_CAMERA_TYPE_H30T == cameraType
) {
USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
mountPosition);
returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@ -1185,11 +1191,14 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
E_DjiCameraManagerNightSceneMode nightSceneMode;
T_DjiCameraManagerRangeList nightSceneModeRange;
if (cameraType == DJI_CAMERA_TYPE_XT2 || cameraType == DJI_CAMERA_TYPE_XTS ||
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_L2 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T ||
cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
if (DJI_CAMERA_TYPE_XT2 == cameraType || DJI_CAMERA_TYPE_XTS == cameraType
|| DJI_CAMERA_TYPE_H20 == cameraType
|| DJI_CAMERA_TYPE_P1 == cameraType
|| DJI_CAMERA_TYPE_L1 == cameraType || DJI_CAMERA_TYPE_L2 == cameraType
|| DJI_CAMERA_TYPE_M3E == cameraType || DJI_CAMERA_TYPE_M3T == cameraType
|| DJI_CAMERA_TYPE_M3D == cameraType || DJI_CAMERA_TYPE_M3TD == cameraType
|| DJI_CAMERA_TYPE_M4T == cameraType || DJI_CAMERA_TYPE_M4E == cameraType
) {
USER_LOG_INFO("Camera type %s does not support night scene mode!",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -1923,7 +1932,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30) {
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_M4T) {
USER_LOG_WARN("Camera type %s don't support FFC function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;
@ -1969,7 +1979,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30) {
cameraType == DJI_CAMERA_TYPE_L2 || cameraType == DJI_CAMERA_TYPE_H30 ||
cameraType == DJI_CAMERA_TYPE_M4T) {
USER_LOG_WARN("Camera type %s don't support infrared function.",
s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
goto exitCameraModule;

3
samples/sample_c/module_sample/data_transmission/test_data_transmission.c
View File

@ -262,8 +262,7 @@ static void *UserDataTransmission_Task(void *arg)
}
#endif
}
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
} else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)

4
samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
View File

@ -173,8 +173,8 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
USER_LOG_INFO("gps position: x = %d y = %d z = %d.", gpsPosition.x, gpsPosition.y, gpsPosition.z);
}
//Attention: if you want to subscribe the single battery info on M300 RTK, you need connect USB cable to
//OSDK device or use topic DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO instead.
// Attention: if you want to subscribe the single battery info on M300 RTK, you need connect USB cable to
// OSDK device or use topic DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO instead.
djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX1,
(uint8_t *) &singleBatteryInfo,
sizeof(T_DjiFcSubscriptionSingleBatteryInfo),

11
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -899,8 +899,6 @@ T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void)
USER_LOG_WARN("Note: This is an empty implementation, and the FTS signal needs to be triggered by the PWM signal.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
void DjiTest_FlightControlPassiveTriggerFtsSample(void)
@ -1304,10 +1302,11 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
s_osalHandler->TaskSleepMs(1000);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
) {
if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
break;
}

7
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
View File

@ -140,8 +140,11 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
rotation = s_rotationActionList[i].rotation;
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30
|| aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
if (DJI_AIRCRAFT_SERIES_M30 == aircraftSeries
|| DJI_AIRCRAFT_SERIES_M3 == aircraftSeries
|| DJI_AIRCRAFT_SERIES_M3D == aircraftSeries
|| DJI_AIRCRAFT_SERIES_M4 == aircraftSeries
) {
if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
T_DjiDataTimestamp timestamp = {0};

37
samples/sample_c/module_sample/hms/test_hms.c
View File

@ -51,11 +51,14 @@
static const char *oldReplaceAlarmIdStr = "%alarmid";
static const char *oldReplaceIndexStr = "%index";
static const char *oldReplaceComponentIndexStr = "%component_index";
static bool isHmsManagerInit = false;
static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
{hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
};
static uint8_t *s_hmsJsonData = NULL;
static E_DjiMobileAppLanguage s_hmsLanguage = DJI_MOBILE_APP_LANGUAGE_ENGLISH;
static bool s_isHmsConfigFileDirPathConfigured = false;
static char s_hmsConfigFileDirPath[DJI_FILE_PATH_SIZE_MAX] = {0};
/* Private functions declaration ---------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsManagerInit(void);
@ -132,7 +135,11 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
return returnCode;
}
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
if (s_isHmsConfigFileDirPathConfigured == true) {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", s_hmsConfigFileDirPath);
} else {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
}
//set default hms text config path
returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByDirPath(tempPath);
@ -150,7 +157,12 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
}
//set hms text config for Chinese language
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
if (s_isHmsConfigFileDirPathConfigured == true) {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", s_hmsConfigFileDirPath);
} else {
snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
}
returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
tempPath);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -174,11 +186,22 @@ T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
#if DJI_CUSTOM_HMS_CODE_INJECT_ON
DjiHmsCustomization_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020001, DJI_HMS_ERROR_LEVEL_CRITICAL);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020002, DJI_HMS_ERROR_LEVEL_WARN);
DjiHmsCustomization_InjectHmsErrorCode(0x1E020003, DJI_HMS_ERROR_LEVEL_HINT);
#endif
return returnCode;
}
T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path)
{
memset(s_hmsConfigFileDirPath, 0, sizeof(s_hmsConfigFileDirPath));
memcpy(s_hmsConfigFileDirPath, path, USER_UTIL_MIN(strlen(path), sizeof(s_hmsConfigFileDirPath) - 1));
s_isHmsConfigFileDirPathConfigured = true;
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiTest_HmsManagerInit(void)
{
@ -199,13 +222,13 @@ static T_DjiReturnCode DjiTest_HmsManagerInit(void)
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("HMS sample subscribe topic flight status error, error code:0x%08llX", returnCode);
return returnCode;
}
#ifdef SYSTEM_ARCH_LINUX
returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
@ -230,6 +253,8 @@ static T_DjiReturnCode DjiTest_HmsManagerInit(void)
UtilFile_GetFileDataByPath(tempFileDirPath, 0, fileSize, s_hmsJsonData, &readRealSize);
#endif
isHmsManagerInit = true;
return DjiHmsManager_Init();
}
@ -249,6 +274,8 @@ static T_DjiReturnCode DjiTest_HmsManagerDeInit(void)
osalHandler->Free(s_hmsJsonData);
#endif
isHmsManagerInit = false;
return DjiHmsManager_DeInit();
}
@ -258,6 +285,10 @@ static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
T_DjiFcSubscriptionFlightStatus flightStatus;
T_DjiDataTimestamp flightStatusTimestamp = {0};
if (isHmsManagerInit == false) {
return DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_ON_GROUND;
}
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
(uint8_t *) &flightStatus,
sizeof(T_DjiFcSubscriptionFlightStatus),

1
samples/sample_c/module_sample/hms/test_hms.h
View File

@ -41,6 +41,7 @@ extern "C" {
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language);
T_DjiReturnCode DjiTest_HmsCustomizationStartService(void);
T_DjiReturnCode DjiTest_HmsCustomizationSetConfigFilePath(const char *path);
#ifdef __cplusplus
}

6
samples/sample_c/module_sample/liveview/test_liveview.c
View File

@ -146,8 +146,10 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
if (DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
) {
USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
localTime = localtime(&currentTime);

2
samples/sample_c/module_sample/mop_channel/test_mop_channel.c
View File

@ -180,7 +180,7 @@ REWAIT:
}
sendDataCount++;
memset(sendBuf, sendDataCount, TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
memset(sendBuf, 'A' - 1 + (sendDataCount % 26), TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER);
returnCode = DjiMopChannel_SendData(s_testMopChannelNormalOutHandle, sendBuf,
TEST_MOP_CHANNEL_NORMAL_TRANSFOR_SEND_BUFFER, &realLen);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

10
samples/sample_c/module_sample/power_management/test_power_management.c
View File

@ -87,9 +87,9 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
return returnCode;
}
if (((baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK || baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) &&
(baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 || baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT)) ||
baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
if (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT ||
baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_FC30) {
// apply high power
if (s_applyHighPowerHandler.pinInit == NULL) {
USER_LOG_ERROR("apply high power pin init interface is NULL error");
@ -113,11 +113,15 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
return returnCode;
}
USER_LOG_INFO("Start to apply high power.");
returnCode = DjiPowerManagement_ApplyHighPowerSync();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("apply high power error");
return returnCode;
}
USER_LOG_INFO("Success to apply high power.");
}
// register power off notification callback function

1
samples/sample_c/module_sample/utils/dji_config_manager.h
View File

@ -71,6 +71,7 @@ typedef struct {
uint8_t usbBulk2InterfaceNum;
uint8_t usbBulk2EndpointIn;
uint8_t usbBulk2EndpointOut;
} usbBulkConfig;
} T_DjiUserLinkConfig;

2
samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c
View File

@ -88,7 +88,7 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
/*! Attention: suggest use the exported kmz file by DJI pilot. If use this test file, you need set the longitude as
* 113.94255, latitude as 22.57765 on DJI Assistant 2 simulator */
snprintf(tempPath, DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX, "%s/waypoint_file/waypoint_v3_test_file.kmz",
curFileDirPath);
curFileDirPath);
kmzFile = fopen(tempPath, "r");
if (kmzFile == NULL) {

9
samples/sample_c/module_sample/widget/test_widget_speaker.c
View File

@ -321,10 +321,11 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
if (DJI_AIRCRAFT_TYPE_M3E == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M3D == aircraftInfoBaseInfo.aircraftType || DJI_AIRCRAFT_TYPE_M3TD == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4T == aircraftInfoBaseInfo.aircraftType
|| DJI_AIRCRAFT_TYPE_M4E == aircraftInfoBaseInfo.aircraftType
) {
return DjiTest_PlayAudioData();
} else {
txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");

7
samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c
View File

@ -211,10 +211,11 @@ T_DjiReturnCode DjiTest_WidgetInteractionStartService(void)
return djiStat;
}
#ifdef SYSTEM_ARCH_LINUX_DISABLEED
#ifdef SYSTEM_ARCH_LINUX_DISABLE
//Step 2 : Set UI Config (Linux environment)
char curFileDirPath[WIDGET_DIR_PATH_LEN_MAX];
char tempPath[WIDGET_DIR_PATH_LEN_MAX];
djiStat = DjiUserUtil_GetCurrentFileDirPath(__FILE__, WIDGET_DIR_PATH_LEN_MAX, curFileDirPath);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", djiStat);
@ -461,8 +462,8 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
USER_LOG_INFO("--------------------------------------------------------------------------------------------->");
DjiTest_WidgetLogAppend("-> Sample Start");
if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT
|| DJI_MOUNT_POSITION_EXTENSION_LITE_PORT == s_aircraftInfoBaseInfo.mountPosition) {
if (s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT ||
s_aircraftInfoBaseInfo.mountPositionType == DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT) {
switch (s_extensionPortSampleIndex) {
case E_DJI_SAMPLE_INDEX_WAYPOINT_V2:
if (s_isallowRunFlightControlSample == true) {

9
samples/sample_c/module_sample/xport/test_payload_xport.c
View File

@ -88,6 +88,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1000;
USER_LOG_INFO("Set joint angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -96,6 +97,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -800;
USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -104,6 +106,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1000;
USER_LOG_INFO("Set extended euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch extension euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -126,10 +129,12 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 1500;
limitAngle.lowerLimit = -1500;
} else {
USER_LOG_WARN("payload mount position is unknown.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
USER_LOG_WARN("unknown mounposition.");
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1500;
}
USER_LOG_INFO("Set joint angle limit of yaw axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set yaw joint angle limit angle for XPort error: 0x%08llX.", djiStat);