From 2eae7215307a911dae1838f3d2015d361a4f507d Mon Sep 17 00:00:00 2001 From: DJI-Martin Date: Wed, 8 Mar 2023 20:00:02 +0800 Subject: [PATCH] FIX: fixed the following issues 1.Optimized the flight controller forced landing sample. 2.Fixed the exception log of duplicate subscription data on M300 RTK payload port. 3.Fixed data subscription gimbal angle data definition error on M300 RTK 4.Fixed an issue where occasionally getting the camera aperture parameter is zero. Signed-off-by: DJI-Martin --- psdk_lib/include/dji_fc_subscription.h | 8 +-- psdk_lib/include/dji_version.h | 2 +- .../libpayloadsdk.a | Bin 2266288 -> 2266304 bytes .../lib/aarch64-linux-gnu-gcc/libpayloadsdk.a | Bin 2266304 -> 2266320 bytes .../arm-himix100-linux-gcc/libpayloadsdk.a | Bin 1703620 -> 1703640 bytes .../arm-himix200-linux-gcc/libpayloadsdk.a | Bin 1703608 -> 1703628 bytes .../arm-hisiv300-linux-gcc/libpayloadsdk.a | Bin 1723730 -> 1723750 bytes .../arm-hisiv400-linux-gcc/libpayloadsdk.a | Bin 1723726 -> 1723746 bytes .../arm-hisiv500-linux-gcc/libpayloadsdk.a | Bin 1692168 -> 1692188 bytes .../arm-hisiv600-linux-gcc/libpayloadsdk.a | Bin 1692160 -> 1692180 bytes .../lib/arm-linux-gnueabi-gcc/libpayloadsdk.a | Bin 1773776 -> 1773796 bytes .../arm-linux-gnueabihf-gcc/libpayloadsdk.a | Bin 1392604 -> 1392612 bytes .../lib/arm-none-eabi-gcc/libpayloadsdk.a | Bin 25022504 -> 25022572 bytes psdk_lib/lib/armcc_cortex-m4/libpayload.lib | Bin 1710096 -> 1710104 bytes .../lib/x86_64-linux-gnu-gcc/libpayloadsdk.a | Bin 2062784 -> 2062816 bytes .../lib/xtensa-esp32-elf-gcc/libpayloadsdk.a | Bin 2691744 -> 2691756 bytes .../flight_control/test_flight_control.c | 65 ++++++++++-------- .../gimbal_emu/test_payload_gimbal_emu.c | 6 +- .../widget/test_widget_speaker.c | 2 +- .../manifold2/application/dji_sdk_config.h | 2 + 20 files changed, 47 insertions(+), 38 deletions(-) diff --git a/psdk_lib/include/dji_fc_subscription.h b/psdk_lib/include/dji_fc_subscription.h index ede92da..cca15cb 100644 --- a/psdk_lib/include/dji_fc_subscription.h +++ b/psdk_lib/include/dji_fc_subscription.h @@ -1153,18 +1153,16 @@ typedef struct HomeLocationData { } T_DjiFcSubscriptionHomePointInfo; // pack(1) typedef struct GimbalSingleData { - dji_f32_t pitch; dji_f32_t roll; + dji_f32_t pitch; dji_f32_t yaw; - uint32_t status; - uint8_t mode; -} GimbalSingleData; +} GimbalAnglesData; /** * @brief Struct for the topic DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA. Used in M300 */ typedef struct GimbalThreeData { - GimbalSingleData gbData[3]; + GimbalAnglesData anglesData[3]; } T_DjiFcSubscriptionThreeGimbalData; #pragma pack() diff --git a/psdk_lib/include/dji_version.h b/psdk_lib/include/dji_version.h index b68f932..db1a75d 100644 --- a/psdk_lib/include/dji_version.h +++ b/psdk_lib/include/dji_version.h @@ -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 1695 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */ +#define DJI_VERSION_BUILD 1697 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */ /* Exported types ------------------------------------------------------------*/ diff --git a/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a index 7083a302f5db818d423b8e9e2447922c48c9f1a6..df22be56fe453b571f417940e18f1ebab24ac4e9 100644 GIT binary patch delta 13117 zcmcI~4_s7by8oQxFmnb5m;uhrIWWL5Xkr|&){T`)i(FG^HPmLzPN21#9OKj z-y7bVXozR9|&W;K8x~m?9y+q+w^Fiem}u3DMKRn-4YGaAn}qCxt2RIMMDgo zGs+78Ecf&x4N+Pw$;#^%{`Dwbh7|5pS|vWuJSxMf7~Onjl7{fz=8vW#80>D(qN&o>K1;NRUaYoP9<|GA4t&KgeXOOU9foR^nyR5xgJQ}4?TyK?VN{n%@;2T=~4T{1!|62Jef!;(c*K z(TzHGXF!yc$E?OjtU4yCG{ULOkd4p%NykLJ87(Q{=Z&veG>r20MdOYijM^+IwHaaN zFbz?D3&Q$TAk3+IRdvECEAJJAy&XMv#B1}yC~_=f)oo!l+ciYWpjlQN7sGzf@$Tcw zv9H6n=4llBC5Noc{wBJZd#3jqlb~Vy=Y~tl=hvFP(?hEc3%}8{TniSd$=<%m^wrg4 zS@v!=y=9)0WmvRm_Wa^&=gpa0ylBz1?96oEWtf~$OvYtgnVF6GSBcb{6Co(4wwk^Q z*EHp`q8WI?w8}FlGekcU^BEJx;40M@<$z%1| zJ~ic;xN@a*&~!sME!-o-aOsRmrnJAA9Q5HgCL8Bd5slHQ4khXDrr+Ciel}758etAk 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DjiTest_FlightControlGetDisplayModeIndex(E_DjiFcSubscriptionDisplayMode displayMode); static T_DjiFcSubscriptionFlightStatus DjiTest_FlightControlGetValueOfFlightStatus(void); static T_DjiFcSubscriptionDisplaymode DjiTest_FlightControlGetValueOfDisplayMode(void); -static T_DjiFcSubscriptionAvoidData DjiTest_FlightControlGetValueOfAvoidData(void); +static T_DjiFcSubscriptionHeightFusion DjiTest_FlightControlGetValueOfHeightFusion(void); static T_DjiFcSubscriptionQuaternion DjiTest_FlightControlGetValueOfQuaternion(void); static T_DjiFcSubscriptionPositionFused DjiTest_FlightControlGetValueOfPositionFused(void); static dji_f32_t DjiTest_FlightControlGetValueOfRelativeHeight(void); @@ -92,13 +92,12 @@ static void DjiTest_FlightControlHorizCommandLimit(dji_f32_t speedFactor, dji_f3 static dji_f32_t DjiTest_FlightControlVectorNorm(T_DjiTestFlightControlVector3f v); static T_DjiReturnCode DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJoystickCtrlAuthorityEventInfo eventData); -static bool -DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVector3f offsetDesired, float yawDesiredInDeg, - float posThresholdInM, - float yawThresholdInDeg); -static void -DjiTest_FlightControlVelocityAndYawRateCtrl(T_DjiTestFlightControlVector3f offsetDesired, float yawRate, - uint32_t timeMs); +static bool DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVector3f offsetDesired, + float yawDesiredInDeg, + float posThresholdInM, + float yawThresholdInDeg); +static void DjiTest_FlightControlVelocityAndYawRateCtrl(T_DjiTestFlightControlVector3f offsetDesired, float yawRate, + uint32_t timeMs); static T_DjiReturnCode DjiTest_FlightControlInit(void); static T_DjiReturnCode DjiTest_FlightControlDeInit(void); static void DjiTest_FlightControlTakeOffLandingSample(void); @@ -174,7 +173,7 @@ T_DjiReturnCode DjiTest_FlightControlInit(void) return returnCode; } - returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_AVOID_DATA, + returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ, NULL); @@ -965,26 +964,25 @@ T_DjiFcSubscriptionDisplaymode DjiTest_FlightControlGetValueOfDisplayMode(void) return displayMode; } -T_DjiFcSubscriptionAvoidData DjiTest_FlightControlGetValueOfAvoidData(void) +T_DjiFcSubscriptionHeightFusion DjiTest_FlightControlGetValueOfHeightFusion(void) { T_DjiReturnCode djiStat; - T_DjiFcSubscriptionAvoidData avoidData = {0}; - T_DjiDataTimestamp avoidDataTimestamp = {0}; + T_DjiFcSubscriptionHeightFusion heightFusion = {0}; + T_DjiDataTimestamp timestamp = {0}; - djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_AVOID_DATA, - (uint8_t *) &avoidData, - sizeof(T_DjiFcSubscriptionAvoidData), - &avoidDataTimestamp); + djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_HEIGHT_FUSION, + (uint8_t *) &heightFusion, + sizeof(T_DjiFcSubscriptionHeightFusion), + ×tamp); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { - USER_LOG_ERROR("Get value of topic avoid data error, error code: 0x%08X", djiStat); + USER_LOG_ERROR("Get value of topic height fusion error, error code: 0x%08X", djiStat); } else { - USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", avoidDataTimestamp.millisecond, - avoidDataTimestamp.microsecond); - USER_LOG_DEBUG("Avoid downwards distance is %f m", avoidData.down); + USER_LOG_DEBUG("Timestamp: millisecond %u microsecond %u.", timestamp.millisecond, timestamp.microsecond); + USER_LOG_DEBUG("Relative height fusion is %f m", heightFusion); } - return avoidData; + return heightFusion; } T_DjiFcSubscriptionQuaternion DjiTest_FlightControlGetValueOfQuaternion(void) @@ -1211,6 +1209,12 @@ bool DjiTest_FlightControlMonitoredLanding(void) bool DjiTest_FlightControlGoHomeAndConfirmLanding(void) { T_DjiReturnCode djiStat; + T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo; + + djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo); + if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { + USER_LOG_ERROR("get aircraft base info error"); + } /*! Step 1: Start go home */ USER_LOG_INFO("Start go home action"); @@ -1237,11 +1241,17 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void) } else { while (DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING && DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) { - T_DjiFcSubscriptionAvoidData avoidData = DjiTest_FlightControlGetValueOfAvoidData(); + T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion(); s_osalHandler->TaskSleepMs(1000); - if (((dji_f64_t) 0.65 < avoidData.down && avoidData.down < (dji_f64_t) 0.75) && - avoidData.downHealth == 1) { - break; + if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E || + aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) { + if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) { + break; + } + } else { + if ((dji_f64_t) 0.65 < heightFusion && heightFusion < (dji_f64_t) 0.75) { + break; + } } } } @@ -1309,9 +1319,8 @@ DjiTest_FlightControlLocalOffsetFromGpsAndFusedHeightOffset(const T_DjiFcSubscri return deltaNed; } -T_DjiTestFlightControlVector3f -DjiTest_FlightControlVector3FSub(const T_DjiTestFlightControlVector3f vectorA, - const T_DjiTestFlightControlVector3f vectorB) +T_DjiTestFlightControlVector3f DjiTest_FlightControlVector3FSub(const T_DjiTestFlightControlVector3f vectorA, + const T_DjiTestFlightControlVector3f vectorB) { T_DjiTestFlightControlVector3f result; result.x = vectorA.x - vectorB.x; diff --git a/samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c b/samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c index d4e7b49..aa46e41 100644 --- a/samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c +++ b/samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c @@ -389,10 +389,10 @@ static void *UserGimbal_Task(void *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."); + if (djiStat == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) { + USER_LOG_DEBUG("Subscribe topic quaternion duplicate."); } else { - USER_LOG_DEBUG("Subscribe topic quaternion success."); + USER_LOG_ERROR("Subscribe topic quaternion error."); } while (1) { diff --git a/samples/sample_c/module_sample/widget/test_widget_speaker.c b/samples/sample_c/module_sample/widget/test_widget_speaker.c index 3709dd6..331cb0d 100644 --- a/samples/sample_c/module_sample/widget/test_widget_speaker.c +++ b/samples/sample_c/module_sample/widget/test_widget_speaker.c @@ -565,7 +565,7 @@ static T_DjiReturnCode SetVolume(uint8_t volume) USER_LOG_ERROR("Set widget speaker volume error: %d", ret); } } else { - USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here!!!"); + USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here."); } #else USER_LOG_WARN("No audio device found, please add audio device and init speaker volume here!!!"); diff --git a/samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h b/samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h index c05566c..739c757 100644 --- a/samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h +++ b/samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h @@ -62,6 +62,8 @@ extern "C" { #define CONFIG_MODULE_SAMPLE_UPGRADE_ON +#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON + /*!< Attention: This function needs to be used together with mobile sdk mop sample. * */ //#define CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON