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FIX: fixed the following issues

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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 <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-03-08 20:00:02 +08:00
parent 23c461830a
commit 2eae721530
20 changed files with 47 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

65
samples/sample_c/module_sample/flight_control/test_flight_control.c
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@ -68,7 +68,7 @@ static const T_DjiTestFlightControlDisplayModeStr s_flightControlDisplayModeStr[
static uint8_t 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),
&timestamp);
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;