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NEW: release DJI Payload-SDK version 3.12.0

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DJI
2025-06-27 22:36:34 +08:00
parent 54b9f6c6c1
commit 326b8698dd
381 changed files with 122574 additions and 451 deletions
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32
samples/sample_c/module_sample/interest_point/test_interest_point.c
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@ -28,6 +28,7 @@
#include "dji_logger.h"
#include "dji_flight_controller.h"
#include "flight_control/test_flight_control.h"
#include "dji_aircraft_info.h"
/* Private constants ---------------------------------------------------------*/
@ -45,11 +46,18 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
T_DjiInterestPointSettings interestPointSettings = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiFlightControllerRidInfo ridInfo = {0};
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0};
ridInfo.latitude = 22.542812;
ridInfo.longitude = 113.958902;
ridInfo.altitude = 10;
returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get aircraft base info error");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
}
returnCode = DjiFlightController_Init(ridInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
@ -74,8 +82,8 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
interestPointSettings.latitude = 22.542812;
interestPointSettings.longitude = 113.958902;
interestPointSettings.latitude = 22.57775;
interestPointSettings.longitude = 113.94265;
returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -83,25 +91,37 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
return returnCode;
}
if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
interestPointSettings.payloadCameraIndex = 1;
USER_LOG_INFO("The sample try to use payload camera on position %d for poi, please make sure that DJI camera mounted on this position.",
interestPointSettings.payloadCameraIndex);
}
USER_LOG_INFO("Start interest point circle, circumcenter(%f, %f)", interestPointSettings.latitude, interestPointSettings.longitude);
returnCode = DjiInterestPoint_Start(interestPointSettings);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest start failed, errno=%lld", returnCode);
return returnCode;
}
DjiInterestPoint_SetSpeed(5.0f);
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("set speed to 15");
DjiInterestPoint_SetSpeed(15.0f);
for (int i = 0; i < 60; ++i) {
USER_LOG_INFO("Interest point mission running %d.", i);
osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Stop interest point circle");
returnCode = DjiInterestPoint_Stop();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest stop failed, errno=%lld", returnCode);
return returnCode;
}
USER_LOG_INFO("Force landing");
DjiFlightController_StartForceLanding();
returnCode = DjiInterestPoint_DeInit();
@ -122,7 +142,11 @@ T_DjiReturnCode DjiTest_InterestPointRunSample(void)
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
{
USER_LOG_INFO("Interest point state: %d, radius: %.2f m, speed: %.2f m/s", missionState.state, missionState.radius,
USER_LOG_INFO("Interest point state: %s, radius: %.2f m, speed: %.2f m/s",
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_NOT_STARTED ? "not started" :
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_PAUSE ? "pause" :
missionState.state == DJI_INTEREST_POINT_MISSION_ACTION_STATE_RUNNING ? "running" : "unknown",
missionState.radius,
missionState.curSpeed);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;