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NEW: release DJI Payload-SDK version 3.6

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-09-18 20:37:36 +08:00
parent 59b71864e4
commit ae9653a52f
89 changed files with 67525 additions and 354 deletions
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16
samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp
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@ -54,6 +54,22 @@ static const char *s_cameraManagerSampleSelectList[] = {
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY] = "Thermometry test |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO] = "Get lidar ranging info |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM] = "Set ir camera zoom param |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE] = "Set night scene mode |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS] = "Set capture or recording streams storage type |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO] = "Show storage info |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD] = "Format SD card |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM] = "Set synchronized split screen zoom |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME] = "Set custom directory or file name of media file |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS] = "Reset camera settings |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE] = "Set AE lock mode |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE] = "Set focus ring value |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST] = "Camera connect status test |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM] = "Set camera photo and video storage param |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE] = "Set camera metering mode |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT] = "Set and get camera metering point |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER] = "Set FFC mode and trriger a FFC |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE] = "Set infrared camera gain mode |",
[E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS] = "Get camera status, capturing & recording status etc |",
};
/* Private types -------------------------------------------------------------*/

68
samples/sample_c++/module_sample/flight_controller/config/flying_config.json Normal file
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@ -0,0 +1,68 @@
{
"rc_lost_action": {
"desc_cn": "失控行为",
"desc_en": "rc lost action",
"desc_range": "go_home/hover/landing",
"value": "go_home"
},
"go_home_altitude": {
"desc_cn": "返航高度",
"desc_en": "go home altitude",
"desc_range": "0 - 1500",
"value": 60
},
"flying_speed": {
"desc_cn": "飞行速度",
"desc_en": "flying speed",
"desc_range": "0 - 10",
"value": 5.0
},
"home_point_latitude": {
"desc_cn": "home点纬度",
"desc_en": "home point latitude",
"desc_range": "-90 - 90",
"value": 22.5425
},
"home_point_longitude": {
"desc_cn": "home点经度",
"desc_en": "home point longitude",
"desc_range": "-180 - 180",
"value": 113.9575
},
"rtk_enable": {
"desc_cn": "RTK开关",
"desc_en": "RTK Enable",
"desc_range": "true/false",
"value": "false"
},
"HorizontalVisualObstacleAvoidanceEnable": {
"desc_cn": "水平视觉避障开关",
"desc_en": "Horizontal Visual Avoidance",
"desc_range": "true/false",
"value": "false"
},
"HorizontalRadarObstacleAvoidanceEnable": {
"desc_cn": "水平TOF避障开关",
"desc_en": "Horizontal TOF Avoidance",
"desc_range": "true/false",
"value": "false"
},
"UpwardsVisualObstacleAvoidanceEnable": {
"desc_cn": "上视觉避障开关",
"desc_en": "Upwards Visual Avoidance",
"desc_range": "true/false",
"value": "false"
},
"UpwardsRadarObstacleAvoidanceEnable": {
"desc_cn": "上TOF开关",
"desc_en": "Upwards TOF Avoidance",
"desc_range": "true/false",
"value": "false"
},
"DownwardsVisualObstacleAvoidanceEnable": {
"desc_cn": "下视觉避障开关",
"desc_en": "Downwards Visual Avoidance",
"desc_range": "true/false",
"value": "false"
}
}

1087
samples/sample_c++/module_sample/flight_controller/test_flight_controller_command_flying.cpp Normal file
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48
samples/sample_c++/module_sample/flight_controller/test_flight_controller_command_flying.h Normal file
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@ -0,0 +1,48 @@
/**
********************************************************************
* @file test_flight_controller_command_flying.h
* @brief This is the header file for "test_flight_controller_command_flying.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
#define TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
void DjiUser_RunFlightControllerCommandFlyingSample(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

109
samples/sample_c++/module_sample/flight_controller/test_flight_controller_entry.cpp Normal file
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@ -0,0 +1,109 @@
/**
********************************************************************
* @file test_flight_controller_entry.cpp
* @brief
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <iostream>
#include <flight_control/test_flight_control.h>
#include "test_flight_controller_entry.h"
#include "dji_logger.h"
#include "test_flight_controller_command_flying.h"
#include <waypoint_v2/test_waypoint_v2.h>
#include <waypoint_v3/test_waypoint_v3.h>
#include <interest_point/test_interest_point.h>
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
void DjiUser_RunFlightControllerSample(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
char inputSelectSample;
start:
osalHandler->TaskSleepMs(100);
std::cout
<< "\n"
<< "| Available commands: |\n"
<< "| [0] Flight controller sample - control flying with keyboard |\n"
<< "| [1] Flight controller sample - take off landing |\n"
<< "| [2] Flight controller sample - take off position ctrl landing |\n"
<< "| [3] Flight controller sample - take off go home force landing |\n"
<< "| [4] Flight controller sample - take off velocity ctrl landing |\n"
<< "| [5] Flight controller sample - arrest flying |\n"
<< "| [6] Flight controller sample - set get parameters |\n"
<< "| [7] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK) |\n"
<< "| [8] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK) |\n"
<< "| [9] Interest point sample - run interest point mission by settings (only support on M3E/M3T) |\n"
<< std::endl;
std::cin >> inputSelectSample;
switch (inputSelectSample) {
case '0':
DjiUser_RunFlightControllerCommandFlyingSample();
goto start;
case '1':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
goto start;
case '2':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
goto start;
case '3':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
goto start;
case '4':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
goto start;
case '5':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
goto start;
case '6':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
goto start;
case '7':
DjiTest_WaypointV2RunSample();
break;
case '8':
DjiTest_WaypointV3RunSample();
break;
case '9':
DjiTest_InterestPointRunSample();
break;
case 'q':
break;
default:
USER_LOG_ERROR("Input command is invalid");
goto start;
}
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c++/module_sample/flight_controller/test_flight_controller_entry.h Normal file
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@ -0,0 +1,49 @@
/**
********************************************************************
* @file test_flight_controller_entry.h
* @brief This is the header file for "test_flight_controller_entry.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef TEST_FLIGHT_CONTROLLER_ENTRY_H
#define TEST_FLIGHT_CONTROLLER_ENTRY_H
/* Includes ------------------------------------------------------------------*/
#include <gimbal_manager/test_gimbal_manager.h>
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
void DjiUser_RunFlightControllerSample(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_FLIGHT_CONTROLLER_ENTRY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

321
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp
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@ -29,7 +29,12 @@
#include "test_gimbal_entry.hpp"
#include "dji_logger.h"
#include "utils/util_misc.h"
#include "dji_gimbal.h"
#include "dji_gimbal_manager.h"
#include <iostream>
#include "dji_aircraft_info.h"
#include "dji_fc_subscription.h"
#include <math.h>
/* Private constants ---------------------------------------------------------*/
@ -37,6 +42,11 @@
typedef enum {
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD,
E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT,
} E_DjiTestGimbalManagerSampleSelect;
@ -46,6 +56,16 @@ static const char *s_gimbalManagerSampleList[] = {
"| [0] Gimbal manager sample - Rotate gimbal on free mode |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE] =
"| [1] Gimbal manager sample - Rotate gimbal on yaw follow mode |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE] =
"| [2] Gimbal manager sample - Set pitch range extension mode |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE] =
"| [3] Gimbal manager sample - Set controller max speed percentage |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR] =
"| [4] Gimbal manager sample - Set controller smooth factor |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS] =
"| [5] Gimbal manager sample - Reset gimbal settings |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD] =
"| [6] Gimbal manager sample - Rotate gimbal by keyboard input and read back value |",
[E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT] =
"| [q] Gimbal manager sample - Quit |",
};
@ -60,6 +80,7 @@ void DjiUser_RunGimbalManagerSample(void)
char inputTestCase;
char mountPosition;
E_DjiMountPosition gimbalMountPosition;
T_DjiReturnCode returnCode;
start:
osalHandler->TaskSleepMs(100);
@ -110,6 +131,297 @@ start:
case '1':
DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
goto start;
case '2': {
int32_t enableFlag;
osalHandler->TaskSleepMs(10);
printf("Input enable flag: ");
scanf("%d", &enableFlag);
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
return;
}
returnCode = DjiGimbalManager_SetPitchRangeExtensionEnabled(gimbalMountPosition, (bool)enableFlag);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Set gimbal's pitch range extension mode as %d successfully!", enableFlag);
goto start;
break;
}
case '3': {
int32_t percentage;
osalHandler->TaskSleepMs(10);
printf("Input max speed percentage of yaw axis: ");
scanf("%d", &percentage);
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
return;
}
returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)percentage);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Set yaw axis's max speed percentage to %d successfully!", percentage);
osalHandler->TaskSleepMs(10);
printf("Input max speed percentage of pitch axis: ");
scanf("%d", &percentage);
returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)percentage);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Set pitch axis's max speed percentage to %d successfully!", percentage);
goto start;
break;
}
case '4': {
int32_t factor;
osalHandler->TaskSleepMs(10);
printf("Input yaw axis's smooth factor: ");
scanf("%d", &factor);
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
return;
}
returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)factor);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Set yaw axis smooth factor to %d successfully!", factor);
osalHandler->TaskSleepMs(10);
printf("Input pitch axis's smooth factor: ");
scanf("%d", &factor);
returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)factor);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Set pitch axis smooth factor to %d successfully!", factor);
goto start;
break;
}
case '5': {
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
return;
}
returnCode = DjiGimbalManager_RestoreFactorySettings(gimbalMountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed!");
}
USER_LOG_INFO("Reset gimbal factory settings successfully!");
goto start;
break;
}
case '6': {
uint32_t gimbalMode;
uint32_t rotateMode;
dji_f32_t pitch, roll, yaw;
T_DjiGimbalManagerRotation rotation;
T_DjiAircraftInfoBaseInfo baseInfo;
E_DjiAircraftSeries aircraftSeries;
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
return;
}
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
goto end;
}
aircraftSeries = baseInfo.aircraftSeries;
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d",
DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, returnCode);
goto end;
}
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, returnCode);
goto end;
}
}
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, returnCode);
goto end;
}
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA succefully.");
}
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto end;
}
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES succefully.");
}
while (1) {
T_DjiFcSubscriptionQuaternion quat;
T_DjiFcSubscriptionThreeGimbalData threeGimbalData = {0};
T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
T_DjiDataTimestamp timestamp = {0};
dji_f32_t nPitch, nRoll, nYaw;
dji_f32_t qPitch, qRoll, qYaw;
dji_f32_t yawOffset = 0;
T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp naviData = {0};
osalHandler->TaskSleepMs(5);
printf("gimbal mode: 0: free, 1: fpv, 2: yaw-follow, 3: exit sample\n");
printf("rotate mode: 0: rel, 1: abs\n");
printf("Input gimbal mode, rotate mode, p, r, y(range in 0 ~ 360 deg if in abs mode): ");
scanf("%d", &gimbalMode);
if (gimbalMode == 3) {
break;
}
scanf("%d %f %f %f", &rotateMode, &pitch, &roll, &yaw);
printf("gimbale mode %d, rotate mode %d, p %f, r %f, y %f\n",
gimbalMode, rotateMode, pitch, roll, yaw);
returnCode = DjiGimbalManager_SetMode(gimbalMountPosition, (E_DjiGimbalMode)gimbalMode);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiGimbalManager_SetMode return 0x%08X", returnCode);
goto end;
}
rotation.rotationMode = (E_DjiGimbalRotationMode)rotateMode;
rotation.pitch = pitch;
rotation.roll = roll;
rotation.yaw = yaw;
rotation.time = 0.5;
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
osalHandler->TaskSleepMs(20);
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP,
(uint8_t *) &naviData,
sizeof(T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp),
&timestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("returnCode = 0x%08X", returnCode);
}
nYaw = (dji_f64_t) atan2f(2 * naviData.q[1] * naviData.q[2] + 2 * naviData.q[0] * naviData.q[3],
-2 * naviData.q[2] * naviData.q[2] - 2 * naviData.q[3] * naviData.q[3] + 1) * 57.3;
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION,
(uint8_t *) &quat,
sizeof(T_DjiFcSubscriptionQuaternion),
&timestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
goto end;
}
qYaw = (dji_f64_t) atan2f(2 * quat.q1 * quat.q2 + 2 * quat.q0 * quat.q3,
-2 * quat.q2 * quat.q2 - 2 * quat.q3 * quat.q3 + 1) * 57.3;
yawOffset = nYaw - qYaw;
if (rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
rotation.yaw += yawOffset;
}
}
returnCode = DjiGimbalManager_Rotate(gimbalMountPosition, rotation);
if (returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_POSITIVE_LIMIT ||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_NEGATIVE_LIMIT ||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_POSITIVE_LIMIT ||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_NEGATIVE_LIMIT ||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_POSITIVE_LIMIT ||
returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_NEGATIVE_LIMIT) {
USER_LOG_WARN("Reach limitation!");
}
else if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiGimbalManager_Rotate return %x%08X", returnCode);
goto end;
}
osalHandler->TaskSleepMs(2000);
if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA,
(uint8_t *) &threeGimbalData,
sizeof(T_DjiFcSubscriptionThreeGimbalData),
&timestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
goto end;
}
if (threeGimbalData.anglesData[0].yaw < 0) {
threeGimbalData.anglesData[0].yaw = 360 + threeGimbalData.anglesData[0].yaw;
}
USER_LOG_INFO("reab back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
threeGimbalData.anglesData[gimbalMountPosition - 1].pitch,
threeGimbalData.anglesData[gimbalMountPosition - 1].roll,
threeGimbalData.anglesData[gimbalMountPosition - 1].yaw);
}
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
(uint8_t *) &gimbalAngles,
sizeof(T_DjiFcSubscriptionGimbalAngles),
&timestamp);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
goto end;
}
if (gimbalAngles.z < 0) {
gimbalAngles.z = 360 + gimbalAngles.z;
}
USER_LOG_INFO("read back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
gimbalAngles.x, gimbalAngles.y, gimbalAngles.z);
}
}
break;
}
case 'q':
break;
default:
@ -117,6 +429,15 @@ start:
goto start;
}
end:
returnCode = DjiGimbalManager_Deinit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit gimbal manager error, return code 0x%08X", returnCode);
return;
}
USER_LOG_INFO("Gimbal sample end");
return;
}
/* Private functions definition-----------------------------------------------*/

82
samples/sample_c++/module_sample/hms_manager/hms_manager_entry.cpp Normal file
View File

@ -0,0 +1,82 @@
/**
********************************************************************
* @file hms_manager_entry.cpp
* @brief
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "hms_manager_entry.h"
#include "dji_platform.h"
#include <iostream>
#include "dji_logger.h"
#include "hms/test_hms.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
void DjiUser_RunHmsManagerSample(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
char inputSelectSample;
start:
osalHandler->TaskSleepMs(100);
std::cout
<< "\n"
<< "| Available commands: |\n"
<< "| [0] Hms manager sample - Chinese language |\n"
<< "| [1] Hms manager sample - English language |\n"
<< "| [2] Hms manager sample - Japanese language |\n"
<< "| [3] Hms manager sample - French language |\n"
<< std::endl;
std::cin >> inputSelectSample;
switch (inputSelectSample) {
case '0':
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_CHINESE);
goto start;
case '1':
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_ENGLISH);
goto start;
case '2':
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_JAPANESE);
goto start;
case '3':
DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_FRENCH);
goto start;
case 'q':
break;
default:
USER_LOG_ERROR("Input command is invalid");
goto start;
}
}
/* Private functions definition-----------------------------------------------*/
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

49
samples/sample_c++/module_sample/hms_manager/hms_manager_entry.h Normal file
View File

@ -0,0 +1,49 @@
/**
********************************************************************
* @file hms_manager_entry.h
* @brief This is the header file for "hms_manager_entry.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef HMS_MANAGER_ENTRY_H
#define HMS_MANAGER_ENTRY_H
/* Includes ------------------------------------------------------------------*/
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
void DjiUser_RunHmsManagerSample(void);
#ifdef __cplusplus
}
#endif
#endif // HMS_MANAGER_ENTRY_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/