diff --git a/samples/sample_c/module_sample/xport/test_payload_xport.c b/samples/sample_c/module_sample/xport/test_payload_xport.c index 5e3630e..b2bff63 100644 --- a/samples/sample_c/module_sample/xport/test_payload_xport.c +++ b/samples/sample_c/module_sample/xport/test_payload_xport.c @@ -40,9 +40,9 @@ /* Private functions declaration ---------------------------------------------*/ -static void *UserXPort_Task(void *arg); -static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemState); -static T_DjiReturnCode ReceiveXPortAttitudeInformation(T_DjiGimbalAttitudeInformation attitudeInformation); +static void *UserXPort_Task(void *arg);//用户自定义xport任务 +static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemState);//通过构造回调函数接受xport的状态信息 +static T_DjiReturnCode ReceiveXPortAttitudeInformation(T_DjiGimbalAttitudeInformation attitudeInformation);//构造回调函数获取X-Port 的姿态，在回调函数中打印X-Port 的姿态信息。 /* Private variables ---------------------------------------------------------*/ static T_DjiTaskHandle s_userXPortThread; @@ -51,6 +51,10 @@ static T_DjiGimbalSystemState s_userXPortSystemState = {0}; static bool s_isUserXPortInited = false; static bool s_isUserXPortSystemStateVaild = false; +extern char * s_strPitch; +extern char * s_strRoll; +extern char * s_strYaw; + /* Exported functions definition ---------------------------------------------*/ T_DjiReturnCode DjiTest_XPortStartService(void) { @@ -59,6 +63,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void) T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo = {0}; T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); + //X-Port 功能模块初始化 djiStat = DjiXPort_Init(); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("XPort init error: 0x%08llX.", djiStat); @@ -73,12 +78,14 @@ T_DjiReturnCode DjiTest_XPortStartService(void) return djiStat; } + //通过注册回调函数接收X-Port 的状态信息。注册后，回调函数将会被自动调用，调用频率为 djiStat = DjiXPort_RegReceiveSystemStateCallback(ReceiveXPortSystemState); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("register receive XPort system state callback function error: 0x%08llX.", djiStat); return djiStat; } + //通过注册回调函数获取X-Port 的姿态信息.注册后，回调函数将会被自动调用，调用频率为 djiStat = DjiXPort_RegReceiveAttitudeInformationCallback(ReceiveXPortAttitudeInformation); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("register receive XPort attitude information callback function error: 0x%08llX.", @@ -86,22 +93,28 @@ T_DjiReturnCode DjiTest_XPortStartService(void) return djiStat; } + //配置xport信息；开始------------------------------------------------------------------------------------------------------ + //下述代码中X-Port 的角度单位为0.1度 + + //设置俯仰轴关节角（PITCH_JOINT_ANGLE）限位 limitAngle.upperLimit = 300; - limitAngle.lowerLimit = -1000; + limitAngle.lowerLimit = -1200; 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); return djiStat; } + //设置俯仰轴欧拉角（PITCH_EULER_ANGLE）限位 limitAngle.upperLimit = 300; - limitAngle.lowerLimit = -800; + limitAngle.lowerLimit = -1200; 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); return djiStat; } + //设置扩展俯仰轴欧拉角（PITCH_EULER_ANGLE_EXTENSION）限位 limitAngle.upperLimit = 300; limitAngle.lowerLimit = -1000; djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle); @@ -110,6 +123,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void) return djiStat; } + //设置航向轴关节角（YAW_JOINT_ANGLE）限位1、获取飞机信息 → 判断云台在飞机上的挂载点 djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("get aircraft base information error: 0x%08llX.", djiStat); @@ -130,24 +144,28 @@ T_DjiReturnCode DjiTest_XPortStartService(void) return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR; } + //设置航向轴关节角（YAW_JOINT_ANGLE）限位2、 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); return djiStat; } - djiStat = DjiXPort_SetGimbalModeSync(DJI_GIMBAL_MODE_FREE); + //设置X-Port 工作模式 + djiStat = DjiXPort_SetGimbalModeSync(DJI_GIMBAL_MODE_YAW_FOLLOW); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("set XPort gimbal mode error: 0x%08llX.", djiStat); return djiStat; } + //使用X-Port 复位功能 djiStat = DjiXPort_ResetSync(DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("reset XPort gimbal error: 0x%08llX.", djiStat); return djiStat; } + //用户自定义xport功能 if (osalHandler->TaskCreate("user_xport_task", UserXPort_Task, XPORT_TASK_STACK_SIZE, NULL, &s_userXPortThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { USER_LOG_ERROR("user XPort task create error."); @@ -219,6 +237,7 @@ T_DjiReturnCode DjiTest_XPortGetSystemState(T_DjiGimbalSystemState *systemState) #pragma GCC diagnostic ignored "-Wreturn-type" #endif +//用户自定义xport功能函数实现 static void *UserXPort_Task(void *arg) { T_DjiReturnCode djiStat; @@ -234,6 +253,7 @@ static void *UserXPort_Task(void *arg) osalHandler->TaskSleepMs(1000 / XPORT_TASK_FREQ); step++; + //XPORT_TASK_FREQ（10）的整数才执行if后面的代码：获取xport限位角并打印出来 if (USER_UTIL_IS_WORK_TURN(step, 1, XPORT_TASK_FREQ)) { djiStat = DjiXPort_GetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_ROLL_JOINT_ANGLE, &limitAngle); if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) { @@ -283,6 +303,7 @@ static void *UserXPort_Task(void *arg) limitAngle.upperLimit, limitAngle.lowerLimit); } + //XPORT_TASK_FREQ（1）的整数才执行if后面的代码：设置xport速度转换系数 if (USER_UTIL_IS_WORK_TURN(step, 10, XPORT_TASK_FREQ)) { if (DjiTest_CameraIsInited()) { djiStat = DjiTest_CameraGetOpticalZoomFactor(&opticalZoomFactor); @@ -340,12 +361,22 @@ static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemStat return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; } +char * pitchTmp[10]; +char * rollTmp[10]; +char * yawTmp[10]; static T_DjiReturnCode ReceiveXPortAttitudeInformation(T_DjiGimbalAttitudeInformation attitudeInformation) { USER_LOG_DEBUG("receive XPort attitude information:"); USER_LOG_DEBUG("XPort attitude: pitch %d, roll %d, yaw %d.", attitudeInformation.attitude.pitch, attitudeInformation.attitude.roll, attitudeInformation.attitude.yaw); + sprintf(pitchTmp, "%d", attitudeInformation.attitude.pitch); + sprintf(rollTmp, "%d", attitudeInformation.attitude.roll); + sprintf(yawTmp, "%d", attitudeInformation.attitude.yaw); + s_strPitch = pitchTmp; + s_strRoll = rollTmp; + s_strYaw = yawTmp; + return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS; }