xport

1、解决问题：飞机急停，俯仰角异常；
2、获取云台的姿态角，并显示到遥控器上；

samples/sample_c/module_sample/xport/test_payload_xport.c

@@ -40,9 +40,9 @@
 
 
 /* Private functions declaration ---------------------------------------------*/
-static void *UserXPort_Task(void *arg);
+static void *UserXPort_Task(void *arg);//用户自定义xport任务
-static T_DjiReturnCode ReceiveXPortSystemState(T_DjiGimbalSystemState systemState);
+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);
+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;
 }