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NEW: release DJI Payload-SDK version 3.5

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-05-18 21:30:44 +08:00
parent cae3123cda
commit caa15133cd
81 changed files with 558 additions and 176 deletions
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18
samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c
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@ -35,6 +35,7 @@
#define PAYLOAD_GIMBAL_EMU_TASK_STACK_SIZE (2048)
#define PAYLOAD_GIMBAL_TASK_FREQ 1000
#define PAYLOAD_GIMBAL_CALIBRATION_TIME_MS 2000
#define PAYLOAD_GIMBAL_MIN_ACTION_TIME 5
/* Private types -------------------------------------------------------------*/
typedef enum {
@ -389,10 +390,14 @@ static void *UserGimbal_Task(void *arg)
djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
NULL);
if (djiStat == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
USER_LOG_DEBUG("Subscribe topic quaternion duplicate.");
} else if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Subscribe topic quaternion error.");
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
if (djiStat == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
USER_LOG_WARN("Subscribe topic quaternion duplicate.");
} else {
USER_LOG_ERROR("Subscribe topic quaternion error.");
}
} else {
USER_LOG_DEBUG("Subscribe topic quaternion success.");
}
while (1) {
@ -1077,6 +1082,11 @@ DjiTest_GimbalCalculateSpeed(T_DjiAttitude3d originalAttitude, T_DjiAttitude3d t
return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
}
if (actionTime == 0) {
USER_LOG_WARN("Input action time is zero, now used max speed to rotate.");
actionTime = PAYLOAD_GIMBAL_MIN_ACTION_TIME;
}
pitchSpeedTemp = (float) (targetAttitude.pitch - originalAttitude.pitch) / (float) actionTime * 100;
rollSpeedTemp = (float) (targetAttitude.roll - originalAttitude.roll) / (float) actionTime * 100;
yawSpeedTemp = (float) (targetAttitude.yaw - originalAttitude.yaw) / (float) actionTime * 100;