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NEW: release DJI Payload-SDK version 3.3

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-11-18 20:59:40 +08:00
parent 513d3537e2
commit f33308c85b
79 changed files with 1185370 additions and 1979 deletions
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75
samples/sample_c/module_sample/flight_control/test_flight_control.c
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@ -702,24 +702,32 @@ void DjiTest_FlightControlSetGetParamSample()
/*! Turn on horizontal radar avoid enable */
USER_LOG_INFO("--> Step 3: Turn on horizontal radar obstacle avoidance");
DjiTest_WidgetLogAppend("--> Step 3: Turn on horizontal radar obstacle avoidance");
returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
};
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
};
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
DjiTest_WidgetLogAppend("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
&horizontalRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
&horizontalRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get horizontal radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("Current horizontal radar obstacle avoidance status is %d\r\n",
horizontalRadarObstacleAvoidanceStatus);
}
USER_LOG_INFO("Current horizontal radar obstacle avoidance status is %d\r\n",
horizontalRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
/*! Turn on upwards vision avoid enable */
@ -747,23 +755,32 @@ void DjiTest_FlightControlSetGetParamSample()
/*! Turn on upwards radar avoid enable */
USER_LOG_INFO("--> Step 7: Turn on upwards radar obstacle avoidance.");
DjiTest_WidgetLogAppend("--> Step 7: Turn on upwards radar obstacle avoidance.");
returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Turn on upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
DjiTest_WidgetLogAppend("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(&upwardsRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
&upwardsRadarObstacleAvoidanceStatus);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Get upwards radar obstacle avoidance failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("Current upwards radar obstacle avoidance status is %d\r\n", upwardsRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
}
USER_LOG_INFO("Current upwards radar obstacle avoidance status is %d\r\n", upwardsRadarObstacleAvoidanceStatus);
s_osalHandler->TaskSleepMs(1000);
/*! Turn on downwards vision avoid enable */
USER_LOG_INFO("--> Step 9: Turn on downwards visual obstacle avoidance.");
@ -1237,11 +1254,11 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
return false;
}
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING)) {
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_AUTO_LANDING) {
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
@ -1468,9 +1485,9 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
}
case DJI_FLIGHT_CONTROLLER_OSDK_GET_JOYSTICK_CTRL_AUTH_EVENT: {
if (eventData.curJoystickCtrlAuthority == DJI_FLIGHT_CONTROLLER_JOYSTICK_CTRL_AUTHORITY_OSDK) {
USER_LOG_INFO("[Event]Osdk request to obtain joystick ctrl authority\r\n");
USER_LOG_INFO("[Event] Request to obtain joystick ctrl authority\r\n");
} else {
USER_LOG_INFO("[Event]Osdk request to release joystick ctrl authority\r\n");
USER_LOG_INFO("[Event] Request to release joystick ctrl authority\r\n");
}
break;
}
@ -1496,7 +1513,7 @@ DjiTest_FlightControlJoystickCtrlAuthSwitchEventCallback(T_DjiFlightControllerJo
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc for low battery land\r\n");
break;
case DJI_FLIGHT_CONTROLLER_OSDK_LOST_GET_JOYSTICK_CTRL_AUTH_EVENT:
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to osdk lost\r\n");
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to sdk lost\r\n");
break;
case DJI_FLIGHT_CONTROLLER_NERA_FLIGHT_BOUNDARY_RESET_JOYSTICK_CTRL_AUTH_EVENT :
USER_LOG_INFO("[Event]Current joystick ctrl authority is reset to rc due to near boundary\r\n");