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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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129
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
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@ -33,8 +33,37 @@
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
typedef enum {
DJI_TEST_GIMBAL_ROTATION,
DJI_TEST_GIMBAL_RESET,
} E_DjiTestGimbalAction;
typedef struct {
E_DjiTestGimbalAction action;
T_DjiGimbalManagerRotation rotation;
} T_DjiTestGimbalActionList;
/* Private values -------------------------------------------------------------*/
static const T_DjiTestGimbalActionList s_rotationActionList[] =
{
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, -30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, -30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 4, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, -4, 0.2},
{.action = DJI_TEST_GIMBAL_RESET},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.2},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -90, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -60, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_ROTATION, .rotation.rotationMode = DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, -30, 0, 0, 0.5},
{.action = DJI_TEST_GIMBAL_RESET},
};
/* Private functions declaration ---------------------------------------------*/
@ -69,78 +98,42 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
goto out;
}
USER_LOG_INFO("--> Step 3: Rotate gimbal to target angle in relative angle mode\r\n");
DjiTest_WidgetLogAppend("--> Step 3: Rotate gimbal to target angle in relative angle mode\r\n");
for (int i = 0; i < 3; i++) {
USER_LOG_INFO("Target gimbal pry = (30, 0, 0) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 30, 0, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 30, 0) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 30, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 0, 30) in the body coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_RELATIVE_ANGLE, 0, 0, 30, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle in absolute angle mode\r\n");
DjiTest_WidgetLogAppend("--> Step 4: Rotate gimbal to target angle in absolute angle mode\r\n");
USER_LOG_INFO("--> Step 4: Rotate gimbal to target angle by action list\r\n");
for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
} else if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_ROTATION) {
for (int i = 0; i < 3; i++) {
USER_LOG_INFO("Target gimbal pry = (30, 0, 0) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 30, 0, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (30, 0, 0) failed, error code: 0x%08X", returnCode);
if (gimbalMode == DJI_GIMBAL_MODE_FREE &&
s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
continue;
}
USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw);
rotation = s_rotationActionList[i].rotation;
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
s_rotationActionList[i].rotation.yaw,
returnCode);
}
osalHandler->TaskSleepMs(1000);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 30, 0) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 0, 30, 0, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 30, 0) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal pry = (0, 0, 30) in the ground coordinate system");
rotation = (T_DjiGimbalManagerRotation) {DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE, 0, 0, 30, 0.5};
returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Target gimbal pry = (0, 0, 30) failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("Target gimbal reset.\r\n");
returnCode = DjiGimbalManager_Reset(mountPosition);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
}
osalHandler->TaskSleepMs(2000);
}
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");