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M350b版本

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xin
2025-12-24 09:19:07 +08:00
parent 257708ae42
commit 7396728ea7
627 changed files with 42382 additions and 250967 deletions
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106
PSDK/psdk_lib/include/dji_fc_subscription.h
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@ -520,6 +520,12 @@ typedef enum {
DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX2 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC,
47),
/*!
* @brief Please refer to ::T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp for information about data structure.
* @datastruct \ref T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp
*/
DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
/*! Total number of topics that can be subscribed. */
DJI_FC_SUBSCRIPTION_TOPIC_TOTAL_NUMBER,
} E_DjiFcSubscriptionTopic;
@ -723,6 +729,64 @@ typedef enum {
DJI_FC_SUBSCRIPTION_BATTERY_SOC_INVALID = 4, /*!< Battery SOC state is invalid. */
} E_DJIFcSubscriptionBatterySocState;
/**
* @brief Flight control mode.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_CONTROL_MODE_UNKNOWN = 0,
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_VEL_YAW_ANG = 1, /*!< Horizontal mode is angle, vertical mode is velocity, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_VEL_YAW_RAT = 2, /*!< Horizontal mode is angle, vertical mode is velocity, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_VEL_YAW_ANG = 3, /*!< Horizontal mode is velocity, vertical mode is velocity, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_VEL_YAW_RAT = 4, /*!< Horizontal mode is velocity, vertical mode is velocity, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_VEL_YAW_ANG = 5, /*!< Horizontal mode is position, vertical mode is velocity, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_VEL_YAW_RAT = 6, /*!< Horizontal mode is position, vertical mode is velocity, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_POS_YAW_ANG = 7, /*!< Horizontal mode is angle, vertical mode is position, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_POS_YAW_RAT = 8, /*!< Horizontal mode is angle, vertical mode is position, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_POS_YAW_ANG = 9, /*!< Horizontal mode is velocity, vertical mode is position, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_POS_YAW_RAT = 10, /*!< Horizontal mode is velocity, vertical mode is position, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_POS_YAW_ANG = 11, /*!< Horizontal mode is position, vertical mode is position, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_POS_YAW_RAT = 12, /*!< Horizontal mode is position, vertical mode is position, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_THR_YAW_ANG = 13, /*!< Horizontal mode is angle, vertical mode is thrust, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_ANG_VER_THR_YAW_RAT = 14, /*!< Horizontal mode is angle, vertical mode is thrust, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_THR_YAW_ANG = 15, /*!< Horizontal mode is velocity, vertical mode is thrust, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_VEL_VER_THR_YAW_RAT = 16, /*!< Horizontal mode is velocity, vertical mode is thrust, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_THR_YAW_ANG = 17, /*!< Horizontal mode is position, vertical mode is thrust, yaw mode is angle. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_POS_VER_THR_YAW_RAT = 18, /*!< Horizontal mode is position, vertical mode is thrust, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_AEL_VER_VEL_YAW_RAT = 19, /*!< Horizontal mode is angle-rate, vertical mode is velocity, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_AEL_VER_POS_YAW_RAT = 20, /*!< Horizontal mode is angle-rate, vertical mode is thrust, yaw mode is rate. */
DJI_FC_SUBSCRIPTION_CONTROL_MODE_HOR_AEL_VER_THR_YAW_RAT = 21, /*!< Horizontal mode is angle-rate, vertical mode is velocity, yaw mode is rate. */
} E_DJIFcSubscriptionControlMode;
/**
* @brief Flight control authority.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_CONTROL_AUTHORITY_RC = 0, /*!< Authority is in remote control */
DJI_FC_SUBSCRIPTION_CONTROL_AUTHORITY_MSDK = 1, /*!< Authority is in MSDK */
DJI_FC_SUBSCRIPTION_CONTROL_AUTHORITY_PSDK = 4, /*!< Authority is in PSDK */
DJI_FC_SUBSCRIPTION_CONTROL_AUTHORITY_DOCK = 5, /*!< Authority is in dock */
} E_DJIFcSubscriptionControlAuthority;
/**
* @brief Flight control authority change reason.
*/
typedef enum {
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_UNKNOWN = 0, /*!< Reason unknown */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_MSDK_REQUEST = 1, /*!< Contro authority changed by MSDK request. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_USER_REQUEST = 2, /*!< Contro authority changed by user request. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_PSDK_REQUEST = 3, /*!< Contro authority changed by PSDK request. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_RC_LOST = 4, /*!< Contro authority changed for remote control lost. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_RC_NOT_P_MODE = 5, /*!< Contro authority changed for remote control not in P mode. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_RC_SWITCH = 6, /*!< Contro authority changed for remote control switching mode. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_RC_PAUSE_STOP = 7, /*!< Contro authority changed for remote control stop key paused. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_RC_ONE_KEY_GO_HOME = 8, /*!< Contro authority changed for remote control go-home key paused. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_BATTERY_LOW_GO_HOME = 9, /*!< Contro authority changed for remote control go-home key paused. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_BATTERY_SUPER_LOW_LANDING = 10, /*!< Contro authority changed for going home caused by low batter power. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_PSDK_LOST = 11, /*!< Contro authority changed for PSDK lost. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_NEAR_BOUNDARY = 13, /*!< Contro authority changed for nearing boundary. */
DJI_FC_SUBSCRIPTION_AUTHORITY_CHANGE_REASON_AIRPORT_REQUEST = 14, /*!< Contro authority changed by airport request. */
} E_DJIFcSubscriptionAuthorityChangeReason;
#pragma pack(1)
/**
@ -994,11 +1058,22 @@ typedef struct BatterySingleInfo {
* @brief struct for TOPIC_CONTROL_DEVICE and data broadcast, return SDK info
*/
typedef struct SDKCtrlInfo {
uint8_t controlMode; /*!< See CtlrMode in dji_status.hpp*/
uint8_t deviceStatus: 3; /*!< 0->rc 1->app 4->serial */
uint8_t flightStatus: 1; /*!< 1->opensd 0->close */
uint8_t vrcStatus: 1;
uint8_t reserved: 3;
union {
/* Used by M300 & M350 */
struct {
uint8_t controlMode; /*!< enum-type: E_DJIFcSubscriptionControlMode. */
uint8_t deviceStatus: 3; /*!< 0->rc 1->app 4->psdk */
uint8_t flightStatus: 1; /*!< 1->open 0->closed */
uint8_t vrcStatus: 1;
uint8_t reserved: 3;
};
/* Used by other aircrafts */
struct {
uint8_t controlAuthority; /*!< enum-type: E_DJIFcSubscriptionControlAuthority. */
uint8_t controlAuthorityChangeReason; /*!< enum-type: E_DJIFcSubscriptionAuthorityChangeReason. */
};
};
} T_DjiFcSubscriptionControlDevice; // pack(1)
/*!
@ -1165,6 +1240,27 @@ typedef struct GimbalThreeData {
GimbalAnglesData anglesData[3];
} T_DjiFcSubscriptionThreeGimbalData;
/**
* @brief Struct for the topic DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP. Used in M300
*/
typedef struct ImuAttiNaviDataWithTimestamp {
uint16_t version;
uint16_t flag;
dji_f32_t pn_x;
dji_f32_t pn_y;
dji_f32_t pn_z;
dji_f32_t vn_x;
dji_f32_t vn_y;
dji_f32_t vn_z;
dji_f32_t an_x;
dji_f32_t an_y;
dji_f32_t an_z;
dji_f32_t q[4];
uint16_t resv;
uint16_t cnt;
uint32_t timestamp;
} T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp;
#pragma pack()
/* Exported functions --------------------------------------------------------*/