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xin
2026-01-08 16:00:08 +08:00
parent 7396728ea7
commit a76d4b77e9
213 changed files with 8883 additions and 7196579 deletions
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74
PSDK/samples/sample_c/module_sample/positioning/test_positioning.c
View File

@ -27,6 +27,7 @@
#include <fc_subscription/test_fc_subscription.h>
#include "test_positioning.h"
#include "dji_positioning.h"
#include "dji_network_rtk.h"
#include "dji_logger.h"
#include "utils/util_misc.h"
#include "dji_platform.h"
@ -39,11 +40,11 @@
#endif
/* Private constants ---------------------------------------------------------*/
#define POSITIONING_TASK_FREQ (1)
#define POSITIONING_TASK_STACK_SIZE (2048)
#define POSITIONING_TASK_FREQ (0.1)
#define POSITIONING_TASK_STACK_SIZE (3 * 1024)
#define TEST_RTCM_FILE_PATH_STR_MAX_SIZE (64)
#define DJI_TEST_POSITIONING_EVENT_COUNT (2)
#define DJI_TEST_POSITIONING_EVENT_COUNT (1)
#define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US (200000)
/* Private types -------------------------------------------------------------*/
@ -58,8 +59,10 @@ static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t ind
/* Private variables ---------------------------------------------------------*/
static T_DjiTaskHandle s_userPositioningThread;
static int32_t s_eventIndex = 0;
#ifdef SYSTEM_ARCH_LINUX
static char s_rtkOnAircraftRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
static char s_rtkBaseStationRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
#endif
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_PositioningStartService(void)
@ -79,7 +82,7 @@ T_DjiReturnCode DjiTest_PositioningStartService(void)
if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("user positioning task create error.");
USER_LOG_ERROR("user ps_extensionPortSampleIndexositioning task create error.");
return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
}
#else
@ -113,6 +116,51 @@ T_DjiReturnCode DjiTest_PositioningStartService(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
static void DjiTest_ReceiveNetworkRtkStateCallback(E_DjiNetworkRtkOnboardState state)
{
USER_LOG_INFO("Network rtk state: %d", state);
}
T_DjiReturnCode DjiTest_NetworkRtkOnBoardService(E_DjiTestNetworkRtkCtrl ctrl)
{
T_DjiReturnCode djiStat;
USER_LOG_INFO("Network rtk service %s..", ctrl == DJI_TEST_NETWORK_RTK_START ? "start":"stop");
switch (ctrl)
{
case DJI_TEST_NETWORK_RTK_START:
djiStat = DjiNetworkRtk_RegReceiveNetworkRtkStateCallback(DjiTest_ReceiveNetworkRtkStateCallback);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("Register receive network rtk state callback error.");
return djiStat;
}
/* example account */
T_DjiNetworkRtkServiceConfig config = {
.account = "12345",
.password = "12345",
.host = "12345",
.port = "123",
.mountPoint = "234",
};
djiStat = DjiNetworkRtk_StartService(&config);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("start network rtk on aircraft error.");
return djiStat;
}
break;
case DJI_TEST_NETWORK_RTK_STOP:
djiStat = DjiNetworkRtk_StopService();
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
{
USER_LOG_ERROR("stop network rtk on aircraft error.");
return djiStat;
}
break;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
#ifndef __CC_ARM
#pragma GCC diagnostic push
@ -168,22 +216,22 @@ static void *DjiTest_PositioningTask(void *arg)
continue;
}
USER_LOG_DEBUG("request position of target points success.");
USER_LOG_DEBUG("detail position information:");
USER_LOG_INFO("request position of target points success.");
USER_LOG_INFO("detail position information:");
for (i = 0; i < DJI_TEST_POSITIONING_EVENT_COUNT; ++i) {
USER_LOG_DEBUG("position solution property: %d.", positionInfo[i].positionSolutionProperty);
USER_LOG_DEBUG("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
USER_LOG_INFO("position solution property: %d.", positionInfo[i].positionSolutionProperty);
USER_LOG_INFO("pitchAttitudeAngle: %d\trollAttitudeAngle: %d\tyawAttitudeAngle: %d",
positionInfo[i].uavAttitude.pitch, positionInfo[i].uavAttitude.roll,
positionInfo[i].uavAttitude.yaw);
USER_LOG_DEBUG("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
USER_LOG_INFO("northPositionOffset: %d\tearthPositionOffset: %d\tdownPositionOffset: %d",
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.x,
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.y,
positionInfo[i].offsetBetweenMainAntennaAndTargetPoint.z);
USER_LOG_DEBUG("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
USER_LOG_INFO("longitude: %.8f\tlatitude: %.8f\theight: %.8f",
positionInfo[i].targetPointPosition.longitude,
positionInfo[i].targetPointPosition.latitude,
positionInfo[i].targetPointPosition.height);
USER_LOG_DEBUG(
USER_LOG_INFO(
"longStandardDeviation: %.8f\tlatStandardDeviation: %.8f\thgtStandardDeviation: %.8f",
positionInfo[i].targetPointPositionStandardDeviation.longitude,
positionInfo[i].targetPointPositionStandardDeviation.latitude,
@ -198,9 +246,9 @@ static void *DjiTest_PositioningTask(void *arg)
#pragma GCC diagnostic pop
#endif
#ifdef SYSTEM_ARCH_LINUX
static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_t len)
{
#ifdef SYSTEM_ARCH_LINUX
FILE *fp = NULL;
size_t size;
@ -218,9 +266,9 @@ static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_
fflush(fp);
fclose(fp);
#endif
return 0;
}
#endif
static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
uint16_t dataLen)

6
PSDK/samples/sample_c/module_sample/positioning/test_positioning.h
View File

@ -36,12 +36,18 @@ extern "C" {
/* Exported constants --------------------------------------------------------*/
typedef enum {
DJI_TEST_NETWORK_RTK_START = 0,
DJI_TEST_NETWORK_RTK_STOP = 1,
} E_DjiTestNetworkRtkCtrl;
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_PositioningStartService(void);
T_DjiReturnCode DjiTest_NetworkRtkOnBoardService(E_DjiTestNetworkRtkCtrl ctrl);
#ifdef __cplusplus
}