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NEW: release DJI Payload-SDK version 3.12.0

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DJI
2025-06-27 22:36:34 +08:00
parent 54b9f6c6c1
commit 326b8698dd
381 changed files with 122574 additions and 451 deletions
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49
samples/sample_c++/module_sample/flight_controller/test_flight_controller_command_flying.cpp
View File

@ -84,6 +84,7 @@ static T_DjiFcSubscriptionControlDevice DjiUser_FlightControlGetValueOfControlDe
static T_DjiFcSubscriptionSingleBatteryInfo DjiUser_FlightControlGetValueOfBattery1(void);
static T_DjiFcSubscriptionSingleBatteryInfo DjiUser_FlightControlGetValueOfBattery2(void);
static T_DjiReturnCode DjiUser_FlightControlUpdateConfig(void);
static T_DjiReturnCode DjiUser_ShowCommandFlyingMenu(void);
/* Exported functions definition ---------------------------------------------*/
void DjiUser_RunFlightControllerCommandFlyingSample(void)
@ -107,7 +108,9 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
return;
}
osalHandler->TaskSleepMs(1000);
osalHandler->TaskSleepMs(3000);
DjiUser_ShowCommandFlyingMenu();
while (1) {
osalHandler->TaskSleepMs(1);
@ -119,7 +122,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Front\r\n");
break;
case 'S':
case 's':
@ -128,7 +130,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Near\r\n");
break;
case 'A':
case 'a':
@ -137,7 +138,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Left\r\n");
break;
case 'D':
case 'd':
@ -146,7 +146,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Right\r\n");
break;
case 'Q':
case 'q':
@ -155,7 +154,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = s_flyingSpeed;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Up\r\n");
break;
case 'E':
case 'e':
@ -164,7 +162,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = -s_flyingSpeed;
s_flyingCommand.yaw = 0;
s_inputFlag = 0;
USER_LOG_INFO(" - Down\r\n");
break;
case 'Z':
case 'z':
@ -173,7 +170,6 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = -30;
s_inputFlag = 0;
USER_LOG_INFO(" - Yaw--\r\n");
break;
case 'C':
case 'c':
@ -182,96 +178,112 @@ void DjiUser_RunFlightControllerCommandFlyingSample(void)
s_flyingCommand.z = 0;
s_flyingCommand.yaw = 30;
s_inputFlag = 0;
USER_LOG_INFO(" - Yaw++\r\n");
break;
case 'R':
case 'r':
DjiFlightController_ObtainJoystickCtrlAuthority();
DjiFlightController_StartTakeoff();
USER_LOG_INFO(" - Take off\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'F':
case 'f':
DjiFlightController_StartForceLanding();
USER_LOG_INFO(" - Force landing\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'H':
case 'h':
DjiFlightController_StartGoHome();
USER_LOG_INFO(" - Start go home\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'Y':
case 'y':
DjiFlightController_CancelGoHome();
USER_LOG_INFO(" - Cancel go home\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'G':
case 'g':
DjiFlightController_StartLanding();
USER_LOG_INFO(" - Start landing\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'T':
case 't':
DjiFlightController_CancelLanding();
USER_LOG_INFO(" - Cancel landing\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'V':
case 'v':
DjiFlightController_StartConfirmLanding();
USER_LOG_INFO(" - Confirm landing\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'X':
case 'x':
s_homeLocation.longitude = (dji_f64_t) s_gpsPosition.x / 10000000;
s_homeLocation.latitude = (dji_f64_t) s_gpsPosition.y / 10000000;
DjiFlightController_SetHomeLocationUsingCurrentAircraftLocation();
USER_LOG_INFO(" - Set home location\r\n");
USER_LOG_INFO(" - Set home location (%.4f, %.4f)\r\n", s_homeLocation.longitude, s_homeLocation.latitude);
DjiUser_ShowCommandFlyingMenu();
break;
case 'P':
case 'p':
DjiFlightController_EmergencyStopMotor(DJI_FLIGHT_CONTROLLER_ENABLE_EMERGENCY_STOP_MOTOR,
(char *) "Test is ok");
USER_LOG_INFO(" - Emergency stop motor\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'B':
case 'b':
DjiFlightController_TurnOnMotors();
USER_LOG_INFO(" - Turn on motors\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'N':
case 'n':
DjiFlightController_TurnOffMotors();
USER_LOG_INFO(" - Turn off motors\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'J':
case 'j':
DjiUser_FlightControlUpdateConfig();
USER_LOG_INFO(" - Update config\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'I':
case 'i':
DjiFlightController_ArrestFlying();
USER_LOG_INFO(" - Enable arrest flying\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'O':
case 'o':
DjiFlightController_CancelArrestFlying();
USER_LOG_INFO(" - Disable arrest flying\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'K':
case 'k':
DjiFlightController_ExecuteEmergencyBrakeAction();
USER_LOG_INFO(" - Brake\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'L':
case 'l':
DjiFlightController_CancelEmergencyBrakeAction();
USER_LOG_INFO(" - Disable Brake\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
case 'M':
case 'm':
DjiFlightController_ObtainJoystickCtrlAuthority();
USER_LOG_INFO(" - Obtain joystick ctrl authority\r\n");
DjiUser_ShowCommandFlyingMenu();
break;
}
}
@ -1086,5 +1098,22 @@ static T_DjiReturnCode DjiUser_FlightControlUpdateConfig(void)
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
#endif
}
static T_DjiReturnCode DjiUser_ShowCommandFlyingMenu(void)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
osalHandler->TaskSleepMs(2);
USER_LOG_INFO("Usage: [W] Front [A]-Left, [S]-Rear, [D]-Right");
USER_LOG_INFO("Usage: [Q]-Up [E]-Down, [Z]-Yaw--, [C]-Yaw++");
USER_LOG_INFO("Usage: [R]-Take off [F]-Force landing, [H]-Start go home, [Y]-Cancel go home");
USER_LOG_INFO("Usage: [G]-Start landing [T]-Cancel landing, [V]-Confirm landing, [X]-Set home location");
USER_LOG_INFO("Usage: [P]-Emergency stop motor, [B]-Turn on motors, [N]-Turn off motors, [J]-Update config");
USER_LOG_INFO("Usage: [I]-Enable arrest flying, [O]-Disable arrest flying, [K]-Emergency brake, [L]-Diasble Brake");
USER_LOG_INFO("Usage: [M]-Obtain joystick ctrl authority");
osalHandler->TaskSleepMs(2);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

8
samples/sample_c++/module_sample/flight_controller/test_flight_controller_entry.cpp
View File

@ -63,6 +63,8 @@ start:
<< "| [8] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK) |\n"
<< "| [9] Interest point sample - run interest point mission by settings (only support on M3E/M3T) |\n"
<< "| [a] EU-C6 FTS trigger sample - receive fts callback to trigger parachute function (only support on M3D/M3DT) |\n"
<< "| [b] Slow rotate blade sample, only support on M400 |\n"
<< "| [c] Select FTS pwm trigger position, only support on M4/M4T/M4D/M4TD |\n"
<< std::endl;
std::cin >> inputSelectSample;
@ -100,6 +102,12 @@ start:
case 'a':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER);
break;
case 'b':
DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SLOW_ROTATE_BLADE);
break;
case 'c':
DjiTest_FlightControlFtsPwmTriggerSample();
break;
case 'q':
break;
default: