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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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29
samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp
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@ -89,15 +89,7 @@ start:
<<
std::endl;
std::cout
<< "| [1] Select gimbal mount position at NO.1 payload port |"
<<
std::endl;
std::cout
<< "| [2] Select gimbal mount position at NO.2 payload port |"
<<
std::endl;
std::cout
<< "| [3] Select gimbal mount position at NO.3 payload port |"
<< "| [1 ~ 4] Select gimbal mount position at NO.1~NO.4 |"
<<
std::endl;
std::cout
@ -110,7 +102,7 @@ start:
return;
}
if (mountPosition > '3' || mountPosition < '1') {
if (mountPosition > '4' || mountPosition < '1') {
USER_LOG_ERROR("Input mount position is invalid");
goto start;
}
@ -247,6 +239,7 @@ start:
T_DjiGimbalManagerRotation rotation;
T_DjiAircraftInfoBaseInfo baseInfo;
E_DjiAircraftSeries aircraftSeries;
E_DjiFcSubscriptionTopic topicOfPayloadGimablAngle;
returnCode = DjiGimbalManager_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -288,12 +281,24 @@ start:
}
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
topicOfPayloadGimablAngle = DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES;
returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto end;
}
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES succefully.");
} else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
topicOfPayloadGimablAngle = gimbalMountPosition == 1 ? DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO1 :
gimbalMountPosition == 2 ? DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO2 :
gimbalMountPosition == 3 ? DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO3 :
gimbalMountPosition == 4 ? DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO4 : DJI_FC_SUBSCRIPTION_TOPIC_TOTAL_NUMBER;
returnCode = DjiFcSubscription_SubscribeTopic(topicOfPayloadGimablAngle, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto end;
}
USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO%d succefully.", gimbalMountPosition);
}
@ -403,8 +408,8 @@ start:
threeGimbalData.anglesData[gimbalMountPosition - 1].yaw);
}
else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
aircraftSeries == DJI_AIRCRAFT_SERIES_M3D || aircraftSeries == DJI_AIRCRAFT_SERIES_M400) {
returnCode = DjiFcSubscription_GetLatestValueOfTopic(topicOfPayloadGimablAngle,
(uint8_t *) &gimbalAngles,
sizeof(T_DjiFcSubscriptionGimbalAngles),
&timestamp);