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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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25
samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c
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@ -77,6 +77,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
T_DjiGimbalManagerRotation rotation;
T_DjiAircraftInfoBaseInfo baseInfo;
E_DjiAircraftSeries aircraftSeries;
bool gimbalAnglesSubscribedFlag = false;
returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -89,10 +90,17 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
USER_LOG_INFO("Gimbal manager sample start");
DjiTest_WidgetLogAppend("Gimbal manager sample start");
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("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto out;
if (DJI_AIRCRAFT_SERIES_M30 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M3 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M3D == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M4 == aircraftSeries ||
DJI_AIRCRAFT_SERIES_M4D == aircraftSeries) {
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("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
goto out;
}
gimbalAnglesSubscribedFlag = true;
}
USER_LOG_INFO("--> Step 1: Init gimbal manager module");
@ -170,9 +178,12 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
}
}
returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
if (gimbalAnglesSubscribedFlag) {
returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
}
gimbalAnglesSubscribedFlag = false;
}
USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");