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Merge branch 'master' of https://github.com/dji-sdk/Payload-SDK

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This commit is contained in:
tangchao0503
2025-10-24 11:03:55 +08:00
parent a8f908f071 268952e392
commit 7a56cd1d0b
16 changed files with 127 additions and 17 deletions
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75
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -100,6 +100,7 @@ static void DjiTest_FlightControlArrestFlyingSample(void);
static void DjiTest_FlightControlSetGetParamSample(void);
static void DjiTest_FlightControlPassiveTriggerFtsSample(void);
static void DjiTest_FlightControlSlowRotateMotorSample(void);
static void DjiTest_FlightControlRCLostActionEnableSample(void);
static T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void);
static void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
@ -116,6 +117,11 @@ T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect f
USER_LOG_ERROR("Init flight Control sample failed,error code:0x%08llX", returnCode);
return returnCode;
}
returnCode = DjiFlightController_SetRCLostActionEnableStatus(DJI_FLIGHT_CONTROLLER_DISABLE_RC_LOST_ACTION);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_WARN("Set RC lost action status disable failed,error code:0x%08llX, That means the aircraft will execute the RC lost Action when RC is lost — RC-less flight not supported.", returnCode);
// go through
}
DjiTest_FlightControlSample(flightCtrlSampleSelect);
@ -980,6 +986,71 @@ static void DjiTest_FlightControlSlowRotateMotorSample(void)
escStatus == DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE ? "all" : "(error)");
}
void DjiTest_FlightControlRCLostActionEnableSample()
{
T_DjiReturnCode returnCode;
USER_LOG_INFO("Flight control RC-lost-action-enable sample start");
DjiTest_WidgetLogAppend("Flight control RC-lost-action-enable sample start");
USER_LOG_INFO("--> Prepare: Set RC Lost action enable, set RC lost action landing");
returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_LANDING);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set RC Lost action failed, error code: 0x%08X", returnCode);
goto out;
}
returnCode = DjiFlightController_SetRCLostActionEnableStatus(DJI_FLIGHT_CONTROLLER_ENABLE_RC_LOST_ACTION);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Set RC Lost action status enable failed, error code: 0x%08X", returnCode);
goto out;
}
USER_LOG_INFO("--> Step 1: Obtain joystick control authority");
DjiTest_WidgetLogAppend("--> Step 1: Obtain joystick control authority");
returnCode = DjiFlightController_ObtainJoystickCtrlAuthority();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Obtain joystick authority failed, error code: 0x%08X", returnCode);
goto out;
}
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Step 2: Take off\r\n");
DjiTest_WidgetLogAppend("--> Step 2: Take off\r\n");
if (!DjiTest_FlightControlMonitoredTakeoff()) {
USER_LOG_ERROR("Take off failed");
goto out;
}
USER_LOG_INFO("Successful take off\r\n");
DjiTest_WidgetLogAppend("Successful take off\r\n");
USER_LOG_INFO("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 0, 30}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point failed");
goto out;
}
USER_LOG_INFO("--> Step 4: Turn off the RC and check if it RTHs and lands...");
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Please Turn off the RC and check if it RTHs and lands...");
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("--> Please Turn off the RC and check if it RTHs and lands...");
s_osalHandler->TaskSleepMs(1000);
USER_LOG_INFO("-> Step 5: Release joystick authority");
DjiTest_WidgetLogAppend("-> Step 5: Release joystick authority");
returnCode = DjiFlightController_ReleaseJoystickCtrlAuthority();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Release joystick authority failed, error code: 0x%08X", returnCode);
goto out;
}
out:
USER_LOG_INFO("Flight control RC-lost-action-enable sample end");
DjiTest_WidgetLogAppend("Flight control RC-lost-action-enable sample end");
}
void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect)
{
switch (flightCtrlSampleSelect) {
@ -1015,6 +1086,10 @@ void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampl
DjiTest_FlightControlSlowRotateMotorSample();
break;
}
case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_RC_LOST_ACTION_STATUS_ENBALE: {
DjiTest_FlightControlRCLostActionEnableSample();
break;
}
default:
break;
}

1
samples/sample_c/module_sample/flight_control/test_flight_control.h
View File

@ -44,6 +44,7 @@ typedef enum {
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SLOW_ROTATE_BLADE,
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_RC_LOST_ACTION_STATUS_ENBALE,
} E_DjiTestFlightCtrlSampleSelect;
#pragma pack(1)