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更新到psdk 3.13.0，适配M400

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tangchao0503
2025-09-10 16:03:18 +08:00
parent 985374a323 d856dd6ee8
commit 7fe9650e97
517 changed files with 197499 additions and 7197653 deletions
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9
samples/sample_c/module_sample/xport/test_payload_xport.c
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@ -99,6 +99,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置俯仰轴关节角（PITCH_JOINT_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1200;
USER_LOG_INFO("Set joint angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -108,6 +109,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置俯仰轴欧拉角（PITCH_EULER_ANGLE）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1200;
USER_LOG_INFO("Set euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -117,6 +119,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
//设置扩展俯仰轴欧拉角（PITCH_EULER_ANGLE_EXTENSION）限位
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1000;
USER_LOG_INFO("Set extended euler angle limit of pitch axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE_EXTENSION, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set pitch extension euler angle limit angle for XPort error: 0x%08llX.", djiStat);
@ -140,11 +143,13 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
limitAngle.upperLimit = 1500;
limitAngle.lowerLimit = -1500;
} else {
USER_LOG_WARN("payload mount position is unknown.");
return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
USER_LOG_WARN("unknown mounposition.");
limitAngle.upperLimit = 300;
limitAngle.lowerLimit = -1500;
}
//设置航向轴关节角（YAW_JOINT_ANGLE）限位2、
USER_LOG_INFO("Set joint angle limit of yaw axis, upperLimit %d, lowerLimit %d", limitAngle.upperLimit, limitAngle.lowerLimit);
djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_YAW_JOINT_ANGLE, limitAngle);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set yaw joint angle limit angle for XPort error: 0x%08llX.", djiStat);