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NEW: release DJI Payload-SDK version 3.6

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-09-18 20:37:36 +08:00
parent 59b71864e4
commit ae9653a52f
89 changed files with 67525 additions and 354 deletions
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101
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -34,14 +34,6 @@
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
#pragma pack(1)
typedef struct {
dji_f32_t x;
dji_f32_t y;
dji_f32_t z;
} T_DjiTestFlightControlVector3f; // pack(1)
#pragma pack()
typedef struct {
E_DjiFcSubscriptionDisplayMode displayMode;
char *displayModeStr;
@ -96,8 +88,6 @@ static bool DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVect
float yawDesiredInDeg,
float posThresholdInM,
float yawThresholdInDeg);
static void DjiTest_FlightControlVelocityAndYawRateCtrl(T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs);
static T_DjiReturnCode DjiTest_FlightControlInit(void);
static T_DjiReturnCode DjiTest_FlightControlDeInit(void);
static void DjiTest_FlightControlTakeOffLandingSample(void);
@ -138,11 +128,16 @@ T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect f
T_DjiReturnCode DjiTest_FlightControlInit(void)
{
T_DjiReturnCode returnCode;
T_DjiFlightControllerRidInfo ridInfo = {0};
s_osalHandler = DjiPlatform_GetOsalHandler();
if (!s_osalHandler) return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
returnCode = DjiFlightController_Init();
ridInfo.latitude = 22.542812;
ridInfo.longitude = 113.958902;
ridInfo.altitude = 10;
returnCode = DjiFlightController_Init(ridInfo);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Init flight controller module failed, error code:0x%08llX", returnCode);
return returnCode;
@ -236,7 +231,7 @@ T_DjiReturnCode DjiTest_FlightControlDeInit(void)
{
T_DjiReturnCode returnCode;
returnCode = DjiFlightController_Deinit();
returnCode = DjiFlightController_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Deinit flight controller module failed, error code:0x%08llX",
returnCode);
@ -325,25 +320,25 @@ void DjiTest_FlightControlPositionControlSample()
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), earth:6(m), up:6(m) , yaw:30(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point");
USER_LOG_INFO("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 6, 6}, 30, 0.8, 1)) {
USER_LOG_ERROR("Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point failed");
USER_LOG_ERROR("Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point failed");
goto out;
};
USER_LOG_INFO("--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
USER_LOG_INFO("--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
DjiTest_WidgetLogAppend(
"--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
"--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {6, 0, -3}, -30, 0.8, 1)) {
USER_LOG_ERROR("Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
USER_LOG_ERROR("Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
goto out;
};
USER_LOG_INFO("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {-6, -6, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -394,17 +389,17 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
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), earth:0(m), up:30(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point");
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), earth:0(m), up:30(m) , yaw:0(degree) from current point failed");
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: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {10, 0, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -434,10 +429,10 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
USER_LOG_INFO("Current go home altitude is %d m\r\n", goHomeAltitude);
DjiTest_WidgetLogAppend("Current go home altitude is %d m\r\n", goHomeAltitude);
USER_LOG_INFO("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
USER_LOG_INFO("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {20, 0, 0}, 0, 0.8, 1)) {
USER_LOG_ERROR("Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
USER_LOG_ERROR("Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
goto out;
}
@ -489,9 +484,9 @@ void DjiTest_FlightControlVelocityControlSample()
DjiTest_WidgetLogAppend("Successful take off\r\n");
USER_LOG_INFO(
"--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
"--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
DjiTest_WidgetLogAppend(
"--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
"--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5.0}, 0, 2000);
USER_LOG_INFO("--> Step 4: Emergency brake for 2s");
@ -509,9 +504,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
"--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
DjiTest_WidgetLogAppend(
"--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
"--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.5, 2, 0}, 20, 2000);
USER_LOG_INFO("--> Step 6: Emergency brake for 2s");
@ -529,9 +524,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
"--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
DjiTest_WidgetLogAppend(
"--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
"--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 2500);
USER_LOG_INFO("--> Step 8: Emergency brake for 2s");
@ -549,9 +544,9 @@ void DjiTest_FlightControlVelocityControlSample()
}
USER_LOG_INFO(
"--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
"--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
DjiTest_WidgetLogAppend(
"--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
"--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.6, -2, 0}, 0, 2200);
USER_LOG_INFO("--> Step 10: Emergency brake for 2s");
@ -1218,6 +1213,12 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
{
T_DjiReturnCode djiStat;
T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
E_DjiFlightControllerObstacleAvoidanceEnableStatus enableStatus;
djiStat = DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(&enableStatus);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("get downwards visual obstacle avoidance enable status error");
}
djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -1272,11 +1273,20 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
return false;
}
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
if (enableStatus == DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE) {
if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
return false;
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() ==
DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
} else {
while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
DjiTest_FlightControlGetValueOfDisplayMode() ==
DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
s_osalHandler->TaskSleepMs(1000);
}
}
@ -1454,11 +1464,12 @@ DjiTest_FlightControlMoveByPositionOffset(const T_DjiTestFlightControlVector3f o
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs)
{
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
uint32_t originTime = 0;
uint32_t currentTime = 0;
uint32_t elapsedTimeInMs = 0;
s_osalHandler->GetTimeMs(&originTime);
s_osalHandler->GetTimeMs(&currentTime);
osalHandler->GetTimeMs(&originTime);
osalHandler->GetTimeMs(&currentTime);
elapsedTimeInMs = currentTime - originTime;
T_DjiFlightControllerJoystickMode joystickMode = {
DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE,
@ -1474,8 +1485,8 @@ void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVec
while (elapsedTimeInMs <= timeMs) {
DjiFlightController_ExecuteJoystickAction(joystickCommand);
s_osalHandler->TaskSleepMs(2);
s_osalHandler->GetTimeMs(&currentTime);
osalHandler->TaskSleepMs(2);
osalHandler->GetTimeMs(&currentTime);
elapsedTimeInMs = currentTime - originTime;
}
}

10
samples/sample_c/module_sample/flight_control/test_flight_control.h
View File

@ -44,10 +44,20 @@ typedef enum {
E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
} E_DjiTestFlightCtrlSampleSelect;
#pragma pack(1)
typedef struct {
dji_f32_t x;
dji_f32_t y;
dji_f32_t z;
} T_DjiTestFlightControlVector3f; // pack(1)
#pragma pack()
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
uint32_t timeMs);
#ifdef __cplusplus
}