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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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131
samples/sample_c/module_sample/interest_point/test_interest_point.c Normal file
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/**
********************************************************************
* @file test_interest_point.c
* @brief
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "test_interest_point.h"
#include "dji_interest_point.h"
#include "dji_logger.h"
#include "dji_flight_controller.h"
#include "flight_control/test_flight_control.h"
/* Private constants ---------------------------------------------------------*/
/* Private types -------------------------------------------------------------*/
/* Private values -------------------------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState);
/* Private functions declaration ---------------------------------------------*/
/* Exported functions definition ---------------------------------------------*/
T_DjiReturnCode DjiTest_InterestPointRunSample(void)
{
T_DjiReturnCode returnCode;
T_DjiInterestPointSettings interestPointSettings = {0};
T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
T_DjiFlightControllerRidInfo ridInfo = {0};
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_INFO("Flight control init failed, errno=%lld", returnCode);
return returnCode;
}
returnCode = DjiInterestPoint_Init();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_INFO("Point interest init failed, errno=%lld", returnCode);
return returnCode;
}
osalHandler->TaskSleepMs(1000);
DjiFlightController_ObtainJoystickCtrlAuthority();
osalHandler->TaskSleepMs(1000);
DjiFlightController_StartTakeoff();
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5}, 0, 10000);
osalHandler->TaskSleepMs(1000);
DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
interestPointSettings.latitude = 22.542812;
interestPointSettings.longitude = 113.958902;
returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Register mission state callback failed, errno=%lld", returnCode);
return returnCode;
}
returnCode = DjiInterestPoint_Start(interestPointSettings);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest start failed, errno=%lld", returnCode);
return returnCode;
}
DjiInterestPoint_SetSpeed(5.0f);
for (int i = 0; i < 60; ++i) {
USER_LOG_ERROR("Interest point mission running %d.", i);
osalHandler->TaskSleepMs(1000);
}
returnCode = DjiInterestPoint_Stop();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest stop failed, errno=%lld", returnCode);
return returnCode;
}
DjiFlightController_StartForceLanding();
returnCode = DjiInterestPoint_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Point interest deinit failed, errno=%lld", returnCode);
return returnCode;
}
returnCode = DjiFlightController_DeInit();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
return returnCode;
}
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/* Private functions definition-----------------------------------------------*/
static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
{
USER_LOG_INFO("Interest point state: %d, radius: %.2f m, speed: %.2f m/s", missionState.state, missionState.radius,
missionState.curSpeed);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

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samples/sample_c/module_sample/interest_point/test_interest_point.h Normal file
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/**
********************************************************************
* @file test_interest_point.h
* @brief This is the header file for "test_interest_point.c", defining the structure and
* (exported) function prototypes.
*
* @copyright (c) 2018 DJI. All rights reserved.
*
* All information contained herein is, and remains, the property of DJI.
* The intellectual and technical concepts contained herein are proprietary
* to DJI and may be covered by U.S. and foreign patents, patents in process,
* and protected by trade secret or copyright law. Dissemination of this
* information, including but not limited to data and other proprietary
* material(s) incorporated within the information, in any form, is strictly
* prohibited without the express written consent of DJI.
*
* If you receive this source code without DJI’s authorization, you may not
* further disseminate the information, and you must immediately remove the
* source code and notify DJI of its removal. DJI reserves the right to pursue
* legal actions against you for any loss(es) or damage(s) caused by your
* failure to do so.
*
*********************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef TEST_INTEREST_POINT_H
#define TEST_INTEREST_POINT_H
/* Includes ------------------------------------------------------------------*/
#include "dji_typedef.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Exported constants --------------------------------------------------------*/
/* Exported types ------------------------------------------------------------*/
/* Exported functions --------------------------------------------------------*/
T_DjiReturnCode DjiTest_InterestPointRunSample(void);
#ifdef __cplusplus
}
#endif
#endif // TEST_INTEREST_POINT_H
/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/