NEW: release DJI Payload-SDK version 3.9.1

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -39,7 +39,7 @@
 
 #define TEST_CAMERA_MAX_INFRARED_ZOOM_FACTOR          8
 #define TEST_CAMERA_MIN_INFRARED_ZOOM_FACTOR          2
-#define TEST_CAMERA_MOP_CHANNEL_SUBSCRIBE_POINT_CLOUD_CHANNEL_ID         49152
+#define TEST_CAMERA_MOP_CHANNEL_SUBSCRIBE_POINT_CLOUD_CHANNEL_ID         49154
 #define TEST_CAMERA_MOP_CHANNEL_SUBSCRIBE_POINT_CLOUD_RECV_BUFFER        (512 * 1024)
 #define TEST_CAMERA_MOP_CHANNEL_COLOR_POINTS_BUFFER                      (512 * 1024)
 #define TEST_CAMERA_MOP_CHANNEL_WAIT_TIME_MS                             (3 * 1000)

samples/sample_c/module_sample/flight_control/test_flight_control.c

@@ -43,6 +43,8 @@ typedef struct {
 static T_DjiOsalHandler *s_osalHandler = NULL;
 static const double s_earthCenter = 6378137.0;
 static const double s_degToRad = 0.01745329252;
+static bool s_isFtsCallbackRegistered = false;
+static int32_t s_ftsTriggerCount = 0;
 
 static const T_DjiTestFlightControlDisplayModeStr s_flightControlDisplayModeStr[] = {
     {.displayMode = DJI_FC_SUBSCRIPTION_DISPLAY_MODE_ATTITUDE, .displayModeStr = "attitude mode"},
@@ -95,6 +97,9 @@ static void DjiTest_FlightControlPositionControlSample(void);
 static void DjiTest_FlightControlGoHomeForceLandingSample(void);
 static void DjiTest_FlightControlVelocityControlSample(void);
 static void DjiTest_FlightControlArrestFlyingSample(void);
+static void DjiTest_FlightControlSetGetParamSample(void);
+static void DjiTest_FlightControlPassiveTriggerFtsSample(void);
+static T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void);
 static void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
 
 /* Exported functions definition ---------------------------------------------*/
@@ -883,6 +888,42 @@ out:
     DjiTest_WidgetLogAppend("Flight control set-get-param sample end");
 }
 
+T_DjiReturnCode DjiTest_TriggerFtsEventCallback(void)
+{
+    USER_LOG_INFO("Received FTS Trigger event, count = %d.", s_ftsTriggerCount);
+    if (s_ftsTriggerCount == 0) {
+        USER_LOG_WARN("Note: Simulate a trigger failure scenario and return an error value, this function will be invoked again.");
+        s_ftsTriggerCount++;
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    } else {
+        USER_LOG_WARN("Note: This is an empty implementation, and the FTS signal needs to be triggered by the PWM signal.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+}
+
+void DjiTest_FlightControlPassiveTriggerFtsSample(void)
+{
+    T_DjiReturnCode returnCode;
+
+    USER_LOG_INFO("Flight control passive trigger FTS sample start.");
+
+    if (s_isFtsCallbackRegistered == false) {
+        returnCode = DjiFlightController_RegTriggerFtsEventCallback(DjiTest_TriggerFtsEventCallback);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Register trigger FTS event callback failed.");
+            return;
+        } else {
+            s_isFtsCallbackRegistered = true;
+            USER_LOG_INFO("Register trigger FTS event callback successfully."
+                          "Please wait for the aircraft to trigger the payload to execute FTS action.");
+        }
+    } else {
+        USER_LOG_WARN("FTS trigger event callback has been registered, no need to register again.");
+    }
+}
+
 void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect)
 {
     switch (flightCtrlSampleSelect) {
@@ -910,6 +951,10 @@ void DjiTest_FlightControlSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampl
             DjiTest_FlightControlSetGetParamSample();
             break;
         }
+        case E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER: {
+            DjiTest_FlightControlPassiveTriggerFtsSample();
+            break;
+        }
         default:
             break;
     }

samples/sample_c/module_sample/flight_control/test_flight_control.h

@@ -42,6 +42,7 @@ typedef enum {
     E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING,
     E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING,
     E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
+    E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_FTS_TRIGGER,
 } E_DjiTestFlightCtrlSampleSelect;
 
 #pragma pack(1)

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h

@@ -40,9 +40,9 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
 
-#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
+// #define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
 
-#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
+// #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 
 #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
 
@@ -52,7 +52,7 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 
-#define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
+// #define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
 
 /*!< Attention: Please uncomment it in gps environment.
 * */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/main.c

@@ -55,10 +55,6 @@ void Error_Handler(void);
 
 int main(void)
 {
-    __disable_irq();
-    SCB->VTOR = APPLICATION_ADDRESS;
-    __enable_irq();
-
     /* STM32F4xx HAL library initialization:
          - Configure the Flash prefetch, instruction and Data caches
          - Configure the Systick to generate an interrupt each 1 msec