tangchao0503/Payload-SDK
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

NEW: release DJI Payload-SDK version 3.9.1

Browse Source
This commit is contained in:
DJI-Jerry
2024-07-18 17:25:40 +08:00
parent 0ef7855a51
commit eba05f2666
17 changed files with 172 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
samples/sample_c/module_sample/camera_manager/test_camera_manager.c
View File

@ -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)

45
samples/sample_c/module_sample/flight_control/test_flight_control.c
View File

@ -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;
}

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

@ -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)