Hotfix release: Updated movement control services + flight status enu…

…ms updated for M100
mxout · Apr 19, 2017 · bfb6634 · bfb6634
1 parent dd15f3a
commit bfb6634
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Showing 7 changed files with 724 additions and 513 deletions.
diff --git a/dji_sdk/src/modules/dji_sdk_node_services.cpp b/dji_sdk/src/modules/dji_sdk_node_services.cpp
@@ -22,15 +22,7 @@ bool DJISDKNode::activation_callback(dji_sdk::Activation::Request& request, dji_
 
 bool DJISDKNode::attitude_control_callback(dji_sdk::AttitudeControl::Request& request, dji_sdk::AttitudeControl::Response& response)
 {
-    DJI::onboardSDK::FlightData flight_ctrl_data;
-    flight_ctrl_data.flag = request.flag;
-    flight_ctrl_data.x = request.x;
-    flight_ctrl_data.y = request.y;
-    flight_ctrl_data.z = request.z;
-    flight_ctrl_data.yaw = request.yaw;
-
-    rosAdapter->flight->setFlight(&flight_ctrl_data);
-
+    rosAdapter->flight->setMovementControl(request.flag, request.x, request.y, request.z, request.yaw);
     response.result = true;
     return true;
 }
@@ -133,15 +125,8 @@ bool DJISDKNode::global_position_control_callback(dji_sdk::GlobalPositionControl
             request.longitude, request.latitude,
             global_position.longitude,  global_position.latitude);
 
-    DJI::onboardSDK::FlightData flight_ctrl_data;
-    flight_ctrl_data.flag = 0x90;
-    flight_ctrl_data.x = dst_x - local_position.x;
-    flight_ctrl_data.y = dst_y - local_position.y;
-    flight_ctrl_data.z = dst_z;
-    flight_ctrl_data.yaw = request.yaw;
-
-    rosAdapter->flight->setFlight(&flight_ctrl_data);
-
+    uint8_t flag = 0x90;
+    rosAdapter->flight->setMovementControl(flag, dst_x - local_position.x, dst_y - local_position.y, dst_z, request.yaw);
     response.result = true;
     return true;
 }
@@ -161,14 +146,8 @@ bool DJISDKNode::local_position_control_callback(dji_sdk::LocalPositionControl::
     }
 
     DJI::onboardSDK::FlightData flight_ctrl_data;
-    flight_ctrl_data.flag = 0x90;
-    flight_ctrl_data.x = dst_x - local_position.x;
-    flight_ctrl_data.y = dst_y - local_position.y;
-    flight_ctrl_data.z = dst_z;
-    flight_ctrl_data.yaw = request.yaw;
-
-    rosAdapter->flight->setFlight(&flight_ctrl_data);
-
+    uint8_t flag = 0x90;
+    rosAdapter->flight->setMovementControl(flag, dst_x - local_position.x, dst_y - local_position.y, dst_z, request.yaw);
     response.result = true;
     return true;
 }

diff --git a/dji_sdk_lib/include/dji_sdk_lib/DJI_Config.h b/dji_sdk_lib/include/dji_sdk_lib/DJI_Config.h
@@ -17,12 +17,13 @@
 #define BUFFER_SIZE 1024
 #define ACK_SIZE 10
 
-//! @note The static memory flag means DJI onboardSDK library will not alloc memory from heap.
+//! @note The static memory flag means DJI onboardSDK library will not alloc
+//! memory from heap.
 //! @todo Not supported in this release.
 
 //#define STATIC_MEMORY
 
-//! Uncomment these macros to access various messages from the API. 
+//! Uncomment these macros to access various messages from the API.
 
 //#define API_MISSION_DATA
 //#define API_TRACE_DATA

diff --git a/dji_sdk_lib/include/dji_sdk_lib/DJI_Flight.h b/dji_sdk_lib/include/dji_sdk_lib/DJI_Flight.h
@@ -84,10 +84,12 @@ class Flight
   {
     STATUS_MOTOR_OFF = 0,
     STATUS_GROUND_STANDBY = 1,
-    STATUS_TAKE_OFF = 2,
-    STATUS_SKY_STANDBY = 3,
-    STATUS_LANDING = 4,
-    STATUS_FINISHING_LANDING = 5,
+    STATUS_SKY_STANDBY = 2,
+
+    STATUS_TAKE_OFF_M100ONLY = 2,
+    STATUS_SKY_STANDBY_M100ONLY = 3,
+    STATUS_LANDING_M100ONLY = 4,
+    STATUS_FINISHING_LANDING_M100ONLY = 5
   };
 
 
@@ -142,9 +144,9 @@ class Flight
   unsigned short task(TASK taskname, int timer);
   void setArm(bool enable, CallBack ArmCallback = 0, UserData userData = 0);
   unsigned short setArm(bool enable, int timer);
-  void control(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw); //! @deprecated This function will be deprecated, please use setMovementControl instead. 
+  void control(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw); //! @deprecated This function will be deprecated, please use setMovementControl instead.
   void setMovementControl(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw);
-  void setFlight(FlightData *data); //! @deprecated old interface. PLease use setMovementControl instead. 
+  void setFlight(FlightData *data); //! @deprecated old interface. PLease use setMovementControl instead.
 
   QuaternionData getQuaternion() const;
 
@@ -156,7 +158,7 @@ class Flight
   CommonData getAcceleration() const;
   CommonData getYawRate() const;
 
-  //! @warning old interface. Will be replaced by MagData getMagData() in the next release.      
+  //! @warning old interface. Will be replaced by MagData getMagData() in the next release.
   MagnetData getMagnet() const;
 
   Device getControlDevice() const;
@@ -173,7 +175,7 @@ class Flight
 
   public: //! @note mathematical method
 
-  //! @deprecated old interface. Please use toEulerAngle instead.   
+  //! @deprecated old interface. Please use toEulerAngle instead.
   static EulerianAngle toEulerianAngle(QuaternionData data);
   static EulerAngle toEulerAngle(QuaternionData quaternionData);
   static QuaternionData toQuaternion(EulerianAngle eulerAngleData);