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Custom Follow Me Mission DJI Android SDK

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我正在尝试使用DJI Phantom 4创建一个FollowMeMission，提供自定义坐标，类似于这篇文章Custom coordinates on Follow me Mission DJI Mobile SDK for android

我当前的代码如下所示：

private double lat = 48.5561726;
private double lng = 12.1138481;
private float initHeight = 10f;
private LocationCoordinate2D location;

    if (getFollowMeMissionOperator().getCurrentState().toString().equals(FollowMeMissionState.READY_TO_EXECUTE.toString())){
        getFollowMeMissionOperator().updateFollowingTarget(new LocationCoordinate2D(lat + 0.0001d, lng), new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError djiError) {
                setResultToToast("Mission updateFollowingTarget: " + (djiError == null ? "Successfully" : djiError.getDescription()));
            }
        });
        //Toast.makeText(getApplicationContext(), "updateFollowingTarget...", Toast.LENGTH_SHORT).show();
        Log.println(Log.INFO,"FOLLOW", "Before");

        try{
            Thread.sleep(2500);
        }catch (InterruptedException e){
            setResultToToast("InterruptedException!" + e.getMessage());
        }

        getFollowMeMissionOperator().startMission(FollowMeMission.getInstance().initUserData(lat + 0.0001d , lng, initHeight), new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError djiError) {
                setResultToToast("Mission Start: " + (djiError == null ? "Successfully" : djiError.getDescription()));
            }});
    }
    else{
        Toast.makeText(getApplicationContext(), getFollowMeMissionOperator().getCurrentState().toString(), Toast.LENGTH_SHORT).show();
    }

我甚至在调用startMission（）之前添加了2.5秒的睡眠，如本主题所述http://forum.dev.dji.com/thread-33716-1-1.html

会发生什么，我调用FollowMe（）并在2.5秒后得到消息“Mission Start：Successfull”，但没有来自updateFollowingTarget（）的任何回调 . 然后没有任何事情发生，无人机停留在原地 .

我究竟做错了什么？我使用updateFollowingTarget（）和startMission（）的方式是否正确？

android dji-sdk

1 回答

  • 0

    这个问题的原因是：1 . 我们需要使用计时器以给定的频率updateFollowingTarget . 2.移动物体（跟随目标）需要提供其动态位置 .
    请参考以下代码，根据您的情况对其进行优化：

    private float initHeight = 10f;
private LocationCoordinate2D movingObjectLocation;
private AtomicBoolean isRunning = new AtomicBoolean(false);
private Subscription timmerSubcription;
private Observable<Long> timer =Observable.timer(100, TimeUnit.MILLISECONDS).observeOn(Schedulers.computation()).repeat();

private void followMeStart(){
    if (getFollowMeMissionOperator().getCurrentState().toString().equals(FollowMeMissionState.READY_TO_EXECUTE.toString())){
        //ToDo: You need init or get the location of your moving object which will be followed by the aircraft.

        getFollowMeMissionOperator().startMission(FollowMeMission.getInstance().initUserData(movingObjectLocation.getLatitude() , movingObjectLocation.getLongitude(), initHeight), new CommonCallbacks.CompletionCallback() {
            @Override
            public void onResult(DJIError djiError) {
                setResultToToast("Mission Start: " + (djiError == null ? "Successfully" : djiError.getDescription()));
            }});

        if (!isRunning.get()) {
            isRunning.set(true);
            timmerSubcription = timer.subscribe(new Action1<Long>() {
                @Override
                public void call(Long aLong) {
                    getFollowMeMissionOperator().updateFollowingTarget(new LocationCoordinate2D(movingObjectLocation.getLatitude(),
                                                                                                movingObjectLocation.getLongitude()),
                                                                       new CommonCallbacks.CompletionCallback() {

                                                                           @Override
                                                                           public void onResult(DJIError error) {
                                                                               isRunning.set(false);
                                                                           }
                                                                       });
                }
            });
        }
    } else{
        Toast.makeText(getApplicationContext(), getFollowMeMissionOperator().getCurrentState().toString(), Toast.LENGTH_SHORT).show();
    }

}
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