由于某种原因，v3.2的相机旋转停止了我的无人机工作，所以我决定更新到最新的固件 . 在RPi2上运行Onboard-SDK v3.3作为Matrice 100的板载计算机 . 运行相机样本失败， Cloud 台速度部件移动相机但通过绝对相机控制移动根本没有移动相机 . 稍微修改了相机样品，使得万向节速度部分进一步向上移动并增加了额外的旋转 . 无人机和飞行控制器已更新至最新版本 . 有人有什么建议吗？
相关输出
ubuntu@ubuntu:~/Drone/Onboard-SDK/build/bin$ ./djiosdk-cameragimbal-
sample UserConfig.txt
Read App ID
User Configuration read successfully.
STATUS/1 @ init, L37: Attempting to open device /dev/ttyUSB0 with baudrate 230400...
STATUS/1 @ init, L47: ...Serial started successfully.
STATUS/1 @ parseDroneVersionInfo, L569: Device Serial No. = ---------
STATUS/1 @ parseDroneVersionInfo, L571: Hardware = M100
STATUS/1 @ parseDroneVersionInfo, L572: Firmware = 3.1.10.0
STATUS/1 @ parseDroneVersionInfo, L575: Version CRC = 0xA6453AAC
STATUS/1 @ functionalSetUp, L125: Subscriber not supported!
STATUS/1 @ functionalSetUp, L163: MFIO not supported!
ERROR/1 @ functionalSetUp, L181: Hardware Sync not supported!
STATUS/1 @ activate, L969: version 0x3010A00
STATUS/1 @ activate, L982: Activation successful
| Available commands: |
| [a] Exercise gimbal and camera control |
a
Please note that the gimbal yaw angle you see in the telemetry is w.r.t absolute North, and the accuracy depends on your magnetometer calibration.
Initial Gimbal rotation angle: [0, 0, -27.4]
Setting new Gimbal rotation angle to [0,20,180] using incremental control:
New Gimbal rotation angle is [0 0 -27.4]
Gimbal Speed Description:
Roll - unit 0.1 degrees/second input rate [-1800, 1800]
Pitch - unit 0.1 degrees/second input rate [-1800, 1800]
Yaw - unit 0.1 degrees/second input rate [-1800, 1800]
Setting Roll rate to 10, Pitch rate to 5, Yaw Rate to -20.
New Gimbal rotation angle is [15 30 6.8]
Ensure SD card is present.
Taking picture..
Check DJI GO App or SD card for a new picture.
Setting new Gimbal rotation angle to [0,-50, 0] using absolute control:
New Gimbal rotation angle is [15 30 6.8]
Ensure SD card is present.
Starting video..
Setting new Gimbal rotation angle to [0,-50, 0] using absolute control:
New Gimbal rotation angle is [15 29.9 6.8]
Resetting position...
New Gimbal rotation angle is [15 29.9 6.8]
Stopping video...
Check DJI GO App or SD card for a new video
这是我试图运行的示例代码
/*! @file camera_gimbal_sample.cpp
* @version 3.3
* @date Jun 05 2017
*
* @brief
* Camera and Gimbal Control API usage in a Linux environment.
* Shows example usage of camera commands and gimbal position/speed control
* APIs
*
* @copyright
* 2017 DJI. All rights reserved.
* */
#include "camera_gimbal_sample.hpp"
using namespace DJI::OSDK;
using namespace DJI::OSDK::Telemetry;
int
main(int argc, char** argv)
{
// Setup the OSDK: Read config file, create vehicle, activate.
Vehicle* vehicle = setupOSDK(argc, argv);
if (vehicle == NULL)
{
std::cout << "Vehicle not initialized, exiting.\n";
return -1;
}
// Display interactive prompt
std::cout
<< "| Available commands: |"
<< std::endl;
std::cout
<< "| [a] Exercise gimbal and camera control |"
<< std::endl;
char inputChar;
std::cin >> inputChar;
switch (inputChar)
{
case 'a':
gimbalCameraControl(vehicle);
break;
default:
break;
}
delete (vehicle);
return 0;
}
bool
gimbalCameraControl(Vehicle* vehicle)
{
int responseTimeout = 0;
GimbalContainer gimbal;
RotationAngle initialAngle;
RotationAngle currentAngle;
DJI::OSDK::Gimbal::SpeedData gimbalSpeed;
int pkgIndex;
/*
* Subscribe to gimbal data not supported in MAtrice 100
*/
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
// Telemetry: Verify the subscription
ACK::ErrorCode subscribeStatus;
subscribeStatus = vehicle->subscribe->verify(responseTimeout);
if (ACK::getError(subscribeStatus) != ACK::SUCCESS)
{
ACK::getErrorCodeMessage(subscribeStatus, __func__);
return false;
}
// Telemetry: Subscribe to gimbal status and gimbal angle at freq 10 Hz
pkgIndex = 0;
int freq = 10;
TopicName topicList10Hz[] = { TOPIC_GIMBAL_ANGLES, TOPIC_GIMBAL_STATUS };
int numTopic = sizeof(topicList10Hz) / sizeof(topicList10Hz[0]);
bool enableTimestamp = false;
bool pkgStatus = vehicle->subscribe->initPackageFromTopicList(
pkgIndex, numTopic, topicList10Hz, enableTimestamp, freq);
if (!(pkgStatus))
{
return pkgStatus;
}
subscribeStatus =
vehicle->subscribe->startPackage(pkgIndex, responseTimeout);
if (ACK::getError(subscribeStatus) != ACK::SUCCESS)
{
ACK::getErrorCodeMessage(subscribeStatus, __func__);
// Cleanup before return
vehicle->subscribe->removePackage(pkgIndex, responseTimeout);
return false;
}
}
sleep(1);
std::cout
<< "Please note that the gimbal yaw angle you see in the telemetry is "
"w.r.t absolute North"
", and the accuracy depends on your magnetometer calibration.\n\n";
// Get Gimbal initial values
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
initialAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
initialAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
initialAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
initialAngle.roll = vehicle->broadcast->getGimbal().roll;
initialAngle.pitch = vehicle->broadcast->getGimbal().pitch;
initialAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
std::cout << "Initial Gimbal rotation angle: [" << initialAngle.roll << ", "
<< initialAngle.pitch << ", " << initialAngle.yaw << "]\n\n";
// Re-set Gimbal to initial values
gimbal = GimbalContainer(0, 0, 0, 20, 1, initialAngle);
doSetGimbalAngle(vehicle, &gimbal);
std::cout << "Setting new Gimbal rotation angle to [0,20,180] using "
"incremental control:\n";
// Get current gimbal data to calc precision error in post processing
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
gimbal = GimbalContainer(0, 200, 1800, 20, 0, initialAngle, currentAngle);
doSetGimbalAngle(vehicle, &gimbal);
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
displayResult(¤tAngle);
// Speed control
std::cout << "Gimbal Speed Description: \n\n"
<< "Roll - unit 0.1 degrees/second input rate [-1800, 1800]\n"
<< "Pitch - unit 0.1 degrees/second input rate [-1800, 1800]\n"
<< "Yaw - unit 0.1 degrees/second input rate [-1800, 1800]\n\n";
std::cout << "Setting Roll rate to 10, Pitch rate to 5, Yaw Rate to -20.\n";
gimbalSpeed.roll = 1000;
gimbalSpeed.pitch = 1000;
gimbalSpeed.yaw = -1500;
int speedControlDurationMs = 4000;
int incrementMs = 100;
for (int timer = 0; timer < speedControlDurationMs; timer += incrementMs)
{
vehicle->gimbal->setSpeed(&gimbalSpeed);
usleep(incrementMs * 1000);
}
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
std::cout << "M100\n";
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
displayResult(¤tAngle);
// Take picture
std::cout << "Ensure SD card is present.\n";
std::cout << "Taking picture..\n";
vehicle->camera->shootPhoto();
std::cout << "Check DJI GO App or SD card for a new picture.\n";
std::cout << "Setting new Gimbal rotation angle to [0,-50, 0] using absolute "
"control:\n";
gimbal = GimbalContainer(0, -500, 0, 20, 1, initialAngle);
doSetGimbalAngle(vehicle, &gimbal);
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
displayResult(¤tAngle);
// Start video: We will keep the video doing for the duration of the speed
// control.
std::cout << "Ensure SD card is present.\n";
std::cout << "Starting video..\n";
vehicle->camera->videoStart();
std::cout << "Setting new Gimbal rotation angle to [0,-50, 0] using absolute "
"control:\n";
gimbal = GimbalContainer(0, 500, 0, 20, 1, initialAngle);
doSetGimbalAngle(vehicle, &gimbal);
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
displayResult(¤tAngle);
// Reset the position
std::cout << "Resetting position...\n";
gimbal = GimbalContainer(0, 0, 0, 20, 1, initialAngle);
doSetGimbalAngle(vehicle, &gimbal);
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
currentAngle.roll = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().y;
currentAngle.pitch = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().x;
currentAngle.yaw = vehicle->subscribe->getValue<TOPIC_GIMBAL_ANGLES>().z;
}
else
{
currentAngle.roll = vehicle->broadcast->getGimbal().roll;
currentAngle.pitch = vehicle->broadcast->getGimbal().pitch;
currentAngle.yaw = vehicle->broadcast->getGimbal().yaw;
}
displayResult(¤tAngle);
// Stop the video
std::cout << "Stopping video...\n";
vehicle->camera->videoStop();
std::cout << "Check DJI GO App or SD card for a new video.\n";
// Cleanup and exit gimbal sample
if (!vehicle->isM100() && !vehicle->isLegacyM600())
{
ACK::ErrorCode ack =
vehicle->subscribe->removePackage(pkgIndex, responseTimeout);
if (ACK::getError(ack))
{
std::cout
<< "Error unsubscribing; please restart the drone/FC to get back "
"to a clean state.\n";
}
}
return true;
}
void
doSetGimbalAngle(Vehicle* vehicle, GimbalContainer* gimbal)
{
DJI::OSDK::Gimbal::AngleData gimbalAngle;
gimbalAngle.roll = gimbal->roll;
gimbalAngle.pitch = gimbal->pitch;
gimbalAngle.yaw = gimbal->yaw;
gimbalAngle.duration = gimbal->duration;
gimbalAngle.mode |= 0;
gimbalAngle.mode |= gimbal->isAbsolute;
gimbalAngle.mode |= gimbal->yaw_cmd_ignore << 1;
gimbalAngle.mode |= gimbal->roll_cmd_ignore << 2;
gimbalAngle.mode |= gimbal->pitch_cmd_ignore << 3;
vehicle->gimbal->setAngle(&gimbalAngle);
// Give time for gimbal to sync
sleep(4);
}
void
displayResult(RotationAngle* currentAngle)
{
std::cout << "New Gimbal rotation angle is [";
std::cout << currentAngle->roll << " ";
std::cout << currentAngle->pitch << " ";
std::cout << currentAngle->yaw;
std::cout << "]\n\n";
}