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Hotfix 3.1.9.1 for A3 firmware 1.5.0.0. Fixes for SDK Version query a…
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…nd Obtain Control RC mode errors
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@amenonDJI
amenonDJI committed Nov 22, 2016
1 parent d8322d7 commit ce652e8
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1 change: 1 addition & 0 deletions dji_sdk/launch/sdk_manifold.launch
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@@ -1,6 +1,7 @@
<launch>
<node pkg="dji_sdk" type="dji_sdk_node" name="dji_sdk" output="screen">
<!-- node parameters -->
<!-- For Drone Version enter M100 or A3_31 or A3_32 depending on your Flight Controller/Aircraft -->
<param name="drone_version" type="string" value="M100"/>
<param name="serial_name" type="string" value="/dev/ttyUSB0"/>
<param name="baud_rate" type="int" value="230400"/>
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12 changes: 8 additions & 4 deletions dji_sdk/src/modules/dji_sdk_node_main.cpp
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Expand Up @@ -146,7 +146,7 @@ void DJISDKNode::broadcast_callback()
****************************If using A3****************************
******************************************************************/

if(version == DJI::onboardSDK::versionA3_31) {
if(version == DJI::onboardSDK::versionA3_31 || DJI::onboardSDK::versionA3_32) {

//update gimbal msg
if (msg_flags & A3_HAS_GIMBAL) {
Expand Down Expand Up @@ -348,11 +348,15 @@ int DJISDKNode::init_parameters(ros::NodeHandle& nh_private)

if(!drone_version.compare("M100"))
{
user_act_data.version = 0x03010a00;
user_act_data.version = versionM100_31;
}
else
else if (!drone_version.compare("A3_31"))
{
user_act_data.version = 0x03016400;
user_act_data.version = versionA3_31;
}
else if (!drone_version.compare("A3_32"))
{
user_act_data.version = versionA3_32;
}
user_act_data.encKey = app_key;
strcpy(user_act_data.encKey, enc_key.c_str());
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15 changes: 6 additions & 9 deletions dji_sdk_doc/doxygen/html/DJICommonType_8h.html
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Expand Up @@ -94,9 +94,6 @@
<div class="title">DJICommonType.h File Reference</div> </div>
</div><!--header-->
<div class="contents">

<p>Common Type definition for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library. Officially Maintained.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdint.h&gt;</code><br />
</div>
<p><a href="DJICommonType_8h_source.html">Go to the source code of this file.</a></p>
Expand Down Expand Up @@ -130,11 +127,11 @@
typedef uint64_t&#160;</td><td class="memItemRight" valign="bottom"><b>DJI::time_us</b></td></tr>
<tr class="separator:a28bc8e34006074f1b6d1fd6b3d2acfa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0988c6a482e73ea79bc55aac26729302"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0988c6a482e73ea79bc55aac26729302"></a>
typedef void *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceDJI.html#a0988c6a482e73ea79bc55aac26729302">DJI::UserData</a></td></tr>
<tr class="memdesc:a0988c6a482e73ea79bc55aac26729302"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is used as the datatype for all data arguments in callbacks. <br /></td></tr>
typedef void *&#160;</td><td class="memItemRight" valign="bottom"><b>DJI::UserData</b></td></tr>
<tr class="separator:a0988c6a482e73ea79bc55aac26729302"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac46082a5ea8919b47fb64283edc5bc18"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac46082a5ea8919b47fb64283edc5bc18"></a>
typedef uint32_t&#160;</td><td class="memItemRight" valign="bottom"><b>DJI::Flag</b></td></tr>
typedef uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceDJI.html#ac46082a5ea8919b47fb64283edc5bc18">DJI::Flag</a></td></tr>
<tr class="memdesc:ac46082a5ea8919b47fb64283edc5bc18"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is used as the datatype for all data arguments in callbacks. <br /></td></tr>
<tr class="separator:ac46082a5ea8919b47fb64283edc5bc18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81537bd8f473c440aaea4c056facc8f9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a81537bd8f473c440aaea4c056facc8f9"></a>
typedef uint8_t&#160;</td><td class="memItemRight" valign="bottom"><b>DJI::size8_t</b></td></tr>
Expand All @@ -158,14 +155,14 @@
<tr class="separator:aca26b9a79a0952d7ea5d0a355e0a71db"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Common Type definition for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library. Officially Maintained. </p>
<dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<div class="textblock"><dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>Jul 01 2016</dd></dl>
<p>Common Type definition for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library Officially Maintained</p>
<dl class="section copyright"><dt>Copyright</dt><dd>Copyright 2016 <a class="el" href="namespaceDJI.html">DJI</a>. All rights reserved. </dd></dl>
</div></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Aug 5 2016 13:39:31 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
Generated on Fri Jul 1 2016 12:37:59 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
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6 changes: 3 additions & 3 deletions dji_sdk_doc/doxygen/html/DJICommonType_8h_source.html
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2 changes: 1 addition & 1 deletion dji_sdk_doc/doxygen/html/DJI__API_8cpp.html
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Expand Up @@ -104,7 +104,7 @@
</div></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Aug 5 2016 13:39:31 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
Generated on Fri Jul 1 2016 12:37:59 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
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18 changes: 5 additions & 13 deletions dji_sdk_doc/doxygen/html/DJI__API_8h.html
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Expand Up @@ -116,11 +116,7 @@
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:ae9b83ce82c2006a3c98b5564354985c9"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="DJI__API_8h.html#ae9b83ce82c2006a3c98b5564354985c9">DJI::onboardSDK::ACK_ERROR_CODE</a> { <b>ACK_SUCCESS</b> = 0x0000,
<b>ACK_PARAM_ERROR</b> = 0x0001
}</td></tr>
<tr class="separator:ae9b83ce82c2006a3c98b5564354985c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec259c8a8cf384789e0726ecf0773cbd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec259c8a8cf384789e0726ecf0773cbd"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>ACK_COMMON_CODE</b> { <br />
<tr class="memitem:aec259c8a8cf384789e0726ecf0773cbd"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="DJI__API_8h.html#aec259c8a8cf384789e0726ecf0773cbd">DJI::onboardSDK::ACK_COMMON_CODE</a> { <br />
&#160;&#160;<b>ACK_COMMON_SUCCESS</b> = 0x0000,
<b>ACK_COMMON_KEYERROR</b> = 0xFF00,
<b>ACK_COMMON_NO_AUTHORIZATION</b> = 0xFF01,
Expand Down Expand Up @@ -162,10 +158,6 @@
<b>ACK_ARM_IN_AIR</b> = 0x0003
}</td></tr>
<tr class="separator:a5e86cf954a41d9371f91dbcc9fb5bd1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16c5fe4538ab24c53f59642dacd867d0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a16c5fe4538ab24c53f59642dacd867d0"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>TASK_ACK_CODE</b> { <b>TASK_FAILURE</b> = 0x01,
<b>TASK_SUCCESS</b> = 0x02
}</td></tr>
<tr class="separator:a16c5fe4538ab24c53f59642dacd867d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a367390bac5784ce51e903df4a1d94896"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="DJI__API_8h.html#a367390bac5784ce51e903df4a1d94896">DJI::onboardSDK::CMD_SET</a> { <br />
&#160;&#160;<b>SET_ACTIVATION</b> = 0x00,
<b>SET_CONTROL</b> = 0x01,
Expand Down Expand Up @@ -269,16 +261,16 @@
<dl class="section date"><dt>Date</dt><dd>July 1st, 2016</dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>2016 <a class="el" href="namespaceDJI.html">DJI</a>. All rights reserved. </dd></dl>
</div><h2 class="groupheader">Enumeration Type Documentation</h2>
<a class="anchor" id="file_ae9b83ce82c2006a3c98b5564354985c9"></a>
<a class="anchor" id="file_aec259c8a8cf384789e0726ecf0773cbd"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="DJI__API_8h.html#ae9b83ce82c2006a3c98b5564354985c9">DJI::onboardSDK::ACK_ERROR_CODE</a></td>
<td class="memname">enum <a class="el" href="DJI__API_8h.html#aec259c8a8cf384789e0726ecf0773cbd">DJI::onboardSDK::ACK_COMMON_CODE</a></td>
</tr>
</table>
</div><div class="memdoc">
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000015">Todo:</a></b></dt><dd>sort enum and move to a new file </dd></dl>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000013">Todo:</a></b></dt><dd>sort enum and move to a new file </dd></dl>

</div>
</div>
Expand All @@ -298,7 +290,7 @@
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Aug 5 2016 13:39:31 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
Generated on Fri Jul 1 2016 12:37:59 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
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105 changes: 46 additions & 59 deletions dji_sdk_doc/doxygen/html/DJI__API_8h_source.html
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9 changes: 3 additions & 6 deletions dji_sdk_doc/doxygen/html/DJI__App_8cpp.html
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Expand Up @@ -92,9 +92,6 @@
<div class="title">DJI_App.cpp File Reference</div> </div>
</div><!--header-->
<div class="contents">

<p>Application layer support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;string.h&gt;</code><br />
<code>#include &lt;stdio.h&gt;</code><br />
<code>#include &quot;<a class="el" href="DJI__App_8h_source.html">DJI_App.h</a>&quot;</code><br />
Expand All @@ -112,9 +109,9 @@
<tr class="separator:af299dce480dbb6609d9c98ff6c17c3db"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Application layer support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library. </p>
<dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<div class="textblock"><dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>Jul 01 2016</dd></dl>
<p>Developer App support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library</p>
<p>Copyright 2016 <a class="el" href="namespaceDJI.html">DJI</a>. All right reserved. </p>
</div><h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="a60f2a66b609bddc01c60372127d609c1"></a>
Expand Down Expand Up @@ -179,7 +176,7 @@
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated on Fri Aug 5 2016 13:39:31 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
Generated on Fri Jul 1 2016 12:37:59 for Onboard-SDK-ROS by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
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40 changes: 32 additions & 8 deletions dji_sdk_doc/doxygen/html/DJI__App_8h.html
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Expand Up @@ -88,14 +88,12 @@
<div class="header">
<div class="summary">
<a href="#nested-classes">Classes</a> &#124;
<a href="#define-members">Macros</a> </div>
<a href="#define-members">Macros</a> &#124;
<a href="#typedef-members">Typedefs</a> </div>
<div class="headertitle">
<div class="title">DJI_App.h File Reference</div> </div>
</div><!--header-->
<div class="contents">

<p>Application layer support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &lt;stdint.h&gt;</code><br />
<code>#include &quot;<a class="el" href="DJI__Link_8h_source.html">DJI_Link.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="DJI__Type_8h_source.html">DJI_Type.h</a>&quot;</code><br />
Expand All @@ -106,6 +104,10 @@
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structreq__id__t.html">req_id_t</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structActivateData.html">ActivateData</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structVersionData.html">VersionData</a></td></tr>
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</table><table class="memberdecls">
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Macros</h2></td></tr>
Expand Down Expand Up @@ -136,16 +138,38 @@
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#define&#160;</td><td class="memItemRight" valign="bottom"><b>STATUS_CMD_EXE_SUCCESS</b>&#160;&#160;&#160;0x0005</td></tr>
<tr class="separator:ac05ab0028b9e248b4a413dfc6d326585"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Typedefs</h2></td></tr>
<tr class="memitem:a173a3ff7edd0475f8e6ac7060bec5058"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="structActivateData.html">ActivateData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="DJI__App_8h.html#a173a3ff7edd0475f8e6ac7060bec5058">ActivateData</a></td></tr>
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typedef struct <a class="el" href="structVersionData.html">VersionData</a>&#160;</td><td class="memItemRight" valign="bottom"><b>VersionData</b></td></tr>
<tr class="separator:ac02b9e2a6d9a3574b05a907493c4b26a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Application layer support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library. </p>
<dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<div class="textblock"><dl class="section version"><dt>Version</dt><dd>3.1.7 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>Jul 1, 2016</dd></dl>
<p>Developer App support functionality for <a class="el" href="namespaceDJI.html">DJI</a> onboardSDK library</p>
<p>Copyright 2016 <a class="el" href="namespaceDJI.html">DJI</a>. All right reserved. </p>
</div></div><!-- contents -->
</div><h2 class="groupheader">Typedef Documentation</h2>
<a class="anchor" id="a173a3ff7edd0475f8e6ac7060bec5058"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef struct <a class="el" href="structActivateData.html">ActivateData</a> <a class="el" href="structActivateData.html">ActivateData</a></td>
</tr>
</table>
</div><div class="memdoc">
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000017">Todo:</a></b></dt><dd>move to type.h </dd></dl>

</div>
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</a> 1.8.11
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