/*
* app_tan
* fly task_test_tan();
* Vetical:velocity Horizon:velocity yaw:angle
*/
void fly_task(int step)
{
switch(step)
{
case 0://Tak off finish,Go ahead a little while
drone_ctrl_data.x = 0.5;
drone_ctrl_data.y = 0;
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 1://line walking
drone_ctrl_data.x = 0.5;
// drone_ctrl_data.y = Line_Walking(get_image();
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 2://arrived the square target,slow down
break;
case 3:
break;
case 4:
break;
default://other status,Landing
DJI_Onboard_API_UAV_Control(6);
break;
}
}
/*
* app_tan
* fly test fly the square
* Vetical:velocity Horizon:velocity Yaw:angular rate
*/
void task_test_tan(int step)
{
switch (step) {
case 0:
drone_ctrl_data.x = 0.5;
drone_ctrl_data.y = 0;
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 1:
drone_ctrl_data.x = 0;
drone_ctrl_data.y = 0.5;
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 2:
drone_ctrl_data.x = -0.5;
drone_ctrl_data.y = 0;
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 3:
drone_ctrl_data.x = 0;
drone_ctrl_data.y = -0.5;
drone_ctrl_data.z = 0;
drone_ctrl_data.w = 0;
break;
case 4://Landing
DJI_Onboard_API_UAV_Control(6);
break;
case 5:
default:
break;
}
}
//----------------------------------------------------------------------
// 主函数
// 主要完成系统初始化，飞机激活、起飞、完成飞行任务，降落或返航
//----------------------------------------------------------------------
int main(void)
{
u8 t;
delay_init(); //延时函数初始化
NVIC_Configuration(); //设置NVIC中断分组2:2位抢占优先级，2位响应优先级
uart_init(230400); //串口初始化为230400，M100支持115200和230400，请结合N1调参软件修改
LED_Init(); //LED端口初始化
LCD_Init(); //液晶屏初始化
KEY_Init(); //按键初始化 本例程使用 PE4启动飞机
DJI_Pro_Test_Setup(); // 配置DJI SDK序列号 密钥 初始化通信链路
POINT_COLOR=RED;//设置字体为红色
LCD_ShowString(20,10,200,16,16,Dji_welcome);
POINT_COLOR=BLUE;//设置字体为蓝色 YELLOW
//下面循环用于等待用户触发PE4按键启动飞机
while(1)
{
t=KEY_Scan(0);
if(t==1)
break;
}
delay_s(8);//按键后延时，防止实飞时飞机伤到人。按键开始激活飞机、起飞，请立即远离飞机，以免造成伤害！！！！！！可以适当加长延时时间
//----------------------------------------------------------------------
// 此while循环完成飞机激活、获取控制权，如果没有激活成功或者获取到控制权，本次循环将终止跳到下次循环继续激活并获取控制权
// 直到成功获取后 执行起飞命定,break跳出循环继续执行飞行任务
//----------------------------------------------------------------------
while(1)
{
DJI_Onboard_API_Activation();//激活API
delay_ms(500);//延时用来保障应答数据接收完毕
if(i>3)//i>3只是用来判断串口中断是否接收到数据
{
HexToStr(PrintAck, RecBuff, i);
display(40);
if(RecBuff[0]==0xAA&RecBuff[12]==0x00&RecBuff[13]==0x00)
{
LCD_ShowString(20,55,200,16,12,"Activation Success ");
}
else
LCD_ShowString(20,55,200,16,12,"Activation error ");
i=0;
}
else continue;
delay_s(1);
DJI_Onboard_API_Control(1);//获取控制权
delay_ms(500);
if(i>3)
{
HexToStr(PrintAck, RecBuff, i);
display(80);
if(RecBuff[0]==0xAA&RecBuff[12]==0x02&RecBuff[13]==0x00)
{
LCD_ShowString(20,95,200,16,12,"Obtain Success ");
}
else
LCD_ShowString(20,95,200,16,12,"Obtain error ");
i=0;
}
else continue;
delay_s(1);
DJI_Onboard_API_UAV_Control(4);//起飞
delay_ms(500);
if(i>3)
{
HexToStr(PrintAck, RecBuff, i);
display(120);
if(RecBuff[0]==0xAA&RecBuff[12]==0x02&RecBuff[13]==0x00)
{
LCD_ShowString(20,135,200,16,12,"Begin to Take off");
}
i=0;
}
else continue;
break;
}
// 开始执行任务
delay_s(5);
DJI_Onboard_API_Ctr(0x48,100,0,0,2,0);
delay(400);
LCD_ShowString(20,155,200,16,12,"Take off Success");
LCD_ShowString(20,175,200,16,12,"Begin to fly cube");
DJI_Onboard_API_Ctr_drawcube();//画正方体
delay_s(1);
DJI_Onboard_API_Ctr(0x48,100,1,-0.414,0,0);//调整位置，规划圆心，准备画圆
delay_s(4);
LCD_ShowString(20,195,200,16,12,"Begin to fly circle");
DJI_Onboard_API_Ctr_drawcircle();//在正方体上方绘制外接圆
delay_s(4);
// LCD_ShowString(20,215,200,16,12,"Begin to landing");
// DJI_Onboard_API_UAV_Control(6);//降落
// DJI_Onboard_API_Ctr(0x48,200,6,0,0,0);//拉开距离，使飞机飞出起飞点20m外，方便测试返航功能，实飞时请不要执行该命令
LCD_ShowString(20,215,200,16,12,"Begin to go home");
DJI_Onboard_API_UAV_Control(1);//自动返航
delay_s(4);
while(1)
{
LCD_ShowString(20,235,200,16,12,"All task finished ");
}
}