OSDKROS 3.3 - Changes to ReadMe file with updated support information

dji-sdk · Jun 24, 2017 · ffc2f08 · ffc2f08
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diff --git a/ReadMe.md b/ReadMe.md
@@ -10,7 +10,34 @@ This repository contains the Onboard SDK ROS wrapper and demos. The ROS package
 
 The ROS package is a full rewrite of DJI Onboard SDK ROS, with changes in APIs, reference frames, communication mechanisms etc. We encourage you to take a look at the documentation for full details. 
 
-ROS Wiki can be found [here](http://wiki.ros.org/dji_sdk). 
+ROS Wiki can be found [here](http://wiki.ros.org/dji_sdk). Please be sure to read the [release notes](https://developer.dji.com/onboard-sdk/documentation/appendix/releaseNotes.html).
+
+## Firmware Compatibility
+
+| Aircraft/FC       | Firmware Package Version | Flight Controller Version  | OSDK Version Support      |
+|---------------    |--------------------------|----------------------------|----------------------     |
+| **A3/A3 Pro**     | **1.7.1.5**              | **3.2.36.8**               | **OSDK 3.3 (Current)**    |
+|                   | 1.7.0.5                  | 3.2.15.50                  | OSDK 3.2                  |
+|                   | 1.7.0.0                  | 3.2.15.37                  | OSDK 3.2                  |
+|                   |                          |                            |                           |
+| **N3**            | **1.7.1.5**              | **3.2.36.8**               | **OSDK 3.3 (Current)**    |
+|                   | 1.7.0.0                  | 3.2.15.37                  | OSDK 3.2                  |
+|                   |                          |                            |                           |
+| **M600/M600 Pro** | Coming soon!             | Coming soon!               | **OSDK 3.3 (Current)**    |
+|                   | 1.0.1.20                 | 3.2.15.62                  | OSDK 3.2                  |
+|                   | 1.0.0.80                 | 3.2.15.00                  | OSDK 3.2                  |
+|                   |                          |                            |                           |
+| **M100**          | 1.3.1.0                  | 3.1.10.0                   | OSDK 3.2                  |
+
+
+## Support
+
+You can get support from DJI and the community with the following methods:
+
+- Github Issues or [gitter.im](https://gitter.im/dji-sdk/Onboard-SDK)
+- Send email to [email protected] describing your problem and a clear description of your setup
+- Post questions on [**Stackoverflow**](http://stackoverflow.com) using [**dji-sdk**](http://stackoverflow.com/questions/tagged/dji-sdk) tag
+- [**DJI Forum**](http://forum.dev.dji.com/en)
 
 
 

diff --git a/dji_sdk/src/modules/dji_sdk_node.cpp b/dji_sdk/src/modules/dji_sdk_node.cpp
@@ -420,12 +420,7 @@ bool DJISDKNode::validateSerialDevice(LinuxSerialDevice* serialDevice)
   //! Check the serial channel for data
   uint8_t buf[BUFFER_SIZE];
   if (!serialDevice->setSerialPureTimedRead()) {
-    ROS_ERROR("Failed to set up port for timed read.\n"
-               "This usually means the serial port is not correctly set up; \n"
-               "however on a small number of machines this error can come up\n"
-               "even when the port is correctly set up. If you are absolutely certain\n"
-               "your connections are okay, try commenting out L77-L89 in file dji_sdk_node.cpp\n"
-               "and build again.\n");
+    ROS_ERROR("Failed to set up port for timed read.\n");
     return (false);
   };
   usleep(100000);

diff --git a/dji_sdk/src/modules/dji_sdk_node_mission_services.cpp b/dji_sdk/src/modules/dji_sdk_node_mission_services.cpp
@@ -19,7 +19,6 @@ DJISDKNode::missionStatusCallback(dji_sdk::MissionStatus::Request&  request,
 
   response.waypoint_mission_count = vehicle->missionManager->wayptCounter;
   response.hotpoint_mission_count = vehicle->missionManager->hotptCounter;
-
   return true;
 }
 

diff --git a/dji_sdk/src/modules/dji_sdk_node_publisher.cpp b/dji_sdk/src/modules/dji_sdk_node_publisher.cpp
@@ -253,6 +253,8 @@ DJISDKNode::publish50HzData(Vehicle* vehicle, RecvContainer recvFrame,
   Telemetry::TypeMap<Telemetry::TOPIC_VELOCITY>::type v_FC =
     vehicle->subscribe->getValue<Telemetry::TOPIC_VELOCITY>();
   geometry_msgs::Vector3Stamped v;
+  // v_FC has 2 fields, data and info. The latter contains the health
+
 
   /*!
    * note: We are now following REP 103 to use ENU for
@@ -282,8 +284,8 @@ DJISDKNode::publish50HzData(Vehicle* vehicle, RecvContainer recvFrame,
   gimbal_angle_vec3.vector.z     = gimbal_angle.z;
   p->gimbal_angle_publisher.publish(gimbal_angle_vec3);
 
-
   // See dji_sdk.h for details about display_mode
+
   Telemetry::TypeMap<Telemetry::TOPIC_STATUS_DISPLAYMODE>::type dm =
     vehicle->subscribe->getValue<Telemetry::TOPIC_STATUS_DISPLAYMODE>();
 
@@ -315,6 +317,8 @@ DJISDKNode::publish50HzData(Vehicle* vehicle, RecvContainer recvFrame,
   *               V                              V
   *            -10000                         -10000
   *
+  *   In this code, before publish, RC is transformed to M100 style to be compatible with controller
+
   *****************************/
 
 //  sensor_msgs::Joy rc_joy;

diff --git a/dji_sdk_demo/src/demo_mobile_comm.cpp b/dji_sdk_demo/src/demo_mobile_comm.cpp
@@ -94,6 +94,7 @@ int main(int argc, char *argv[]) {
 
   Display_Main_Menu();
   while (!userExitCommand && ros::ok()) {
+
     ros::spinOnce();
     std::cout << "Enter Input Val: ";
     while (!(std::cin >> temp32)) {