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Merge pull request #552 from DJI-Jerry/OSDK_4.0.1_bugfixs_01
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Osdk 4.0.1 bugfixs 01
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@DJI-Jerry
DJI-Jerry authored Jul 1, 2020
2 parents dc731de + 7fdf62b commit 990dc22
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43 changes: 29 additions & 14 deletions osdk-core/modules/inc/firewall/osdk_policy.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,21 +38,36 @@
* Date : 2020-05-07
* OSDK Ver : OSDK 4.0
* */

static const uint8_t s_osdkPolicyFileBinaryArray[] = {
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0x81, 0x27, 0x54, 0x47, 0x15, 0xFE, 0xD8, 0xB0, 0xDE, 0x07, 0xE7, 0xB5, 0x7C, 0xC9, 0x50, 0xE1, 0xD9, 0x4C, 0xE9, 0xD2, 0x8A, 0x24, 0xF9, 0x43, 0x73, 0x3A,
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0x32, 0x1E, 0xD3, 0x90, 0x0F, 0xCB, 0x26, 0x5D, 0x50, 0xD7, 0x26, 0x37, 0xC0, 0xBF, 0x47, 0x11, 0x54, 0x5E, 0xF1, 0xE6, 0x45, 0x81, 0x00, 0x00, 0x63, 0x00,
0x01, 0x00, 0x5F, 0x00, 0x01, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x04, 0x00, 0x00, 0x01, 0x26, 0x27, 0x02, 0x02, 0x12, 0x00, 0x01, 0x02, 0x10, 0x11,
0x1E, 0x1F, 0x22, 0x2B, 0x2E, 0x2F, 0x30, 0x31, 0x34, 0x35, 0x6A, 0x6B, 0xC4, 0xC6, 0xB8, 0x80, 0x03, 0x01, 0x00, 0x00, 0x1B, 0x04, 0x02, 0x00, 0x00, 0x0A,
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0xF7, 0x80, 0x17, 0x37, 0x45, 0xFD, 0x62, 0xE3, 0x9A, 0x96, 0xB6, 0x29, 0xDF,
0x0E, 0x3B, 0xE4, 0x66, 0x3B, 0x6A, 0x9A, 0xC5, 0xAB, 0xE3, 0x43, 0x75, 0xAB,
0x05, 0xD2, 0x30, 0xE1, 0x67, 0x6A, 0xCF, 0xFA, 0x04, 0xA2, 0x1A, 0xD5, 0x78,
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0xD0, 0xDD, 0x72, 0x1B, 0xF7, 0x4D, 0xC1, 0xC5, 0x47, 0xAB, 0xC7, 0xFC, 0x77,
0xE8, 0xD2, 0x83, 0x9A, 0xDE, 0xD1, 0xD5, 0x68, 0xB6, 0xB8, 0x96, 0x48, 0xF0,
0x68, 0xA4, 0x4B, 0x2E, 0x85, 0xB4, 0x3E, 0xCE, 0xFD, 0xE7, 0xC4, 0x5C, 0xA0,
0x54, 0x14, 0xB7, 0x02, 0x0E, 0x68, 0xF5, 0x83, 0xD5, 0x6A, 0x35, 0xF0, 0x5F,
0x32, 0x00, 0x69, 0xC9, 0xD8, 0x6B, 0xFC, 0xE8, 0x66, 0x2A, 0xA0, 0xB2, 0x2B,
0x43, 0x2C, 0x40, 0xA8, 0x4D, 0xA1, 0xC8, 0xD0, 0x07, 0x00, 0x00, 0x65, 0x00,
0x01, 0x00, 0x61, 0x00, 0x01, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x04,
0x00, 0x00, 0x05, 0x26, 0x27, 0x02, 0x04, 0x12, 0x00, 0x01, 0x02, 0x10, 0x11,
0x1E, 0x1F, 0x22, 0x2B, 0x2E, 0x2F, 0x30, 0x31, 0x34, 0x35, 0x6A, 0x6B, 0xC4,
0xC6, 0xB8, 0x80, 0xEB, 0xEC, 0x03, 0x01, 0x00, 0x00, 0x1B, 0x04, 0x02, 0x00,
0x00, 0x0A, 0x4C, 0x05, 0x01, 0x00, 0x00, 0x0B, 0x08, 0x01, 0x02, 0x00, 0x67,
0x68, 0x65, 0x21, 0x00, 0x02, 0x00, 0x05, 0x06, 0x22, 0x01, 0x04, 0x00, 0x01,
0x0E, 0x17, 0x1E, 0x27, 0x24, 0x01, 0x02, 0x00, 0x11, 0x12, 0x32, 0x3C, 0x02,
0x00, 0x00, 0x37, 0x40, 0x49, 0x02, 0x00, 0x00, 0x20, 0x30
};

#endif /* _OSDK_POLICY_H_ */
2 changes: 2 additions & 0 deletions osdk-core/modules/src/mop/dji_mop_client.cpp
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Expand Up @@ -51,6 +51,8 @@ MopErrCode MopClient::connect(PipelineID id, PipelineType type,
} else {
pipelineMap[id] = p;
}
} else {
p = pipelineMap[id];
}

/*! 2.Do creating */
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1 change: 1 addition & 0 deletions sample/platform/STM32/OnBoardSDK_STM32/Linker/osal/osdkosal_stm32.c
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Expand Up @@ -47,6 +47,7 @@ E_OsdkStat OsdkSTM32_TaskCreate(T_OsdkTaskHandle *task, void *(*taskFunc)(void *
char taskName[100] = {0};

snprintf(taskName, sizeof(taskName), "Task_%d", taskCnt);
*task = malloc(sizeof(TaskHandle_t));
result = xTaskCreate((TaskFunction_t)taskFunc, taskName, stackSize, arg, 0, *task);
taskCnt++;
if (result != pdTRUE) {
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18 changes: 9 additions & 9 deletions sample/platform/STM32/OnBoardSDK_STM32/User/FlightControlSample.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -689,23 +689,23 @@ moveByPositionOffset(float xOffsetDesired, float yOffsetDesired,
zOffsetRemaining = zOffsetDesired - localOffset.z;

//! See if we need to modify the setpoint
if (std::abs(xOffsetRemaining) < speedFactor)
if (abs(xOffsetRemaining) < speedFactor)
xCmd = xOffsetRemaining;
if (std::abs(yOffsetRemaining) < speedFactor)
if (abs(yOffsetRemaining) < speedFactor)
yCmd = yOffsetRemaining;

if(v->getFwVersion() == Version::M100_31 &&
std::abs(xOffsetRemaining) < posThresholdInM &&
std::abs(yOffsetRemaining) < posThresholdInM &&
std::abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
abs(xOffsetRemaining) < posThresholdInM &&
abs(yOffsetRemaining) < posThresholdInM &&
abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
{
//! 1. We are within bounds; start incrementing our in-bound counter
withinBoundsCounter += cycleTimeInMs;
}
else if(std::abs(xOffsetRemaining) < posThresholdInM &&
std::abs(yOffsetRemaining) < posThresholdInM &&
std::abs(zOffsetRemaining) < posThresholdInM &&
std::abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
else if(abs(xOffsetRemaining) < posThresholdInM &&
abs(yOffsetRemaining) < posThresholdInM &&
abs(zOffsetRemaining) < posThresholdInM &&
abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
{
//! 1. We are within bounds; start incrementing our in-bound counter
withinBoundsCounter += cycleTimeInMs;
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