OSDK 3.2.1 commit - versioning system overhauled. See Release Notes o…

…n the website.

dji_sdk/include/dji_sdk/DJI_LIB_ROS_Adapter.h

@@ -141,7 +141,6 @@ class ROSAdapter {
 
         void activate(ActivateData *data, CallBack callback) {
 
-            coreAPI->setVersion(data->version);
             coreAPI->activate(data, callback);
 
         }

dji_sdk/launch/sdk_manifold.launch

@@ -1,13 +1,11 @@
 <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"/>
 		<param name="app_id" type="int" value="1234EnterAppIDhere"/>
 		<param name="app_version" type="int" value="1"/>
-		<param name="app_bundle_id" type="string" value="Welcome to use dji-sdk"/>
+		<param name="app_bundle_id" type="string" value="Not required in this SDK version"/>
 		<param name="enc_key" type="string" value="1234Enterkeyhere"/>
 		<param name="groundstation_enable" type="int" value="1"/>
 	</node>

dji_sdk/launch/sdk_osx.launch

@@ -1,7 +1,6 @@
 <launch>
 	<node pkg="dji_sdk" type="dji_sdk_node" name="dji_sdk" output="screen">
 		<!-- node parameters -->
-		<param name="drone_version" type="string" value="M100"/>
 		<param name="serial_name" type="string" value="/dev/cu.usbserial-A603T4HK"/>
 		<param name="baud_rate" type="int" value="230400"/>
 		<param name="app_id" type="int" value="1022384"/>

dji_sdk/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package>
   <name>dji_sdk</name>
-  <version>0.1.9</version>
+  <version>3.2.0</version>
   <description>A ROS package using DJI Onboard SDK. </description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
   <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
   <maintainer email="[email protected]">Norman Li</maintainer>
-  <maintainer email="[email protected]">Botao Hu</maintainer>
+  <maintainer email="[email protected]">Arjun Menon</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -20,13 +20,13 @@
   <!-- Url tags are optional, but mutiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/dji_sdk</url> -->
+  <url type="website">http://developer.dji.com/onboard-sdk/documentation/github-platform-docs/ROS/README.html</url>
 
 
   <!-- Author tags are optional, mutiple are allowed, one per tag -->
   <!-- Authors do not have to be maintianers, but could be -->
   <!-- Example: -->
-  <author email="[email protected]">Botao Hu</author>
+  <author email="[email protected]">Arjun Menon</author>
 
 
   <!-- The *_depend tags are used to specify dependencies -->

dji_sdk/src/modules/dji_sdk_node_main.cpp

@@ -29,7 +29,7 @@ void DJISDKNode::broadcast_callback()
 {
     DJI::onboardSDK::BroadcastData bc_data = rosAdapter->coreAPI->getBroadcastData();
 
-    DJI::onboardSDK::Version version = rosAdapter->coreAPI->getSDKVersion();
+    DJI::onboardSDK::Version version = rosAdapter->coreAPI->getFwVersion();
     unsigned short msg_flags = bc_data.dataFlag;
 
     static int frame_id = 0;
@@ -143,10 +143,10 @@ void DJISDKNode::broadcast_callback()
     }
 
 /******************************************************************
-****************************If using A3****************************
+****************************If using A3/N3/M600********************
 ******************************************************************/
 
-    if(version == DJI::onboardSDK::versionA3_31 || version == DJI::onboardSDK::versionA3_32) {
+    if(version > MAKE_VERSION(3,1,10,0)) {
 
     	//update gimbal msg
     	if (msg_flags & A3_HAS_GIMBAL) {
@@ -321,7 +321,6 @@ int DJISDKNode::init_parameters(ros::NodeHandle& nh_private)
     std::string serial_name;
     int baud_rate;
     int app_id;
-    int app_version;
     std::string app_bundle_id; //reserved
     std::string enc_key;
     int uart_or_usb;
@@ -330,7 +329,6 @@ int DJISDKNode::init_parameters(ros::NodeHandle& nh_private)
     nh_private.param("serial_name", serial_name, std::string("/dev/ttyTHS1"));
     nh_private.param("baud_rate", baud_rate, 230400);
     nh_private.param("app_id", app_id, 1022384);
-    nh_private.param("app_version", app_version, 1);
     nh_private.param("enc_key", enc_key,
             std::string("e7bad64696529559318bb35d0a8c6050d3b88e791e1808cfe8f7802150ee6f0d"));
 
@@ -339,32 +337,12 @@ int DJISDKNode::init_parameters(ros::NodeHandle& nh_private)
 
     // activation
     user_act_data.ID = app_id;
-
-    if((uart_or_usb)&&(drone_version.compare("M100")))
-    {
-        printf("M100 does not support USB API.\n");
-        return -1;
-    }
-
-    if(!drone_version.compare("M100"))
-    {
-        user_act_data.version = versionM100_31;
-    }
-    else if (!drone_version.compare("A3_31"))
-    {
-        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());
 
     printf("=================================================\n");
-    printf("app id: %d\n", user_act_data.ID);
-    printf("app version: 0x0%X\n", user_act_data.version);
-    printf("app key: %s\n", user_act_data.encKey);
+    printf("app id   : %d\n", user_act_data.ID);
+    printf("app key  : %s\n", user_act_data.encKey);
     printf("=================================================\n");
 
     if(uart_or_usb) //use usb port for SDK
@@ -373,6 +351,14 @@ int DJISDKNode::init_parameters(ros::NodeHandle& nh_private)
     }
 
     rosAdapter->init(serial_name, baud_rate);
+    rosAdapter->coreAPI->getDroneVersion();
+    //usleep(1000000);
+    ros::Duration(1.0).sleep();
+    printf("=================================================\n");
+    printf("Hardware : %s\n", rosAdapter->coreAPI->getHwVersion());
+    printf("Firmware : 0x0%X\n", rosAdapter->coreAPI->getFwVersion());
+    printf("=================================================\n");
+
     rosAdapter->activate(&user_act_data, NULL);
     rosAdapter->setBroadcastCallback(&DJISDKNode::broadcast_callback, this);
     rosAdapter->setFromMobileCallback(&DJISDKNode::transparent_transmission_callback,this);

dji_sdk/src/modules/dji_sdk_node_services.cpp

@@ -218,7 +218,7 @@ bool DJISDKNode::velocity_control_callback(dji_sdk::VelocityControl::Request& re
 bool DJISDKNode::version_check_callback(dji_sdk::VersionCheck::Request& request, dji_sdk::VersionCheck::Response& response)
 {
     int sdkVer;
-    sdkVer = rosAdapter->coreAPI->getSDKVersion();
+    sdkVer = rosAdapter->coreAPI->getFwVersion();
     std::cout << std::hex << sdkVer << '\n';
 	response.result = true;
 	return true;

dji_sdk_doc/doxygen/html/classDJI_1_1onboardSDK_1_1CoreAPI-members.html

@@ -115,7 +115,7 @@
   <tr class="even"><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#a83775b0cee8ef84d454ce6025edc1b62">getFlightStatus</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>getFollowData</b>() const  (defined in <a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a>)</td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#a021fc52fda6637f3624ae14e1a96dc28">getHotPointData</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">getSDKVersion</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">getFwVersion</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getSessionStatus</b>() (defined in <a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a>)</td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#af90c4551b82a3926d9ed5316b4084bb3">getTime</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#ab5aa9af0ebe66a85ef24630284a1699d">getWayPointData</a>() const </td><td class="entry"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html">DJI::onboardSDK::CoreAPI</a></td><td class="entry"></td></tr>

dji_sdk_doc/doxygen/html/classDJI_1_1onboardSDK_1_1CoreAPI.html

@@ -158,7 +158,7 @@
 <tr class="separator:a0b42c3b5010dea459c294a357d5f759c"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:ab06228e965457f85ac8eebc7669a09ef"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classDJI_1_1onboardSDK_1_1HardDriver.html">HardDriver</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#ab06228e965457f85ac8eebc7669a09ef">getDriver</a> () const </td></tr>
 <tr class="separator:ab06228e965457f85ac8eebc7669a09ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aba01d2d5cc5fa9b13198312d1cc8fd5f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="DJI__Version_8h.html#a1621781715a8b4947de1fdbf3dd80495">Version</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">getSDKVersion</a> () const </td></tr>
+<tr class="memitem:aba01d2d5cc5fa9b13198312d1cc8fd5f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="DJI__Version_8h.html#a1621781715a8b4947de1fdbf3dd80495">Version</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">getFwVersion</a> () const </td></tr>
 <tr class="separator:aba01d2d5cc5fa9b13198312d1cc8fd5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a7be1fa967af760409494aadb779ad413"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7be1fa967af760409494aadb779ad413"></a>
 void&#160;</td><td class="memItemRight" valign="bottom"><b>setBroadcastCallback</b> (<a class="el" href="structDJI_1_1onboardSDK_1_1CallBackHandler.html">CallBackHandler</a> callback)</td></tr>
@@ -571,7 +571,7 @@
 <div class="memproto">
       <table class="memname">
         <tr>
-          <td class="memname"><a class="el" href="DJI__Version_8h.html#a1621781715a8b4947de1fdbf3dd80495">Version</a> CoreAPI::getSDKVersion </td>
+          <td class="memname"><a class="el" href="DJI__Version_8h.html#a1621781715a8b4947de1fdbf3dd80495">Version</a> CoreAPI::getFwVersion </td>
           <td>(</td>
           <td class="paramname"></td><td>)</td>
           <td> const</td>

dji_sdk_doc/doxygen/html/functions.html

@@ -222,7 +222,7 @@ <h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
 <li>getRCData()
 : <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#ab2ff6d77cdc0da443c5ae27736c06501">DJI::onboardSDK::VirtualRC</a>
 </li>
-<li>getSDKVersion()
+<li>getFwVersion()
 : <a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">DJI::onboardSDK::CoreAPI</a>
 </li>
 <li>getTime()

dji_sdk_doc/doxygen/html/functions_func.html

@@ -196,7 +196,7 @@ <h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
 <li>getRCData()
 : <a class="el" href="classDJI_1_1onboardSDK_1_1VirtualRC.html#ab2ff6d77cdc0da443c5ae27736c06501">DJI::onboardSDK::VirtualRC</a>
 </li>
-<li>getSDKVersion()
+<li>getFwVersion()
 : <a class="el" href="classDJI_1_1onboardSDK_1_1CoreAPI.html#aba01d2d5cc5fa9b13198312d1cc8fd5f">DJI::onboardSDK::CoreAPI</a>
 </li>
 <li>getTime()

dji_sdk_doc/doxygen/html/structVersionData-members.html

@@ -93,7 +93,7 @@
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>version</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>version_ack</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>version_crc</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>version_ID</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>hw_serial_num</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>version_name</b> (defined in <a class="el" href="structVersionData.html">VersionData</a>)</td><td class="entry"><a class="el" href="structVersionData.html">VersionData</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 <!-- start footer part -->

dji_sdk_doc/doxygen/html/structVersionData.html

@@ -100,7 +100,7 @@
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-char&#160;</td><td class="memItemRight" valign="bottom"><b>version_ID</b> [11]</td></tr>
+char&#160;</td><td class="memItemRight" valign="bottom"><b>hw_serial_num</b> [11]</td></tr>
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 char&#160;</td><td class="memItemRight" valign="bottom"><b>version_name</b> [32]</td></tr>