Hotfix release adding 3.3 support for M600 FW 1.0.1.20. See #188. Misc bugfixes, closes #191 and some Qt sample issues.

Author: Rohit Sant

.gitignore

@@ -49,15 +49,4 @@ build/
 CMakeFiles/
 CMakeCache.txt
 cmake_install.cmake
-<<<<<<< HEAD
-<<<<<<< HEAD
-Makefile
-=======
-Makefile
-
-osdk-core/test
-contrib
->>>>>>> refs/heads/3.3
-=======
-Makefile
->>>>>>> develop
+Makefile

README.md

@@ -25,7 +25,7 @@ A new major version of DJI Onboard SDK (v3.3) was released on 15 Jun 2017. This
 |                   | 1.7.0.0                  | 3.2.15.37                 | OSDK 3.2               |                                                                       |
 |                   |                          |                           |                        |                                                                       |
 | **M600/M600 Pro** | *1.0.1.60*               | *3.2.41.5*                | *OSDK 3.3 (Current)*   | Firmware being investigated for potential in-flight instability       |
-|                   | **1.0.1.20**             | **3.2.15.62**             | **OSDK 3.2**           | OSDK 3.3 support for this firmware coming soon                        |
+|                   | **1.0.1.20**             | **3.2.15.62**             | **OSDK 3.3 (Current)** |                                                                       |
 |                   | 1.0.0.80                 | 3.2.15.00                 | OSDK 3.2               |                                                                       |
 |                   |                          |                           |                        |                                                                       |
 | **M100**          | 1.3.1.0                  | 3.1.10.0                  | **OSDK 3.3 (Current)** |                                                                       |

osdk-core/api/inc/dji_ack.hpp

@@ -293,7 +293,7 @@ class ACK
   static const std::map<const uint32_t, const char*> createMFIOErrorCodeMap();
   static const std::map<const uint32_t, const char*> createSetArmErrorCodeMap();
   static const std::map<const uint32_t, const char*>
-  createM100TaskErrorCodeMap();
+  createLegacyTaskErrorCodeMap();
 }; // class ACK
 
 } // namespace OSDK

osdk-core/api/inc/dji_broadcast.hpp

@@ -317,17 +317,23 @@ class DataBroadcast
 
 private:
   /*!
-   * @brief Extract broadcast data for A3/N3
-   * @param recvFrame: the raw data payload
+   * @brief Extract broadcast data for A3/N3/M600
+   * @param recvFrame: pointer to the raw data payload
    */
   void unpackData(RecvContainer* recvFrame);
 
   /*!
    * @brief Extract broadcast data for M100
-   * @param recvFrame: the raw data payload
+   * @param recvFrame: pointer to the raw data payload
    */
   void unpackM100Data(RecvContainer* pRecvFrame);
 
+  /*!
+   * @brief Extract broadcast data for M600 FW 3.2.41.5
+   * @param recvFrame: pointer to the raw data payload
+   */
+  void unpackOldM600Data(RecvContainer* recvFrame);
+
   inline void unpackOne(FLAG flag, void* data, uint8_t*& buf, size_t size);
 
 public:
@@ -355,13 +361,14 @@ class DataBroadcast
   Telemetry::Battery             battery     ;
   Telemetry::SDKInfo             info        ;
   /*
-   * @note Broadcast data for Matrice 100 that is fundamentally
-   * different from the A3/N3
+   * @note Broadcast data for Matrice 100/600 older firmware that is fundamentally
+   * different from the A3/N3/M600 newer firmware
    */
-  Telemetry::M100TimeStamp	    m100TimeStamp;
-  Telemetry::M100Velocity       m100Velocity;
-  Telemetry::M100Status         m100FlightStatus;
-  Telemetry::M100Battery        m100Battery;
+  Telemetry::LegacyTimeStamp	    legacyTimeStamp;
+  Telemetry::LegacyVelocity       legacyVelocity;
+  Telemetry::LegacyStatus         legacyStatus;
+  Telemetry::LegacyBattery        legacyBattery;
+  Telemetry::LegacyGPSInfo        legacyGPSInfo;
   // clang-format on
 private:
   Vehicle* vehicle;

osdk-core/api/inc/dji_control.hpp

@@ -40,12 +40,12 @@ class Control
     /*
      * @note Matrice 100 flight commands
      */
-    typedef struct M100CMD
+    typedef struct LegacyCMD
     {
       const static int goHome  = 1;
       const static int takeOff = 4;
       const static int landing = 6;
-    } M100CMD;
+    } LegacyCMD;
 
     /*
      * @note OSDK release 3.3
@@ -238,11 +238,11 @@ class Control
   } AdvancedCtrlData; // pack(1)
 
   // CMD data supported in Matrice 100
-  typedef struct M100CMDData
+  typedef struct LegacyCMDData
   {
     uint8_t sequence;
     uint8_t cmd;
-  } M100CMDData; // pack (1)
+  } LegacyCMDData; // pack (1)
 #pragma pack()
 
   /*! @note
@@ -439,7 +439,7 @@ class Control
   /*
    * Task CMD data to send to the flight controller (supported in Matrice 100)
    */
-  M100CMDData m100CMDData;
+  LegacyCMDData legacyCMDData;
 }; // class Control
 
 } // OSDK

osdk-core/api/inc/dji_error.hpp

@@ -335,11 +335,11 @@ class ErrorCode
     /*
      * Task ACKs Supported in firmware version < 3.3
      */
-    typedef struct M100Task
+    typedef struct LegacyTask
     {
       const static uint16_t SUCCESS;
       const static uint16_t FAIL;
-    } M100Task;
+    } LegacyTask;
 
     /*!
      * @brief CMDID: SetArm supported in products with

osdk-core/api/inc/dji_telemetry.hpp

@@ -500,19 +500,19 @@ typedef struct HardSyncData
 /*!
  * @brief Matrice 100 Timestamp data, available in Broadcast telemetry (only for M100)
  */
-typedef struct M100TimeStamp
+typedef struct LegacyTimeStamp
 {
   uint32_t time;
   uint32_t nanoTime;
   uint8_t  syncFlag;
-} M100TimeStamp; // pack(1)
+} LegacyTimeStamp; // pack(1)
 
 /*!
  * @brief Matrice 100 Velocity struct, returned in Broadcast telemetry (only for M100)
  * @note The velocity may be in body or ground frame
  * based on settings in DJI Assistant 2's SDK page.
  */
-typedef struct M100Velocity
+typedef struct LegacyVelocity
 {
   float32_t x;
   float32_t y;
@@ -523,18 +523,32 @@ typedef struct M100Velocity
   uint8_t health : 1;
   uint8_t sensorID : 4;
   uint8_t reserve : 3;
-} M100Velocity; // pack(1)
+} LegacyVelocity; // pack(1)
 
 typedef uint16_t EnableFlag;  // pack(1)
 
 /*!
  * @brief Return type for flight status data broadcast (only for M100). Returns VehicleStatus::M100FlightStatus.
  */
-typedef uint8_t  M100Status;  // pack(1)
+typedef uint8_t  LegacyStatus;  // pack(1)
 /*!
  * @brief Return type for battery data broadcast (only for M100). Returns percentage.
  */
-typedef uint8_t  M100Battery; // pack(1)
+typedef uint8_t  LegacyBattery; // pack(1)
+
+/*!
+ * @brief struct for GPSInfo of data broadcast
+ *
+ * @note only work outside of simulation
+ */
+typedef struct LegacyGPSInfo
+{
+  PositionTimeStamp time;
+  int32_t           longitude;   /*!< 1/1.0e7deg */
+  int32_t           latitude;    /*!< 1/1.0e7deg */
+  int32_t           HFSL;        /*!< height above mean sea level (mm) */
+  Vector3f          velocityNED; /*!< cm/s */
+} LegacyGPSInfo; // pack(1)
 
 #pragma pack()
 

osdk-core/api/inc/dji_vehicle.hpp

@@ -203,8 +203,12 @@ class Vehicle
   Version::FirmWare getFwVersion() const;
   char*             getHwVersion() const;
   char*             getHwSerialNum() const;
+  bool              isLegacyM600();
+  bool              isM100();
 
-  void setKey(const char* key);
+
+
+    void setKey(const char* key);
   void setStopCond(bool stopCond);
   bool            getStopCond();
   CircularBuffer* circularBuffer; //! @note not used yet

osdk-core/api/src/dji_ack.cpp

@@ -259,18 +259,18 @@ ACK::createTaskErrorCodeMap()
 /*
  * Supported in Matrice 100
  */
-const std::pair<const uint32_t, const char*> M100TaskData[] = {
-  std::make_pair(OpenProtocol::ErrorCode::ControlACK::M100Task::SUCCESS,
+const std::pair<const uint32_t, const char*> LegacyTaskData[] = {
+  std::make_pair(OpenProtocol::ErrorCode::ControlACK::LegacyTask::SUCCESS,
                  (const char*)"CONTROLLER_SUCCESS\n"),
-  std::make_pair(OpenProtocol::ErrorCode::ControlACK::M100Task::FAIL,
+  std::make_pair(OpenProtocol::ErrorCode::ControlACK::LegacyTask::FAIL,
                  (const char*)"CONTROLLER_FAIL\n")
 };
 
 const std::map<const uint32_t, const char*>
-ACK::createM100TaskErrorCodeMap()
+ACK::createLegacyTaskErrorCodeMap()
 {
   const std::map<const uint32_t, const char*> errorCodeMap(
-    M100TaskData, M100TaskData + sizeof M100TaskData / sizeof M100TaskData[0]);
+    LegacyTaskData, LegacyTaskData + sizeof LegacyTaskData / sizeof LegacyTaskData[0]);
   return errorCodeMap;
 }
 
@@ -501,7 +501,7 @@ ACK::getError(ACK::ErrorCode ack)
   else if (memcmp(cmd, OpenProtocol::CMDSet::Control::setArm, sizeof(cmd)) == 0)
   {
     /*
-     * SetArm command supported in Matrice 100
+     * SetArm command supported in Matrice 100/ M600 old firmware
      */
     return (ack.data == OpenProtocol::ErrorCode::ControlACK::SetArm::SUCCESS)
              ? ACK::SUCCESS
@@ -514,7 +514,15 @@ ACK::getError(ACK::ErrorCode ack)
   }
   else if (memcmp(cmd, OpenProtocol::CMDSet::Control::task, sizeof(cmd)) == 0)
   {
-    if (ack.info.version != Version::M100_31)
+    if (ack.info.version == Version::FW(3,2,15,62))
+    {
+      //! ACKs supported in Matrice 600 old firmware
+      return (ack.data ==
+          OpenProtocol::ErrorCode::ControlACK::LegacyTask::SUCCESS)
+             ? ACK::SUCCESS
+             : ACK::FAIL;
+    }
+    else if (ack.info.version != Version::M100_31)
     {
       return (ack.data == OpenProtocol::ErrorCode::ControlACK::Task::SUCCESS)
                ? ACK::SUCCESS
@@ -524,7 +532,7 @@ ACK::getError(ACK::ErrorCode ack)
     {
       //! ACKs supported in Matrice 100
       return (ack.data ==
-              OpenProtocol::ErrorCode::ControlACK::M100Task::SUCCESS)
+              OpenProtocol::ErrorCode::ControlACK::LegacyTask::SUCCESS)
                ? ACK::SUCCESS
                : ACK::FAIL;
     }
@@ -746,13 +754,17 @@ ACK::getCMDIDTaskMSG(ACK::ErrorCode ack)
 {
   std::map<const uint32_t, const char*> taskErrorCodeMap;
 
-  if (ack.info.version != Version::M100_31)
+  if (ack.info.version == Version::FW(3,2,15,62))
+  {
+    taskErrorCodeMap = static_cast<std::map<const uint32_t, const char*>>(ACK::createLegacyTaskErrorCodeMap());
+  }
+  else if (ack.info.version == Version::M100_31)
   {
-    taskErrorCodeMap = ACK::createTaskErrorCodeMap();
+    taskErrorCodeMap = static_cast<std::map<const uint32_t, const char*>>(ACK::createLegacyTaskErrorCodeMap());
   }
   else
   {
-    taskErrorCodeMap = ACK::createM100TaskErrorCodeMap();
+    taskErrorCodeMap = static_cast<std::map<const uint32_t, const char*>>(ACK::createTaskErrorCodeMap());
   }
 
   auto msg = taskErrorCodeMap.find(ack.data);