├── .gitignore ├── .gitmodules ├── LICENSE ├── README.md ├── UserConfig.txt ├── djisdk-sample.py ├── inc ├── Drone.h └── LinuxInteractive.h ├── setup.py ├── src ├── Drone.cpp ├── LinuxInteractive.cpp ├── bindings.cpp ├── example.cpp └── main.cpp └── test.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | env/ 12 | build/ 13 | develop-eggs/ 14 | dist/ 15 | downloads/ 16 | eggs/ 17 | .eggs/ 18 | lib/ 19 | lib64/ 20 | parts/ 21 | sdist/ 22 | tmp/ 23 | var/ 24 | wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .coverage 43 | .coverage.* 44 | .cache 45 | nosetests.xml 46 | coverage.xml 47 | *.cover 48 | .hypothesis/ 49 | 50 | # Translations 51 | *.mo 52 | *.pot 53 | 54 | # Django stuff: 55 | *.log 56 | local_settings.py 57 | 58 | # Flask stuff: 59 | instance/ 60 | .webassets-cache 61 | 62 | # Scrapy stuff: 63 | .scrapy 64 | 65 | # Sphinx documentation 66 | docs/_build/ 67 | 68 | # PyBuilder 69 | target/ 70 | 71 | # Jupyter Notebook 72 | .ipynb_checkpoints 73 | 74 | # pyenv 75 | .python-version 76 | 77 | # celery beat schedule file 78 | celerybeat-schedule 79 | 80 | # SageMath parsed files 81 | *.sage.py 82 | 83 | # dotenv 84 | .env 85 | 86 | # virtualenv 87 | .venv 88 | venv/ 89 | ENV/ 90 | 91 | # Spyder project settings 92 | .spyderproject 93 | .spyproject 94 | 95 | # Rope project settings 96 | .ropeproject 97 | 98 | # mkdocs documentation 99 | /site 100 | 101 | # mypy 102 | .mypy_cache/ 103 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "Onboard-SDK"] 2 | path = Onboard-SDK 3 | url = https://github.com/dji-sdk/Onboard-SDK 4 | [submodule "pybind11"] 5 | path = pybind11 6 | url = https://github.com/pybind/pybind11 7 | [submodule "Guidance-SDK"] 8 | path = Guidance-SDK 9 | url = https://github.com/dji-sdk/Guidance-SDK 10 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # DJISDKPY 2 | DJI SDK python interface 3 | 4 | DJISDKPY is a python module interface to DJI's Onboard and Guidance SDKs on linux platforms. It is built with pybind11 and uses the DJI SDK 5 | apis to provide full control of supported DJI vehicles Matrices 100, Matrice 600, Matrice 210/210-RTK or flight 6 | controllers A3 or N3. 7 | 8 | ## Dependencies 9 | 10 | This module has the following depenendencies: 11 | 12 | * python 13 | * python-dev 14 | * pip 15 | * setuptools 16 | * build-essential 17 | * cmake 18 | 19 | ## Compilation and Usage 20 | 21 | ### Install dependencies 22 | 23 | ``` 24 | sudo apt-get update 25 | sudo apt-get install python python-dev python-pip build-essential cmake 26 | pip install setuptools 27 | ``` 28 | 29 | ### Compilation 30 | 31 | ``` 32 | git clone https://github.com/drmaj/dji-sdk-python 33 | cd dji-sdk-python 34 | git submodule update --init --recursive 35 | python setup.py build_ext -i 36 | ``` 37 | 38 | ### Usage 39 | 40 | After compilation, djisdkpy.so module will be available in the root directory of the repo. Use the module as follows: 41 | 42 | ```python 43 | 44 | import djisdkpy 45 | import time 46 | 47 | drone = djisdkpy.Drone('UserConfig.txt') 48 | drone.initialize() 49 | time.sleep(1) 50 | drone.takeControl() 51 | drone.arm() 52 | drone.takeoff() 53 | time.sleep(5) 54 | drone.land() 55 | drone.disarm() 56 | drone.releaseControl() 57 | drone.shutdown() 58 | ``` 59 | 60 | ## TODO 61 | 62 | * Add support for Guidance SDK 63 | * Update to support v3.3 of the Onboard SDK 64 | * Add support for RPi3 raspbian 65 | * Add move by position and move by velocity full support 66 | 67 | ## About 68 | 69 | This package was created by [Miguel Alonso Jr](http://www.drmiguelalonsojr.com) with the purpose of providing a simply python interface to DJI's drones and guidance platforms. 70 | It runs on debian linux platforms like the L4T Jetson TX1/TX2. 71 | 72 | ## License 73 | 74 | DJISDKPY is provided under the GNU GPL V3 that can be found in the `LICENSE` file. By using, distributing, or 75 | contributing to this project, you agree to the terms and conditions of this license. 76 | 77 | -------------------------------------------------------------------------------- /UserConfig.txt: -------------------------------------------------------------------------------- 1 | ID:EnterAppID 2 | KEY:EnterKey1234 3 | DeviceName: /dev/ttyUSB0 4 | BaudRate: 230400 5 | -------------------------------------------------------------------------------- /djisdk-sample.py: -------------------------------------------------------------------------------- 1 | import time 2 | import djisdkpy 3 | 4 | user_prompt = "\n" + \ 5 | "|------------------DJI Onboard SDK Interactive Sample------------|\n" + \ 6 | "| |\n" + \ 7 | "| The interactive mode allows you to execute a few commands |\n" + \ 8 | "| to help you get a feel of the DJI Onboard SDK. Try them out! |\n" + \ 9 | "| |\n" + \ 10 | "| Standard DJI Onboard SDK Usage Flow: |\n" + \ 11 | "| 1. Activate (The sample has already done this for you) |\n" + \ 12 | "| 2. Obtain Control (The sample has already done this for you) |\n" + \ 13 | "| 3. Takeoff |\n" + \ 14 | "| 4. Execute Aircraft control (Movement control/Missions/Camera) |\n" + \ 15 | "| 5. Return to Home/Land |\n" + \ 16 | "| 6. Release Control (The sample will do this for you on exit) |\n" + \ 17 | "| |\n" + \ 18 | "| Available commands: |\n" + \ 19 | "| [a] Request Control |\n" + \ 20 | "| [b] Release Control |\n" + \ 21 | "| [c] Arm the Drone |\n" + \ 22 | "| [d] Disarm the Drone |\n" + \ 23 | "| [e] Takeoff |\n" + \ 24 | "| [f] Waypoint Sample |\n" + \ 25 | "| [g] Position Control Sample: Draw Square |\n" + \ 26 | "| [h] Landing |\n" + \ 27 | "| [i] Go Home |\n" + \ 28 | "| [j] Set Gimbal Angle |\n" + \ 29 | "| [k] Set Gimbal Speed |\n" + \ 30 | "| [l] Take Picture |\n" + \ 31 | "| [m] Take Video |\n" + \ 32 | "| [n] Exit this sample |\n" + \ 33 | "| [o] Keyboard move |\n" + \ 34 | "| |\n" + \ 35 | "| Type one of these letters and then press the enter key. |\n" + \ 36 | "| |\n" + \ 37 | "| If you're new here, try following the usage flow shown above. |\n" + \ 38 | "| |\n" + \ 39 | "| Visit developer.dji.com/onboard-sdk/documentation for more. |\n" + \ 40 | "| |\n" + \ 41 | "|------------------DJI Onboard SDK Interactive Sample------------|\n" 42 | 43 | drone = djisdkpy.Drone("UserCongif.txt") 44 | drone.initialize() 45 | 46 | class _Getch: 47 | def __init__(self): 48 | self.impl = _GetchUnix() 49 | 50 | def __call__(self): 51 | return self.impl() 52 | 53 | 54 | class _GetchUnix: 55 | def __init__(self): 56 | import tty, sys, termios 57 | 58 | def __call__(self): 59 | import sys, tty, termios 60 | fd = sys.stdin.fileno() 61 | old_settings = termios.tcgetattr(fd) 62 | try: 63 | tty.setraw(sys.stdin.fileno()) 64 | ch = sys.stdin.read(1) 65 | finally: 66 | termios.tcsetattr(fd, termios.TCSADRAIN, old_settings) 67 | return ch 68 | 69 | def move_drone_via_keyboard(): 70 | 71 | try: 72 | user_input = _Getch() 73 | while True: 74 | uin = user_input() 75 | if uin == ' ': 76 | break 77 | elif uin == 'i': 78 | drone.setVelocity(1.0, 0.0, 0.0, 0.0) 79 | else: 80 | drone.setVelocity(0.0, 0.0, 0.0, 0.0) 81 | except KeyboardInterrupt: 82 | pass 83 | 84 | def check_input(user_input): 85 | output = True 86 | if user_input == 'a': 87 | drone.takeControl() 88 | elif user_input == 'b': 89 | drone.releaseControl() 90 | elif user_input == 'c': 91 | drone.arm() 92 | elif user_input == 'd': 93 | drone.disarm() 94 | elif user_input == 'e': 95 | drone.takeoff() 96 | elif user_input == 'h': 97 | drone.land() 98 | elif user_input == 'i': 99 | drone.returnHome() 100 | elif user_input == 'n': 101 | output = False 102 | elif user_input == 'o': 103 | move_drone_via_keyboard() 104 | else: 105 | print "Please select a valid option." 106 | 107 | time.sleep(0.5) 108 | return output 109 | 110 | if __name__ == '__main__': 111 | 112 | try: 113 | user_input = raw_input(user_prompt) 114 | while check_input(user_input): 115 | user_input = raw_input(user_prompt) 116 | except KeyboardInterrupt: 117 | pass 118 | 119 | -------------------------------------------------------------------------------- /inc/Drone.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | using namespace DJI::onboardSDK; 10 | 11 | using namespace DJI; 12 | 13 | namespace Matrice { 14 | 15 | class Drone { 16 | 17 | public: 18 | 19 | Drone(std::string); 20 | 21 | int initialize(); 22 | 23 | int shutdown(); 24 | 25 | ackReturnData getControl(); 26 | 27 | ackReturnData relControl(); 28 | 29 | ackReturnData engage(); 30 | 31 | ackReturnData disengage(); 32 | 33 | ackReturnData takeoff(); 34 | 35 | ackReturnData land(); 36 | 37 | ackReturnData returnHome(); 38 | 39 | int setAttitude(float32_t roll, float32_t pitch, float32_t yaw); 40 | 41 | int setAttitudeAndAltitude(float32_t roll, float32_t pitch, float32_t yaw, float32_t z); 42 | 43 | int setOffset(float32_t xOffset, float32_t yOffset, float32_t zOffset, float32_t yaw); 44 | 45 | int setVelocity(float32_t xVelocity, float32_t yVelocity, float32_t zVelocity, float32_t yawRate); 46 | 47 | private: 48 | 49 | LinuxSerialDevice* serialDevice; 50 | 51 | CoreAPI* api; 52 | 53 | Flight* flight; 54 | 55 | WayPoint* waypoint; 56 | 57 | Camera* camera; 58 | 59 | LinuxThread* read; 60 | 61 | std::string filename; 62 | 63 | }; 64 | 65 | } 66 | -------------------------------------------------------------------------------- /inc/LinuxInteractive.h: -------------------------------------------------------------------------------- 1 | /*! @file LinuxInteractive.h 2 | * @version 3.1.8 3 | * @date Aug 05 2016 4 | * 5 | * @brief 6 | * Barebones interactive UI for executing Onboard SDK commands. 7 | * Calls functions from the new Linux example based on user input. 8 | * 9 | * @copyright 10 | * 2016 DJI. All rights reserved. 11 | * */ 12 | 13 | #ifndef LINUXINTERACTIVE_H 14 | #define LINUXINTERACTIVE_H 15 | 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include "LinuxSetup.h" 21 | #include "LinuxCleanup.h" 22 | #include "LinuxFlight.h" 23 | #include "LinuxWaypoint.h" 24 | #include "LinuxCamera.h" 25 | 26 | //Local Mission Planning Suite Headers 27 | #ifdef USE_PRECISION_MISSIONS 28 | #include 29 | #endif 30 | /*! Poll at 10Hz, waiting for commands from the user. 31 | The spin runs indefinitely until the user sends the exit command. 32 | !*/ 33 | void interactiveSpin(CoreAPI* api, Flight* flight, WayPoint* waypointObj, Camera* camera, std::string pathToSpiral, std::string paramTuningFile); 34 | 35 | 36 | #endif // LINUXINTERACTIVE_H 37 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import setup, Extension 2 | from setuptools.command.build_ext import build_ext 3 | import sys 4 | import os 5 | import setuptools 6 | import subprocess 7 | 8 | __version__ = '0.0.1' 9 | 10 | 11 | class get_pybind_include(object): 12 | """Helper class to determine the pybind11 include path 13 | The purpose of this class is to postpone importing pybind11 14 | until it is actually installed, so that the ``get_include()`` 15 | method can be invoked. """ 16 | 17 | def __init__(self, user=False): 18 | self.user = user 19 | 20 | def __str__(self): 21 | try: 22 | import pybind11 23 | return pybind11.get_include(self.user) 24 | except ImportError: 25 | return 'pybind11/include' 26 | 27 | 28 | def build_osdk_libs(): 29 | 30 | print 'building onboard sdk library...' 31 | 32 | if not os.path.isdir('./Onboard-SDK/build'): 33 | print 'creating build directory...' 34 | subprocess.call(['mkdir','-p', './Onboard-SDK/build']) 35 | else: 36 | print "osdk build directory present..." 37 | subprocess.call(['rm', '-rf', './Onboard-SDK/build/*']) 38 | 39 | cmake_cmd = ['cmake', '-DCMAKE_POSITION_INDEPENDENT_CODE=TRUE', '..'] 40 | build_dir = './Onboard-SDK/build' 41 | 42 | p = subprocess.Popen(cmake_cmd, cwd=build_dir) 43 | p.wait() 44 | 45 | p = subprocess.Popen(['make'], cwd=build_dir) 46 | p.wait() 47 | 48 | ext_modules = [ 49 | Extension( 50 | 'djisdkpy', 51 | ['src/Drone.cpp', 'src/bindings.cpp'], 52 | include_dirs=[ 53 | # Path to pybind11 headers 54 | get_pybind_include(), 55 | get_pybind_include(user=True), 56 | 'inc', 57 | 'Onboard-SDK/osdk-core/inc', 58 | 'Onboard-SDK/osdk-wrapper/inc', 59 | 'Onboard-SDK/platform/linux/inc' 60 | ], 61 | #extra_compile_args=['-fPIC'], 62 | library_dirs=['Onboard-SDK/build/libs'], 63 | libraries=['djiosdk-wrapper','djiosdk-platform', 'djiosdk-core'], 64 | language='c++' 65 | ), 66 | ] 67 | 68 | 69 | # As of Python 3.6, CCompiler has a `has_flag` method. 70 | # cf http://bugs.python.org/issue26689 71 | def has_flag(compiler, flagname): 72 | """Return a boolean indicating whether a flag name is supported on 73 | the specified compiler. 74 | """ 75 | import tempfile 76 | with tempfile.NamedTemporaryFile('w', suffix='.cpp') as f: 77 | f.write('int main (int argc, char **argv) { return 0; }') 78 | try: 79 | compiler.compile([f.name], extra_postargs=[flagname]) 80 | except setuptools.distutils.errors.CompileError: 81 | return False 82 | return True 83 | 84 | 85 | def cpp_flag(compiler): 86 | """Return the -std=c++[11/14] compiler flag. 87 | The c++14 is prefered over c++11 (when it is available). 88 | """ 89 | if has_flag(compiler, '-std=c++14'): 90 | return '-std=c++14' 91 | elif has_flag(compiler, '-std=c++11'): 92 | return '-std=c++11' 93 | else: 94 | raise RuntimeError('Unsupported compiler -- at least C++11 support ' 95 | 'is needed!') 96 | 97 | 98 | class BuildExt(build_ext): 99 | """A custom build extension for adding compiler-specific options.""" 100 | c_opts = { 101 | 'msvc': ['/EHsc'], 102 | 'unix': [], 103 | } 104 | 105 | if sys.platform == 'darwin': 106 | c_opts['unix'] += ['-stdlib=libc++', '-mmacosx-version-min=10.7'] 107 | 108 | def build_extensions(self): 109 | build_osdk_libs() 110 | ct = self.compiler.compiler_type 111 | opts = self.c_opts.get(ct, []) 112 | if ct == 'unix': 113 | opts.append('-DVERSION_INFO="%s"' % self.distribution.get_version()) 114 | opts.append(cpp_flag(self.compiler)) 115 | if has_flag(self.compiler, '-fvisibility=hidden'): 116 | opts.append('-fvisibility=hidden') 117 | elif ct == 'msvc': 118 | opts.append('/DVERSION_INFO=\\"%s\\"' % self.distribution.get_version()) 119 | for ext in self.extensions: 120 | ext.extra_compile_args = opts 121 | build_ext.build_extensions(self) 122 | 123 | setup( 124 | name='djisdkpy', 125 | version=__version__, 126 | author='Miguel Alonso Jr', 127 | author_email='drmiguelalonsojr@gmail.com', 128 | url='https://github.com/drmaj/Onboard-SDK-python', 129 | description='Python module with bindings for the DJI SDKs', 130 | long_description='', 131 | ext_modules=ext_modules, 132 | install_requires=['pybind11>=1.7'], 133 | cmdclass={'build_ext': BuildExt}, 134 | zip_safe=False, 135 | ) 136 | -------------------------------------------------------------------------------- /src/Drone.cpp: -------------------------------------------------------------------------------- 1 | #include "Drone.h" 2 | #include "LinuxFlight.h" 3 | #include "LinuxSetup.h" 4 | #include "LinuxCleanup.h" 5 | 6 | Matrice::Drone::Drone(std::string filename) : filename(filename) { 7 | 8 | std::cout << "Setting up Drone." << std::endl; 9 | 10 | serialDevice = new LinuxSerialDevice(UserConfig::deviceName, UserConfig::baudRate); 11 | 12 | api = new CoreAPI(serialDevice); 13 | 14 | flight = new Flight(api); 15 | 16 | waypoint = new WayPoint(api); 17 | 18 | camera = new Camera(api); 19 | 20 | read = new LinuxThread(api, 2); 21 | 22 | std::cout << "Drone setup." <setBroadcastFreqDefaults(1); 41 | 42 | usleep(500000); 43 | 44 | if(broadcastAck == -1) { 45 | 46 | std::cout << std::endl << "Something happened when setting up broadcast defaults." << std::endl; 47 | 48 | } 49 | 50 | usleep(500000); 51 | 52 | std::cout << std::endl << "Drone initialized." << std::endl; 53 | 54 | return 0; 55 | 56 | } 57 | 58 | int Matrice::Drone::shutdown(){ 59 | 60 | delete waypoint; 61 | 62 | delete camera; 63 | 64 | return cleanup(serialDevice, api, flight, read); 65 | 66 | } 67 | 68 | 69 | ackReturnData Matrice::Drone::getControl() { 70 | 71 | return takeControl(api); 72 | } 73 | 74 | 75 | ackReturnData Matrice::Drone::relControl() { 76 | 77 | return releaseControl(api); 78 | } 79 | 80 | ackReturnData Matrice::Drone::engage() { 81 | 82 | return arm(flight); 83 | } 84 | 85 | ackReturnData Matrice::Drone::disengage() { 86 | 87 | return disArm(flight); 88 | } 89 | 90 | ackReturnData Matrice::Drone::takeoff() { 91 | 92 | return monitoredTakeoff(api, flight); 93 | } 94 | 95 | ackReturnData Matrice::Drone::land() { 96 | 97 | return landing(api, flight); 98 | } 99 | 100 | ackReturnData Matrice::Drone::returnHome() { 101 | 102 | return goHome(flight); 103 | 104 | } 105 | 106 | int Matrice::Drone::setAttitude(float32_t roll, float32_t pitch, float32_t yaw) { 107 | 108 | return attitudeControl(api, flight, roll, pitch, yaw); 109 | } 110 | 111 | int Matrice::Drone::setAttitudeAndAltitude(float32_t roll, float32_t pitch, float32_t yaw, float32_t z) { 112 | 113 | return attitudeAltitudeControl(api, flight, roll, pitch, yaw, z); 114 | } 115 | 116 | int Matrice::Drone::setOffset(float32_t xOffset, float32_t yOffset, float32_t zOffset, float32_t yaw) { 117 | 118 | return moveByPositionOffset(api, flight, xOffset, yOffset, zOffset, yaw); 119 | } 120 | 121 | int Matrice::Drone::setVelocity(float32_t xVelocity, float32_t yVelocity, float32_t zVelocity, float32_t yawRate) { 122 | 123 | return moveWithVelocity(api, flight, xVelocity, yVelocity, zVelocity, yawRate, 10); 124 | } 125 | -------------------------------------------------------------------------------- /src/LinuxInteractive.cpp: -------------------------------------------------------------------------------- 1 | /*! @file LinuxInteractive.cpp 2 | * @version 3.1.8 3 | * @date Aug 05 2016 4 | * 5 | * @brief 6 | * Barebones interactive UI for executing Onboard SDK commands. 7 | * Calls functions from the new Linux example based on user input. 8 | * 9 | * @copyright 10 | * 2016 DJI. All rights reserved. 11 | * */ 12 | 13 | #include "LinuxInteractive.h" 14 | 15 | using namespace std; 16 | 17 | char userInput() 18 | { 19 | cout << endl; 20 | cout << "|------------------DJI Onboard SDK Interactive Sample------------|" << endl; 21 | cout << "| |" << endl; 22 | cout << "| The interactive mode allows you to execute a few commands |" << endl; 23 | cout << "| to help you get a feel of the DJI Onboard SDK. Try them out! |" << endl; 24 | cout << "| |" << endl; 25 | cout << "| Standard DJI Onboard SDK Usage Flow: |" << endl; 26 | cout << "| 1. Activate (The sample has already done this for you) |" << endl; 27 | cout << "| 2. Obtain Control (The sample has already done this for you) |" << endl; 28 | cout << "| 3. Takeoff |" << endl; 29 | cout << "| 4. Execute Aircraft control (Movement control/Missions/Camera) |" << endl; 30 | cout << "| 5. Return to Home/Land |" << endl; 31 | cout << "| 6. Release Control (The sample will do this for you on exit) |" << endl; 32 | cout << "| |" << endl; 33 | cout << "| Available commands: |" << endl; 34 | cout << "| [a] Request Control |" << endl; 35 | cout << "| [b] Release Control |" << endl; 36 | cout << "| [c] Arm the Drone |" << endl; 37 | cout << "| [d] Disarm the Drone |" << endl; 38 | cout << "| [e] Takeoff |" << endl; 39 | cout << "| [f] Waypoint Sample |" << endl; 40 | cout << "| [g] Position Control Sample: Draw Square |" << endl; 41 | cout << "| [h] Landing |" << endl; 42 | cout << "| [i] Go Home |" << endl; 43 | cout << "| [j] Set Gimbal Angle |" << endl; 44 | cout << "| [k] Set Gimbal Speed |" << endl; 45 | cout << "| [l] Take Picture |" << endl; 46 | cout << "| [m] Take Video |" << endl; 47 | cout << "| [n] Exit this sample |" << endl; 48 | cout << "| |" << endl; 49 | cout << "| Type one of these letters and then press the enter key. |" << endl; 50 | cout << "| |" << endl; 51 | cout << "| If you're new here, try following the usage flow shown above. |" << endl; 52 | cout << "| |" << endl; 53 | cout << "| Visit developer.dji.com/onboard-sdk/documentation for more. |" << endl; 54 | cout << "| |" << endl; 55 | cout << "|------------------DJI Onboard SDK Interactive Sample------------|" << endl; 56 | #ifdef LIDAR_LOGGING 57 | cout << " " << endl; 58 | cout << " " << endl; 59 | cout << "|------------------LiDAR Logging Sample--------------------------|" << endl; 60 | cout << "| |" << endl; 61 | cout << "| [o] Start LiDAR Logging in pcap and LAS format |" << endl; 62 | cout << "| You would need a Velodyne PUCK or Simulator to run this sample |" << endl; 63 | cout << "| |" << endl; 64 | cout << "| [p] Stop LiDAR Logging |" << endl; 65 | cout << "| |" << endl; 66 | cout << "|------------------LiDAR Logging Sample--------------------------|" << endl; 67 | #endif 68 | #ifdef USE_PRECISION_MISSIONS 69 | cout << " " << endl; 70 | cout << " " << endl; 71 | cout << "|------------------Precision Trajectories------------------------|" << endl; 72 | cout << "| |" << endl; 73 | cout << "| [z] Precision Mission Plan: Execute a pre-planned spiral |" << endl; 74 | cout << "| |" << endl; 75 | cout << "|------------------Precision Trajectories------------------------|" << endl; 76 | #endif 77 | char inputChar; 78 | cin >> inputChar; 79 | return inputChar; 80 | } 81 | 82 | void interactiveSpin(CoreAPI* api, Flight* flight, WayPoint* waypointObj, Camera* camera, std::string pathToSpiral, std::string paramTuningFile) 83 | { 84 | bool userExitCommand = false; 85 | 86 | ackReturnData takeControlStatus; 87 | ackReturnData releaseControlStatus; 88 | ackReturnData armStatus; 89 | ackReturnData disArmStatus; 90 | ackReturnData takeoffStatus; 91 | ackReturnData landingStatus; 92 | ackReturnData goHomeStatus; 93 | int drawSqrPosCtrlStatus; 94 | uint16_t trajectoryStatus; 95 | 96 | #ifdef USE_PRECISION_MISSIONS 97 | //! Instantiate a local frame for trajectory following 98 | BroadcastData data = api->getBroadcastData(); 99 | Eigen::Vector3d originLLA(data.pos.latitude, data.pos.longitude, data.pos.altitude); 100 | CartesianFrame localFrame(originLLA); 101 | TrajectoryFollower* follower; 102 | Trajectory* trajectory; 103 | 104 | //! Extract the drone version from the UserConfig params 105 | std::string hardwareVersion = std::string(api->getHwVersion()); 106 | 107 | //! Set up the follower using the tuning parameters supplied 108 | if (!pathToSpiral.empty()) { 109 | TrajectoryInfrastructure::startStateBroadcast(api); 110 | follower = TrajectoryInfrastructure::setupFollower(api, 111 | flight, 112 | &localFrame, 113 | camera, 114 | hardwareVersion, 115 | paramTuningFile); 116 | } else { 117 | follower = NULL; 118 | std::cout << "You have chosen to enable precision missions at compile time, but to run a precision mission, you need to supply a trajectory as a program argument.\n"; 119 | } 120 | //! Set up the trajectory using the trajectory parameters supplied 121 | trajectory = TrajectoryInfrastructure::setupTrajectory(pathToSpiral); 122 | #endif 123 | 124 | while (!userExitCommand) 125 | { 126 | char getUserInput = userInput(); 127 | switch (getUserInput) 128 | { 129 | case 'a': 130 | takeControlStatus = takeControl(api); 131 | break; 132 | case 'b': 133 | releaseControlStatus = releaseControl(api); 134 | break; 135 | case 'c': 136 | armStatus = arm(flight); 137 | break; 138 | case 'd': 139 | disArmStatus = disArm(flight); 140 | break; 141 | case 'e': 142 | takeoffStatus = monitoredTakeoff(api, flight); 143 | break; 144 | case 'f': 145 | wayPointMissionExample(api, waypointObj,1); 146 | break; 147 | case 'g': 148 | drawSqrPosCtrlStatus = drawSqrPosCtrlSample(api, flight); 149 | break; 150 | case 'h': 151 | landingStatus = landing(api,flight); 152 | break; 153 | case 'i': 154 | goHomeStatus = goHome(flight); 155 | break; 156 | case 'j': 157 | gimbalAngleControlSample(camera); 158 | break; 159 | case 'k': 160 | gimbalSpeedControlSample(camera); 161 | break; 162 | case 'l': 163 | takePictureControl(camera); 164 | break; 165 | case 'm': 166 | takeVideoControl(camera); 167 | case 'n': 168 | userExitCommand = true; 169 | break; 170 | #ifdef LIDAR_LOGGING 171 | case 'o': 172 | startLiDARlogging(); 173 | break; 174 | case 'p': 175 | stopLiDARlogging(); 176 | break; 177 | #endif 178 | #ifdef USE_PRECISION_MISSIONS 179 | case 'z': 180 | 181 | //! Check if the aircraft has taken off. If not, make it do so. 182 | data = api->getBroadcastData(); 183 | if (data.status < 2) { 184 | std::cout << "Aircraft has not taken off. Taking off now...\n"; 185 | takeoffStatus = monitoredTakeoff(api, flight, 1); 186 | if (takeoffStatus.status == -1) { 187 | break; 188 | } 189 | } 190 | //! Start the trajectory 191 | if (!pathToSpiral.empty()) { 192 | TrajectoryInfrastructure::startStateBroadcast(api); 193 | trajectoryStatus = TrajectoryInfrastructure::executeFromParams(api, &localFrame, originLLA, trajectory, follower); 194 | } 195 | else 196 | std::cout << "You need to supply a parameters file as an argument to the program.\n"; 197 | break; 198 | #endif 199 | default: 200 | std::cout << "Invalid option entered - please enter a letter from the choices in the prompt.\n"; 201 | break; 202 | } 203 | usleep(1000000); 204 | } 205 | return; 206 | } 207 | -------------------------------------------------------------------------------- /src/bindings.cpp: -------------------------------------------------------------------------------- 1 | #include "Drone.h" 2 | #include 3 | #include 4 | 5 | using namespace Matrice; 6 | 7 | namespace py = pybind11; 8 | 9 | PYBIND11_MODULE(djisdkpy, m) { 10 | py::class_(m, "Drone") 11 | .def(py::init()) 12 | .def("initialize", &Drone::initialize) 13 | .def("shutdown", &Drone::shutdown) 14 | .def("releaseControl", &Drone::relControl) 15 | .def("takeControl", &Drone::getControl) 16 | .def("arm", &Drone::engage) 17 | .def("disarm", &Drone::disengage) 18 | .def("takeoff", &Drone::takeoff) 19 | .def("land", &Drone::land) 20 | .def("returnHome", &Drone::returnHome) 21 | .def("setAttitude", &Drone::setAttitude) 22 | .def("setAttitudeAndAltitude", &Drone::setAttitudeAndAltitude) 23 | .def("setOffset", &Drone::setOffset) 24 | .def("setVelocity", &Drone::setVelocity); 25 | 26 | py::class_(m, "ackReturnData") 27 | .def_readwrite("status", &ackReturnData::status) 28 | .def_readwrite("ack", &ackReturnData::ack); 29 | } 30 | 31 | -------------------------------------------------------------------------------- /src/example.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | int add(int i, int j) { 4 | return i + j; 5 | } 6 | 7 | PYBIND11_MODULE(example, m) { 8 | m.doc() = "pybind11 example plugin"; // optional module docstring 9 | 10 | m.def("add", &add, "A function which adds two numbers"); 11 | } 12 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | /*! @file main.cpp 2 | * @version 3.1.8 3 | * @date Aug 05 2016 4 | * 5 | * @brief 6 | * New Linux App for DJI Onboard SDK. 7 | * Provides a number of convenient abstractions/wrappers around core API calls. 8 | * 9 | * Calls are blocking; the calling thread will sleep until the 10 | * call returns. Use Core API calls or another sample if you 11 | * absolutely need non-blocking calls. 12 | * 13 | * @copyright 14 | * 2016 DJI. All rights reserved. 15 | * */ 16 | 17 | //System Headers 18 | #include 19 | #include 20 | #include 21 | #include 22 | 23 | //DJI Linux Application Headers 24 | #include "LinuxSerialDevice.h" 25 | #include "LinuxThread.h" 26 | #include "LinuxSetup.h" 27 | #include "LinuxCleanup.h" 28 | #include "ReadUserConfig.h" 29 | #include "LinuxMobile.h" 30 | #include "LinuxFlight.h" 31 | #include "LinuxInteractive.h" 32 | #include "LinuxWaypoint.h" 33 | #include "LinuxCamera.h" 34 | 35 | //DJI OSDK Library Headers 36 | #include 37 | #include 38 | #include 39 | #include 40 | 41 | //Local Mission Planning Suite Headers 42 | //#include 43 | 44 | #include "Drone.h" 45 | 46 | using namespace std; 47 | using namespace DJI; 48 | using namespace DJI::onboardSDK; 49 | using namespace Matrice; 50 | 51 | //! Main function for the Linux sample. Lightweight. Users can call their own API calls inside the Programmatic Mode else on Line 68. 52 | int main(int argc, char *argv[]) 53 | { 54 | Drone* drone = new Drone(); 55 | //! Instantiate a serialDevice, an API object, flight and waypoint objects and a read thread. 56 | LinuxSerialDevice* serialDevice = new LinuxSerialDevice(UserConfig::deviceName, UserConfig::baudRate); 57 | CoreAPI* api = new CoreAPI(serialDevice); 58 | Flight* flight = new Flight(api); 59 | WayPoint* waypointObj = new WayPoint(api); 60 | Camera* camera = new Camera(api); 61 | LinuxThread read(api, 2); 62 | 63 | //! Setup 64 | int setupStatus = setup(serialDevice, api, &read); 65 | if (setupStatus == -1) 66 | { 67 | std::cout << "This program will exit now. \n"; 68 | return 0; 69 | } 70 | //! Set broadcast Freq Defaults 71 | unsigned short broadcastAck = api->setBroadcastFreqDefaults(1); 72 | usleep(500000); 73 | //! Mobile Mode 74 | if (argv[1] && !strcmp(argv[1],"-mobile")) 75 | { 76 | std::cout << "Listening to Mobile Commands\n"; 77 | mobileCommandSpin(api, flight, waypointObj, camera, argv, argc); 78 | } 79 | //! Interactive Mode 80 | else if (argv[1] && !strcmp(argv[1], "-interactive")) 81 | { 82 | if (argc > 3) 83 | interactiveSpin(api, flight, waypointObj, camera, std::string(argv[2]), std::string(argv[3])); 84 | else if (argc == 3) 85 | interactiveSpin(api, flight, waypointObj, camera, std::string(argv[2]), std::string("")); 86 | else 87 | interactiveSpin(api, flight, waypointObj, camera, std::string(""), std::string("")); 88 | } 89 | //! Programmatic Mode - execute everything here without any interactivity. Useful for automation. 90 | else if (argv[1] && !strcmp(argv[1], "-programmatic")) 91 | { 92 | /*! Set a blocking timeout - this is the timeout for blocking API calls 93 | to wait for acknowledgements from the aircraft. Do not set to 0. 94 | !*/ 95 | int blockingTimeout = 1; //Seconds 96 | 97 | //! Monitored Takeoff 98 | ackReturnData takeoffStatus = monitoredTakeoff(api, flight, blockingTimeout); 99 | 100 | //! Set broadcast Freq Defaults 101 | unsigned short broadcastAck = api->setBroadcastFreqDefaults(1); 102 | 103 | //! If the aircraft took off, continue to do flight control tasks 104 | if (takeoffStatus.status == 1) 105 | { 106 | 107 | /*! This is where you can add your own flight functionality. 108 | Check out LinuxWaypoint and LinuxFlight for available APIs. 109 | You can always execute direct Onboard SDK Library API calls 110 | through the api object available in this example. 111 | !*/ 112 | 113 | //! Do aircraft control - Waypoint example. 114 | wayPointMissionExample(api, waypointObj,blockingTimeout); 115 | 116 | //! Land 117 | ackReturnData landingStatus = landing(api, flight,blockingTimeout); 118 | } 119 | else 120 | { 121 | //Try to land directly 122 | ackReturnData landingStatus = landing(api, flight,blockingTimeout); 123 | } 124 | } 125 | //! No mode specified or invalid mode specified" 126 | else 127 | std::cout << "\n Usage: ./djiosdk-linux-sample [MODE] [TRAJECTORY] [GAIN TUNING]\n" 128 | "\n" 129 | "[MODE] : \n" 130 | "-mobile : Run in Mobile Data Transparent Transmission mode\n" 131 | "-interactive : Run in a Terminal-based UI mode\n" 132 | "-programmatic: Run without user input, use if you have put automated\n" 133 | " calls in the designated space in the main function. \n" 134 | " By default this mode will execute an automated waypoint\n" 135 | " mission example, so be careful.\n\n" 136 | "[TRAJECTORY] : \n" 137 | "path_to_json_file : Optionally, supply a json file with parameters for executing a\n" 138 | " trajectory planned with the DJI Trajectory SketchUp Plugin\n\n"; 139 | "[GAIN TUNING] : \n" 140 | "path_to_json_file : Optionally, supply a json file with custom controller gains for\n" 141 | " executing precision missions on loaded aircraft\n\n"; 142 | //! Cleanup 143 | int cleanupStatus = cleanup(serialDevice, api, flight, &read); 144 | if (cleanupStatus == -1) 145 | { 146 | std::cout << "Unable to cleanly destroy OSDK infrastructure. There may be residual objects in the system memory.\n"; 147 | return 0; 148 | } 149 | std::cout << "Program exited successfully." << std::endl; 150 | 151 | return 0; 152 | } 153 | 154 | -------------------------------------------------------------------------------- /test.py: -------------------------------------------------------------------------------- 1 | import djisdkpy 2 | import time 3 | 4 | drone = djisdkpy.Drone('UserConfig.txt') 5 | drone.initialize() 6 | time.sleep(1) 7 | drone.takeControl() 8 | drone.arm() 9 | drone.takeoff() 10 | time.sleep(5) 11 | drone.land() 12 | drone.disarm() 13 | drone.releaseControl() 14 | drone.shutdown() 15 | 16 | 17 | --------------------------------------------------------------------------------