修改云台偏航向下

app/src/main/AndroidManifest.xml

@@ -23,6 +23,9 @@
     <uses-permission android:name="android.permission.WRITE_SETTINGS" />
     <uses-permission android:name="android.permission.ACCESS_LOCATION_EXTRA_COMMANDS" /> <!-- bugly -->
 
+    <!-- 安装APK所需权限 -->
+    <uses-permission android:name="android.permission.REQUEST_INSTALL_PACKAGES" />
+
     <uses-permission android:name="android.permission.READ_LOGS" />
 
     <!-- 开机启动所需权限 -->
@@ -110,6 +113,17 @@
         </receiver>
         <service android:name="com.amazonaws.mobileconnectors.s3.transferutility.TransferService" android:enabled="true" />
 
+        <!-- FileProvider for APK installation on Android 7.0+ -->
+        <provider
+            android:name="androidx.core.content.FileProvider"
+            android:authorities="${applicationId}.fileprovider"
+            android:exported="false"
+            android:grantUriPermissions="true">
+            <meta-data
+                android:name="android.support.FILE_PROVIDER_PATHS"
+                android:resource="@xml/file_paths" />
+        </provider>
+
     </application>
 
 </manifest>

app/src/main/java/com/aros/apron/activity/MainActivity.kt

@@ -733,6 +733,7 @@ open class MainActivity : BaseActivity() {
                 startVtxHeartbeat()
                 SpeakerManager.getInstance().initMegaphoneInfo()
 
+                GimbalManager.getInstance().setmode()
 
 
                 //GimbalManager.getInstance().gimsetmode()
@@ -799,7 +800,7 @@ open class MainActivity : BaseActivity() {
 
                 GeoidManager.getInstance().init(this);
 
-
+                GimbalManager.getInstance().setmode()
                 //GimbalManager.getInstance().gimsetmode()
                 //开启雷达监听器
                 //PerceptionManager.getInstance().isladraopeninti()
@@ -821,8 +822,6 @@ open class MainActivity : BaseActivity() {
 
                 LogUtil.log(TAG, "推流类型:" + PreferenceUtils.getInstance().customStreamType)
             }
-
-
         } else {
             if ((isFlightControllerConnect == null || isFlightControllerConnect != true) && (isCameraConnect == null || isCameraConnect != true)) {
                 handler.postDelayed({
@@ -869,7 +868,7 @@ open class MainActivity : BaseActivity() {
 
                 //开启雷达监听器
                 //PerceptionManager.getInstance().isladraopeninti()
-
+                GimbalManager.getInstance().setmode()
 
                 LogUtil.log(TAG, "自定义推流方式:" + PreferenceUtils.getInstance().customStreamType)
 
@@ -1261,6 +1260,12 @@ open class MainActivity : BaseActivity() {
             FLAG_STOP_ARUCO ->
                 startArucoType = 0
 
+            "REFRESH_VIDEO_SOURCE" -> {
+                // 起飞后刷新视频源，避免FPVWidget因相机状态变化卡死
+                swapVideoSource()
+                LogUtil.log(TAG,"刷新视频流")
+            }
+
             MqttCallBack.FLAG_RESET_CLEAN_MODE ->
                 setViewVisibilityWithCleanMode()
         }

app/src/main/java/com/aros/apron/callback/MqttCallBack.java

@@ -30,6 +30,7 @@ import com.aros.apron.manager.StickManager;
 import com.aros.apron.manager.StreamManager;
 import com.aros.apron.manager.SystemManager;
 import com.aros.apron.manager.TakeOffToPointManager;
+import com.aros.apron.manager.UpdateManager;
 import com.aros.apron.mix.Aprondown;
 import com.aros.apron.mix.Aprongim;
 import com.aros.apron.tools.ApronArucoDetect;
@@ -600,6 +601,20 @@ public class MqttCallBack extends BaseManager implements MqttCallbackExtended {
                     }
                     break;
 
+                case Constant.APP_UPDATE:
+                    LogUtil.log(TAG, "收到：远程更新 " + jsonString);
+                    String apkUrl = message.getData() != null ? message.getData().getUrl() : null;
+                    if (apkUrl != null && !apkUrl.isEmpty()) {
+                        UpdateManager.getInstance().startUpdate(
+                                ApronApp.Companion.getApplication(),
+                                apkUrl,
+                                () -> sendMsg2Server(message)
+                        );
+                    } else {
+                        LogUtil.log(TAG, "更新APK链接为空");
+                        sendFailMsg2Server(message, "更新APK链接为空");
+                    }
+                    break;
 
 //            //获取控制权
 //            case 60007:

app/src/main/java/com/aros/apron/constant/Constant.java

@@ -342,9 +342,12 @@ public class Constant {
     //A1云台校准
     public static final String DRC_LIGHT_CALIBRATION="drc_light_calibration";
 
-
+    /**
-
+     *  远程更新APK
-
+     */
-
+    public static final String APP_UPDATE="app_update";
 
 }
+
+
+

app/src/main/java/com/aros/apron/manager/CameraManager.java

@@ -173,6 +173,12 @@ public class CameraManager extends BaseManager {
                             Movement.getInstance().setPhoto_status("fail");
                             Movement.getInstance().setMode_code(3);
                             stopReport();
+                        }else if(t1 == PanoramaExitStatus.ABORTED){
+                            Movement.getInstance().setPhoto_current_step(3000);
+                            Movement.getInstance().setPhoto_result(0);
+                            Movement.getInstance().setPhoto_status("fail");
+                            Movement.getInstance().setMode_code(3);
+                            stopReport();
                         }
                     }
                 }

app/src/main/java/com/aros/apron/manager/FlightManager.java

@@ -914,9 +914,11 @@ public class FlightManager extends BaseManager {
 
     //降落时将云台朝下
     private void gimbalDownwards() {
-
         if (goHomeExecutionState == GoHomeState.LANDING.value()
                 && Movement.getInstance().getElevation() > 11 && !isGimbalDownwards) {
+
+
+
             MediaDataCenter.getInstance().getCameraStreamManager().setVisionAssistViewDirection(VisionAssistDirection.DOWN, new CommonCallbacks.CompletionCallback() {
                 @Override
                 public void onSuccess() {
@@ -951,12 +953,18 @@ public class FlightManager extends BaseManager {
             DroneHelper.getInstance().setCameraFocusMode();
 
 
+
+
             new android.os.Handler().postDelayed(() -> {
                 setkuaim();
             }, 500);
             new android.os.Handler().postDelayed(() -> {
                 setCameraExposureMode();
             }, 500);
+
+            new android.os.Handler().postDelayed(() -> {
+                EventBus.getDefault().post("REFRESH_VIDEO_SOURCE");
+            }, 2000);
             //将镜头设置为自动对焦
 //            new android.os.Handler().postDelayed(() -> {
 //                setCameraExposureCompensation();
@@ -1342,8 +1350,9 @@ public class FlightManager extends BaseManager {
         if (!getGimbalAndCameraEnabled()) {
             return;
         }
+        GimbalManager.getInstance().gimbalReset();
 
-
+        new Handler().postDelayed(() -> {
             if (Movement.getInstance().isPlaneWing() && Movement.getInstance().getHome_distance() < 20
                     && Movement.getInstance().getElevation() < 88
                     && Movement.getInstance().getBattery_a_capacity_percent() > 25
@@ -1367,6 +1376,10 @@ public class FlightManager extends BaseManager {
 
             }
 
+
+
+        },1000);
+
     }
 
     //取消返航

app/src/main/java/com/aros/apron/manager/GimbalManager.java

@@ -169,6 +169,22 @@ public class GimbalManager extends BaseManager {
         VirtualStickManager.getInstance().sendVirtualStickAdvancedParam(virtualStickFlightControlParam);
     }
 
+    public void setmode() {
+
+        KeyManager.getInstance().setValue(KeyTools.createKey(GimbalKey.KeyGimbalMode, ComponentIndexType.PORT_1), GimbalMode.YAW_FOLLOW, new CommonCallbacks.CompletionCallback() {
+            @Override
+            public void onSuccess() {
+                LogUtil.log(TAG, "云台跟随");
+            }
+
+            @Override
+            public void onFailure(@NonNull IDJIError idjiError) {
+                LogUtil.log(TAG, "云台跟随失败");
+            }
+        });
+
+
+    }
 
     //云台重置
     public void gimbalReset() {
@@ -255,6 +271,10 @@ public class GimbalManager extends BaseManager {
                 case 3:
                     GimbalAngleRotation rotation1 = new GimbalAngleRotation();
                     rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+                    if (!TextUtils.isEmpty(Movement.getInstance().getGimbal_yaw() + "")) {
+                        rotation1.setYaw(Movement.getInstance().getGimbal_yaw());
+                        LogUtil.log(TAG,"俯仰向下"+Movement.getInstance().getGimbal_yaw());
+                    }
                     rotation1.setPitch(-90.0);
                     KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
                                 @Override
@@ -268,6 +288,22 @@ public class GimbalManager extends BaseManager {
                                 }
                             }
                     );
+
+//                    GimbalAngleRotation rotation1 = new GimbalAngleRotation();
+//                    rotation1.setMode(GimbalAngleRotationMode.ABSOLUTE_ANGLE);
+//                    rotation1.setPitch(-90.0);
+//                    KeyManager.getInstance().performAction(KeyTools.createKey(GimbalKey.KeyRotateByAngle, ComponentIndexType.PORT_1), rotation1, new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
+//                                @Override
+//                                public void onSuccess(EmptyMsg emptyMsg) {
+//                                    sendMsg2Server(message);
+//                                }
+//
+//                                @Override
+//                                public void onFailure(@NonNull IDJIError error) {
+//                                    sendFailMsg2Server(message, "偏航向下失败:" + getIDJIErrorMsg(error));
+//                                }
+//                            }
+//                    );
                     break;
             }
 

app/src/main/java/com/aros/apron/manager/MissionV3Manager.java

@@ -26,6 +26,8 @@ import com.dji.wpmzsdk.common.data.KMZInfo;
 import com.dji.wpmzsdk.manager.WPMZManager;
 import com.google.gson.Gson;
 
+import org.greenrobot.eventbus.EventBus;
+
 import java.io.File;
 import java.io.FileOutputStream;
 import java.io.IOException;
@@ -270,8 +272,9 @@ public class MissionV3Manager extends BaseManager {
                                 Movement.getInstance().setVirtualStickQuitMission(false);
                                 sendEvent2Server("任务状态:航线任务执行中断", 1);
 
-                                Movement.getInstance().setTask_status("paused");
+
                                 if(PreferenceUtils.getInstance().getMissionType()==0){
+                                    Movement.getInstance().setTask_status("paused");
                                     sendFlightTaskProgress2Server();
                                 }
 
@@ -805,14 +808,10 @@ public class MissionV3Manager extends BaseManager {
                     sendEvent2Server("任务开始执行", 1);
                     Movement.getInstance().setTask_current_step(23);
 
-//                    Movement.getInstance().setMode_code(5);
+                    // 起飞后相机状态变化可能导致FPVWidget卡死，延迟刷新视频源
-
+                    mainHandler.postDelayed(() -> {
-//                    // 自动起飞
+                        EventBus.getDefault().post("REFRESH_VIDEO_SOURCE");
-//                      Movement.getInstance().setMode_code(4);
+                    }, 2000);
-//
-//                    new android.os.Handler(android.os.Looper.getMainLooper()).postDelayed(() -> {
-//                        Movement.getInstance().setMode_code(5);
-//                    }, 2000);
 
 
                 }
@@ -878,8 +877,14 @@ public class MissionV3Manager extends BaseManager {
                 @Override
                 public void onSuccess() {
                     sendMsg2Server(message);
+
+                    if( PreferenceUtils.getInstance().getMissionType()==0){
                         Movement.getInstance().setTask_status("paused");
 
+                        sendFlightTaskProgress2Server();
+                    }
+
+
 
                     //暂停成功就是手动飞行
                     Movement.getInstance().setMode_code(3);

app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java

@@ -33,6 +33,8 @@ import com.dji.wpmzsdk.common.data.KMZInfo;
 import com.dji.wpmzsdk.manager.WPMZManager;
 import com.google.gson.Gson;
 
+import org.greenrobot.eventbus.EventBus;
+
 import java.io.File;
 import java.io.IOException;
 import java.util.ArrayList;
@@ -392,6 +394,12 @@ public class TakeOffToPointManager extends BaseManager {
                     sendEvent2Server("任务开始执行", 1);
                     Movement.getInstance().setTask_current_step(23);
                     Movement.getInstance().setTakeoff_result(0);
+
+                    // 起飞后相机状态变化可能导致FPVWidget卡死，延迟刷新视频源
+                    mainHandler.postDelayed(() -> {
+                        EventBus.getDefault().post("REFRESH_VIDEO_SOURCE");
+                    }, 2000);
+
                 }
 
                 @Override