cxf
/
makcar
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

修改云台偏航向下

This commit is contained in:
cxf 2026-04-28 11:39:16 +08:00
parent 2789674a2d
commit 5fd8e30b97
10 changed files with 146 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
app/src/main/AndroidManifest.xml
View File

@ -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>

13
app/src/main/java/com/aros/apron/activity/MainActivity.kt
View File

@ -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()
}

15
app/src/main/java/com/aros/apron/callback/MqttCallBack.java
View File

@ -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:

11
app/src/main/java/com/aros/apron/constant/Constant.java
View File

@ -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";
}

6
app/src/main/java/com/aros/apron/manager/CameraManager.java
View File

@ -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();
}
}
}

57
app/src/main/java/com/aros/apron/manager/FlightManager.java
View File

@ -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();
@ -1342,30 +1350,35 @@ 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
&& ((flightMode != null && flightMode == FlightMode.WAYPOINT) ||
(flightMode != null && flightMode == FlightMode.AUTO_TAKE_OFF))) {
WayLineExecutingInterruptManager.getInstance().onExecutingInterruptToDo();
} else {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
KeyManager.getInstance().performAction(createKey(FlightControllerKey.KeyStartGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override
public void onSuccess(EmptyMsg emptyMsg) {
sendMsg2Server(message);
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "返航执行失败:" + getIDJIErrorMsg(error));
}
});
}
if (Movement.getInstance().isPlaneWing() && Movement.getInstance().getHome_distance() < 20
&& Movement.getInstance().getElevation() < 88
&& Movement.getInstance().getBattery_a_capacity_percent() > 25
&& ((flightMode != null && flightMode == FlightMode.WAYPOINT) ||
(flightMode != null && flightMode == FlightMode.AUTO_TAKE_OFF))) {
WayLineExecutingInterruptManager.getInstance().onExecutingInterruptToDo();
} else {
Boolean isConnect = KeyManager.getInstance().getValue(createKey(FlightControllerKey.KeyConnection));
KeyManager.getInstance().performAction(createKey(FlightControllerKey.KeyStartGoHome), new CommonCallbacks.CompletionCallbackWithParam<EmptyMsg>() {
@Override
public void onSuccess(EmptyMsg emptyMsg) {
sendMsg2Server(message);
}
@Override
public void onFailure(@NonNull IDJIError error) {
sendFailMsg2Server(message, "返航执行失败:" + getIDJIErrorMsg(error));
}
});
}
},1000);
}

2
app/src/main/java/com/aros/apron/manager/FlightTaskProgressManager.java
View File

@ -32,7 +32,7 @@ public class FlightTaskProgressManager extends BaseManager {
//如果是一键起飞航线或之后的指点飞行，这个就不用发，除此之外航线以及指点飞行都要发
if (PreferenceUtils.getInstance().getMissionType()==0&& (Movement.getInstance().isPlaneWing()
|| Movement.getInstance().isMotorsOn()) && Movement.getInstance().isWaylineinterpter() ) {
|| Movement.getInstance().isMotorsOn()) && Movement.getInstance().isWaylineinterpter()) {
sendFlightTaskProgress2Server();
}

36
app/src/main/java/com/aros/apron/manager/GimbalManager.java
View File

@ -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;
}

25
app/src/main/java/com/aros/apron/manager/MissionV3Manager.java
View File

@ -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);
// // 自动起飞
// Movement.getInstance().setMode_code(4);
//
// new android.os.Handler(android.os.Looper.getMainLooper()).postDelayed(() -> {
// Movement.getInstance().setMode_code(5);
// }, 2000);
// 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);
}
@ -878,7 +877,13 @@ public class MissionV3Manager extends BaseManager {
@Override
public void onSuccess() {
sendMsg2Server(message);
Movement.getInstance().setTask_status("paused");
if( PreferenceUtils.getInstance().getMissionType()==0){
Movement.getInstance().setTask_status("paused");
sendFlightTaskProgress2Server();
}
//暂停成功就是手动飞行

8
app/src/main/java/com/aros/apron/manager/TakeOffToPointManager.java
View File

@ -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