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  • Oct 11 09:25
    dji-dev commented #471
  • Oct 11 05:38
    addriumruss opened #471
  • Oct 09 11:50
    dji-dev commented #469
  • Oct 09 11:44
    dji-dev commented #470
  • Oct 08 13:20
    liu978079474 commented #469
  • Oct 08 13:14
    liu978079474 commented #469
  • Oct 08 12:27
    hdino opened #470
  • Oct 08 11:14
    dji-dev commented #469
  • Oct 08 03:54
    liu978079474 opened #469
  • Sep 23 20:54

    pcler on 3.9

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  • Sep 23 20:54

    pcler on 3.9

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  • Sep 23 20:53

    pcler on master

    fix:fix ROS code compile issues… Merge pull request #38 in OS/on… (compare)

  • Sep 23 20:52

    pcler on 3.9.0

    fix:fix ROS code compile issues… Merge pull request #38 in OS/on… (compare)

  • Sep 23 20:51

    pcler on 3.9.0

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  • Sep 23 06:32

    pcler on 3.9.0

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  • Sep 23 06:18

    pcler on 3.9

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  • Sep 19 04:02
    dji-dev commented #468
  • Sep 18 14:04
    mingack opened #468
  • Sep 09 09:19
    dji-dev commented #467
  • Sep 06 19:25
    fong7x7 opened #467
rocketsingh
@robnsngh
@lanyusea : I am trying to manipulate the altitude while having a HORI position hold. The controls I want to write is Combination #14 mentioned in Appendix. In combination number 14, the quad does not hold its position for roll and pitch value of 0. It seems a little ambigious from the documentation which specific control_mode_byte allows for position. I tested all control_mode_bytes and only the ones where thrust is not sent as the thrust% seems to be having position control. Having position control while tuning altitude PID makes the process easier. Wasnt sure if this was a common issue so I did not open a new issue and wanted to discuss it out here first
Aqua
@lanyusea
@robnsngh will the 2nd combination suit you?
@robnsngh >In this combination,if all input data is '0', the UAV will brake and hold in a self-balance status at a fixed position.
rocketsingh
@robnsngh
@lanyusea : Since I am using my own height measurement sensor + i am flying indoors, I think the most appt control would be vertical thrust. In theory I think I can hack around my way using verticle velocity command but I would prefer thrust command.
Aqua
@lanyusea
@robnsngh did you install Guidance? cause M100 needs the optical flow sensor on Guidance to hold its position.
rocketsingh
@robnsngh
@lanyusea I am using a 3D lidar :)
for height and position estimation
Aqua
@lanyusea
@robnsngh em... therefore you need your own logic to stabilize the drone. You are flying M100 in the 'A' mode actually.
rocketsingh
@robnsngh
@lanyusea : i understand. For the tuning purpose I am flying M100 outdoors and I was hoping that HORIZ_POS or HORIZ_VEL control byte will be able to hold the position using the GPS (given the health_flag > 3, which is true in my case) . I dont want M100 to move horizontally while I am changing altitude. If I can somehow lock horizontal positions while writing thrust % to the Z -axis, my tuning process would be much easier, is there somehow we can do that ?
Aqua
@lanyusea
@robnsngh I understood. The only option is combination 2, where you can set x/y 0 and turning z with a horizontal position lock. But the problem is what we talked before, no thrust%, only z velocity
rocketsingh
@robnsngh
Thanks ! I assume the Z velocity is computed using onboard barometer (if guidance is unavailable). And indoors, this command might be erroneous since M100's reported Z velocity will change due to changing surroundings. But more or less, it should be still possible to use this way of controlling the altitude since I am using an external sensor to measure and close loop ?
Aqua
@lanyusea
@robnsngh yes possible.
gaowenliang
@gaowenliang
This message was deleted
Andre Nguyen
@andre-nguyen
Is there some kind of dji simulator (e.g. in Gazebo) which can be used for development?
Aqua
@lanyusea
@andre-nguyen there is a trivial DJI simulator https://developer.dji.com/onboard-sdk/downloads/ there will be a gazebo or a packed rviz simulator, in about one or two months I guess.
Andre Nguyen
@andre-nguyen
nice! if we're interested in contributing to the development of the simulator is there somewhere we can join in? Will be nice to have this up for the dji challenge
SandW
@SandW
does the onboard sdk ignore the fly area restriction?
Francesco
@Francesco325246247
hello, maybe it is a silly question but I am confused the " DJI developer flight platform* " it is something else than a standard DJI3 ?
Aqua
@lanyusea
@SandW no
@Francesco325246247 only Matrice100 can use Onboard SDK
Francesco
@Francesco325246247
@lanyusea thanks a lot mate :)
crisb-DUT
@crisb-DUT
Can I use Onboard SDK in the A3 controller?
Aqua
@lanyusea
yes. related document will be updated this week
nickpotts
@nickpotts
Hi, a group of friends and I want to be able to control the DJI Phantom 2 Vision+ using a hand gesture program. We already have a working hand gesture program; however, we are having trouble converting those euler points into a signal the remote can read. We were thinking of essentially tricking the remote into thinking the analog sticks are moving but in reality it's the position of our hands that are moving. Any suggestions? Thank you!
Aqua
@lanyusea
please refer to the Mobile SDK document
Oricalworks
@OricalWorksINC
Please Release onboard SDKs for DJI NAZA M v2 for people with less money or students.
Aqua
@lanyusea
@OricalWorksINC cannot, because of hardware limitation. students can apply for the education discount of M100
Oricalworks
@OricalWorksINC
how can i appy for the student discount for the m100
Aqua
@lanyusea
@OricalWorksINC please contact dev@dji.com
Andre Nguyen
@andre-nguyen
Hey @lanyusea, have you ever seen a problem where having the Manifold too close to the Gps module jams the gps signal?
Aqua
@lanyusea
@andre-nguyen yes. The camera cable is something like a flood of noise to make your GPS signal lost when it is too close to the GPS module. Surround the cable by foil to shield your GPS can fix the problem.
Andre Nguyen
@andre-nguyen
Wow, it worked haha. Thanks!
Shikhargupta
@Shikhargupta
Hey @lanyusea , I am working on making DJI M100 autonomous using NVIDIA Jetson TK1 board. When I am running sdk_manifold.launch in dji_sdk_demo package, I am getting this error : '[sdk_manifold.launch] is neither a launch file in package [dji_sdk_demo] nor is [dji_sdk_demo] a launch file name'. Can you please help me out
b.flipped
@bflippedz
I am wondering when I use ROS package for m100 how can I send command to m100? Using telemetry?
Aqua
@lanyusea
@bflippedz you can use wireless data link or an onboard NUC directly
@Shikhargupta I think you forget to source the catkin workspace. try with rosrun dji_sdk_demo dji_sdk_client
geetesh
@geetesh
Hi guys, so glad i found this channel on gitter. Is DJI planning to release a way to input custom state estimation to the N1 controller through the onboard SDK? Or can you share the Guidance CAN protocol or GPS CAN protocol so that we can do it ourselves
Rohit Sant
@rohitsantdji
@geetesh currently, the recommendation for doing your own state estimation is to do it on the Onboard Embedded System (OES) which runs the Onboard SDK, and further do your own (minimal) position control loop on the OES as well. This loop should generate attitude setpoints which you can send to the N1/A3 via the Onboard SDK. The logic is that the additional sensing or algorithms that you employ for your own state estimation would probably not be that different from the N1's internal solution for the attitude (though it might be significantly better for the position estimate). There is no planned roadmap, right now, for enabling the ability to send a full state estimate solution to the N1/A3 controllers.
Andre Nguyen
@andre-nguyen
@rohitsantdji Are there any plans to allow access to raw GPS data?
geetesh
@geetesh
@rohitsantdji thanks :D
Rohit Sant
@rohitsantdji
@andre-nguyen No plans right now, sorry
chukcha2
@chukcha2
Hello, I have Matrice 600 / A3 Flight Controller. I have Zenmuse X3 camera. I have several sensors as the payload. All sensors' clocks are synchronized to a GPS clock so that I can fuse sensor data. I need to fuse RGB data from Zenmuse X3 camera with the rest of the data. Is it possible to get accurate timestamp of when an image was taken? Can the clock that is used to produce this time stamp be synchronized with some other clock or with GPS clock?
Rohit Sant
@rohitsantdji
@chukcha2 Unfortunately, the DJI Open protocol does not support that at this time. You could get an approximate timestamp (~5ms) from the SDK by capturing the timestamp when you send out a take picture command - the delay from sending the command to actually taking a picture is deterministic (and depends partially on your serial baudrate), so the timestamp of every picture that you take will be offset by a constant value from the real time stamp. We offer the possibility of synchronizing the onboard clock to your own clock - calling sync (see Set Sync Frequency in the online Open Protocol documentation) once at the start of your program will reset the free-running onboard clock and start sending out a sync pulse along with the timestamp at the frequency you request.
chukcha2
@chukcha2
Than you @rohitsantdji . It is good to know that the delay between sending a "take picture" command and actually taking a picture is deterministic. It may be good enough for applications that don't require very accurate synchronization. I will give this a try to see if it works for my application. Regarding synchronizing the clocks. I did see the sync command in the open protocol documentation but is not clear on how to use it to synchronize clocks. It can only be used to synchronize clock frequency (ticks), not absolute clock, right? Is it meant to synchronize my clock frequency with onboard clock frequency and not vice versa? Thank you.
Rohit Sant
@rohitsantdji
@/all: Check out the new Onboard SDK release v3.1.8! We've introduced support for a new programming paradigm - synchronous blocking API calls - as well as a new extensible Linux sample with a streamlined hardware driver, a good threading implementation and helpful error diagnosis. Further, we've added the possibility to execute Linux, ROS and STM32 functions through an iOS app connected to the RC. There is also a tutorial and sample code for integrating air traffic sensing with the Ping ADS-B receiver, and a base for integrating LiDAR into the OSDK with a Velodyne integration. Expect to see more on that in the coming months as well. :smile:
Andre Nguyen
@andre-nguyen
:smile: :+1:
@rohitsantdji whats the status on a possible new simulator?
Rohit Sant
@rohitsantdji
No official plans - for now, the Assistant 2 Simulator is what we recommend. :grimacing: If you need to hook up the aircraft to Gazebo or another sim, I believe there is a path to do so by getting state through broadcast data and translating control information through movement control. The dji2mav library may come in handy too
Andre Nguyen
@andre-nguyen
Oh well, maybe hku will opensource their ros simulation bridge https://www.youtube.com/watch?v=lVrqjQa-aYU&index=9&list=PL7MdxByY92XeF1S3fd2q4DCcmPjNGZ_z3
Andre Nguyen
@andre-nguyen
@rohitsantdji Quick question, how exactly does the sync command work with the onboard sdk? I see it mentioned in the documentation but never with a full explanation of how it works and what it does. Is there a sync out pin available on the autopilot to sync with an external device?