DJI_OSDK开发（三）：控制指令解析

ROS下的控制指令依旧通过发布话题和订阅话题来完成

M100通过发布sensor_msgs::Joy来完成控制命令，例如

ctrlBrakePub = nh.advertise<sensor_msgs::Joy>("dji_sdk/flight_control_setpoint_generic", 10);

具体如下

sensor_msgs::Joy controlVelYawRate;
    uint8_t flag = (DJISDK::VERTICAL_VELOCITY   |
                DJISDK::HORIZONTAL_VELOCITY |
                DJISDK::YAW_RATE            |
                DJISDK::HORIZONTAL_GROUND   |
                DJISDK::STABLE_ENABLE);
    controlVelYawRate.axes.push_back(0);
    controlVelYawRate.axes.push_back(0);
    controlVelYawRate.axes.push_back(0);
    controlVelYawRate.axes.push_back(0);
    controlVelYawRate.axes.push_back(flag);

    ctrlBrakePub.publish(controlVelYawRate);

这里的关键在这个FLAG上，FLAG是个8位整形数

1:水平控制模式

enum HorizontalLogic
  {
    /*!
     - Set the control-mode to control pitch & roll
     angle of the vehicle.
     - Need to be referenced to either the ground or
     body frame by HorizontalCoordinate setting.
     - Limit: 35 degree
     */
    HORIZONTAL_ANGLE = 0x00,
    /*!
     - Set the control-mode to control horizontal
     vehicle velocities.
     - Need to be referenced to either the ground
     or body frame by HorizontalCoordinate setting.
     - Limit: 30 m/s
     */
    HORIZONTAL_VELOCITY = 0x40,
    /*!
     - Set the control-mode to control position
     offsets of pitch & roll directions
     - Need to be referenced to either the ground
     or body frame by HorizontalCoordinate setting.
     - Limit: N/A
     */
    HORIZONTAL_POSITION = 0x80,
    /*!
     - Set the control-mode to control rate of
     change of the vehicle's attitude
     - Need to be referenced to either the ground
     or body frame by HorizontalCoordinate setting.
     - Limit: 150.0 deg/s
     */
    HORIZONTAL_ANGULAR_RATE = 0xC0
  };

2：控制垂直模式

enum VerticalLogic
  {
    /*!
     - Set the control-mode to control the vertical
       speed of UAV, upward is positive
     - Limit: -5 to 5 m/s
     */
    VERTICAL_VELOCITY = 0x00,
    /*!
     - Set the control-mode to control the height of UAV
     - Limit: 0 to 120 m
     */
    VERTICAL_POSITION = 0x10,
    /*!
     - Set the control-mode to directly control the thrust
     - Range: 0% to 100%
     */
    VERTICAL_THRUST = 0x20,
  };

3：控制YAW

enum YawLogic
  {
    /*!
     - Set the control-mode to control yaw angle.
     - Yaw angle is referenced to the ground frame.
     - In this control mode, Ground frame is enforeced in Autopilot.
     */
    YAW_ANGLE = 0x00,
    /*!
     - Set the control-mode to control yaw angular velocity.
     - Same reference frame as YAW_ANGLE.
     - Limite: 150 deg/s
     */
    YAW_RATE = 0x08
  };

4：参考系选择

enum HorizontalCoordinate
  {
    /*! Set the x-y of ground frame as the horizontal frame (NEU) */
    HORIZONTAL_GROUND = 0x00,
    /*! Set the x-y of body frame as the horizontal frame (FRU) */
    HORIZONTAL_BODY = 0x02
  };

其中1为东北天参考系，2为机体参考系

5：自动悬停选择

enum StableMode
  {
    STABLE_DISABLE = 0x00, /*!< Disable the stable mode */
    STABLE_ENABLE  = 0x01  /*!< Enable the stable mode */
  };