Android Question DJI HotpointMission

[madru]

good morning,

any change that somebody can show me how to use 'DJIHotPointMission'

the original video by Erel of the 'DJI Drones' library shows GPSHotPoint @ e.g. 0:47.

unfortunately the attached example a and the libray sourcesode do not show this

THX

 

[DonManfred]

unfortunately the attached example a and the libray sourcesode do not show this

did you try the
- Drone-First example or the
- Drone-Mission example?

I would start checking the 2nd

 

[Erel]

The hot spot mission has been removed from the SDK in one of the updates (at least from the wrapper). However the way point mission is much more powerful.

 

[madru]

if the "spot mission" was removed from the wrapper how can we do circles around a point?
I thought that was only possible with "spot mission" ?

 

[Erel]

What are you building?

Start with a waypoint mission. I can later extend the library and add a hot spot mission.

 

[madru]

it is for a radar test sub system and the requirement is to circle at point x in a radius of y in a height of z

 

[Erel]

Where you able to run the examples with a real drone?

 

[madru]

I tried the "Drone-First" with a MavicPro. Not flying (not turning motors on) as I am in a no fly zone, the area were I can fly is currently locked due to Corona

If you need me to test something I properly go 'somewhere'....

 

[Erel]

The DJI SDK tends to change quite frequently and things break when it changes. Tell me when it becomes relevant for real development and I'll try to help you.

 

[Erel]

As promised, untested example code:

Sub Process_Globals
    Private sdk As DJISDKManager
    Private timer1 As Timer
    Private aircraft As DJIAircraft
    Private controller As DJIFlightController
    Private camera As DJICamera
    Private aircraftName As String
    Private batteryLevel As Int
    Private IMU As String
    Private pws As PhoneWakeState
    Private HotpointOperator As DJIHotpointMissionOperator
    Private MissionStatus As String
End Sub

Sub Globals
    Private pnlCamera As Panel
    Private lblText As Label
    Private btnStartMission As Button
    Private btnStopMission As Button
End Sub

Sub Activity_Create(FirstTime As Boolean)
    Activity.LoadLayout("1")
    If sdk.IsInitialized = False Then
        Wait For (RequestPermissions) Complete (Result As Boolean)
        If Result Then
            sdk.Initialize("sdk")
            timer1.Initialize("timer1", 200)
            Wait For SDK_RegisteredResult (Success As Boolean, ErrorMessage As String)
            If Success Then
                Log("Registered successfully!")
                Log("activation state: " & sdk.ActivationState)
                Log("binding state: " & sdk.AircraftBindingState)
                sdk.StartConnectionToProduct
            Else
                Log(ErrorMessage)
            End If
        Else
            ToastMessageShow("No permission granted!", True)
        End If
    End If
End Sub

Private Sub RequestPermissions As ResumableSub
    Starter.rp.CheckAndRequest(Starter.rp.PERMISSION_ACCESS_FINE_LOCATION)
    Wait For Activity_PermissionResult (Permission As String, Result As Boolean)
    If Result = False Then Return False
    Starter.rp.CheckAndRequest(Starter.rp.PERMISSION_WRITE_EXTERNAL_STORAGE)
    Wait For Activity_PermissionResult (Permission As String, Result As Boolean)
    If Result = False Then Return False
    Starter.rp.CheckAndRequest(Starter.rp.PERMISSION_READ_PHONE_STATE)
    Wait For Activity_PermissionResult (Permission As String, Result As Boolean)
    Return Result
End Sub

Sub SDK_ActivationStateChanged (State As String)
    Log("Activation state changed: " & State)
End Sub

Sub SDK_BindingStateChanged (State As String)
    Log($"SDK_BindingStateChanged: ${State}"$)
    If (State = "BOUND" Or State = "NOT_REQUIRED") And aircraft <> Null And aircraft.Connected Then
        AfterAircraftConnected
    Else
        Log("Aircraft disconnected!")
        lblText.Text = $"Disconnected!!!"$
        timer1.Enabled = False
    End If
End Sub

Sub SDK_ProductConnected (AircraftData As Object)
    If AircraftData <> Null Then
        Log("Product connected")
        aircraft.Initialize("aircraft", AircraftData)
        If aircraft.Connected Then
            AfterAircraftConnected
        End If
    Else
        Log("No connected product")
    End If
End Sub

Sub SDK_ProductDisconnected
    Log("Product disconnected")
End Sub



Sub Aircraft_BatteryState (battery As Object, RemainingPercentage As Int)
    batteryLevel = RemainingPercentage
End Sub

Sub AfterAircraftConnected
    Log("AfterAircraftConnected")
    If aircraft.CameraReady = False Or aircraft.BatteryReady = False Then
        Log("Camera / battery not ready")
        Sleep(500)
        If aircraft.Connected Then AfterAircraftConnected
        Return
    End If
    aircraft.RegisterBatteryStateEvent
    controller.Initialize("controller", aircraft)
    CreateHardwareStateListener
    Log($"simulator: ${controller.SimulatorStarted)}"$
    camera.Initialize("camera", aircraft)
    pnlCamera.AddView(camera.CreateVideoView, 0, 0, pnlCamera.Width, pnlCamera.Height)
    timer1.Enabled = True
    HotpointOperator.Initialize("HotpointOperator")
    aircraftName = "N/A"
    Wait for (aircraft.GetName) Aircraft_ResultWithValue (Success As Boolean, ErrorMessage As String, Value As Object)
    If Success Then
        aircraftName = Value
    End If
End Sub

Sub CreateHardwareStateListener
    Dim RemoteController As JavaObject = aircraft
    RemoteController = RemoteController.RunMethod("getRemoteController", Null)
    Dim callback As Object = RemoteController.CreateEventFromUI("dji.common.remotecontroller.HardwareState$HardwareStateCallback", "HardwareState", Null)
    RemoteController.RunMethod("setHardwareStateCallback", Array(callback))
End Sub

Sub HardwareState_Event (MethodName As String, Args() As Object) As Object
    Log(MethodName)
    Dim HardwareState As JavaObject = Args(0)
    Dim c1button As JavaObject = HardwareState.RunMethod("getC1Button", Null)
    Dim IsClicked As Boolean = c1button.RunMethod("isPresent", Null)
    Log($"C1 button: ${IsClicked}"$)
    Return Null
End Sub

Sub RotateGimbal (roll As Float) 'ignore
    Dim aircraftjo As JavaObject = aircraft
    Dim gimbal As JavaObject = aircraftjo.RunMethod("getGimbal", Null)
    If gimbal.IsInitialized Then
        Dim cc As Object = gimbal.CreateEventFromUI("dji.common.util.CommonCallbacks$CompletionCallback", "callback", Null)
        gimbal.RunMethod("rotate", Array(CreateRotation(roll), cc))
        Wait For (gimbal) Callback_Event (MethodName As String, Args() As Object)
        If Args(0) = Null Then
            Log("Gimbal rotated successfully.")
        Else
            Log("Error setting rotation: " & Args(0))
        End If
    Else
        Log("Gimbal not available.")
    End If
   
End Sub

Sub CreateRotation (RollAngle As Float) As JavaObject
    Dim builder As JavaObject
    builder.InitializeNewInstance("dji.common.gimbal.Rotation.Builder", Null)
    Dim time As Double = 2 'seconds
    builder.RunMethod("mode", Array("ABSOLUTE_ANGLE"))
    builder.RunMethod("time", Array(time))
    builder.RunMethod("roll", Array(RollAngle))
    Return builder.RunMethodJO("build", Null)
End Sub



Sub Activity_Resume
    If sdk.IsInitialized And sdk.Registered Then sdk.StartConnectionToProduct
    pws.KeepAlive(True)
End Sub

Sub Activity_Pause (UserClosed As Boolean)
    timer1.Enabled = False
    pnlCamera.RemoveAllViews 'remove the video feed view (if it was added)
    pws.ReleaseKeepAlive
End Sub


Sub Timer1_Tick
    If controller.IsInitialized Then
        Dim St As DJIFlightControllerCurrentState = controller.CurrentState
        Dim speed As Double = Sqrt(Power(St.VelocityX, 2) + Power(St.VelocityY, 2))
        Dim sb As CSBuilder
        sb.Initialize
        sb.Append($"Aircraft: ${aircraftName}"$).Append(CRLF)
        SetColor(sb, batteryLevel < 30).Append($"Battery: ${batteryLevel}%"$).Pop.Append(CRLF)
        SetColor(sb, St.GPSStatus <> 4 And St.GPSStatus <> 5).Append($"GPSStatus (5 = good): ${St.GPSStatus}"$).Pop
        sb.Append(CRLF)
        sb.Append($"Simulator: ${controller.SimulatorStarted}
FlightMode: ${St.FlightMode}
Altitude: $1.0{St.AircraftLocation.Altitude} m
Location: $1.3{St.AircraftLocation.Latitude} / $1.3{St.AircraftLocation.Longitude}
speed: $1.0{speed} m/s
VelocityZ: $1.1{-St.VelocityZ + 0.001} m/s
HotpointOperator: ${HotpointOperator.MissionState}
Activation: ${sdk.ActivationState}
Binding: ${sdk.AircraftBindingState}
"$)
        AppendIf(sb, St.IMUPreheating, $"IMUPreheating: ${St.IMUPreheating}"$)
        sb.Append(IMU)
        SetColor(sb, St.HomeLocationSet = False)
        If St.HomeLocationSet Then
            sb.Append($"Home: $1.3{St.HomeLocation.Latitude} / $1.3{St.HomeLocation.Longitude}"$)
        Else
            sb.Append("Home: Not set!")
            If St.GPSStatus = 4 Or St.GPSStatus = 5 Then
                SetHome
            End If
        End If
        sb.Pop.Append(CRLF)
        AppendIf(sb, MissionStatus <> "", MissionStatus)
        lblText.Text = sb
    End If
End Sub

Sub SetColor(sb As CSBuilder, Condition As Boolean) As CSBuilder
    If Condition Then sb.Color(Colors.Red) Else sb.Color(Colors.White)
    Return sb
End Sub

Sub AppendIf(sb As CSBuilder, Condition As String, Text As String) As CSBuilder
    If Condition Then sb.Append(Text).Append(CRLF)
    Return sb
End Sub

Sub SetHome
    Wait For (controller.SetHomeLocationUsingAircraftCurrentLocation) Controller_Result (Success As Boolean, ErrorMessage As String)
    If Success Then
        Log("home set")
    Else
        Log("Error: " & ErrorMessage)
    End If
End Sub


Sub Controller_IMUStateChanged (State As DJIIMUState)
    If State.AccelerometerStatus = "" Then Return
    Dim sb As CSBuilder
    sb.Initialize
    AppendIf(sb, State.AccelerometerStatus <> "NORMAL_BIAS", $"Acceleromter: ${State.AccelerometerStatus}"$)
    AppendIf(sb, State.CalibrationStatus <> "NONE", $"Calibration: ${State.CalibrationStatus}"$)
    AppendIf(sb, State.GyroscopeState <> "NORMAL_BIAS", $"Gyroscope: ${State.GyroscopeState}"$)
    IMU = sb
End Sub

Sub btnStartMission_Click
    Dim mission As DJIHotpointMission
    'change coordinates here and remove the ExitApplication
    ExitApplication
    mission.Initialize(32, 32, 50, 300, 20, "TOWARDS_HOT_POINT")
    Wait For (HotpointOperator.StartMission(mission)) HotpointOperator_Result (Success As Boolean, ErrorMessage As String)
    If Success Then
        Log("Start: " & Success & ", " & ErrorMessage)
        MissionState(True)
    Else
        Log("Error uploading: " & ErrorMessage)
        ToastMessageShow("Error uploading: " & ErrorMessage, True)
    End If
End Sub


Sub HotpointOperator_HotpointMissionStart
    MissionStatus = "MissionStart"
End Sub

Sub HotpointOperator_HotpointMissionFinish (Error As String)
    MissionStatus = "MissionFinish: " & Error
    MissionState(False)
End Sub

Sub MissionState(Running As Boolean)
    btnStartMission.Enabled = Not(Running)
    btnStopMission.Enabled = Running
End Sub

Sub HotpointOperator_HotpointMissionProgress (ExecutionEvent As Object)
    Log(ExecutionEvent)
End Sub


Sub btnStopMission_Click
    Wait For (HotpointOperator.StopMission) HotpointOperator_Result (Success As Boolean, ErrorMessage As String)
    If Success = False Then
        ToastMessageShow("Failed to stop", True)
    Else
        MissionStatus = "Mission stopped"
        MissionState(False)
    End If
End Sub

DJI v4.51 is attached. It depends on the other resources: https://www.b4x.com/android/forum/threads/75244

 

[madru]

did a quick run with the simulator....

unfortunately I always get "Error uploading: The estimated time for the mission is too long"

 

[madru]

mmh, looks like that all parameter are not set correctly - ignored ?

depending of hight, radius or velocity you get different error values back like

Error uploading: The radius of mission is over the acceptable limit, pls try to login and check radius of waypoint
Error uploading: The speed of mission is too large
Error uploading: The estimated time for the mission is too long

 

[Erel]

It sounds like it is working as it should.

 

[madru]

yes, you are absolutely right it does work as it should, the issue I was having is related to my patched firmware on the test drone. Stock firmware is fine .....

THX a lot for your support