##大疆SDK开发笔记##

#1.文档相关

2.Android SDK文档
接入Android的SDK都在这部分，飞控相关的接口。

3.Android UX SDK文档
大疆自定义的组件，已经跟飞机关联，直接用即可。

4.官方Git库
相关Demo都在里面

5.注册成为开发者

[开发者注册](https://account.dji.com/register?appId=dji_sdk&backUrl=https%3A%2F%2Fdeveloper.dji.com%2Fuser&locale=en_US)
注:每一个Android应用都要注册APPkey,否则调用不了SDK。

6.Mobile-UXSDK-Android 结合的Demo(飞控界面)
地址下载

#2.飞行模拟器下载地址

#3.Android SDK

预览大图 #4.Android UX SDK

#5.Android Studio接入DIJ SDK步骤

5.1.app的build.gradle添加

implementation 'com.dji:dji-sdk:4.10'

implementation 'com.dji:dji-uxsdk:4.10'

compileOnly 'com.dji:dji-sdk-provided:4.10'

5.2.app的build.gradle的android中

packagingOptions {

doNotStrip "*/*/libdjivideo.so"

doNotStrip "*/*/libSDKRelativeJNI.so"

doNotStrip "*/*/libFlyForbid.so"

doNotStrip "*/*/libduml_vision_bokeh.so"

doNotStrip "*/*/libyuv2.so"

doNotStrip "*/*/libGroudStation.so"

doNotStrip "*/*/libFRCorkscrew.so"

doNotStrip "*/*/libUpgradeVerify.so"

doNotStrip "*/*/libFR.so"

doNotStrip "*/*/libDJIFlySafeCore.so"

doNotStrip "*/*/libdjifs_jni.so"

doNotStrip "*/*/libsfjni.so"

pickFirst 'lib/*/libstlport_shared.so'

pickFirst 'lib/*/libRoadLineRebuildAPI.so'

pickFirst 'lib/*/libGNaviUtils.so'

pickFirst 'lib/*/libGNaviMapex.so'

pickFirst 'lib/*/libGNaviData.so'

pickFirst 'lib/*/libGNaviMap.so'

pickFirst 'lib/*/libGNaviSearch.so'

pickFirst 'lib/*/libDJIFlySafeCore.so'

pickFirst 'lib/*/libdjifs_jni.so'

pickFirst 'lib/*/libsfjni.so'

exclude 'META-INF/rxjava.properties'

}

5.3 AndroidManifest.xml添加权限

android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"

tools:ignore="ProtectedPermissions" />

android:name="android.hardware.usb.host"

android:required="false" />

android:name="android.hardware.usb.accessory"

android:required="true" />

application里面

android:name="com.dji.sdk.API_KEY"

android:value="9a13028ed03500ad035980f9" />

android:name="dji.sdk.sdkmanager.DJIAoaControllerActivity"

android:theme="@android:style/Theme.Translucent">

android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"

android:resource="@xml/accessory_filter" />

#6.SDK初始化以及接口相关 *注:DJI的相关回调都在子线程里面!请勿在操作UI。

###6.1初始化SDK DJISDKManager.getInstance().registerApp(MainActivity.this.getApplicationContext(), new DJISDKManager.SDKManagerCallback() { @Override public void onRegister(DJIError djiError) { //子线程的回调 if (djiError == DJISDKError.REGISTRATION_SUCCESS) { //SDK 注册成功 启动连接到飞机 DJISDKManager.getInstance().startConnectionToProduct(); } else { //SDK 注册失败 需要在子线程操作UI } Log.v(TAG, djiError.getDescription()); }

@Override

public void onProductDisconnect() {

Log.d(TAG, "onProductDisconnect");

notifyStatusChange();

}

@Override

public void onProductConnect(BaseProduct baseProduct) {

Log.d(TAG, String.format("onProductConnect newProduct:%s", baseProduct));

notifyStatusChange();

}

@Override

public void onComponentChange(BaseProduct.ComponentKey componentKey, BaseComponent oldComponent,

BaseComponent newComponent) {

//DJI SDK 连接发生改变

if (newComponent != null) {

newComponent.setComponentListener(new BaseComponent.ComponentListener() {

@Override

public void onConnectivityChange(boolean isConnected) {

Log.d(TAG, "onComponentConnectivityChanged: " + isConnected);

//DJI SDK 连接发生改变

notifyStatusChange();

}

});

}

Log.d(TAG, String.format("onComponentChange key:%s, oldComponent:%s, newComponent:%s",

componentKey,

oldComponent,

newComponent));

}

@Override

public void onInitProcess(DJISDKInitEvent djisdkInitEvent, int i) {

}

});

private void notifyStatusChange() {

if (mHandler == null) {

mHandler = new Handler(getMainLooper());

}

mHandler.removeCallbacks(updateRunnable);

mHandler.postDelayed(updateRunnable, 500);

}

###6.2登录DJI账号 private void DJIUserLogin() { UserAccountManager.getInstance().logIntoDJIUserAccount(MainActivity.this, new CommonCallbacks.CompletionCallbackWith() { @Override public void onSuccess(final UserAccountState userAccountState) { //登录成功的回调 子线程回调 } @Override public void onFailure(final DJIError djiError) { //登录失败的错误回调 } }); }

###6.3获取登录DJI账号相关的信息 private void getDjiLoginUserName() { UserAccountManager.getInstance().getLoggedInDJIUserAccountName(new CommonCallbacks.CompletionCallbackWith() { @Override public void onSuccess(final String s) { //s为登录的用户名 }

@Override

public void onFailure(final DJIError djiError) {

//获取失败 错误详情请查看djierror类

}

});

}

*注:完成以上的注册SDK、和登录用户名后，就能进入到正式DJI SDK开发了。

6.4 XML布局文件

android:id="@+id/fpvwidget"

android:layout_width="match_parent"

android:layout_height="match_parent"

android:layout_gravity="center"

custom:sourceCameraNameVisibility="false" />

android:id="@+id/fPVOverlayWidget"

android:layout_width="match_parent"

android:layout_height="match_parent"

android:layout_gravity="center" />

dji.ux.widget.FPVWidget
这个控件用户显示飞控的相机的画面，DJI已经绑定，直接用即可。
custom:sourceCameraNameVisibility="false"
此属性用设置 画面中间不显示视频来源的名称。

这个控件用于在画面中操作相机的移动等。

6.5获取无人机的飞行状态

*注:只有在SDK与与无人机连接成功,并且飞行的时候 才能有相应的高度经纬度信息。

//设置监听

MApplication.getAircraftInstance().getFlightController().setStateCallback(new FlightControllerState.Callback() {

@Override

public void onUpdate(@NonNull final FlightControllerState flightControllerState) {

runOnUiThread(new Runnable() {

@Override

public void run() {

OnUpdateDJIView(flightControllerState);

}

});

}

});

private void OnUpdateDJIView(FlightControllerState flightControllerState) {

LocationCoordinate3D locationCoordinate3D = flightControllerState.getAircraftLocation();//飞机的3D位置

if (locationCoordinate3D == null) {

printLOG("locationCoordinate3D==null");

return;

}

StringBuffer stringBuffer = new StringBuffer();

stringBuffer.append("经度：" + locationCoordinate3D.getLongitude()).append("\n");

stringBuffer.append("纬度：" + locationCoordinate3D.getLatitude()).append("\n");

stringBuffer.append("高度：" + locationCoordinate3D.getAltitude()).append(" m\n");

//tv_feiji_infos.setText(stringBuffer.toString());

}

##未完待续..