This code uses DJI Onboard SDK to communicate with DJI flight controllers.
Code compiled with CMake 3.7.2 on a Raspberry Pi Zero W with Raspbian Stretch Lite (June 2018 - Kernel version:4.14).
DJI Onboard SDK uses serial UART driver to communicate with DJI flight controllers. The UART transmit and receive pins are on GPIO 14 and GPIO 15 respectively, which are pins 8 and 10 on the GPIO header.
In a default install of Raspbian on a Raspberry, the primary UART /dev/serial0 is assigned to the Linux console. To stop this behaviour, the serial console setting needs to be removed from command line. This can be done using the raspi-config :
sudo raspi-config
Select option 5, Interfacing options, then option Serial, then Disable serial login shell (disable linux's use of console uart) and Enable serial interface. Exit raspi-config and reboot
The 32F429IDISCOVERY card used by the embedded sensor transmits values by UART. It is connected to a USB-TTL adaptator and uses USB User port /dev/ttyUSB0 on the Pi Zero W.
Clone the DJI Onboard SDK repository and configure ONBOARDSDK_SOURCE in CMakeList.txt depending on your repository location.
In the Matrice210Pi root directory, run the following commands to build the app:
mkdir build && cd build
cmake ..
make
cd bin
You have to copy the UserConfig.txt file provided by DJI in the bin directory and fill it in with your configuration informations.
You must register as a developer with DJI and create an OSDK application ID and Key pair, see here.
Be sure Onboard SDK is enabled on the aircraft and the baudrate used in UserConfig.txt file is the same as defined with DJI Assistant 2, more informations here.
More informations can be found in the Quick start Guide or in the DJI documentation.
You can then launch program in bin directory with
sudo ./matrice210 1
If the program is launched with sudo ./matrice210 0, the console interface is not displayed.
The following interface is shown in the program console when console is enabled.
Due to the watchdog, if the program is launched after the Android Application on the mobile device, data may be received before full program initialization.
If console is disabled, Available commands are not displayed.
The runMatrice210.sh script can be automatically launched from a service on Pi start-up if the matrice210.service is added in /etc/systemd/system. Linux service can then be stopped and restarted with dedicated script files
The runMatrice210.sh saves console output in build/bin/log/ directory. Logs are formatting as follow : log[index]-[yyyy][mm][dd]-[hh][mm][ss].log. GMT Date/Time is used, index is incremented to have numbered log and last log starts with _ char.
The current log file can be read in real time with command tail -f _*.log.
For full compatibility, use this code with the Matrice210AndroidApp on an Android device connected to aircraft remote controller and the Matrice210Stm32 code running on a STM32F429IDISCOVERY board.
- Jonathan Michel - Initial work - jonathanmichel