飞行机器人（一）DJI平台OSDK简介

OSDK/OSDK-ROS for M600Pro

技术文档 Version 2.1.1

# 文档类型： 开发手册、技术文档、代码历程

# github源码地址： https://github.com/HaooWang/Onboard-SDK-ROS、

# 版本号：DJI Onboard SDK ROS 3.8.1

SODK & ROS PKG下载链接： 【正在上传】

更新日志

论坛网址：

• OSDK 机载设备与飞控硬件连接：

Hardware Setup Guide - DJI Onboard SDK Documentation https://developer.dji.com/onboard-sdk/documentation/development-workflow/hardware-setup.html

开始使用OSDK - DJI Onboard SDK Documentation https://developer.dji.com/cn/onboard-sdk/documentation/quickstart/integrateOSDK.html

• OSDK 技术支持论坛：

https://sdk-forum.dji.net/hc/zh-cn/categories/360001790793-Onboard-SDKhttps://sdk-forum.dji.net/hc/zh-cn/categories/360001790793-Onboard-SDK

• 大疆社区

技术交流 | 开发者-大疆社区https://bbs.dji.com/forum.php?mod=forumdisplay&fid=79&filter=typeid&orderby=views&typeid=338

• 中文技术开发手册：

运动规划 - DJI Onboard SDK Documentation https://developer.dji.com/cn/onboard-sdk/documentation/tutorial/motion-planning.html

• OSDK 4.1.0/3.9.0 github:

https://github.com/dji-sdk/Onboard-SDKhttps://github.com/dji-sdk/Onboard-SDK

• OSDK-ROS /Linux API:

https://github.com/dji-sdk/Onboard-SDK-ROShttps://github.com/dji-sdk/Onboard-SDK-ROS

1. feature

This 4.1.0 version releases a feature package: dji_osdk_ros. The package contains two different framework's interface. OSDK-ROS-obsoleted kept ros3.8.1's interface.
(note:We will cancel support for the OSDK-ROS-obsoleted's interface in the next version.)

This update mainly includes:

1. Battery information interface and sample;
2. hms interface and sample;
3. update flight-control interface and sample: include:

set_joystick_mode
joystick_action
get/set_go_home_altitude
set_home_point
rename 'set_current_point_as_home' to 'set_current_aircraft_point_as_home'
rename 'enable_avoid' to 'set_horizon_avoid_enable'
rename 'enable_upwards_avoid' to 'set_upwards_avoid_enable'
get_acoid_enable_status
kill_switch
emergency_brake
update flight_task_control,include:
a.add velocity and yaw rate control action
b.add turn on/off motor action
c.add force landing and confirm landing action
d.add cancel landing and cancel go home action

1. fixed telemetry_node problem:displayMode and rcConnection is zero.

2. OSDK & OSDK ROS版本对应关系

The SDK includes:

• an open source C++ library that can be used to control DJI aircraft over a serial interface - with support for Linux, ARM and STM32
• fully featured ROS wrapper compatible with ROS standards
• an aircraft simulator and visualization tool
• sample code and tutorials
• this developer guide and API documentation

飞控性能对比：

System Con

The A3 and A3 Pro flight controllers are also used in the M600 and M600 Pro products respectively. It should be noted however, that the firmware for the A3 and A3 Pro will be different to that used in the M600 and M600 Pro.

Doc：file:///E:/%E9%A3%9E%E8%A1%8C%E6%9C%BA%E5%99%A8%E4%BA%BA-%E9%A3%9E%E8%A1%8C%E6%95%B0%E6%8D%AE/OSDK-3.9.0-doc/public/cn/introduction/osdk-hardware-introduction.html