From e007e2a41cb3b65e3bc9cc8e15c4c0f09b1060b6 Mon Sep 17 00:00:00 2001 From: DJI-Colin Date: Mon, 22 Mar 2021 16:00:44 +0800 Subject: [PATCH 1/2] FIX: fix waypointv2's callback has no return value JIRA: OSDK-2961 TEST: No test --- .../modules/dji_vehicle_node_mission_services.cpp | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp b/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp index 4837b943..3abfe5fc 100644 --- a/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp +++ b/src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp @@ -658,6 +658,8 @@ bool VehicleNode::waypointV2StartMissionCallback( } response.result = ptr_wrapper_->startWaypointV2Mission(WAIT_TIMEOUT); + + return response.result; } bool VehicleNode::waypointV2StopMissionCallback( @@ -673,6 +675,8 @@ bool VehicleNode::waypointV2StopMissionCallback( } response.result = ptr_wrapper_->stopWaypointV2Mission(WAIT_TIMEOUT); + + return response.result; } bool VehicleNode::waypointV2PauseMissionCallback( @@ -688,6 +692,8 @@ bool VehicleNode::waypointV2PauseMissionCallback( } response.result = ptr_wrapper_->pauseWaypointV2Mission(WAIT_TIMEOUT); + + return response.result; } bool VehicleNode::waypointV2ResumeMissionCallback( @@ -703,6 +709,8 @@ bool VehicleNode::waypointV2ResumeMissionCallback( } response.result = ptr_wrapper_->resumeWaypointV2Mission(WAIT_TIMEOUT); + + return response.result; } bool VehicleNode::waypointV2GenerateActionsCallback( @@ -911,6 +919,7 @@ bool VehicleNode::waypointV2GenerateActionsCallback( response.result = true; } } + return response.result; } @@ -948,6 +957,8 @@ bool VehicleNode::waypointV2GetGlobalCruisespeedCallback( } response.result = ptr_wrapper_->getGlobalCruiseSpeed(response.global_cruisespeed, WAIT_TIMEOUT); + + return response.result; } //10HZ push From 28d59d988ab920b4be5fb225536b47cb2f5057d2 Mon Sep 17 00:00:00 2001 From: DJI-Colin Date: Fri, 21 May 2021 16:44:04 +0800 Subject: [PATCH 2/2] FIX: fix flight_anomaly_data error use JIRA:OSDK2986 TEST:no test --- msg/FlightAnomaly.msg | 4 ++-- src/dji_osdk_ros/samples/telemetry_node.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/msg/FlightAnomaly.msg b/msg/FlightAnomaly.msg index d6a656f1..324256db 100644 --- a/msg/FlightAnomaly.msg +++ b/msg/FlightAnomaly.msg @@ -6,12 +6,12 @@ # if(flightAnomalyData) # { # ROS_INFO("Flight Anomaly Reported by Flight Controller. Here are details:"); -# if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR) +# if(flightAnomalyData & dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR) # { # ROS_INFO("COMPASS_INSTALLATION_ERROR"); # } # -# if(flightAnomalyData && dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR) +# if(flightAnomalyData & dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR) # { # ROS_INFO("IMU_INSTALLATION_ERROR"); # } diff --git a/src/dji_osdk_ros/samples/telemetry_node.cpp b/src/dji_osdk_ros/samples/telemetry_node.cpp index 91bed36a..d4f08720 100644 --- a/src/dji_osdk_ros/samples/telemetry_node.cpp +++ b/src/dji_osdk_ros/samples/telemetry_node.cpp @@ -416,11 +416,11 @@ int main(int argc ,char** argv) ROS_INFO("rcConnectionStatus:"); ROS_INFO("rc_connection_status_: %d\n", rc_connection_status_.data); ROS_INFO("flightAnomaly:"); - if (flight_anomaly_.data && dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR) + if (flight_anomaly_.data & dji_osdk_ros::FlightAnomaly::COMPASS_INSTALLATION_ERROR) { ROS_INFO("COMPASS_INSTALLATION_ERROR\n"); } - if (flight_anomaly_.data && dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR) + if (flight_anomaly_.data & dji_osdk_ros::FlightAnomaly::IMU_INSTALLATION_ERROR) { ROS_INFO("IMU_INSTALLATION_ERROR\n"); }