无人机怎么yaw转动

无人机怎么yaw转动

无人机怎么yaw转动，调用什么api，FlightController().getState().setAttitude 好像没有效果啊

paul zhou

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kv886

要用虚拟摇杆virtual stick 的相关方法。

LRQQQ

setYawControlMode(YawControlMode.ANGULAR_VELOCITY)或者setYawControlMode(YawControlMode.ANGLE)，直接给YAW赋值就好了。这个在官方的demo中有示例的

楼主

<div class="quote"><blockquote><a class="nopicture" rel="noopener" href="https://bbs.dji.com/forum.php?mod=redirect&goto=findpost&pid=3661373&ptid=249435" target="_blank"><span class="customName">LRQQQ</span><span class="customShow">Osmo Mobile 3</span><span class="customTime">7-24 15:49</span></a>
<span class="customSpan">setYawControlMode(YawControlMode.ANGULAR_VELOCITY)或者setYawControlMode(YawControlMode.ANGLE)，直接给YAW赋值就好了。这个在官方的demo中有示例的</span></blockquote></div>您好  那我让它每次旋转90度，每次加90，超过180就改成（原角度+90）-360这样旋转但是实际上他并没有完全按照设定的角度旋转，这是我的代码
private void aircraftYaw(float angle){
      Attitude attitude = flightController.getState().getAttitude();
      float pitch = (float) attitude.pitch;
      float roll = (float) attitude.roll;
      float yaw = (float) attitude.yaw + angle;

      if (yaw > 180){
         yaw = yaw - 360;
      }

      flightController.sendVirtualStickFlightControlData
            (new FlightControlData(pitch, roll, yaw,0),
                     null);
}

楼主

<div class="quote"><blockquote><a class="nopicture" rel="noopener" href="https://bbs.dji.com/forum.php?mod=redirect&goto=findpost&pid=3660412&ptid=249435" target="_blank"><span class="customName">kv886</span><span class="customShow"></span><span class="customTime">7-23 19:52</span></a>
<span class="customSpan">要用虚拟摇杆virtual stick 的相关方法。</span></blockquote></div>您好  那我让它每次旋转90度，每次加90，超过180就改成（原角度+90）-360这样旋转但是实际上他并没有完全按照设定的角度旋转，这是我的代码
private void aircraftYaw(float angle){
      Attitude attitude = flightController.getState().getAttitude();
      float pitch = (float) attitude.pitch;
      float roll = (float) attitude.roll;
      float yaw = (float) attitude.yaw + angle;

      if (yaw > 180){
         yaw = yaw - 360;
      }

      flightController.sendVirtualStickFlightControlData
            (new FlightControlData(pitch, roll, yaw,0),
                     null);
}

kv886

<div class="quote"><blockquote><a class="nopicture" rel="noopener" href="https://bbs.dji.com/forum.php?mod=redirect&goto=findpost&pid=3661397&ptid=249435" target="_blank"><span class="customName">djiuser_2qce936</span><span class="customShow"></span><span class="customTime">7-24 16:23</span></a>
<span class="customSpan">您好  那我让它每次旋转90度，每次加90，超过180就改成（原角度+90）-360这样旋转但是实际上他并没有完全按照设定的角度旋转，这是我的代码
private void aircraftYaw(float angle){
      Attitude attitude = flightController.getState().getAttitude();
      float pitch = (float) attitude.pitch;
      float roll = (float) attitude.roll;
      float yaw = (float) attitude.yaw + angle;

      if (yaw > 180){
         yaw = yaw - 360;
      }

      flightController.sendVirtualStickFlightControlData
            (new FlightControlData(pitch, roll, yaw,0),
                     null);
}</span></blockquote></div>这个命令不能只发一次，要以一定频率发送才可以，文档上有说明的。

fansi

<div class="quote"><blockquote><a class="nopicture" rel="noopener" href="https://bbs.dji.com/forum.php?mod=redirect&goto=findpost&pid=3661397&ptid=249435" target="_blank"><span class="customName">djiuser_2qce936</span><span class="customShow">Phantom 4 Advanced</span><span class="customTime">2020-7-24 16:23</span></a>
<span class="customSpan">您好  那我让它每次旋转90度，每次加90，超过180就改成（原角度+90）-360这样旋转但是实际上他并没有完全按照设定的角度旋转，这是我的代码
private void aircraftYaw(float angle){
      Attitude attitude = flightController.getState().getAttitude();
      float pitch = (float) attitude.pitch;
      float roll = (float) attitude.roll;
      float yaw = (float) attitude.yaw + angle;

      if (yaw > 180){
         yaw = yaw - 360;
      }

      flightController.sendVirtualStickFlightControlData
            (new FlightControlData(pitch, roll, yaw,0),
                     null);
}</span></blockquote></div>大佬, 这个问题解决了么?  我也遇到同样的问题了