大疆无人机避障传感器状态获取和监听（M300RTK）

f_yuxiang

已于 2024-01-05 17:57:25 修改

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分类专栏：大疆MSDK 文章标签：无人机 android

于 2021-06-18 18:01:46 首次发布

本文链接：https://blog.youkuaiyun.com/bxfx111/article/details/118031238

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本文介绍了一种获取大疆无人机避障传感器状态的方法，通过监听传感器状态并判断其工作情况，包括前置、后置等六个方向的视觉避障传感器是否启用及工作状态。

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大疆避障传感器状态获取方式，本处记录主要获取方法，方便以后查阅。

//监听避障传感器的状态
mFlightController.getFlightAssistant().setObstacleAvoidanceSensorStateListener(new CommonCallbacks.CompletionCallbackWith<ObstacleAvoidanceSensorState>() {
                @Override
                public void onSuccess(ObstacleAvoidanceSensorState obstacleAvoidanceSensorState) {
//                    obstacleAvoidanceSensorStatus[0]
                    boolean downwardVisualObstacleAvoidanceSensorWorking = false;//下置避障是否在工作
                    boolean forwardVisualObstacleAvoidanceSensorWorking = false;//前置避障是否在工作
                    boolean rightSideVisualObstacleAvoidanceSensorWorking = false;//右置避障是否在工作
                    boolean backwardVisualObstacleAvoidanceSensorWorking = false;//后置避障是否在工作
                    boolean leftSideVisualObstacleAvoidanceSensorWorking = false;//左置避障是否在工作
                    boolean upwardVisualObstacleAvoidanceSensorWorking = false;//上置避障是否在工作
                    boolean downwardVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isDownwardVisualObstacleAvoidanceSensorEnabled();//下置避障是否启用
                    if (downwardVisualObstacleAvoidanceSensorEnabled) {
                        downwardVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isDownwardVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean forwardVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isForwardVisualObstacleAvoidanceSensorEnabled();
                    if (forwardVisualObstacleAvoidanceSensorEnabled) {
                        forwardVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isForwardVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean rightSideVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isRightSideVisualObstacleAvoidanceSensorEnabled();
                    if (rightSideVisualObstacleAvoidanceSensorEnabled) {
                        rightSideVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isRightSideVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean backwardVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isBackwardVisualObstacleAvoidanceSensorEnabled();
                    if (backwardVisualObstacleAvoidanceSensorEnabled) {
                        backwardVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isBackwardVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean leftSideVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isLeftSideVisualObstacleAvoidanceSensorEnabled();
                    if (leftSideVisualObstacleAvoidanceSensorEnabled) {
                        leftSideVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isLeftSideVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean upwardVisualObstacleAvoidanceSensorEnabled = obstacleAvoidanceSensorState.isUpwardVisualObstacleAvoidanceSensorEnabled();
                    if (upwardVisualObstacleAvoidanceSensorEnabled) {
                        upwardVisualObstacleAvoidanceSensorWorking = obstacleAvoidanceSensorState.isUpwardVisualObstacleAvoidanceSensorWorking();
                    }
                    boolean v = obstacleAvoidanceSensorState.areVisualObstacleAvoidanceSensorsInHorizontalDirectionEnabled();
                    if (v) {
                        distanceStr += "垂直" + obstacleAvoidanceSensorState.areVisualObstacleAvoidanceSensorsInVerticalDirectionWorking();
                    }
                    boolean h = obstacleAvoidanceSensorState.areVisualObstacleAvoidanceSensorsInHorizontalDirectionEnabled();
                    if (h) {
                        distanceStr += "水平" + obstacleAvoidanceSensorState.areVisualObstacleAvoidanceSensorsInHorizontalDirectionWorking();
                    }
                    //todo 正式环境测试成功了这里可以删除
                    distanceStr += "下" + downwardVisualObstacleAvoidanceSensorWorking;
                    distanceStr += "前" + forwardVisualObstacleAvoidanceSensorWorking;
                    distanceStr += "右" + rightSideVisualObstacleAvoidanceSensorWorking;
                    distanceStr += "后" + backwardVisualObstacleAvoidanceSensorWorking;
                    distanceStr += "左" + leftSideVisualObstacleAvoidanceSensorWorking;
                    distanceStr += "上" + upwardVisualObstacleAvoidanceSensorWorking;
                    runOnUiThread(() -> gcsTxt.setText(distanceStr));
                    distanceStr = "";
                }

                @Override
                public void onFailure(DJIError djiError) {

                }
            });

注意：这些状态是工作状态，即使pilot软件里关闭掉避障功能，这些传感器还是运行的，只是关闭避障功能而已，传感器数据还是有的，测试方法，正常状态都位true，遮住传感器就会成false,我就因为关闭发现依旧位true，怀疑自己找错了方法，折腾了好久

功能虽然简单，但是茫茫api海洋，找到这个方法并且实现并不简单，所以如果帮助到你们，希望点个赞，转载留个链接，以后有机会出一套msdk开发教程，包含M300RTK