Mp work

README.md

@@ -1,17 +1,40 @@
-# Rosetta Drone
+# Rosetta Drone for **DJI Mavic 2** series 
+## Supports Android 8.0 and newer, with DJI SDK 4.11.1 and Androidx
+
+## The project now works on DJI Mavic 2 Pro/Zoom/Enterprise, and got live H.264 video stream out , tested on  QGroundcontrol.
+
+## **Please do create issues or create PR on this fork.** 
+
+![Image of Opening screen](images/popen.png)
+Opening screen, requires DJI login first time...
+
+
+This version has implemented the new video stream method in DJI SDK that require quite a few modifications. It also includes all the latest libraries, and Androidx.
+In the unstable code there is also the DJI simulator, to enable testing in the lab. Android Studio is now updated to 3.6
 
 Rosetta Drone is a Mavlink wrapper for the DJI SDK, which allows users to fly DJI drones using Mavlink-speaking ground control stations. In theory it should work with any Mavlink GCS, but all testing so far has been done with QGroundControl. 
 
 *** IMPORTANT SAFETY NOTE *** Due to imperfect translation between DJI and Mavlink, props may begin spinning at unexpected times. Always treat props as if they are live. Use Rosetta Drone's "safety" feature, which *should* prevent the drone from acknowledging unexpected GCS arm or takeoff commands.
 
 The user assumes all responsibility for prevention of harm or damage. This is an evolving, experimental app. See "Known issues" below before use.
 
+![Image of Opening screen](images/Screenshot.png)
+Main screen, with live video...
+
+
 # Features
 
 * Report telemetry in QGC like position, attitude, relative altitude, heading, and battery remaining
 * Command Return-to-Launch from QGC
-* View drone video feeds in QGC or forward RTP to an IP address of your choice (currently Mavic Pro only)
+* View drone video feeds in QGC or forward RTP to an IP address of your choice (currently Mavic Pro 2 only)
 * Create and fly waypoint missions
+* Fly by joystick and QGS
+* Fly from Python in DroneKit
+* Use Mavproxy to connect both QGC and DroneKit at the same time
+* Use Gstreamer/OpenCV/FFMPEG and DroneKit to create complex AI functions
+
+
+
 
 
 # Usage
@@ -39,6 +62,29 @@ Note that if you are using QGroundControl on the same device as RosettaDrone, th
 
 7. After flight, ensure the safety is enabled before approaching props.
 
+8. Support is added for Pan and Tilt of camera gimbal by using RC channel 8 and 9.
+
+###Add this to you're Dronekit python script:
+
+def set_servo(servo,val):
+    msg = vehicle.message_factory.command_long_encode(
+            0, # time_boot_ms (not used)
+            0,  # target system, target component
+            mavutil.mavlink.MAV_CMD_DO_SET_SERVO, 
+            0, 
+            servo, # RC channel...
+            1500+(val*5.5), # RC value
+            0, 0, 0, 0, 0)
+    vehicle.send_mavlink(msg)
+    vehicle.flush()
+
+    And then use: set_servo(8,-45.0) to set the gimbal....
+
+
+9. Support for **joystick** is added and tested with QGroundcontrol, using the now built in simulator.
+
+10. By taping on the drone icon 5 times, you enable test mode and can open the software with no drone connected. For GUI work.
+
 
 # Building from source
 
@@ -66,7 +112,7 @@ Anyone who speaks multiple languages knows that translations are rarely perfect.
 
 - DJI reports heading in True, which RosettaDrone passes along in vfr_hud.hdg. The mavlink protocol does not specify magnetic or true.
 
-- DJI and Mavlink use different scales to characterize GPS accuracy. DJI also does not report hdop or vdop.
+- DJI and Mavlink use different scales to characterise GPS accuracy. DJI also does not report hdop or vdop.
 
 - Radio signal strength is not yet implemented
 
@@ -78,19 +124,25 @@ Anyone who speaks multiple languages knows that translations are rarely perfect.
 
 # Known Issues for Users
 
-- Occassionally RosettaDrone will loop through repeated "Connecting to drone..." messages upon plugging in a drone. We believe this is a bug in the DJI SDK. Try restarting the drone, killing RosettaDrone, and restarting it. If that doesn't work, reinstalling the app clears caches and usually solves the problem.
 
 - If you change the UDP port while QGC is running, you may need to restart QGC
 
+- If you change the video UDP port while QGC is running, you may need to restart Rosettadrone
+
+- Some times the Rosetta drone stopps and restarts, work are in progress to eliminate this. Seems to be related to the Mavlik layer.
+
+- If you takeoff using the QGC, and then sett a point and hit goto, the Rosettadrone enters an error state. Work are in progress. 
+
 # Known Issues for Developers
 
-RosettaDrone uses MAVLink code generated by the MAVLink code generator, using the ArduPilot dialect. The Java code generator contains errors (see issues [#805](https://github.com/mavlink/mavlink/issues/805) and [#806](https://github.com/mavlink/mavlink/issues/806)), and the code required manual tweaking after generation. This means that simply dropping in updated auto-generated files will likely produce errors.
+RosettaDrone uses MAVLink code generated by the MAVLink code generator, using the ArduPilot dialect. The Java code generator contains errors (see issues [#805](https://github.com/mavlink/mavlink/issues/805) and [#806](https://github.com/mavlink/mavlink/issues/806)), and the code required manual tweaking after generation. This means that simply dropping in updated auto-generated files will likely produce errors. At the moment this seems only to apply for setting and getting double that is missing. It is quite easy to copy the float function and modify it to double. The only usage for this is for ROV wheel distance, so someone should fix that in Mavlink. 
 
 The use of an ArduPilot dialect over PX4 is not intended to be a statement of preference. The author believes strongly in the importance of maintaining maximum compatibility across both projects. 
 
 # Acknowledgements
 
 Rosetta Drone was brought to you by developers from Rogue Squadron, a UAS/C-UAS red team at the Defense Innovation Unit Experimental.
+The updated version was brought to you by eSmartSystems in cooperation with  the Defense Drone depatment at 9Tek.
 
 ## Icons
 Icons made by Pixel Perfect & Freepik at flaticon
@@ -103,3 +155,4 @@ Rosetta Drone uses a modified version of DJI's [Android Video Stream Decoding Sa
 
 Video RTP packing uses code modified from the [libstreamer](https://github.com/fyhertz/libstreaming) library, licensed under Apache 2.
 
+

app/build.gradle

@@ -1,17 +1,21 @@
 apply plugin: 'com.android.application'
 
 android {
-    compileSdkVersion 27
+    compileSdkVersion 28
     defaultConfig {
         applicationId "sq.rogue.rosettadrone"
-        minSdkVersion 23
-        targetSdkVersion 27
+        minSdkVersion 25
+        targetSdkVersion 28
         versionCode 1
-        versionName "1.2.1"
-        testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
+        versionName "5.0.1"
+        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
         multiDexEnabled true
     }
 
+    dexOptions {
+        javaMaxHeapSize "4g"
+    }
+
     buildTypes {
         release {
             minifyEnabled false
@@ -28,6 +32,13 @@ android {
         }
     }
 
+    sourceSets {
+        main {
+            jni.srcDirs=[]
+            jniLibs.srcDirs=['../libs']
+        }
+    }
+
     packagingOptions {
         doNotStrip "*/*/libdjivideo.so"
         doNotStrip "*/*/libSDKRelativeJNI.so"
@@ -38,6 +49,18 @@ android {
         doNotStrip "*/*/libFRCorkscrew.so"
         doNotStrip "*/*/libUpgradeVerify.so"
         doNotStrip "*/*/libFR.so"
+
+        // Add the new so
+        doNotStrip "*/*/libDJIFlySafeCore.so"
+        doNotStrip "*/*/libdjifs_jni.so"
+        doNotStrip "*/*/libsfjni.so"
+
+        doNotStrip "*/*/libDJICommonJNI.so"
+        doNotStrip "*/*/libDJICSDKCommon.so"
+        doNotStrip "*/*/libDJIUpgradeCore.so"
+        doNotStrip "*/*/libDJIUpgradeJNI.so"
+
+        exclude 'META-INF/rxjava.properties'
     }
     externalNativeBuild {
         cmake {
@@ -46,27 +69,54 @@ android {
     }
     defaultConfig {
         ndk {
-            abiFilters 'armeabi-v7a' // more could be added
+            abiFilters 'armeabi-v7a', 'x86', 'arm64-v8a'
         }
     }
 
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+
 }
 dependencies {
     //    debugImplementation 'com.squareup.leakcanary:leakcanary-android:1.5.4'
     //    releaseImplementation 'com.squareup.leakcanary:leakcanary-android-no-op:1.5.4'
+
+
+
+   // classpath 'com.android.tools.build:gradle:6.2.1'
+
     implementation fileTree(include: ['*.jar'], dir: 'libs')
-    androidTestImplementation('com.android.support.test.espresso:espresso-core:2.2.2', {
+    androidTestImplementation('androidx.test.espresso:espresso-core:3.2.0', {
         exclude group: 'com.android.support', module: 'support-annotations'
     })
-    implementation 'com.android.support:appcompat-v7:27.1.1'
-    implementation 'com.android.support:preference-v7:27.1.1'
-    implementation 'com.android.support:preference-v14:27.1.1'
-    implementation 'com.android.support.constraint:constraint-layout:1.1.2'
-    implementation 'com.android.support:design:27.1.1'
-    testImplementation 'junit:junit:4.12'
+    implementation 'com.squareup:otto:1.3.8'
+    implementation('com.dji:dji-sdk:4.11.1', {
+        /**
+         * Uncomment the "library-anti-distortion" if your app does not need Anti Distortion for Mavic 2 Pro and Mavic 2 Zoom.
+         * Uncomment the "fly-safe-database" if you need database for release, or we will download it when DJISDKManager.getInstance().registerApp
+         * is called.
+         * Both will greatly reducing the size of the APK.
+         */
+        exclude module: 'library-anti-distortion'
+        //exclude module: 'fly-safe-database'
+    })
+    compileOnly 'com.dji:dji-sdk-provided:4.11.1'
+
+    implementation 'androidx.annotation:annotation:1.1.0'
+    implementation 'androidx.appcompat:appcompat:1.1.0'
+    implementation 'androidx.preference:preference:1.1.0'
+    implementation 'androidx.legacy:legacy-preference-v14:1.0.0'
+    implementation 'androidx.constraintlayout:constraintlayout:1.1.3'
+    implementation 'com.google.android.material:material:1.1.0'
+    testImplementation 'junit:junit:4.13'
     testImplementation 'org.mockito:mockito-core:2.7.22'
     testImplementation 'org.mockito:mockito-android:2.7.22'
-    implementation 'com.dji:dji-sdk:4.6'
-    compileOnly 'com.dji:dji-sdk-provided:4.6'
-    implementation 'com.android.support:multidex:1.0.3'
+    implementation 'androidx.multidex:multidex:2.0.1'
+
+    implementation 'androidx.core:core:1.2.0'
+    implementation 'androidx.recyclerview:recyclerview:1.1.0'
+    implementation 'androidx.lifecycle:lifecycle-extensions:2.2.0'
+
 }

app/src/androidTest/java/sq/rogue/rosettadrone/ExampleInstrumentedTest.java

@@ -1,8 +1,8 @@
 package sq.rogue.rosettadrone;
 
 import android.content.Context;
-import android.support.test.InstrumentationRegistry;
-import android.support.test.runner.AndroidJUnit4;
+import androidx.test.platform.app.InstrumentationRegistry;
+import androidx.test.ext.junit.runners.AndroidJUnit4;
 
 import org.junit.Test;
 import org.junit.runner.RunWith;

app/src/main/AndroidManifest.xml

@@ -3,19 +3,23 @@
     package="sq.rogue.rosettadrone">
 
     <uses-permission android:name="android.permission.VIBRATE"/>
-    <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE" />
-    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
     <uses-permission android:name="android.permission.INTERNET"/>
-    <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW" />
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE"/>
     <uses-permission android:name="android.permission.WAKE_LOCK"/>
     <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION"/>
     <uses-permission android:name="android.permission.ACCESS_NETWORK_STATE"/>
     <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
     <uses-permission android:name="android.permission.CHANGE_WIFI_STATE"/>
+    <uses-permission android:name="android.permission.MOUNT_UNMOUNT_FILESYSTEMS"/>
     <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE"/>
     <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE"/>
     <uses-permission android:name="android.permission.SYSTEM_ALERT_WINDOW"/>
     <uses-permission android:name="android.permission.READ_PHONE_STATE"/>
+    <uses-permission android:name="android.permission.BLUETOOTH"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+
+    <uses-feature android:name="android.hardware.camera"/>
+    <uses-feature android:name="android.hardware.camera.autofocus"/>
 
     <uses-feature
         android:name="android.hardware.usb.host"
@@ -32,34 +36,62 @@
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
         android:theme="@style/AppTheme">
-        <activity android:name="sq.rogue.rosettadrone.MainActivity"
-            android:launchMode="singleInstance">
+
+        <activity
+            android:name="sq.rogue.rosettadrone.ConnectionActivity"
+            android:launchMode="singleTop">
+<!--            android:screenOrientation="portrait">  -->
             <intent-filter>
                 <action android:name="android.intent.action.MAIN"/>
-                <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED" />
-
                 <category android:name="android.intent.category.LAUNCHER"/>
+                <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"/>
             </intent-filter>
             <meta-data
                 android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
-                android:resource="@xml/accessory_filter" />
+                android:resource="@xml/accessory_filter"/>
+        </activity>
+
+        <activity android:name="sq.rogue.rosettadrone.MainActivity">
+        <!--            android:screenOrientation="portrait">  -->
+            <!--            android:launchMode="singleInstance"> -->
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <action android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED" />
+
+                <!--                <category android:name="android.intent.category.LAUNCHER"/>  -->
+            </intent-filter>
+            <!--          <meta-data
+                          android:name="android.hardware.usb.action.USB_ACCESSORY_ATTACHED"
+                          android:resource="@xml/accessory_filter" />
+                      -->
         </activity>
+
+        <uses-library android:name="org.apache.http.legacy" android:required="false" />
+
         <activity android:name="sq.rogue.rosettadrone.settings.SettingsActivity"
             android:theme="@style/AppTheme.Settings"
             android:label="Settings">
         </activity>
+
+        <activity android:name="sq.rogue.rosettadrone.settings.HelpActivity"
+            android:theme="@style/AppTheme.Settings"
+            android:label="Settings">
+        </activity>
+
         <!-- DJI SDK -->
         <uses-library android:name="com.android.future.usb.accessory"/>
+
         <meta-data
             android:name="com.dji.sdk.API_KEY"
             android:value="@string/dji_key"/>
 
         <service android:name="dji.sdk.sdkmanager.DJIGlobalService">
         </service>
-        <service android:name=".video.VideoService">
-        </service>
-
+        <!--
+                <service android:name="sq.rogue.rosettadrone.video.VideoService">
+                </service>
+        -->
         <!-- DJI SDK -->
     </application>
 
-</manifest>
+</manifest>