Merge branch 'dev' of http://114.132.166.25:8099/PanHaoBin/JZSDK_Linux into dev

dev跟新

@@ -7,7 +7,7 @@
 #define VERSION_CHOOSE_H
 #define VERSION_CHOOSE_H
 #include "./ConfigParams.h"
 #include "./ConfigParams.h"
 //1~10行 除了D可以修改版本选择 禁止动任何东西
 //1~10行 除了D可以修改版本选择 禁止动任何东西
-#define DEVICE_VERSION JZ_H150S
+#define DEVICE_VERSION JZ_C1
 
 
 //禁止修改行 选择是串口程序 还是 psdk程序
 //禁止修改行 选择是串口程序 还是 psdk程序
 #define APP_VERSION APP_PSDK
 #define APP_VERSION APP_PSDK
@@ -19,7 +19,7 @@
 #define MAJOR_VERSION 0x01
 #define MAJOR_VERSION 0x01
 #define MINOR_VERSION 0x03
 #define MINOR_VERSION 0x03
 #define MODIFY_VERSION 0x09
 #define MODIFY_VERSION 0x09
-#define DEBUG_VERSION 0x02
+#define DEBUG_VERSION 0x05
 
 
 //禁止修改行 滤波方式
 //禁止修改行 滤波方式
 #define FILTERING_TYPE HIGH_PASS_FILTERING
 #define FILTERING_TYPE HIGH_PASS_FILTERING

@@ -240,15 +240,22 @@ static void *JZsdk_Kt_Irc_DataDeal_Thread(void *args)
         //5、释放内存
         //5、释放内存
         if (raw_data != NULL)
         if (raw_data != NULL)
         {
         {
+            if (raw_data != NULL)
+        {
             free(raw_data);
             free(raw_data);
                 raw_data = NULL;
                 raw_data = NULL;
         }
         }
         
         
         if (gary_data != NULL)
         if (gary_data != NULL)
         {
         {
+            }
+        
+        if (gary_data != NULL)
+        {
             free(gary_data);
             free(gary_data);
                 gary_data = NULL;
                 gary_data = NULL;
         }
         }
+                }
         
         
         //JZSDK_LOG_DEBUG("得到了一帧红外h264");
         //JZSDK_LOG_DEBUG("得到了一帧红外h264");
     }
     }

@@ -187,7 +187,7 @@ static const T_DjiWidgetHandlerListItem s_widgetHandlerList[] = {
 };
 };
 
 
 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
 static const uint32_t s_widgetHandlerListCount = sizeof(s_widgetHandlerList) / sizeof(T_DjiWidgetHandlerListItem);
-int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_SECOND,  //视频流
+int32_t s_widgetValueList[] = {VIDEOMGMT_STREAMING_FLOW_INDEX_FIRST,  //视频流
                                 OFF,    //测温模式
                                 OFF,    //测温模式
                                 ON,     //光圈开关
                                 ON,     //光圈开关
                                 OFF,    //冻结开关
                                 OFF,    //冻结开关

@@ -87,7 +87,8 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
     }
     }
 
 
     limitAngle.upperLimit = 300;
     limitAngle.upperLimit = 300;
-    limitAngle.lowerLimit = -1000;
+    //limitAngle.lowerLimit = -1000;
+    limitAngle.lowerLimit = -350;
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_JOINT_ANGLE, limitAngle);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
         USER_LOG_ERROR("set pitch joint angle limit angle for XPort error: 0x%08llX.", djiStat);
@@ -96,6 +97,7 @@ T_DjiReturnCode DjiTest_XPortStartService(void)
 
 
     limitAngle.upperLimit = 300;
     limitAngle.upperLimit = 300;
     limitAngle.lowerLimit = -800;
     limitAngle.lowerLimit = -800;
+    //limitAngle.lowerLimit = -300;
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
     djiStat = DjiXPort_SetLimitAngleSync(DJI_XPORT_LIMIT_ANGLE_CATEGORY_PITCH_EULER_ANGLE, limitAngle);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);
         USER_LOG_ERROR("set pitch euler angle limit angle for XPort error: 0x%08llX.", djiStat);