fix: partial fix calculation model add: drone sdk for android apps

droneCode/drone_controll/Mobile-SDK-Android-master/LICENSE.txt

+****************************************************************************************************************************
+
+DJI Mobile SDK for Android is offered under DJI's END USER LICENSE AGREEMENT. You can obtain the license from the below link:
+
+http://developer.dji.com/policies/eula/
+
+****************************************************************************************************************************
+
+Sample code is offered under MIT License (See below).
+
+The MIT License (MIT)
+Copyright (c) 2019 DJI
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+****************************************************************************************************************************
+
+****************************************************************************************************************************
+
+The DJI Android SDK is dynamically linked with unmodified libraries of <a href=http://ffmpeg.org>FFmpeg</a> licensed under the <a href=http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html>LGPLv2.1</a>. The source code of these FFmpeg libraries, the compilation instructions, and the LGPL v2.1 license are provided in [Github](https://github.com/dji-sdk/FFmpeg).
+
+****************************************************************************************************************************
\ No newline at end of file

droneCode/drone_controll/Mobile-SDK-Android-master/README.md

+# [MSDK V5 Released](https://github.com/dji-sdk/Mobile-SDK-Android-V5)
+
+MSDK V5 Supported Product:
+* [DJI Mavic 3 Enterprise Series](https://www.dji.com/cn/mavic-3-enterprise)
+* [M30 Series](https://www.dji.com/matrice-30?site=brandsite&from=nav)
+* [M300 RTK](https://www.dji.com/matrice-300?site=brandsite&from=nav)
+
+# DJI Mobile SDK V4 for Android Latest Version 4.17
+
+## What Is This?
+
+The DJI Mobile SDK enables you to automate your DJI Product. You can control flight, and many subsystems of the product including the camera and gimbal. Using the Mobile SDK, create a customized mobile app to unlock the full potential of your DJI aerial platform.
+
+## Integration
+
+Declare dependency via Maven:
+
+~~~xml
+<dependency>
+    <groupId>com.dji</groupId>
+    <artifactId>dji-sdk</artifactId>
+    <version>4.17</version>
+</dependency>
+
+<dependency>
+    <groupId>com.dji</groupId>
+    <artifactId>dji-sdk-provided</artifactId>
+    <version>4.17</version>
+</dependency>
+~~~
+
+or Gradle:
+
+~~~groovy
+compile 'com.dji:dji-sdk:4.17'
+provided 'com.dji:dji-sdk-provided:4.17'
+~~~
+
+For further detail on how to integrate the DJI Android SDK into your Android Studio project, please check the [Integrate SDK into Application](http://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-integrate.html#import-maven-dependency) tutorial.
+
+## Running the SDK Sample Code
+
+Developers can [run the sample application](https://developer.dji.com/mobile-sdk/documentation/quick-start/index.html#android-sample-app) to immediately run code and see how the DJI Mobile SDK can be used.
+
+One of DJI's aircraft or handheld cameras will be required to run the sample application.
+
+## Development Workflow 
+
+From registering as a developer, to deploying an application, the following will take you through the full Mobile SDK Application development process:
+
+- [Prerequisites](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-prerequisits.html)
+- [Register as DJI Developer & Download SDK](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-register.html)
+- [Integrate SDK into Application](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-integrate.html)
+- [Run Application](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-run.html)
+- [Testing, Profiling & Debugging](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-testing.html)
+- [Deploy](https://developer.dji.com/mobile-sdk/documentation/application-development-workflow/workflow-deploy.html)
+
+## Sample Projects & Tutorials
+
+Several Android tutorials are provided as examples on how to use different features of the Mobile SDK and debug tools includes:
+
+- [Application Activation and Aircraft Binding](http://developer.dji.com/mobile-sdk/documentation/android-tutorials/ActivationAndBinding.html)
+- [Getting Started with UX SDK](http://developer.dji.com/mobile-sdk/documentation/android-tutorials/UXSDKDemo.html)
+- [Camera Application](https://developer.dji.com/mobile-sdk/documentation/android-tutorials/FPVDemo.html)
+- [MapView and Waypoint Application (GaodeMap)](https://developer.dji.com/mobile-sdk/documentation/android-tutorials/GSDemo-Gaode-Map.html)
+- [MapView and Waypoint Application (GoogleMap)](https://developer.dji.com/mobile-sdk/documentation/android-tutorials/GSDemo-Google-Map.html)
+- [TapFly and ActiveTrack Application](https://developer.dji.com/mobile-sdk/documentation/android-tutorials/P4MissionsDemo.html)
+- [Simulator Application](http://developer.dji.com/mobile-sdk/documentation/android-tutorials/SimulatorDemo.html)
+- [GEO System Application](http://developer.dji.com/mobile-sdk/documentation/android-tutorials/GEODemo.html)
+
+## Learn More about DJI Products and the Mobile SDK
+
+Please visit [DJI Mobile SDK Documentation](https://developer.dji.com/mobile-sdk/documentation/introduction/index.html) for more details.
+
+## DJI Mobile UX SDK
+
+DJI Mobile UX SDK is a suite of product agnostic UI objects that fast tracks the development of iOS applications using the DJI Mobile SDK. For more details, please check [here](https://github.com/dji-sdk/Mobile-UXSDK-Android).
+
+## Device Health Information Json File
+
+You can find the **hms.json** and **`hms_match_sdkerror.json`** files in this repo's root folder.
+
+It contains error code and detailed description for device components. Only supported by some components of Matrice 300 RTK and Zenmuse H20 series.
+
+It is recommended to use device health information to replace old diagnostics for flight controller and RTK. There will be a few duplicated component error for gimbal, battery, perception module on Matrice 300 RTK.
+
+Please refer to the table below for duplicated error:
+
+| DJIDiagnosticsError | Enum Value | AlarmId |
+|:------------- |:---------------:| -------------:|
+| `BATTERY_DISCHARGE_OVER_CURRENT`  | 3001 | 0x110B0001|
+| `BATTERY_DISCHARGE_OVER_HEAT` | 3002  | 0x110B0002 |
+| `BATTERY_LOW_TEMPERATURE` | 3003  | 0x110B0003 |
+| `BATTERY_CELL_BROKEN` | 3004 | 0x110B0006 |
+| `GIMBAL_CONNECT_TO_FC_ERROR` | 2005 | 0x1D030001 |
+| `GIMBAL_GYROSCOPE_ERROR` | 2001 | 0x1D040002 |
+| `GIMBAL_PITCH_ERROR` | 2002 | 0x1D040004 |
+| `GIMBAL_ROLL_ERROR` | 2003 | 0x1D040003 |
+| `GIMBAL_YAW_ERROR` | 2004 | 0x1D040005 |
+
+
+## ProGuard
+
+If you're planning on optimizing your app with [ProGuard](https://developer.android.com/studio/build/shrink-code.html), you can add the following rules to your app's `proguard.cfg` file:
+
+- For **AAR** file, please use the following rule:
+
+~~~
+"-libraryjars ./PATH_TO_THIS_FILE/dji_android_sdk.aar"
+~~~
+
+- For **API Library** folder, please use the rules in [proguard-project](<https://github.com/dji-sdk/Mobile-SDK-Android/blob/master/Sample Code/app/proguard-rules.pro>) file. 
+
+> **Note**: There are two types of DJI Android SDK: **AAR** and **API Library folder**, you can download them from DJI Developer Website: <http://developer.dji.com/mobile-sdk/downloads/>.
+
+## SDK Keys
+
+SDK Keys can be used as an alternative interface to access the product.
+
+A detailed introduction for SDK Keys is [here](./docs/README-KeyedInterface.md).
+
+## Missions Refactor
+
+Missions are an important part of the SDK as they allow developers to automate DJI's products using a simple, high level interface. In 4.0, missions are being refactored to be more robust and easier to manage.
+
+A detailed introduction for missions is [here](./docs/README-Mission.md).
+
+## Android Bridge App
+
+Please check this [link](https://github.com/dji-sdk/Android-Bridge-App) to download the apk of the Android Bridge App apk file.
+
+## SDK API Reference
+
+[**Android SDK API Documentation**](http://developer.dji.com/api-reference/android-api/index.html)
+
+## License
+
+The DJI Android SDK is dynamically linked with unmodified libraries of <a href=http://ffmpeg.org>FFmpeg</a> licensed under the <a href=https://www.gnu.org/licenses/lgpl-2.1.html.en>LGPLv2.1</a>. The source code of these FFmpeg libraries, the compilation instructions, and the LGPL v2.1 license are provided in [Github](https://github.com/dji-sdk/FFmpeg).
+
+The DJI Android SDK is dynamically linked with unmodified libraries of <a href=https://mvnrepository.com/artifact/com.vividsolutions/jts/1.8>JTS Topology Suite</a> licensed under the <a href=https://www.gnu.org/licenses/lgpl-2.1.html.en>LGPLv2.1</a>.
+
+## Support
+
+You can get support from DJI with the following methods:
+
+- Post questions in DJI Developer Forums:
+[**Chinese Forum**](https://djisdksupport.zendesk.com/hc/zh-cn/community/topics)
+, [**English Forum**](https://djisdksupport.zendesk.com/hc/en-us/community/topics)
+
+## Join Us
+
+DJI is looking for all kinds of Software Engineers to continue building the Future of Possible. Available positions in Shenzhen, China and around the world. If you are interested, please send your resume to <software-sz@dji.com>. For more details, and list of all our global offices, please check <https://we.dji.com/jobs_en.html>.
+
+DJI 招软件工程师啦，based在深圳，如果你想和我们一起把DJI产品做得更好，请发送简历到 <software-sz@dji.com>.  或者在这里提交您的简历：https://we.dji.com/zh-CN/position/detail?positionId=1382258951346253824 更多岗位详情请浏览 <https://we.dji.com/zh-CN/social>.

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/.gitignore

+# built application files
+*.apk
+*.ap_
+
+# files for the dex VM
+*.dex
+
+# Java class files
+*.class
+
+# generated files
+bin/
+gen/
+obj/
+DJI-SDK-LIB_3.1/build/
+build/
+
+# generated file
+lint.xml
+
+# Local configuration file (sdk/lib path, etc)
+local.properties
+project.properties
+
+# Eclipse project files
+.classpath
+.settings/
+
+# Proguard folder generated by Eclipse
+proguard/
+
+# Intellij project files
+*.iml
+*.ipr
+*.iws
+.idea/
+
+# Mac files
+.DS_Store
+
+# Gradle generated files
+.gradle/
+
+# Signing files
+.signing/
+
+# User-specific configurations
+.idea/libraries/
+.idea/workspace.xml
+.idea/tasks.xml
+.idea/.name
+.idea/compiler.xml
+.idea/copyright/profiles_settings.xml
+.idea/encodings.xml
+.idea/misc.xml
+.idea/modules.xml
+.idea/scopes/scope_settings.xml
+.idea/vcs.xml
+*.iml
+
+# OS-specific files
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db
+
+# Import summary file
+import-summary.txt

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/.gitignore

+# built application files
+*.apk
+*.ap_
+
+# files for the dex VM
+*.dex
+
+# Java class files
+*.class
+
+# generated files
+bin/
+gen/
+obj/
+/build/
+
+# generated file
+lint.xml
+
+# Local configuration file (sdk/lib path, etc)
+local.properties
+project.properties
+
+# Eclipse project files
+.classpath
+.settings/
+
+# Proguard folder generated by Eclipse
+proguard/
+
+# Intellij project files
+*.iml
+*.ipr
+*.iws
+.idea/
+
+# Mac files
+.DS_Store
+
+# Import summary file
+import-summary.txt

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/build.gradle

+apply plugin: 'com.android.application'
+apply plugin: 'kotlin-android'
+apply plugin: 'kotlin-android-extensions'
+apply plugin: 'kotlin-kapt'
+
+repositories {
+    mavenLocal()
+}
+
+android {
+    compileSdkVersion 31
+    buildToolsVersion '31.0.0'
+    useLibrary 'org.apache.http.legacy'
+
+    defaultConfig {
+        applicationId "com.dji.sdk.sample"
+        minSdkVersion 23
+        targetSdkVersion 31
+        multiDexEnabled true
+        versionCode 1
+        ndk {
+            // On x86 devices that run Android API 23 or above, if the application is targeted with API 23 or
+            // above, FFmpeg lib might lead to runtime crashes or warnings.
+            abiFilters 'armeabi-v7a', 'arm64-v8a'
+        }
+    }
+
+    buildTypes {
+        release {
+            shrinkResources false
+            minifyEnabled true
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+        debug {
+            shrinkResources false
+            minifyEnabled true
+            proguardFiles getDefaultProguardFile('proguard-android.txt'), 'proguard-rules.pro'
+        }
+    }
+
+    dexOptions {
+        javaMaxHeapSize "4g"
+    }
+
+    packagingOptions {
+        doNotStrip "*/*/libdjivideo.so"
+        doNotStrip "*/*/libSDKRelativeJNI.so"
+        doNotStrip "*/*/libFlyForbid.so"
+        doNotStrip "*/*/libduml_vision_bokeh.so"
+        doNotStrip "*/*/libyuv2.so"
+        doNotStrip "*/*/libGroudStation.so"
+        doNotStrip "*/*/libFRCorkscrew.so"
+        doNotStrip "*/*/libUpgradeVerify.so"
+        doNotStrip "*/*/libFR.so"
+        doNotStrip "*/*/libDJIFlySafeCore.so"
+        doNotStrip "*/*/libdjifs_jni.so"
+        doNotStrip "*/*/libsfjni.so"
+        doNotStrip "*/*/libDJICommonJNI.so"
+        doNotStrip "*/*/libDJICSDKCommon.so"
+        doNotStrip "*/*/libDJIUpgradeCore.so"
+        doNotStrip "*/*/libDJIUpgradeJNI.so"
+        doNotStrip "*/*/libDJIWaypointV2Core.so"
+        doNotStrip "*/*/libAMapSDK_MAP_v6_9_2.so"
+        doNotStrip "*/*/libDJIMOP.so"
+        doNotStrip "*/*/libDJISDKLOGJNI.so"
+        exclude 'META-INF/rxjava.properties'
+        exclude 'assets/location_map_gps_locked.png'
+        exclude 'assets/location_map_gps_3d.png'
+    }
+
+    compileOptions {
+        sourceCompatibility JavaVersion.VERSION_1_8
+        targetCompatibility JavaVersion.VERSION_1_8
+    }
+}
+
+dependencies {
+    implementation 'androidx.multidex:multidex:2.0.0'
+    implementation 'com.squareup:otto:1.3.8'
+    implementation('com.dji:dji-sdk:4.17', {
+        /**
+         * 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:4.17'
+
+    implementation 'androidx.appcompat:appcompat:1.0.0'
+    implementation 'androidx.core:core:1.0.0'
+    implementation 'androidx.constraintlayout:constraintlayout:1.1.3'
+    implementation 'androidx.recyclerview:recyclerview:1.0.0'
+    implementation 'androidx.lifecycle:lifecycle-extensions:2.0.0-rc01'
+    implementation 'androidx.annotation:annotation:1.0.0'
+    implementation 'com.jakewharton:butterknife:10.0.0'
+    annotationProcessor 'com.jakewharton:butterknife-compiler:10.0.0'
+    implementation "androidx.core:core-ktx:1.6.0"
+    implementation "androidx.lifecycle:lifecycle-viewmodel-ktx:2.0.0-rc01"
+    implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
+    implementation "org.jetbrains.kotlinx:kotlinx-coroutines-core:1.3.9"
+    implementation "org.jetbrains.kotlinx:kotlinx-coroutines-android:1.3.9"
+    implementation 'com.google.android.gms:play-services:11.8.0'
+
+    implementation 'androidx.lifecycle:lifecycle-common-java8:2.3.1'
+    implementation 'androidx.lifecycle:lifecycle-runtime:2.3.1'
+    implementation 'androidx.lifecycle:lifecycle-process:2.3.1'
+    implementation "androidx.lifecycle:lifecycle-viewmodel-ktx:2.3.1"
+
+    implementation 'com.google.guava:guava:29.0-android'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
+
+    implementation 'com.davemorrissey.labs:subsampling-scale-image-view:3.10.0'
+    implementation 'io.reactivex.rxjava2:rxjava:2.2.4'
+    implementation 'io.reactivex.rxjava2:rxandroid:2.1.0'
+}
\ No newline at end of file

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/proguard-rules.pro

+-keepattributes Exceptions,InnerClasses,*Annotation*,Signature,EnclosingMethod
+
+-dontoptimize
+-dontpreverify
+-dontwarn okio.**
+-dontwarn org.bouncycastle.**
+-dontwarn dji.**
+-dontwarn com.dji.**
+-dontwarn sun.**
+-dontwarn java.**
+-dontwarn com.amap.api.**
+-dontwarn com.here.**
+-dontwarn com.mapbox.**
+-dontwarn okhttp3.**
+-dontwarn retrofit2.**
+
+-keepclassmembers enum * {
+    public static <methods>;
+}
+
+-keepnames class * implements java.io.Serializable
+-keepclassmembers class * implements java.io.Serializable {
+    static final long serialVersionUID;
+    private static final java.io.ObjectStreamField[] serialPersistentFields;
+    !static !transient <fields>;
+    private void writeObject(java.io.ObjectOutputStream);
+    private void readObject(java.io.ObjectInputStream);
+    java.lang.Object writeReplace();
+    java.lang.Object readResolve();
+}
+-keep class * extends android.os.Parcelable {
+    public static final android.os.Parcelable$Creator *;
+}
+
+-keep,allowshrinking class * extends dji.publics.DJIUI.** {
+    public <methods>;
+}
+
+-keep class net.sqlcipher.** { *; }
+
+-keep class net.sqlcipher.database.* { *; }
+
+-keep class dji.** { *; }
+
+-keep class com.dji.** { *; }
+
+-keep class com.google.** { *; }
+
+-keep class org.bouncycastle.** { *; }
+
+-keep,allowshrinking class org.** { *; }
+
+-keep class com.squareup.wire.** { *; }
+
+-keep class sun.misc.Unsafe { *; }
+
+-keep class com.secneo.** { *; }
+
+-keep class org.greenrobot.eventbus.**{*;}
+
+-keep class it.sauronsoftware.ftp4j.**{*;}
+
+-keepclasseswithmembers,allowshrinking class * {
+    native <methods>;
+}
+
+-keep class * implements com.google.gson.TypeAdapterFactory
+-keep class * implements com.google.gson.JsonSerializer
+-keep class * implements com.google.gson.JsonDeserializer
+
+-keep class androidx.appcompat.widget.SearchView { *; }
+
+-keepclassmembers class * extends android.app.Service
+-keepclassmembers public class * extends android.view.View {
+    void set*(***);
+    *** get*();
+}
+-keepclassmembers class * extends android.app.Activity {
+    public void *(android.view.View);
+}
+-keep class androidx.** { *; }
+-keep class android.media.** { *; }
+-keep class okio.** { *; }
+-keep class com.lmax.disruptor.** { *; }
+-keep class com.qx.wz.dj.rtcm.* { *; }
+
+-dontwarn com.mapbox.services.android.location.LostLocationEngine
+-dontwarn com.mapbox.services.android.location.MockLocationEngine
+-keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+# ViewModel's empty constructor is considered to be unused by proguard
+-keepclassmembers class * extends android.arch.lifecycle.ViewModel {
+    <init>(...);
+}
+# keep Lifecycle State and Event enums values
+-keepclassmembers class android.arch.lifecycle.Lifecycle$State { *; }
+-keepclassmembers class android.arch.lifecycle.Lifecycle$Event { *; }
+# keep methods annotated with @OnLifecycleEvent even if they seem to be unused
+# (Mostly for LiveData.LifecycleBoundObserver.onStateChange(), but who knows)
+-keepclassmembers class * {
+    @android.arch.lifecycle.OnLifecycleEvent *;
+}
+
+-keepclassmembers class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+
+-keep class * implements android.arch.lifecycle.LifecycleObserver {
+    <init>(...);
+}
+-keepclassmembers class android.arch.** { *; }
+-keep class android.arch.** { *; }
+-dontwarn android.arch.**
+
+-keep class org.apache.commons.** {*;}
+
+
+#<------------ utmiss config start------------>
+-keep class dji.sdk.utmiss.** { *; }
+-keep class utmisslib.** { *; }
+#<------------ utmiss config end------------>
\ No newline at end of file

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/AndroidManifest.xml

+<?xml version="1.0" encoding="utf-8"?>
+<manifest xmlns:android="http://schemas.android.com/apk/res/android"
+    xmlns:tools="http://schemas.android.com/tools"
+    package="com.dji.sdk.sample">
+
+    <!-- SDK permission requirement -->
+    <uses-permission android:name="android.permission.BLUETOOTH" />
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
+    <uses-permission android:name="android.permission.VIBRATE" />
+    <uses-permission android:name="android.permission.INTERNET" />
+    <uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
+    <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.RECORD_AUDIO" />
+    <uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.READ_EXTERNAL_STORAGE" />
+    <uses-permission android:name="android.permission.READ_PHONE_STATE" />
+    <uses-feature
+        android:name="android.hardware.usb.host"
+        android:required="false"/>
+    <uses-feature
+        android:name="android.hardware.usb.accessory"
+        android:required="true"/>
+
+
+    <!-- SDK requirement permission end -->
+    <application
+        android:name=".internal.controller.DJISampleApplication"
+        android:allowBackup="true"
+        android:icon="@mipmap/ic_launcher"
+        android:label="@string/sample_app_name"
+        android:supportsRtl="true"
+        android:theme="@style/AppTheme"
+        android:extractNativeLibs="true"
+        tools:replace="label"
+        tools:ignore="AllowBackup,GoogleAppIndexingWarning">
+
+        <uses-library android:name="org.apache.http.legacy" android:required="false" />
+        <!--
+            ADD API_KEY HERE and make sure you
+            are connected to the Internet before
+            the app is launched
+        -->
+        <!-- personal key -->
+        <meta-data
+            android:name="com.dji.sdk.API_KEY"
+            android:value="Please enter your App key here."/>
+        <!-- Required for receiving accessory attachment events.
+            This is necessary for product when connecting over USB. -->
+
+        <activity
+            android:name="com.dji.sdk.sample.internal.controller.MainActivity"
+            android:label="@string/sample_app_name"
+            android:screenOrientation="portrait"
+            android:launchMode="singleTop"
+            android:configChanges="orientation|keyboardHidden|screenSize"
+            android:theme="@style/AppTheme"
+            android:exported="true">
+            <intent-filter>
+                <action android:name="android.intent.action.MAIN"/>
+                <category android:name="android.intent.category.LAUNCHER"/>
+            </intent-filter>
+            <intent-filter>
+                <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"/>
+        </activity>
+
+        <activity
+            android:name="com.dji.sdk.sample.demo.payload.PayloadActivity"
+            android:configChanges="orientation|screenSize"
+            android:screenOrientation="landscape"/>
+
+        <activity
+            android:name="com.dji.sdk.sample.demo.payload.PayloadSendGetDataActivity"
+            android:configChanges="orientation|screenSize"
+            android:screenOrientation="landscape"/>
+
+        <activity
+            android:name="com.dji.sdk.sample.demo.payload.PayloadWidgetActivity"
+            android:configChanges="orientation|screenSize"
+            android:screenOrientation="landscape"/>
+
+        <activity android:name=".demo.utmiss.UTMISSActivity" />
+    </application>
+
+</manifest>

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/assets/hms_match_sdkerror.json

+[{
+	"alarmId": "0x110B0001",
+	"sdkErrorCode": "3001",
+	"sdkErrorEnumName": "BATTERY_DISCHARGE_OVER_CURRENT"
+}, {
+	"alarmId": "0x110B0002",
+	"sdkErrorCode": "3002",
+	"sdkErrorEnumName": "BATTERY_DISCHARGE_OVER_HEAT"
+}, {
+	"alarmId": "0x110B0003",
+	"sdkErrorCode": "3003",
+	"sdkErrorEnumName": "BATTERY_LOW_TEMPERATURE"
+}, {
+	"alarmId": "0x110B0006",
+	"sdkErrorCode": "3004",
+	"sdkErrorEnumName": "BATTERY_CELL_BROKEN"
+}, {
+	"alarmId": "0x1D030001",
+	"sdkErrorCode": "2005",
+	"sdkErrorEnumName": "GIMBAL_CONNECT_TO_FC_ERROR"
+}, {
+	"alarmId": "0x1D040004",
+	"sdkErrorCode": "2002",
+	"sdkErrorEnumName": "GIMBAL_PITCH_ERROR"
+}, {
+	"alarmId": "0x1D040003",
+	"sdkErrorCode": "2003",
+	"sdkErrorEnumName": "GIMBAL_ROLL_ERROR"
+}, {
+	"alarmId": "0x1D040005",
+	"sdkErrorCode": "2004",
+	"sdkErrorEnumName": "GIMBAL_YAW_ERROR"
+}]
\ No newline at end of file

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/ItemsRange.java

+/*
+ *  Android Wheel Control.
+ *  https://code.google.com/p/android-wheel/
+ *  
+ *  Copyright 2011 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+/**
+ * Range for visible items.
+ */
+public class ItemsRange {
+	// First item number
+	private int first;
+	
+	// Items count
+	private int count;
+
+	/**
+	 * Default constructor. Creates an empty range
+	 */
+    public ItemsRange() {
+        this(0, 0);
+    }
+    
+	/**
+	 * Constructor
+	 * @param first the number of first item
+	 * @param count the count of items
+	 */
+	public ItemsRange(int first, int count) {
+		this.first = first;
+		this.count = count;
+	}
+	
+	/**
+	 * Gets number of  first item
+	 * @return the number of the first item
+	 */
+	public int getFirst() {
+		return first;
+	}
+	
+	/**
+	 * Gets number of last item
+	 * @return the number of last item
+	 */
+	public int getLast() {
+		return getFirst() + getCount() - 1;
+	}
+	
+	/**
+	 * Get items count
+	 * @return the count of items
+	 */
+	public int getCount() {
+		return count;
+	}
+	
+	/**
+	 * Tests whether item is contained by range
+	 * @param index the item number
+	 * @return true if item is contained
+	 */
+	public boolean contains(int index) {
+		return index >= getFirst() && index <= getLast();
+	}
+}
\ No newline at end of file

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/OnWheelChangedListener.java

+/*
+ *  Copyright 2011 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+/**
+ * Wheel changed listener interface.
+ * <p>The onChanged() method is called whenever current wheel positions is changed:
+ * <li> New Wheel position is set
+ * <li> Wheel view is scrolled
+ */
+public interface OnWheelChangedListener {
+	/**
+	 * Callback method to be invoked when current item changed
+	 * @param wheel the wheel view whose state has changed
+	 * @param oldValue the old value of current item
+	 * @param newValue the new value of current item
+	 */
+	void onChanged(WheelView wheel, int oldValue, int newValue);
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/OnWheelClickedListener.java

+/*
+ *  Copyright 2011 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+/**
+ * Wheel clicked listener interface.
+ * <p>The onItemClicked() method is called whenever a wheel item is clicked
+ * <li> New Wheel position is set
+ * <li> Wheel view is scrolled
+ */
+public interface OnWheelClickedListener {
+    /**
+     * Callback method to be invoked when current item clicked
+     * @param wheel the wheel view
+     * @param itemIndex the index of clicked item
+     */
+    void onItemClicked(WheelView wheel, int itemIndex);
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/OnWheelScrollListener.java

+/*
+ *  Copyright 2010 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+/**
+ * Wheel scrolled listener interface.
+ */
+public interface OnWheelScrollListener {
+	/**
+	 * Callback method to be invoked when scrolling started.
+	 * @param wheel the wheel view whose state has changed.
+	 */
+	void onScrollingStarted(WheelView wheel);
+	
+	/**
+	 * Callback method to be invoked when scrolling ended.
+	 * @param wheel the wheel view whose state has changed.
+	 */
+	void onScrollingFinished(WheelView wheel);
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/WheelAdapter.java

+/*
+ *  Copyright 2010 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+/**
+ * Wheel adapter interface
+ * 
+ * @deprecated Use WheelViewAdapter
+ */
+public interface WheelAdapter {
+	/**
+	 * Gets items count
+	 * @return the count of wheel items
+	 */
+	public int getItemsCount();
+	
+	/**
+	 * Gets a wheel item by index.
+	 * 
+	 * @param index the item index
+	 * @return the wheel item text or null
+	 */
+	public String getItem(int index);
+	
+	/**
+	 * Gets maximum item length. It is used to determine the wheel width. 
+	 * If -1 is returned there will be used the default wheel width.
+	 * 
+	 * @return the maximum item length or -1
+	 */
+	public int getMaximumLength();
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/WheelRecycle.java

+/*
+ *  Android Wheel Control.
+ *  https://code.google.com/p/android-wheel/
+ *  
+ *  Copyright 2011 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+import android.view.View;
+import android.widget.LinearLayout;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * Recycle stores wheel items to reuse.
+ */
+public class WheelRecycle
+{
+	// Cached items
+	private List<View> items;
+
+	// Cached empty items
+	private List<View> emptyItems;
+
+	// Wheel view
+	private WheelView wheel;
+
+	/**
+	 * Constructor
+	 * 
+	 * @param wheel
+	 *            the wheel view
+	 */
+	public WheelRecycle(WheelView wheel)
+	{
+		this.wheel = wheel;
+	}
+
+	/**
+	 * Recycles items from specified layout. There are saved only items not
+	 * included to specified range. All the cached items are removed from
+	 * original layout.
+	 * 
+	 * @param layout
+	 *            the layout containing items to be cached
+	 * @param firstItem
+	 *            the number of first item in layout
+	 * @param range
+	 *            the range of current wheel items
+	 * @return the new value of first item number
+	 */
+	public int recycleItems(LinearLayout layout, int firstItem, ItemsRange range)
+	{
+		int index = firstItem;
+		for (int i = 0; i < layout.getChildCount();)
+		{
+			if (!range.contains(index))
+			{
+				recycleView(layout.getChildAt(i), index);
+				layout.removeViewAt(i);
+				if (i == 0)
+				{ // first item
+					firstItem++;
+				}
+			} else
+			{
+				i++; // go to next item
+			}
+			index++;
+		}
+		return firstItem;
+	}
+
+	/**
+	 * Gets item view
+	 * 
+	 * @return the cached view
+	 */
+	public View getItem()
+	{
+		return getCachedView(items);
+	}
+
+	/**
+	 * Gets empty item view
+	 * 
+	 * @return the cached empty view
+	 */
+	public View getEmptyItem()
+	{
+		return getCachedView(emptyItems);
+	}
+
+	/**
+	 * Clears all views
+	 */
+	public void clearAll()
+	{
+		if (items != null)
+		{
+			items.clear();
+		}
+		if (emptyItems != null)
+		{
+			emptyItems.clear();
+		}
+	}
+
+	/**
+	 * Adds view to specified cache. Creates a cache list if it is null.
+	 * 
+	 * @param view
+	 *            the view to be cached
+	 * @param cache
+	 *            the cache list
+	 * @return the cache list
+	 */
+	private List<View> addView(View view, List<View> cache)
+	{
+		if (cache == null)
+		{
+			cache = new LinkedList<View>();
+		}
+
+		cache.add(view);
+		return cache;
+	}
+
+	/**
+	 * Adds view to cache. Determines view type (item view or empty one) by
+	 * index.
+	 * 
+	 * @param view
+	 *            the view to be cached
+	 * @param index
+	 *            the index of view
+	 */
+	private void recycleView(View view, int index)
+	{
+		int count = wheel.getViewAdapter().getItemsCount();
+
+		if ((index < 0 || index >= count) && !wheel.isCyclic())
+		{
+			// empty view
+			emptyItems = addView(view, emptyItems);
+		} else
+		{
+			while (index < 0)
+			{
+				index = count + index;
+			}
+			index %= count;
+			items = addView(view, items);
+		}
+	}
+
+	/**
+	 * Gets view from specified cache.
+	 * 
+	 * @param cache
+	 *            the cache
+	 * @return the first view from cache.
+	 */
+	private View getCachedView(List<View> cache)
+	{
+		if (cache != null && cache.size() > 0)
+		{
+			View view = cache.get(0);
+			cache.remove(0);
+			return view;
+		}
+		return null;
+	}
+
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/kankan/wheel/widget/WheelScroller.java

+/*
+ *  Android Wheel Control.
+ *  https://code.google.com/p/android-wheel/
+ *  
+ *  Copyright 2011 Yuri Kanivets
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+
+package android.kankan.wheel.widget;
+
+import android.content.Context;
+import android.os.Handler;
+import android.os.Message;
+import android.view.GestureDetector;
+import android.view.GestureDetector.SimpleOnGestureListener;
+import android.view.MotionEvent;
+import android.view.animation.Interpolator;
+import android.widget.Scroller;
+
+/**
+ * Scroller class handles scrolling events and updates the 
+ */
+public class WheelScroller {
+    /**
+     * Scrolling listener interface
+     */
+    public interface ScrollingListener {
+        /**
+         * Scrolling callback called when scrolling is performed.
+         * @param distance the distance to scroll
+         */
+        void onScroll(int distance);
+
+        /**
+         * Starting callback called when scrolling is started
+         */
+        void onStarted();
+        
+        /**
+         * Finishing callback called after justifying
+         */
+        void onFinished();
+        
+        /**
+         * Justifying callback called to justify a view when scrolling is ended
+         */
+        void onJustify();
+    }
+    
+    /** Scrolling duration */
+    private static final int SCROLLING_DURATION = 400;
+
+    /** Minimum delta for scrolling */
+    public static final int MIN_DELTA_FOR_SCROLLING = 1;
+
+    // Listener
+    private ScrollingListener listener;
+    
+    // Context
+    private Context context;
+    
+    // Scrolling
+    private GestureDetector gestureDetector;
+    private Scroller scroller;
+    private int lastScrollY;
+    private float lastTouchedY;
+    private boolean isScrollingPerformed;
+
+    /**
+     * Constructor
+     * @param context the current context
+     * @param listener the scrolling listener
+     */
+    public WheelScroller(Context context, ScrollingListener listener) {
+        gestureDetector = new GestureDetector(context, gestureListener);
+        gestureDetector.setIsLongpressEnabled(false);
+        
+        scroller = new Scroller(context);
+
+        this.listener = listener;
+        this.context = context;
+    }
+    
+    /**
+     * Set the the specified scrolling interpolator
+     * @param interpolator the interpolator
+     */
+    public void setInterpolator(Interpolator interpolator) {
+        scroller.forceFinished(true);
+        scroller = new Scroller(context, interpolator);
+    }
+    
+    /**
+     * Scroll the wheel
+     * @param distance the scrolling distance
+     * @param time the scrolling duration
+     */
+    public void scroll(int distance, int time) {
+        scroller.forceFinished(true);
+
+        lastScrollY = 0;
+        
+        scroller.startScroll(0, 0, 0, distance, time != 0 ? time : SCROLLING_DURATION);
+        setNextMessage(MESSAGE_SCROLL);
+        
+        startScrolling();
+    }
+   
+    /**
+     * Stops scrolling
+     */
+    public void stopScrolling() {
+        scroller.forceFinished(true);
+    }
+    
+    /**
+     * Handles Touch event 
+     * @param event the motion event
+     * @return
+     */
+    public boolean onTouchEvent(MotionEvent event) {
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                lastTouchedY = event.getY();
+                scroller.forceFinished(true);
+                clearMessages();
+                break;
+    
+            case MotionEvent.ACTION_MOVE:
+                // perform scrolling
+                int distanceY = (int)(event.getY() - lastTouchedY);
+                if (distanceY != 0) {
+                    startScrolling();
+                    listener.onScroll(distanceY);
+                    lastTouchedY = event.getY();
+                }
+                break;
+        }
+        
+        if (!gestureDetector.onTouchEvent(event) && event.getAction() == MotionEvent.ACTION_UP) {
+            justify();
+        }
+
+        return true;
+    }
+    
+    // gesture listener
+    private SimpleOnGestureListener gestureListener = new SimpleOnGestureListener() {
+        @Override
+        public boolean onScroll(MotionEvent e1, MotionEvent e2, float distanceX, float distanceY) {
+            // Do scrolling in onTouchEvent() since onScroll() are not call immediately
+            //  when user touch and move the wheel
+            return true;
+        }
+
+        @Override
+        public boolean onFling(MotionEvent e1, MotionEvent e2, float velocityX, float velocityY) {
+            lastScrollY = 0;
+            final int maxY = 0x7FFFFFFF;
+            final int minY = -maxY;
+            scroller.fling(0, lastScrollY, 0, (int) -velocityY, 0, 0, minY, maxY);
+            setNextMessage(MESSAGE_SCROLL);
+            return true;
+        }
+    };
+
+    // Messages
+    private final int MESSAGE_SCROLL = 0;
+    private final int MESSAGE_JUSTIFY = 1;
+    
+    /**
+     * Set next message to queue. Clears queue before.
+     * 
+     * @param message the message to set
+     */
+    private void setNextMessage(int message) {
+        clearMessages();
+        animationHandler.sendEmptyMessage(message);
+    }
+
+    /**
+     * Clears messages from queue
+     */
+    private void clearMessages() {
+        animationHandler.removeMessages(MESSAGE_SCROLL);
+        animationHandler.removeMessages(MESSAGE_JUSTIFY);
+    }
+    
+    // animation handler
+    private Handler animationHandler = new Handler() {
+        public void handleMessage(Message msg) {
+            scroller.computeScrollOffset();
+            int currY = scroller.getCurrY();
+            int delta = lastScrollY - currY;
+            lastScrollY = currY;
+            if (delta != 0) {
+                listener.onScroll(delta);
+            }
+            
+            // scrolling is not finished when it comes to final Y
+            // so, finish it manually 
+            if (Math.abs(currY - scroller.getFinalY()) < MIN_DELTA_FOR_SCROLLING) {
+                currY = scroller.getFinalY();
+                scroller.forceFinished(true);
+            }
+            if (!scroller.isFinished()) {
+                animationHandler.sendEmptyMessage(msg.what);
+            } else if (msg.what == MESSAGE_SCROLL) {
+                justify();
+            } else {
+                finishScrolling();
+            }
+        }
+    };
+    
+    /**
+     * Justifies wheel
+     */
+    private void justify() {
+        listener.onJustify();
+        setNextMessage(MESSAGE_JUSTIFY);
+    }
+
+    /**
+     * Starts scrolling
+     */
+    private void startScrolling() {
+        if (!isScrollingPerformed) {
+            isScrollingPerformed = true;
+            listener.onStarted();
+        }
+    }
+
+    /**
+     * Finishes scrolling
+     */
+    void finishScrolling() {
+        if (isScrollingPerformed) {
+            listener.onFinished();
+            isScrollingPerformed = false;
+        }
+    }
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/wheel/wheel/adapter/AbstractWheelAdapter.java

+package android.wheel.wheel.adapter;
+
+import android.database.DataSetObserver;
+import android.view.View;
+import android.view.ViewGroup;
+
+import java.util.LinkedList;
+import java.util.List;
+
+/**
+ * Abstract Wheel adapter.
+ */
+public abstract class AbstractWheelAdapter implements WheelViewAdapter {
+	// Observers
+	private List<DataSetObserver> datasetObservers;
+
+    @Override
+	public View getEmptyItem(View convertView, ViewGroup parent) {
+		return null;
+	}
+
+    @Override
+	public void registerDataSetObserver(DataSetObserver observer) {
+		if (datasetObservers == null) {
+			datasetObservers = new LinkedList<DataSetObserver>();
+		}
+		datasetObservers.add(observer);
+	}
+
+    @Override
+	public void unregisterDataSetObserver(DataSetObserver observer) {
+		if (datasetObservers != null) {
+			datasetObservers.remove(observer);
+		}
+	}
+
+	/**
+	 * Notifies observers about data changing
+	 */
+	protected void notifyDataChangedEvent() {
+		if (datasetObservers != null) {
+			for (DataSetObserver observer : datasetObservers) {
+				observer.onChanged();
+			}
+		}
+	}
+
+	/**
+	 * Notifies observers about invalidating data
+	 */
+	protected void notifyDataInvalidatedEvent() {
+		if (datasetObservers != null) {
+			for (DataSetObserver observer : datasetObservers) {
+				observer.onInvalidated();
+			}
+		}
+	}
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/wheel/wheel/adapter/AbstractWheelTextAdapter.java

+package android.wheel.wheel.adapter;
+
+import android.content.Context;
+import android.graphics.Color;
+import android.graphics.Typeface;
+import android.view.Gravity;
+import android.view.LayoutInflater;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.ImageView;
+import android.widget.TextView;
+
+import com.dji.sdk.sample.R;
+
+/**
+ * Abstract wheel adapter provides common functionality for adapters.
+ */
+public abstract class AbstractWheelTextAdapter extends AbstractWheelAdapter {
+
+	/** Text view resource. Used as a default view for adapter. */
+	public static final int TEXT_VIEW_ITEM_RESOURCE = -1;
+
+	/** No resource constant. */
+	protected static final int NO_RESOURCE = 0;
+
+	/** Default text color */
+	public static final int DEFAULT_TEXT_COLOR = 0xFF101010;
+
+	/** Default text color */
+	public static final int LABEL_COLOR = 0xFF700070;
+
+	/** Default text size */
+	public static final int DEFAULT_TEXT_SIZE = 24;
+
+	// Text settings
+	private int textColor = DEFAULT_TEXT_COLOR;
+	private int textSize = DEFAULT_TEXT_SIZE;
+
+	// Current context
+	protected Context context;
+	// Layout inflater
+	protected LayoutInflater inflater;
+
+	// Items resources
+	protected int itemResourceId;
+	protected int itemTextResourceId;
+
+	// Empty items resources
+	protected int emptyItemResourceId;
+
+	int index = -1;
+
+	protected boolean[] isSelected = null;
+
+	/**
+	 * Constructor
+	 * 
+	 * @param context
+	 *            the current context
+	 */
+	protected AbstractWheelTextAdapter(Context context) {
+		this(context, TEXT_VIEW_ITEM_RESOURCE);
+	}
+
+	/**
+	 * Constructor
+	 * 
+	 * @param context
+	 *            the current context
+	 * @param itemResource
+	 *            the resource ID for a layout file containing a TextView to use
+	 *            when instantiating items views
+	 */
+	protected AbstractWheelTextAdapter(Context context, int itemResource) {
+		this(context, itemResource, NO_RESOURCE);
+	}
+
+	/**
+	 * Constructor
+	 * 
+	 * @param context
+	 *            the current context
+	 * @param itemResource
+	 *            the resource ID for a layout file containing a TextView to use
+	 *            when instantiating items views
+	 * @param itemTextResource
+	 *            the resource ID for a text view in the item layout
+	 */
+	protected AbstractWheelTextAdapter(Context context, int itemResource,
+			int itemTextResource) {
+		this.context = context;
+		itemResourceId = itemResource;
+		itemTextResourceId = itemTextResource;
+
+		inflater = (LayoutInflater) context
+				.getSystemService(Context.LAYOUT_INFLATER_SERVICE);
+	}
+
+	protected AbstractWheelTextAdapter(Context context, int itemResource,
+			int itemTextResource, boolean[] isSelected) {
+		this.context = context;
+		itemResourceId = itemResource;
+		itemTextResourceId = itemTextResource;
+		this.isSelected = isSelected;
+
+		inflater = (LayoutInflater) context.getSystemService(Context.LAYOUT_INFLATER_SERVICE);
+	}
+
+	/**
+	 * Gets text color
+	 * 
+	 * @return the text color
+	 */
+	public int getTextColor() {
+		return textColor;
+	}
+
+	/**
+	 * Sets text color
+	 * 
+	 * @param textColor
+	 *            the text color to set
+	 */
+	public void setTextColor(int textColor) {
+		this.textColor = textColor;
+	}
+
+	/**
+	 * Gets text size
+	 * 
+	 * @return the text size
+	 */
+	public int getTextSize() {
+		return textSize;
+	}
+
+	/**
+	 * Sets text size
+	 * 
+	 * @param textSize
+	 *            the text size to set
+	 */
+	public void setTextSize(int textSize) {
+		this.textSize = textSize;
+	}
+
+	/**
+	 * Gets resource Id for items views
+	 * 
+	 * @return the item resource Id
+	 */
+	public int getItemResource() {
+		return itemResourceId;
+	}
+
+	/**
+	 * Sets resource Id for items views
+	 * 
+	 * @param itemResourceId
+	 *            the resource Id to set
+	 */
+	public void setItemResource(int itemResourceId) {
+		this.itemResourceId = itemResourceId;
+	}
+
+	/**
+	 * Gets resource Id for text view in item layout
+	 * 
+	 * @return the item text resource Id
+	 */
+	public int getItemTextResource() {
+		return itemTextResourceId;
+	}
+
+	/**
+	 * Sets resource Id for text view in item layout
+	 * 
+	 * @param itemTextResourceId
+	 *            the item text resource Id to set
+	 */
+	public void setItemTextResource(int itemTextResourceId) {
+		this.itemTextResourceId = itemTextResourceId;
+	}
+
+	/**
+	 * Gets resource Id for empty items views
+	 * 
+	 * @return the empty item resource Id
+	 */
+	public int getEmptyItemResource() {
+		return emptyItemResourceId;
+	}
+
+	/**
+	 * Sets resource Id for empty items views
+	 * 
+	 * @param emptyItemResourceId
+	 *            the empty item resource Id to set
+	 */
+	public void setEmptyItemResource(int emptyItemResourceId) {
+		this.emptyItemResourceId = emptyItemResourceId;
+	}
+
+	/**
+	 * Returns text for specified item
+	 * 
+	 * @param index
+	 *            the item index
+	 * @return the text of specified items
+	 */
+	protected abstract CharSequence getItemText(int index);
+
+	@Override
+	public View getItem(int index, View convertView, ViewGroup parent) {
+		if (index >= 0 && index < getItemsCount()) {
+			if (convertView == null) {
+				convertView = getView(itemResourceId, parent);
+				//TextView textview = (TextView) convertView.findViewById(R.id.type_name);
+				
+			
+			}
+			TextView textView = getTextView(convertView, itemTextResourceId);
+			//用于多选的时候 改变选中状态
+			ImageView imageView = (ImageView) convertView.findViewById(R.id.flag);
+			//DJILog.d("LWF", "Text at index " + index + " is " + textView.getText() + " itemTextResourceId " + itemTextResourceId);
+			if (isSelected != null && index < isSelected.length) {
+				if (isSelected[index]) {
+					imageView.setVisibility(View.VISIBLE);
+					textView.setTextColor(Color.RED);
+				} else {
+					imageView.setVisibility(View.INVISIBLE);
+					textView.setTextColor(Color.BLACK);
+				}
+			}
+			//用于单选的时候 改变选中状态
+			// if(this.index==index)
+			// {
+			// imageView.setVisibility(View.VISIBLE);
+			// textView.setTextColor(Color.RED);
+			// }
+			// else
+			// {
+			// imageView.setVisibility(View.INVISIBLE);
+			// textView.setTextColor(Color.BLACK);
+			// }
+			if (textView != null) {
+				CharSequence text = getItemText(index);
+				if (text == null) {
+					text = "";
+				}
+				textView.setText(text);
+
+				if (itemResourceId == TEXT_VIEW_ITEM_RESOURCE) {
+					configureTextView(textView);
+				}
+			}
+			return convertView;
+		}
+		return null;
+	}
+
+	@Override
+	public View getEmptyItem(View convertView, ViewGroup parent) {
+		if (convertView == null) {
+			convertView = getView(emptyItemResourceId, parent);
+		}
+		if (emptyItemResourceId == TEXT_VIEW_ITEM_RESOURCE
+				&& convertView instanceof TextView) {
+			configureTextView((TextView) convertView);
+		}
+
+		return convertView;
+	}
+
+	/**
+	 * Configures text view. Is called for the TEXT_VIEW_ITEM_RESOURCE views.
+	 * 
+	 * @param view
+	 *            the text view to be configured
+	 */
+	protected void configureTextView(TextView view) {
+		view.setTextColor(textColor);
+		view.setGravity(Gravity.CENTER);
+		view.setTextSize(textSize);
+		view.setLines(1);
+		view.setTypeface(Typeface.SANS_SERIF, Typeface.BOLD);
+	}
+
+	/**
+	 * Loads a text view from view
+	 * 
+	 * @param view
+	 *            the text view or layout containing it
+	 * @param textResource
+	 *            the text resource Id in layout
+	 * @return the loaded text view
+	 */
+	private TextView getTextView(View view, int textResource) {
+		TextView text = null;
+		try {
+			if (textResource == NO_RESOURCE && view instanceof TextView) {
+				text = (TextView) view;
+			} else if (textResource != NO_RESOURCE) {
+				text = (TextView) view.findViewById(textResource);
+			}
+		} catch (ClassCastException e) {
+			//DJILog.e("AbstractWheelAdapter", "You must supply a resource ID for a TextView");
+			throw new IllegalStateException("AbstractWheelAdapter requires the resource ID to be a TextView", e);
+		}
+
+		return text;
+	}
+
+	/**
+	 * Loads view from resources
+	 * 
+	 * @param resource
+	 *            the resource Id
+	 * @return the loaded view or null if resource is not set
+	 */
+	private View getView(int resource, ViewGroup parent) {
+		switch (resource) {
+		case NO_RESOURCE:
+			return null;
+		case TEXT_VIEW_ITEM_RESOURCE:
+			return new TextView(context);
+		default:
+			return inflater.inflate(resource, parent, false);
+		}
+	}
+
+	public void getChange(int index) {
+		this.index = index;
+		notifyDataChangedEvent();
+	}
+
+	public void setSelected(int index){
+		// No selection support by default in base class;
+	}
+
+	public void setChange(int index) {
+		setSelected(index);
+		notifyDataChangedEvent();
+	}
+
+	public void notifyDataChanged() {
+		notifyDataChangedEvent();
+	}
+
+}

droneCode/drone_controll/Mobile-SDK-Android-master/Sample Code/app/src/main/java/android/wheel/wheel/adapter/WheelViewAdapter.java

+package android.wheel.wheel.adapter;
+
+import android.database.DataSetObserver;
+import android.view.View;
+import android.view.ViewGroup;
+
+/**
+ * Wheel items adapter interface
+ */
+public interface WheelViewAdapter {
+        /**
+         * Gets items count
+         * @return the count of wheel items
+         */
+        public int getItemsCount();
+        
+        /**
+         * Get a View that displays the data at the specified position in the data set
+         * 
+         * @param index the item index
+         * @param convertView the old view to reuse if possible
+         * @param parent the parent that this view will eventually be attached to
+         * @return the wheel item View
+         */
+        public View getItem(int index, View convertView, ViewGroup parent);
+
+        /**
+         * Get a View that displays an empty wheel item placed before the first or after
+         * the last wheel item.
+         * 
+         * @param convertView the old view to reuse if possible
+     * @param parent the parent that this view will eventually be attached to
+         * @return the empty item View
+         */
+        public View getEmptyItem(View convertView, ViewGroup parent);
+        
+        /**
+         * Register an observer that is called when changes happen to the data used by this adapter.
+         * @param observer the observer to be registered
+         */
+        public void registerDataSetObserver(DataSetObserver observer);
+        
+        /**
+         * Unregister an observer that has previously been registered
+         * @param observer the observer to be unregistered
+         */
+        void unregisterDataSetObserver(DataSetObserver observer);
+}