added psdk config instructions and psdk project

Author: javilinos

docs/_02_examples/dji/index.rst

@@ -1,24 +1,26 @@
 .. _examples_dji:
 
-========
-DJI OSDK
-========
+=======
+DJI SDK
+=======
 
 These examples use the :ref:`DJI Platform <aerial_platform_dji_matrice>`. 
-You can install it following the instructions in :ref:`installation section <aerial_platform_dji_matrice_installation>`.
+You can install it following the instructions in :ref:`psdk platform installation section <aerial_platform_dji_matrice_psdk_installation>` for the PSDK or 
+:ref:`osdk platform installation section <aerial_platform_dji_matrice_osdk_installation>` for the OSDK (deprecated).
 
 .. figure:: resources/DJI_M300.jpg
    :scale: 15
    :class: with-shadow
 
 .. raw:: html
 
-   <h2>List of examples based on DJI OSDK</h2>
+   <h2>List of examples based on DJI SDK</h2>
 
 ---------------------
 
 .. toctree::
    :maxdepth: 1
 
    project_dji_osdk/index.rst
+   project_dji_psdk/index.rst
 

docs/_02_examples/dji/project_dji_osdk/index.rst

@@ -4,8 +4,8 @@
 DJI OSDK Example
 ================
 
-These examples use the :ref:`DJI Platform <aerial_platform_dji_matrice>`. 
-You can install it following the instructions in :ref:`installation section <aerial_platform_dji_matrice_installation>`.
+These examples use the :ref:`OSDK DJI Platform <aerial_platform_dji_matrice_osdk_osdk>`. 
+You can install it following the instructions in :ref:`installation section <aerial_platform_dji_matrice_osdk_installation>`.
 
 To install this project, please clone the repository:
 
@@ -16,7 +16,6 @@ To install this project, please clone the repository:
 To start using this project, please go to the root folder of the project.
 
 
-
 .. _project_dji_osdk_execution:
 
 ---------

docs/_02_examples/dji/project_dji_psdk/images/keyboard_swarm_view.png

@@ -0,0 +1,70 @@
+.. _project_dji_psdk:
+
+================
+DJI PSDK Example
+================
+
+These examples use the :ref:`PSDK DJI Platform <aerial_platform_dji_matrice_psdk_psdk>`. 
+You can install it following the instructions in :ref:`installation section <aerial_platform_dji_matrice_psdk_installation>`.
+
+To install this project, please clone the repository:
+
+.. code-block:: bash
+
+   git clone https://github.com/aerostack2/project_dji_psdk
+
+To start using this project, please go to the root folder of the project.
+
+
+.. _project_dji_psdk_execution:
+
+---------
+Execution
+---------
+
+Available launch arguments are:
+
+- ``-e``: estimator type. Allowed values [``gps_odometry``, ``raw_odometry``, ``mocap``]. Default: ``gps_odometry``.
+- ``-t``: launch keyboard teleoperation.
+- ``-r``: record rosbag.
+- ``-n``: use custom dron namespace.
+
+In order to launch the components, do:
+
+- For the **mocap** version, do:
+
+.. code-block:: bash
+
+    ./launch_as2.bash -e mocap -t
+
+- For the **odometry** indoor version, do:
+
+.. code-block:: bash
+
+    ./launch_as2.bash -e raw_odometry -t
+
+- For the **odometry** outdoor version, do:
+
+.. code-block:: bash
+
+    ./launch_as2.bash -e gps_odometry -t
+
+.. note:: 
+
+    Before launching the components with **mocap**, it is also necessary to set the file ``real_config/mocap.yaml``. This file will be used by the state estimator mocap plugin to 
+    get the ground truth pose coming from our motion capture system into the Aerostack2 common interface localization :ref:`topics <ros2_common_interfaces_state_estimator_topics>`.
+
+
+To start the mission, execute:
+
+.. code-block:: bash
+
+    python3 mission.py
+
+To do a clean exit of tmux, execute the following command:
+
+.. code-block:: bash
+
+    ./stop.bash drone0
+
+

docs/_02_examples/dji/project_dji_psdk/images/keyboard_teleop_view.png

@@ -229,6 +229,27 @@ Then verify with:
 
 You should see an entry for `l4tbr0`. If not, repeat the above steps.
 
+.. note::
+
+This leaves both bulk and network mode enabled. You can switch between them by running the appropriate command. In
+order to connect to the drone, either in bulk or network mode, you need to run the platform with the following JSON parameter values:
+
+.. code-block:: json
+
+   .
+   .
+   .
+    "uart_config": {
+      "uart1_device_name": "/dev/ttyUSB0",
+      "uart2_device_enable": "true",
+      "uart2_device_name": "/dev/ttyACM0"
+    },
+    "network_config": {
+      "network_device_name": "l4tbr0",
+      "network_usb_adapter_vid": "0x0B95",
+      "network_usb_adapter_pid": "0x1790"
+    }
+   
 
 .. _aerial_platform_dji_matrice_psdk_installation_package: