NEW: release DJI Payload-SDK version 3.2

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/dji_camera_manager.h

@@ -509,7 +509,8 @@ typedef enum {
 typedef struct {
     E_DjiDownloadFileEvent downloadFileEvent;
     uint32_t fileIndex;
-    uint8_t progressInPercent;
+    uint32_t fileSize;
+    float progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
 typedef struct {
@@ -767,6 +768,15 @@ T_DjiReturnCode DjiCameraManager_SetOpticalZoomParam(E_DjiMountPosition position
 T_DjiReturnCode DjiCameraManager_GetOpticalZoomParam(E_DjiMountPosition position,
                                                      T_DjiCameraManagerOpticalZoomParam *opticalZoomParam);
 
+/**
+ * @brief Set parameters for camera infrared zooming of the selected camera mounted position.
+ * @param position: camera mounted position
+ * @param factor: target zoom factor.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetInfraredZoomParam(E_DjiMountPosition position,
+                                                      dji_f32_t factor);
+
 /**
  * @brief Stop camera optical zooming of the selected camera mounted position.
  * @note Called to stop focal length changing, when it currently is from
@@ -957,6 +967,8 @@ T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
 
 /**
  * @brief Download selected camera media file list.
+ * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileList: the pointer to the downloaded camera file list
  * @return Execution result.
@@ -975,7 +987,8 @@ T_DjiReturnCode DjiCameraManager_RegDownloadFileDataCallback(E_DjiMountPosition
 /**
  * @brief Download selected camera media file by file index.
  * @note Only support download one file at the same time, the new file download need wait for the previous file
- * download finished.
+ * download finished.The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileIndex: the index of the camera media file
  * @return Execution result.

psdk_lib/include/dji_core.h

@@ -89,6 +89,12 @@ T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
  */
 T_DjiReturnCode DjiCore_ApplicationStart(void);
 
+/**
+ * @brief DeInitialize the Payload SDK core in blocking mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCore_DeInit(void);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_fc_subscription.h

@@ -157,7 +157,6 @@ typedef enum {
      *
      * @note This value is updated each time the drone takes off.
      *
-     * @sensors Visual Odometry (M210 only), Barometer, IMU
      * @units m
      * @datastruct \ref T_DjiFcSubscriptionAltitudeOfHomePoint
      */
@@ -935,8 +934,7 @@ typedef struct BatterySingleInfo {
  */
 typedef struct SDKCtrlInfo {
     uint8_t controlMode;      /*!< See CtlrMode in dji_status.hpp*/
-    uint8_t deviceStatus: 3; /*!< For M300 and M210V2(firmware version V01.00.0690 and later):0->rc  1->app  4->serial;
-                                 Other: 0->rc  1->app  2->serial*/
+    uint8_t deviceStatus: 3; /*!< 0->rc  1->app  4->serial */
     uint8_t flightStatus: 1; /*!< 1->opensd  0->close */
     uint8_t vrcStatus: 1;
     uint8_t reserved: 3;
@@ -1062,7 +1060,6 @@ typedef struct PositionVO {
 /*!
  * @brief struct for data broadcast and subscription, return obstacle info around the vehicle
  *
- * @note available in M210 (front, up, down)
  */
 typedef struct RelativePosition {
     dji_f32_t down;            /*!< distance from obstacle (m) */
@@ -1170,7 +1167,8 @@ T_DjiReturnCode DjiFcSubscription_SubscribeTopic(E_DjiFcSubscriptionTopic topic,
  * @param timestamp: pointer to memory space used to store timestamps. The memory space used to store timestamps
  * have to have been allocated correctly, and should ensure its size is equal to data structure size of timestamp,
  * otherwise, this function will not be able to return data and timestamp (return error code) or even cause memory
- * overflow event. If the user does not need timestamp information, can fill in NULL.
+ * overflow event. If the user does not need timestamp information, can fill in NULL. Use flight controller power-on
+ * timestamp on M300 RTK. Use payload local timestamp on M30/M30T.
  * @return Execution result.
  */
 T_DjiReturnCode DjiFcSubscription_GetLatestValueOfTopic(E_DjiFcSubscriptionTopic topic,

psdk_lib/include/dji_flight_controller.h

@@ -294,7 +294,7 @@ DjiFlightController_GetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionE
 
 /**
  * @brief Set rc lost action.
- * @note It will be valid when rc and osdk is both lost.It only support M320.
+ * @note It will be valid when rc and osdk is both lost.It only support M30.
  * @param rcLostAction: actions when rc is lost.(hover/landing/go home).It keeps in sync with pilot's param.
  * @return Execution result.
  */
@@ -302,7 +302,7 @@ T_DjiReturnCode DjiFlightController_SetRCLostAction(E_DjiFlightControllerRCLostA
 
 /**
  * @brief Get rc lost action(hover/landing/gohome).
- * @note It will be valid when rc and osdk is both lost.It only support M320.
+ * @note It will be valid when rc and osdk is both lost.It only support M30.
  * @param rcLostAction: see reference of E_DjiFlightControllerRCLostAction.It keeps in sync with pilot's param.
  * @return Execution result.
  */
@@ -583,7 +583,7 @@ T_DjiReturnCode DjiFlightController_ExecuteEmergencyBrakeAction(void);
 
 /**
  * @brief Request cancel emergency brake action.
- * @note It is only support on M320.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
+ * @note It is only support on M30.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
  * "DjiFlightController_CancelEmergencyBrakeAction()" to allow aircraft to execute drone action again.
  * @return Execution result.
  */

psdk_lib/include/dji_typedef.h

@@ -114,6 +114,7 @@ typedef enum {
     DJI_CAMERA_TYPE_XTS = 41, /*!< Camera type is XT S. */
     DJI_CAMERA_TYPE_H20 = 42, /*!< Camera type is H20. */
     DJI_CAMERA_TYPE_H20T = 43, /*!< Camera type is H20T. */
+    DJI_CAMERA_TYPE_H20N = 61, /*!< Camera type is H20N. */
     DJI_CAMERA_TYPE_P1 = 50, /*!< Camera type is P1. */
     DJI_CAMERA_TYPE_L1, /*!< Camera type is L1. */
     DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
@@ -256,7 +257,7 @@ typedef enum {
 typedef enum {
     /*! The number of pictures to continuously take each time in BURST mode is 2
      */
-    DJI_CAMERA_BURST_COUNT_2  = 2,
+    DJI_CAMERA_BURST_COUNT_2 = 2,
     /*! The number of pictures to continuously take each time in BURST mode is 3
      */
     DJI_CAMERA_BURST_COUNT_3 = 3,
@@ -359,7 +360,8 @@ typedef struct {
  * @param data: pointer to data of the topic, user need transfer type of this pointer to the corresponding data structure
  * pointer for getting every item of the topic conveniently.
  * @param dataSize: the size of memory space pointed by data argument, equal to data structure size corresponding to the topic.
- * @param timestamp: pointer to timestamp corresponding this data.
+ * @param timestamp: pointer to timestamp corresponding this data. Use flight controller power-on timestamp on M300 RTK.
+ * Use payload local timestamp on M30/M30T.
  * @return Execution result.
  */
 typedef T_DjiReturnCode (*DjiReceiveDataOfTopicCallback)(const uint8_t *data, uint16_t dataSize,

psdk_lib/include/dji_version.h

@@ -34,10 +34,10 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 #define DJI_VERSION_MAJOR     3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
-#define DJI_VERSION_MINOR     1 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     2 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1509 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1539 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

psdk_lib/include/dji_widget.h

@@ -191,13 +191,9 @@ typedef struct {
 
 typedef struct {
     T_DjiReturnCode (*GetSpeakerState)(T_DjiWidgetSpeakerState *speakerState);
-
     T_DjiReturnCode (*SetWorkMode)(E_DjiWidgetSpeakerWorkMode workMode);
-    T_DjiReturnCode (*GetWorkMode)(E_DjiWidgetSpeakerWorkMode *workMode);
     T_DjiReturnCode (*SetPlayMode)(E_DjiWidgetSpeakerPlayMode playMode);
-    T_DjiReturnCode (*GetPlayMode)(E_DjiWidgetSpeakerPlayMode *playMode);
     T_DjiReturnCode (*SetVolume)(uint8_t volume);
-    T_DjiReturnCode (*GetVolume)(uint8_t *volume);
 
     T_DjiReturnCode (*StartPlay)(void);
     T_DjiReturnCode (*StopPlay)(void);