NEW: release DJI Payload-SDK version 3.4

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

psdk_lib/include/dji_camera_manager.h

@@ -487,7 +487,7 @@ typedef struct {
 } T_DjiCameraManagerFileAttributeData;
 
 typedef struct {
-    char fileName[32];
+    char fileName[256];
     uint32_t fileSize;
     uint32_t fileIndex;
     T_DjiCameraManagerFileCreateTime createTime;
@@ -506,11 +506,47 @@ typedef enum {
     DJI_DOWNLOAD_FILE_EVENT_END,
 } E_DjiDownloadFileEvent;
 
+/*!< Attention: when the remote control is in split-screen mode, the coordinate range of the x-axis is 0 ~ 0.5
+* */
+typedef struct {
+    dji_f32_t pointX;               /*! x-coordinate of point thermometry, range: 0 ~ 1 */
+    dji_f32_t pointY;               /*! y-coordinate of point thermometry, range: 0 ~ 1 */
+} T_DjiCameraManagerPointThermometryCoordinate;
+
+typedef struct {
+    dji_f32_t areaTempLtX;          /*! x-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
+    dji_f32_t areaTempLtY;          /*! y-coordinate of the upper left corner of the area thermometry, range: 0 ~ 1 */
+    dji_f32_t areaTempRbX;          /*! x-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
+    dji_f32_t areaTempRbY;          /*! y-coordinate of the lower right corner of the area thermometry, range: 0 ~ 1 */
+} T_DjiCameraManagerAreaThermometryCoordinate;
+
+//result of point thermometry
+typedef struct {
+    dji_f32_t pointX;              /*! x-coordinate of point thermometry, range: 0 ~ 1 */
+    dji_f32_t pointY;              /*! y-coordinate of point thermometry, range: 0 ~ 1 */
+    dji_f32_t pointTemperature;    /*! The temperature of the current point */
+} T_DjiCameraManagerPointThermometryData;
+
+//result of area thermometry
+typedef struct {
+    dji_f32_t areaTempLtX;           /*! x_coordinate of the upper left corner of the current thermometry area */
+    dji_f32_t areaTempLtY;           /*! y_coordinate of the upper left corner of the current thermometry area */
+    dji_f32_t areaTempRbX;           /*! x_coordinate of the lower right corner of the current thermometry area */
+    dji_f32_t areaTempRbY;           /*! y_coordinate of the lower right corner of the current thermometry area */
+    dji_f32_t areaAveTemp;           /*! The average temperature of the current thermometry area */
+    dji_f32_t areaMinTemp;           /*! The minimum temperature of the current thermometry area */
+    dji_f32_t areaMaxTemp;           /*! The maximum temperature of the current thermometry area */
+    dji_f32_t areaMinTempPointX;     /*! x_coordinate of the minimum temperature in the thermometry area */
+    dji_f32_t areaMinTempPointY;     /*! y_coordinate of the minimum temperature in the thermometry area */
+    dji_f32_t areaMaxTempPointX;     /*! x_coordinate of the maximum temperature in the thermometry area */
+    dji_f32_t areaMaxTempPointY;     /*! y_coordinate of the maximum temperature in the thermometry area */
+} T_DjiCameraManagerAreaThermometryData;
+
 typedef struct {
     E_DjiDownloadFileEvent downloadFileEvent;
     uint32_t fileIndex;
     uint32_t fileSize;
-    float progressInPercent;
+    dji_f32_t progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
 typedef struct {
@@ -1012,6 +1048,47 @@ T_DjiReturnCode DjiCameraManager_DeleteFileByIndex(E_DjiMountPosition position,
  */
 T_DjiReturnCode DjiCameraManager_GetLaserRangingInfo(E_DjiMountPosition position,
                                                      T_DjiCameraManagerLaserRangingInfo *laserRangingInfo);
+
+/**
+ * @brief Set point thermometry coordinates of the selected camera mounted position.
+ * @param position: camera mounted position
+ * @param pointCoordinate: point thermometry coordinates
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetPointThermometryCoordinate(E_DjiMountPosition position,
+                                                               T_DjiCameraManagerPointThermometryCoordinate pointCoordinate);
+
+/**
+ * @brief Get point thermometry result.
+ * @note Before get point thermometry data from camera, DjiCameraManager_SetPointThermometryCoordinate()
+ * function has to be called.
+ * @param position: camera mounted position
+ * @param pointThermometryData: point thermometry result
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetPointThermometryData(E_DjiMountPosition position,
+                                                         T_DjiCameraManagerPointThermometryData *pointThermometryData);
+
+/**
+ * @brief Set area thermometry coordinates of the selected camera mounted position.
+ * @param position: camera mounted position
+ * @param areaCoordinate: area thermometry coordinates
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetAreaThermometryCoordinate(E_DjiMountPosition position,
+                                                              T_DjiCameraManagerAreaThermometryCoordinate areaCoordinate);
+
+/**
+ * @brief Get area thermometry result.
+ * @note Before get area thermometry data from camera, DjiCameraManager_SetAreaThermometryCoordinate()
+ * function has to be called.
+ * @param position: camera mounted position
+ * @param areaThermometryData: area thermometry result
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetAreaThermometryData(E_DjiMountPosition position,
+                                                        T_DjiCameraManagerAreaThermometryData *areaThermometryData);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_core.h

@@ -81,6 +81,22 @@ T_DjiReturnCode DjiCore_Init(const T_DjiUserInfo *userInfo);
  */
 T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
 
+/**
+ * @brief Set custom firmware version for DJI application or product.
+ * @details Payload firmware version will always display in DJI Pilot payload settings interface.
+ * @param version: the custom firmware version to be set.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCore_SetFirmwareVersion(T_DjiFirmwareVersion version);
+
+/**
+ * @brief Set custom serial number for DJI application or product.
+ * @details Payload custom serial number will always display in DJI Pilot payload settings interface.
+ * @param productSerialNumber: the custom serial number to be set, needs to be no larger than 32 bytes.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCore_SetSerialNumber(const char *productSerialNumber);
+
 /**
  * @brief Notify that the Payload SDK core application starts.
  * @note The call location of this interface requires special attention, The call needs to be completed after all the

psdk_lib/include/dji_hms.h

@@ -37,6 +37,14 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 
 /* Exported types ------------------------------------------------------------*/
+typedef enum {
+    DJI_HMS_ERROR_LEVEL_NONE = 0,
+    DJI_HMS_ERROR_LEVEL_HINT,
+    DJI_HMS_ERROR_LEVEL_WARN,
+    DJI_HMS_ERROR_LEVEL_CRITICAL,
+    DJI_HMS_ERROR_LEVEL_FATAL,
+} E_DjiHmsErrorLevel;
+
 typedef struct {
     uint32_t errorCode;
     uint8_t componentIndex;
@@ -48,6 +56,17 @@ typedef struct {
     uint32_t hmsInfoNum;
 } T_DjiHmsInfoTable;
 
+typedef struct {
+    char *fileName; /*!< The file name of the hms text config file */
+    uint32_t fileSize; /*!< The file size of the hms text config file, uint : byte */
+    const uint8_t *fileBinaryArray; /*!< The binary C array of the hms text config file */
+} T_DjiHmsFileBinaryArray;
+
+typedef struct {
+    uint16_t binaryArrayCount; /*!< Binary array count. */
+    T_DjiHmsFileBinaryArray *fileBinaryArrayList; /*!< Pointer to binary array list */
+} T_DjiHmsBinaryArrayConfig;
+
 typedef T_DjiReturnCode (*DjiHmsInfoCallback)(T_DjiHmsInfoTable hmsInfoTable);
 
 /* Exported functions --------------------------------------------------------*/
@@ -72,6 +91,60 @@ T_DjiReturnCode DjiHms_DeInit(void);
  */
 T_DjiReturnCode DjiHms_RegHmsInfoCallback(DjiHmsInfoCallback callback);
 
+/**
+ * @brief Inject custom hms error code to APP.
+ * @note: For the same hms error code, a single call is enough, no need to call repeatedly.
+ * @param errorCode: hms error code, value range: [0x1E020000 ~ 0x1E02FFFF].
+ * @param errorLevel: hms error level, see reference of E_DjiHmsErrorLevel.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_InjectHmsErrorCode(uint32_t errorCode, E_DjiHmsErrorLevel errorLevel);
+
+/**
+ * @brief Eliminate custom hms error code to APP.
+ * @note: For the same hms error code, a single call is enough, no need to call repeatedly.
+ * @param errorCode: hms error code, value range: [0x1E020000 ~ 0x1E02FFFF].
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_EliminateHmsErrorCode(uint32_t errorCode);
+
+/**
+ * @brief Register default hms text configuration file by directory path.
+ * @param configDirPath: the hms text configuration by directory path.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_RegDefaultHmsTextConfigByDirPath(const char *configDirPath);
+
+/**
+ * @brief Register hms text configuration file by directory path.
+ * @note Different hms text configurations for several language require the same hms config.
+ * @param appLanguage: mobile app language type.
+ * @param configDirPath: the hms text configuration by directory path.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_RegHmsTextConfigByDirPath(E_DjiMobileAppLanguage appLanguage,
+                                                 const char *configDirPath);
+
+/**
+ * @brief Register default hms text configuration config by binary array.
+ * @note In RTOS, most likely there is no file system. The hms text config file content can use C array express. Use this
+ * function and DjiHms_RegDefaultHmsTextConfigByBinaryArray set hms text configuration. When the language is not cover in
+ * your setting by DjiHms_RegHmsTextConfigByBinaryArray, the hms text configuration uses setting by this function.
+ * @param binaryArrayConfig: the binary array config for hms text configuration.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_RegDefaultHmsTextConfigByBinaryArray(const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
+
+/**
+ * @brief Register hms text config by binary array configuration.
+ * @note Different hms text configurations for several language require the same hms config.
+ * @param appLanguage: mobile app language type.
+ * @param binaryArrayConfig: the binary array config for hms text configuration.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHms_RegHmsTextConfigByBinaryArray(E_DjiMobileAppLanguage appLanguage,
+                                                     const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_liveview.h

@@ -107,6 +107,15 @@ T_DjiReturnCode DjiLiveview_StartH264Stream(E_DjiLiveViewCameraPosition position
  */
 T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
 
+/**
+ * @brief Request the intraframe Frame of Camera H264 Stream by selected position.
+ * @param position: point out which camera to output the H264 stream
+ * @param source: point out which sub camera to output the H264 stream
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiLiveview_RequestIntraframeFrameData(E_DjiLiveViewCameraPosition position,
+                                                       E_DjiLiveViewCameraSource source);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_typedef.h

@@ -357,6 +357,18 @@ typedef struct {
     uint32_t microsecond; /*!< Microsecond. */
 } T_DjiDataTimestamp;
 
+/**
+ * @brief The firmware version of payload.
+ * @note If majorVersion = AA, minorVersion = BB, modifyVersion = CC, debugVersion = DD, The version show in
+ * terminal APP is AA.BB.CC.DD
+ */
+typedef struct {
+    uint8_t majorVersion; /*!< The major version of firmware, the range is 0 ~ 99. */
+    uint8_t minorVersion; /*!< The minor version of firmware, the range is 0 ~ 99. */
+    uint8_t modifyVersion; /*!< The modify version of firmware, the range is 0 ~ 99. */
+    uint8_t debugVersion; /*!< The debug version of firmware, the range is 0 ~ 99. */
+} T_DjiFirmwareVersion;
+
 #pragma pack ()
 /**
  * @brief Prototype of callback function used to receive data of topic.

psdk_lib/include/dji_upgrade.h

@@ -69,18 +69,6 @@ typedef enum {
     DJI_UPGRADE_END_STATE_UNKNOWN_ERROR = 2, /*!< Upgrade failure due to unknown reason. */
 } E_DjiUpgradeEndState;
 
-/**
- * @brief The firmware version of payload.
- * @note If majorVersion = AA, minorVersion = BB, modifyVersion = CC, debugVersion = DD, The version show in
- * terminal APP is AA.BB.CC.DD
- */
-typedef struct {
-    uint8_t majorVersion; /*!< The major version of firmware, the range is 0 ~ 99. */
-    uint8_t minorVersion; /*!< The minor version of firmware, the range is 0 ~ 99. */
-    uint8_t modifyVersion; /*!< The modify version of firmware, the range is 0 ~ 99. */
-    uint8_t debugVersion; /*!< The debug version of firmware, the range is 0 ~ 99. */
-} T_DjiFirmwareVersion;
-
 typedef struct {
     uint8_t upgradeProgress; /*!< The upgrade progress, the range is 0 ~ 100. */
 } T_DjiUpgradeOngoingInfo;

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     3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     4 /*!< 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     1705 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1743 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

psdk_lib/include/dji_waypoint_v3.h

@@ -48,27 +48,47 @@ typedef enum {
 } E_DjiWaypointV3Action;
 
 /**
-*  Waypoint v3 current aircraft state.
+*  Waypoint v3 current mission state.
 */
 typedef enum {
-    DJI_WAYPOINT_V3_STATE_IDLE = 0, /*!< Waypoint v3 aircraft in idle state. */
-    DJI_WAYPOINT_V3_STATE_PREPARE = 16, /*!< Waypoint v3 aircraft in prepare state. */
-    DJI_WAYPOINT_V3_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 aircraft in trans mission state. */
-    DJI_WAYPOINT_V3_STATE_MISSION = 48, /*!< Waypoint v3 aircraft in mission state. */
-    DJI_WAYPOINT_V3_STATE_BREAK = 64, /*!< Waypoint v3 aircraft in break state. */
-    DJI_WAYPOINT_V3_STATE_RESUME = 80, /*!< Waypoint v3 aircraft in resume state. */
-    DJI_WAYPOINT_V3_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 aircraft in return first point state. */
-} E_DjiWaypointV3State;
+    DJI_WAYPOINT_V3_MISSION_STATE_IDLE = 0, /*!< Waypoint v3 mission in idle state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_PREPARE = 16, /*!< Waypoint v3 mission in prepare state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 mission in trans mission state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_MISSION = 48, /*!< Waypoint v3 mission in mission state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_BREAK = 64, /*!< Waypoint v3 mission in break state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_RESUME = 80, /*!< Waypoint v3 mission in resume state. */
+    DJI_WAYPOINT_V3_MISSION_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 mission in return first point state. */
+} E_DjiWaypointV3MissionState;
+
+/**
+*  Waypoint v3 current action state.
+*/
+typedef enum {
+    DJI_WAYPOINT_V3_ACTION_STATE_IDLE = 0, /*!< Waypoint v3 action in idle state. */
+    DJI_WAYPOINT_V3_ACTION_STATE_RUNNING = 1, /*!< Waypoint v3 action in idle state. */
+    DJI_WAYPOINT_V3_ACTION_STATE_FINISHED = 5, /*!< Waypoint v3 action in idle state. */
+} E_DjiWaypointV3ActionState;
 
 /**
 *  Waypoint v3 mission state.
 */
 typedef struct {
-    E_DjiWaypointV3State state; /*!< Waypoint v3 current aircraft state, #E_DjiWaypointV3State. */
+    E_DjiWaypointV3MissionState state; /*!< Waypoint v3 current mission state, #E_DjiWaypointV3MissionState. */
     uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
     uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
 } T_DjiWaypointV3MissionState;
 
+/**
+*  Waypoint v3 action state.
+*/
+typedef struct {
+    E_DjiWaypointV3ActionState state; /*!< Waypoint v3 current action state, #E_DjiWaypointV3ActionState. */
+    uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
+    uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
+    uint16_t actionGroupId; /*!< Waypoint v3 current action group index. */
+    uint16_t actionId; /*!< Waypoint v3 current action index. */
+} T_DjiWaypointV3ActionState;
+
 /**
  * @brief Prototype of callback function used to receive the waypoint v3 mission state.
  * @warning User can not execute blocking style operations or functions in callback function, because that will block
@@ -76,7 +96,16 @@ typedef struct {
  * @param missionState: current waypoint v3 mission state.
  * @return Execution result.
  */
-typedef T_DjiReturnCode (*WaypointV3StateCallback)(T_DjiWaypointV3MissionState missionState);
+typedef T_DjiReturnCode (*WaypointV3MissionStateCallback)(T_DjiWaypointV3MissionState missionState);
+
+/**
+ * @brief Prototype of callback function used to receive the waypoint v3 mission state.
+ * @warning User can not execute blocking style operations or functions in callback function, because that will block
+ * root thread, causing problems such as slow system response, payload disconnection or infinite loop.
+ * @param missionState: current waypoint v3 mission state.
+ * @return Execution result.
+ */
+typedef T_DjiReturnCode (*WaypointV3ActionStateCallback)(T_DjiWaypointV3ActionState missionState);
 
 /* Exported functions --------------------------------------------------------*/
 /**
@@ -112,7 +141,15 @@ T_DjiReturnCode DjiWaypointV3_Action(E_DjiWaypointV3Action action);
  * file or executing this mission action.
  * @return Execution result.
  */
-T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3StateCallback callback);
+T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3MissionStateCallback callback);
+
+/**
+ * @brief Register the action state callback for waypoint mission.
+ * @note If you want to monitor the state of waypoint action, this interface should be called before uploading kmz
+ * file or executing this mission action.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_RegActionStateCallback(WaypointV3ActionStateCallback callback);
 
 #ifdef __cplusplus
 }