NEW: release DJI Payload-SDK version 3.6

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

README.md

@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.5.0-yellow.svg)
+![](https://img.shields.io/badge/version-V3.6.0-purple.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 
@@ -23,38 +23,41 @@ to get the latest version information.
 
 ## Latest Release
 
-PSDK 3.5.0 was released on 18 May 2023. This version of Payload SDK mainly add support for M350 RTK, also add some new features support and fixed some bugs. 
+PSDK 3.6.0 was released on 18 Sep 2023. This version of Payload SDK mainly add some new features support and fixed some
+bugs.
 Please refer to the release notes for detailed changes list.
 
-* Added support for new drone model Matrice 350 RTK
+* Added support for multi-language display in HMS management.
-* Matrice 300 RTK added support for DJI RC Plus
+* Added support for PSDK Non-RC flight.
-* Added support for downloading media files in pieces on all drone models
+* Added support for aircraft version number retrieval.
-* Added support for Osal get random number callback interface on all drone model
+* Added support for RTCM data subscription.
-* Fixed issue with the black screen problem when uses third-party camera to playback video on M300 RTK and DJI smart controller screen combination
+* Added support for cloud-based custom small data communication on Matrice 30/30T PSDK.
-* Fixed issue with failure of subscribing L1 camera code stream on M300 RTK
+* Added Support for Matrice 30/30T PSDK speaker cloud integration.
-* Fixed issue with failure of subscribing main camera code stream in dual control mode on M300 RTK
+* Added support for custom widgets wayline actions on Matrice 30/30T and Mavic 3E/3T aircraft.
-* Fixed issue with local upgrade function of RTOS platform on Mavic 3E/3T
+* Added support for grayscale image retrieval on M350 RTK.
-* Fixed issue with the initialization failure of using PSDK Payload device and millimeter wave radar on M300 RTK
+* Added support for time synchronization on M300 RTK and Matrice 30/30T.
-* Fixed issue with custom HMS function on M300 RTK and X-Port combination
+* Added support for third-party firmware upgrades through M350 RTK E-Port.
-* Fixed issue with invalid TTS option of speaker widget on M300 RTK
+* Added support for SDK interconnection on Mavic 3E/3T.
-* Fixed issue with downloading file list with high probability of failure when the camera photos are over 400 on M300 RTK
+* Added support for hotspot orbit function on Mavic 3E/3T.
-* Fixed some of the memory leaks
+* Added support for expanded camera and gimbal management interfaces.
+* Fixed issue with the 500m altitude limit for flight control across all models.
+* Fixed issue with incomplete small data transmission on specific models.
+* Fixed issue with H20 I-frame retrieval on M300 RTK.
+* Fixed issue with occasional custom widget display failure in DJI Pilot.
+* Fixed issues with multiple live stream retrieval on Matrice 30/30T.
+* Fixed issues with camera mode retrieval on Matrice 30/30T.
+* Fixed issues with camera focal length value retrieval on Matrice 30/30T.
+* Fixed issue with X-Port failed to self-check when both X-Port and SkyPort V2 were equipped on M300 RTK.
+* Fixed issue with gimbal angle subscription data mismatching App display on M300 RTK.
+* Fixed issue with flight control feature initialization failure on specific models after multiple calls.
+* Fixed compatibility issues with initialization failures on some HiSilicon platforms.
+* Optimized PSDK startup delays in single UART mode.
+* Optimized slow media file download speeds for Mavic 3E/3T on ethernet links.
 
 ## License
 
 Payload SDK codebase is MIT-licensed. Please refer to the LICENSE file for detailed information.
 
-## Contributing
-
-Please read the following guidelines before starting work on a pull request.
-
-#### Summary of the guidelines:
-
-* One pull request per issue;
-* Choose the right base branch;
-* Clean up "oops" commits before submitting;
-* Follow the coding style by "doc/dji_sdk_code_style"
-
 ## Support
 
 You can get official support from DJI and the community with the following methods:

psdk_lib/include/dji_aircraft_info.h

@@ -49,11 +49,22 @@ typedef struct {
  * @brief Some base information of aircraft system, mainly including some constant parameters information of system.
  */
 typedef struct {
+    E_DjiAircraftSeries aircraftSeries; /*!< Aircraft series. */
+    E_DjiMountPositionType mountPositionType; /*!< Mount position type. */
     E_DjiAircraftType aircraftType; /*!< Aircraft type. */
     E_DjiSdkAdapterType djiAdapterType; /*!< DJI adapter type. */
     E_DjiMountPosition mountPosition; /*!< Payload mount position. */
 } T_DjiAircraftInfoBaseInfo;
 
+/**
+ * @brief Aircraft version information.
+ */
+typedef struct {
+    uint8_t debugVersion;
+    uint8_t modifyVersion;
+    uint8_t minorVersion;
+    uint8_t majorVersion;
+} T_DjiAircraftVersion;
 
 /* Exported functions --------------------------------------------------------*/
 /**
@@ -79,6 +90,13 @@ T_DjiReturnCode DjiAircraftInfo_GetMobileAppInfo(T_DjiMobileAppInfo *mobileAppIn
  */
 T_DjiReturnCode DjiAircraftInfo_GetConnectionStatus(bool *isConnected);
 
+/**
+ * @brief Get version of aircraft.
+ * @param aircraftVersion: pointer to aircraft version.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiAircraftInfo_GetAircraftVersion(T_DjiAircraftVersion *aircraftVersion);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_camera_manager.h

@@ -448,6 +448,39 @@ typedef enum {
     DJI_CAMERA_MANAGER_FILE_LIST_COUNT_ALL_PER_SLICE = 0xFFFF,
 } E_DjiCameraManagerFileListCountPerSlice;
 
+typedef enum {
+    DJI_CAMERA_MANAGER_SOURCE_DEFAULT_CAM = 0x0,
+    DJI_CAMERA_MANAGER_SOURCE_WIDE_CAM = 0x1,
+    DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM = 0x2,
+    DJI_CAMERA_MANAGER_SOURCE_IR_CAM = 0x3,
+    DJI_CAMERA_MANAGER_SOURCE_VISIBLE_CAM = 0x7,
+} E_DjiCameraManagerStreamSource;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_DISABLE = 0,
+    DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_ENABLE = 1,
+    DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_AUTO = 2,
+} E_DjiCameraManagerNightSceneMode;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_CAPTURE = 0,
+    DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_RECORDING = 1,
+} E_DjiCameraManagerCaptureOrRecording;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_FILE = 1,
+    DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_DIR = 2,
+} E_DjiCameraManagerExpandNameType;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_4X3 = 0,
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_16X9 = 1,
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_3X2 = 2,
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_1X1 = 3,
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_18X3 = 4,
+    DJI_CAMERA_MANAGER_PHOTO_RATIO_5X4 = 5,
+} E_DjiCameraManagerPhotoRatio;
+
 typedef struct {
     uint8_t firmware_version[4];
 } T_DjiCameraManagerFirmwareVersion;
@@ -517,6 +550,69 @@ typedef enum {
     DJI_DOWNLOAD_FILE_EVENT_END,
 } E_DjiDownloadFileEvent;
 
+typedef enum {
+    DJI_CAMERA_MANAGER_VIDEO_RESOLUTION_640X480P = 0, // 640X480P
+    DJI_CAMERA_MANAGER_VIDEO_RESOLUTION_1280X640P = 2, // 1280X640P
+    DJI_CAMERA_MANAGER_VIDEO_RESOLUTION_1280X720P = 4, // 1280X720P
+    DJI_CAMERA_MANAGER_VIDEO_RESOLUTION_1920X1080P = 10, // 1920X1080P
+    DJI_CAMERA_MANAGER_VIDEO_RESOLUTION_3840X2160P = 16, // 3840X2160P
+} E_DjiCameraManagerVideoResolution;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_VIDEO_FRAME_RATE_15FPS = 0, // 14.985
+    DJI_CAMERA_MANAGER_VIDEO_FRAME_RATE_25FPS = 2, // 25.000
+    DJI_CAMERA_MANAGER_VIDEO_FRAME_RATE_30FPS = 3, // 29.970
+    DJI_CAMERA_MANAGER_VIDEO_FRAME_RATE_60FPS = 6, // 59.940
+} E_DjiCameraManagerVideoFrameRate;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RAW = 0,
+    DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_JPEG = 1,
+    DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RAW_JPEG = 2,
+    DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_YUV = 3, // 保存为YUV格式的图片
+    DJI_CAMERA_MANAGER_PHOTO_STORAGE_FORMAT_RJPEG = 7, // Radiometric JPEG
+} E_DjiCameraManagerPhotoStorageFormat;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_VIDEO_STORAGE_FORMAT_MOV = 0,
+    DJI_CAMERA_MANAGER_VIDEO_STORAGE_FORMAT_MP4 = 1,
+} E_DjiCameraManagerVideoStorageFormat;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL = 0,
+    DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE = 1,
+    DJI_CAMERA_MANAGER_METERING_MODE_SPOT = 2,
+} E_DjiCameraManagerMeteringMode;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_FFC_MODE_MANUAL = 0,
+    DJI_CAMERA_MANAGER_FFC_MODE_AUTO = 1,
+} E_DjiCameraManagerFfcMode;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_IR_GAIN_MODE_AUTO = 0,
+    DJI_CAMERA_MANAGER_IR_GAIN_MODE_LOW = 1,
+    DJI_CAMERA_MANAGER_IR_GAIN_MODE_HIGH = 2,
+} E_DjiCameraManagerIrGainMode;
+
+typedef enum {
+    /* not capturing*/
+    DJI_CAMERA_MANAGER_CAPTURING_STATE_IDLE = 0,
+
+    /* doing single capture */
+    DJI_CAMERA_MANAGER_CAPTURING_STATE_SINGLE = 1,
+
+    /* doing multi capture */
+    DJI_CAMERA_MANAGER_CAPTURING_STATE_MULTI = 2,
+} E_DjiCameraManagerCapturingState;
+
+typedef enum {
+    DJI_CAMERA_MANAGER_RECORDING_STATE_IDLE = 0,
+    DJI_CAMERA_MANAGER_RECORDING_STATE_STARTING = 0,
+    DJI_CAMERA_MANAGER_RECORDING_STATE_RECORDING = 0,
+    DJI_CAMERA_MANAGER_RECORDING_STATE_STOPPING = 0,
+} E_DjiCameraManagerRecordingState;
+
 /*!< Attention: when the remote control is in split-screen mode, the coordinate range of the x-axis is 0 ~ 0.5
 * */
 typedef struct {
@@ -571,6 +667,43 @@ typedef struct {
     uint8_t exception;
 } T_DjiCameraManagerLaserRangingInfo;
 
+typedef struct {
+    uint32_t size;
+    E_DjiCameraManagerStreamSource streamSource[4];
+    E_DjiCameraManagerStreamSource streamStorage[4];
+} T_DjiCameraManagerStreamList;
+
+typedef struct {
+    E_DjiCameraManagerVideoResolution videoResolution;
+    E_DjiCameraManagerVideoFrameRate videoFrameRate;
+} T_DjiCameraManagerVideoFormat;
+
+typedef struct {
+    uint8_t size;
+    union {
+        E_DjiCameraManagerPhotoStorageFormat photoStorageFormat[16];
+        E_DjiCameraManagerVideoStorageFormat videoStorageFormat[16];
+        E_DjiCameraManagerPhotoRatio photoRatioFormat[16];
+        E_DjiCameraManagerStreamSource streamSource[16];
+        E_DjiCameraManagerStreamSource streamStorage[16];
+        E_DjiCameraManagerNightSceneMode nightSceneMode[16];
+    };
+    uint32_t minValue;
+    uint32_t maxValue;
+} T_DjiCameraManagerRangeList;
+
+typedef struct {
+    double lowGainTempMin;
+    double lowGainTempMax;
+    double highGainTempMin;
+    double highGainTempMax;
+} T_DjiCameraManagerIrTempMeterRange;
+
+typedef struct {
+    uint32_t totalCapacity;     /* MByte */
+    uint32_t remainCapacity;    /* MByte */
+} T_DjiCameraManagerStorageInfo;
+
 typedef T_DjiReturnCode (*DjiCameraManagerDownloadFileDataCallback)(T_DjiDownloadFilePacketInfo packetInfo,
                                                                     const uint8_t *data,
                                                                     uint16_t dataLen);
@@ -606,6 +739,15 @@ T_DjiReturnCode DjiCameraManager_GetCameraType(E_DjiMountPosition position, E_Dj
 T_DjiReturnCode DjiCameraManager_GetFirmwareVersion(E_DjiMountPosition position,
                                                     T_DjiCameraManagerFirmwareVersion *firmwareVersion);
 
+/**
+ * @brief Get camera connect status.
+ * @param position: camera mounted position
+ * @param connectStatus: returned value of connect status
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetCameraConnectStatus(E_DjiMountPosition position,
+                                                        bool *connectStatus);
+
 /**
  * @brief Set camera working mode of the selected camera mounted position.
  * @note Set the camera's work mode to taking pictures, video, playback or
@@ -668,6 +810,16 @@ T_DjiReturnCode DjiCameraManager_StartShootPhoto(E_DjiMountPosition position,
  */
 T_DjiReturnCode DjiCameraManager_StopShootPhoto(E_DjiMountPosition position);
 
+/**
+ * @brief Get camera capturing state.
+ * @note L1/P1 do not support this API.
+ * @param position: camera mounted position
+ * @param capturingState: result of getting, see E_DjiCameraManagerCapturingState.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetCapturingState(E_DjiMountPosition position,
+                                                   E_DjiCameraManagerCapturingState *capturingState);
+
 /**
  * @brief Set the burst count in the burst take-photo mode.
  * @param position: camera mounted position
@@ -726,6 +878,16 @@ T_DjiReturnCode DjiCameraManager_SetPhotoTimeIntervalSettings(E_DjiMountPosition
 T_DjiReturnCode DjiCameraManager_GetPhotoTimeIntervalSettings(E_DjiMountPosition position,
                                                               T_DjiCameraPhotoTimeIntervalSettings *intervalSetting);
 
+/**
+ * @brief Get remain time of interval shooting.
+ * @note L1/P1 do not support this API.
+ * @param position: camera mounted position
+ * @param remainTime: time in seconds.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetIntervalShootingRemainTime(E_DjiMountPosition position,
+                                                               uint8_t *remainTime);
+
 /**
  * @brief Set camera focus mode of the selected camera mounted position.
  * @note Set the lens focus mode. When the focus mode is auto, the target
@@ -884,6 +1046,33 @@ T_DjiReturnCode DjiCameraManager_GetTapZoomMultiplier(E_DjiMountPosition positio
 T_DjiReturnCode DjiCameraManager_TapZoomAtTarget(E_DjiMountPosition position,
                                                  T_DjiCameraManagerTapZoomPosData tapZoomPos);
 
+/**
+ * @brief Get camera focus ring value range.
+ * @param position: camera mounted position
+ * @param rangeList: returned value of range.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetFocusRingRange(E_DjiMountPosition position,
+                                                   T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Set camera focus ring value.
+ * @param position: camera mounted position
+ * @param value: focus ring value.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetFocusRingValue(E_DjiMountPosition position,
+                                                   uint16_t value);
+
+/**
+ * @brief Get camera focus ring value.
+ * @param position: camera mounted position
+ * @param value: focus ring value to be returned.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetFocusRingValue(E_DjiMountPosition position,
+                                                   uint16_t *value);
+
 /**
  * @brief Set camera's exposure mode of the selected camera mounted position.
  * @note  The different exposure modes define whether aperture, shutter speed,
@@ -995,6 +1184,32 @@ T_DjiReturnCode DjiCameraManager_SetExposureCompensation(E_DjiMountPosition posi
 T_DjiReturnCode DjiCameraManager_GetExposureCompensation(E_DjiMountPosition position,
                                                          E_DjiCameraManagerExposureCompensation *ev);
 
+/**
+ * @brief Set AE lock mode.
+ * @param position: camera mounted position
+ * @param enable: ture to enable, false to diasble.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetAELockEnabled(E_DjiMountPosition position,
+                                                  bool enable);
+
+/**
+ * @brief Get AE lock mode.
+ * @note Camera L1/P1 don't support this API.
+ * @param position: camera mounted position
+ * @param enable: result of AE lock mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetAELockEnabled(E_DjiMountPosition position,
+                                                  bool *enable);
+
+/**
+ * @brief Reset camera settings.
+ * @param position: camera mounted position
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_ResetCameraSettings(E_DjiMountPosition position);
+
 /**
  * @brief Start to take video of the selected camera mounted position.
  * @note Camera must be in RECORD_VIDEO mode. For thermal imaging camera,
@@ -1012,6 +1227,230 @@ T_DjiReturnCode DjiCameraManager_StartRecordVideo(E_DjiMountPosition position);
  */
 T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
 
+/**
+ * @brief Get camera recording state.
+ * @param position: camera mounted position
+ * @param recordingState: result of getting, see E_DjiCameraManagerRecordingState.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetRecordingState(E_DjiMountPosition position,
+                                                   E_DjiCameraManagerRecordingState *recordingState);
+
+/**
+ * @brief Get camera recording time.
+ * @note L1/P1 don not support this API.
+ * @param position: camera mounted position
+ * @param recordingTime: result of getting, unit is seconds.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetRecordingTime(E_DjiMountPosition position,
+                                                   uint16_t *recordingTime);
+/**
+ * @brief Get camera stream source range.
+ * @param position: camera mounted position
+ * @param rangeList: pointer to the result.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetStreamSourceRange(E_DjiMountPosition position,
+                                                      T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Choose camera stream source.
+ * @param position: camera mounted position
+ * @param streamSource: stream source to be chose.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetStreamSource(E_DjiMountPosition position,
+                                                 E_DjiCameraManagerStreamSource streamSource);
+
+/**
+ * @brief Get photo storage format range.
+ * @param position: camera mounted position
+ * @param rangeList: range list returned value
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetPhotoFormatStorageRange(E_DjiMountPosition position,
+                                                     T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Set photo storage format.
+ * @param position: camera mounted position
+ * @param format: storage format.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetPhotoFormat(E_DjiMountPosition position,
+                                                E_DjiCameraManagerPhotoStorageFormat format);
+
+/**
+ * @brief Get photo storage format.
+ * @param position: camera mounted position
+ * @param format: returned value of storage format.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetPhotoFormat(E_DjiMountPosition position,
+                                                E_DjiCameraManagerPhotoStorageFormat *format);
+
+/**
+ * @brief Get video storage format range.
+ * @param position: camera mounted position
+ * @param rangeList: range list returned value
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetVideoFormatRange(E_DjiMountPosition position,
+                                                     T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Set video storage format.
+ * @param position: camera mounted position
+ * @param format: storage format.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetVideoStorageFormat(E_DjiMountPosition position,
+                                                E_DjiCameraManagerVideoStorageFormat format);
+
+/**
+ * @brief Get video storage format.
+ * @param position: camera mounted position
+ * @param format: returned value of storage format.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetVideoFormat(E_DjiMountPosition position,
+                                                E_DjiCameraManagerVideoStorageFormat *format);
+
+/**
+ * @brief Get photo ratio range
+ * @param position: camera mounted position
+ * @param rangeList: range list returned value
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetPhotoRatioRange(E_DjiMountPosition position,
+                                                     T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Set camera photo ratio
+ * @param position: camera mounted position
+ * @param photoRatio: ratio to be set
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetPhotoRatio(E_DjiMountPosition position,
+                                               E_DjiCameraManagerPhotoRatio photoRatio);
+
+/**
+ * @brief Get camera photo ratio
+ * @param position: camera mounted position
+ * @param photoRatio: returned value of photo ratio
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetPhotoRatio(E_DjiMountPosition position,
+                                               E_DjiCameraManagerPhotoRatio *photoRatio);
+
+/**
+ * @brief Get camera video resolution and frame rate
+ * @param position: camera mounted position
+ * @param photoRatio: returned value of video resolution and frame rate
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetVideoResolutionFrameRate(E_DjiMountPosition position,
+                                                             T_DjiCameraManagerVideoFormat *videoParam);
+
+/**
+ * @brief Get night scene mode range.
+ * @param position: camera mounted position.
+ * @param tempRange: returned valued of night scene mode range.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetNightSceneModeRange(E_DjiMountPosition position,
+                                                        T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Set night scene mode.
+ * @note Make sure that stream source is zoom or wide camera.
+ * @param position: camera mounted position
+ * @param nightSceneMode: night scene mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetNightSceneMode(E_DjiMountPosition position,
+                                                  E_DjiCameraManagerNightSceneMode nightSceneMode);
+
+/**
+ * @brief Get night scene mode.
+ * @param position: camera mounted position
+ * @param nightSceneMode: pointer to night scene mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetNightSceneMode(E_DjiMountPosition position,
+                                                  E_DjiCameraManagerNightSceneMode *nightSceneMode);
+
+/**
+ * @brief Get range of stream source(s) can be storaged when capturing or recording.
+ * @param position: camera mounted position.
+ * @param rangeList: returned value of range, in member streamStorage.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetStreamStorageRange(E_DjiMountPosition position,
+                                                      T_DjiCameraManagerRangeList *rangeList);
+
+/**
+ * @brief Select capture or recording stream(s) to store.
+ * @note Precondition: set camera's work corresponding to streamType
+ * @param position: camera mounted position.
+ * @param streamType: capture mode or recording mode.
+ * @param streamStorageList: Pointer to the struct that contains stream list.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetCaptureRecordingStreams(E_DjiMountPosition position,
+                                                            E_DjiCameraManagerCaptureOrRecording streamType,
+                                                            T_DjiCameraManagerStreamList *streamStorageList);
+
+/**
+ * @brief Get the stream(s) of capture or recording mode to be storaged.
+ * @param position: camera mounted position.
+ * @param streamType: capture mode or recording mode.
+ * @param streamSourceList: the real return value.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetCaptureRecordingStreams(E_DjiMountPosition position,
+                                                            E_DjiCameraManagerCaptureOrRecording streamType,
+                                                            T_DjiCameraManagerStreamList *streamStorageList);
+
+/**
+ * @brief Turn on/off synchronized split screen zoom function.
+ * @param position: camera mounted position.
+ * @param enable: set true to turn on, false to turn off.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetSynchronizedSplitScreenZoomEnabled(E_DjiMountPosition position, bool enable);
+
+
+/**
+ * @brief Set suffix name of directory or file.
+ * @note For file name, the setting is only valid once.
+ * @param position: camera mounted position.
+ * @param nameType: see E_DjiCameraManagerExpandNameType, select to set name of directory or file.
+ * @param nameSize: size of name string, must be in rang of 1 ~ 239.
+ * @param nameStr: Content of custom suffix name.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetCustomExpandName(E_DjiMountPosition position,
+                                                     E_DjiCameraManagerExpandNameType nameType,
+                                                     const uint8_t *nameStr,
+                                                     uint32_t nameSize);
+
+/**
+ * @brief Get custom past of lastest directory or file name
+ * @param position: camera mounted position
+ * @param nameType: to choose directory or file to get custom name
+ * @param nameStr: name string buffer
+ * @param nameSize: its tell the max size of nameStr and changed to to the actually size of
+ * name string when function finished.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetCustomExpandName(E_DjiMountPosition position,
+                                                     E_DjiCameraManagerExpandNameType nameType,
+                                                     uint8_t *nameStr,
+                                                     uint32_t *nameSize);
+
+
 /**
  * @brief Download selected camera media file list.
  * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
@@ -1054,6 +1493,38 @@ T_DjiReturnCode DjiCameraManager_RegDownloadFileDataCallback(E_DjiMountPosition
  */
 T_DjiReturnCode DjiCameraManager_DownloadFileByIndex(E_DjiMountPosition position, uint32_t fileIndex);
 
+/**
+ * @brief Before downloading media file(s), downloader rights should be obtained.
+ * @param position: the mount position of the camera
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_ObtainDownloaderRights(E_DjiMountPosition position);
+
+/**
+ * @brief After downloading media file(s), downloader rights should be released
+ * @note If not release rights, the pilot app is probably can't access album of camera.
+ * @param position: the mount position of the camera
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_ReleaseDownloaderRights(E_DjiMountPosition position);
+
+/**
+ * @brief Format SD card.
+ * @param position: the mount position of the camera
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_FormatStorage(E_DjiMountPosition position);
+
+/**
+ * @brief Get storage info of SD card.
+ * @note Camera L1/P1 don't support this API.
+ * @param position: the mount position of the camera
+ * @param storageInfo: result of getting, storage info of SD card.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetStorageInfo(E_DjiMountPosition position,
+                                                T_DjiCameraManagerStorageInfo *storageInfo);
+
 /**
  * @brief Delete selected camera media file by file index.
  * @param position: the mount position of the camera
@@ -1112,6 +1583,86 @@ T_DjiReturnCode DjiCameraManager_SetAreaThermometryCoordinate(E_DjiMountPosition
 T_DjiReturnCode DjiCameraManager_GetAreaThermometryData(E_DjiMountPosition position,
                                                         T_DjiCameraManagerAreaThermometryData *areaThermometryData);
 
+/**
+ * @brief Set FFC mode.
+ * @param position: camera mounted position.
+ * @param ffcMode: mode to be set.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetFfcMode(E_DjiMountPosition position, E_DjiCameraManagerFfcMode ffcMode);
+
+/**
+ * @brief Trigger FFC one time.
+ * @param position: camera mounted position.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_TriggerFfc(E_DjiMountPosition position);
+
+/**
+ * @brief Set infrared camera gaim mode.
+ * @param position: camera mounted position.
+ * @param gainMode: gain mode to set.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetInfraredCameraGainMode(E_DjiMountPosition position,
+                                               E_DjiCameraManagerIrGainMode gainMode);
+
+/**
+ * @brief Get temprature range of infrared camera.
+ * @param position: camera mounted position.
+ * @param tempRange: returned valued of temperature range.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetInfraredCameraGainModeTemperatureRange(E_DjiMountPosition position,
+                                                               T_DjiCameraManagerIrTempMeterRange *tempRange);
+
+/**
+ * @brief Set camera metering mode.
+ * @param position: camera mounted position
+ * @param meteringMode: metering mode
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetMeteringMode(E_DjiMountPosition position,
+                                                 E_DjiCameraManagerMeteringMode meteringMode);
+
+/**
+ * @brief Get camera metering mode.
+ * @param position: camera mounted position
+ * @param meteringMode: pointer to returned value of metering mode
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetMeteringMode(E_DjiMountPosition position,
+                                                 E_DjiCameraManagerMeteringMode *meteringMode);
+
+/**
+ * @brief Get range of metering point.
+ * @param position: camera mounted position
+ * @param hrzNum: returned value, horizontal range.
+ * @param vtcNum: returned value, vertical range.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetMeteringPointRegionRange(E_DjiMountPosition position,
+                                                             uint8_t *hrzNum, uint8_t *vtcNum);
+/**
+ * @brief Set metrting point.
+ * @param position: camera mounted position
+ * @param x: Horizontal coordinate value, should be no greater than hrzNum - 1.
+ * @param y: Horizontal coordinate value, should be no greater than vtcNum - 1.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetMeteringPoint(E_DjiMountPosition position,
+                                                  uint8_t x, uint8_t y);
+
+/**
+ * @brief Get camera metering mode.
+ * @param position: camera mounted position
+ * @param x: returned valued, current metering point in horizontal coordinate.
+ * @param y: returned valued, current metering point in vertical coordinate.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetMeteringPoint(E_DjiMountPosition position,
+                                                  uint8_t *x, uint8_t *y);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_error.h

@@ -312,16 +312,132 @@ extern "C" {
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_CAMERA_FOCAL_DISTANCE_INVALID, "Focal distance of camera focalize function exceed valid range. ", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_CAMERA_EXEC_FAIL, "This err code indicate camera fail to exec coressponding cmd	 and the low 8 bit", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_RESV, "Reserved error code", NULL}, \
-{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_INVALID_RPY_ANGLE_CTRL_CMD, "Gimbal roll	pitch	yaw angle ctrl cmd param invalid	", NULL}, \
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_INVALID_RPY_ANGLE_CTRL_CMD, "Gimbal roll	pitch yaw angle ctrl cmd param invalid	", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_INVALID_DURATION_CMD, "Gimbal duration param invalid	 unable to exec. ", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_FAIL_TO_ARRIVE_TGT_ANGLE, "Gimbal fail to arrive target angle . ", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_FAIL_TO_SEND_CMD_TO_GIMBAL, "Fail to send cmd to gimbal for gimbal is busy or no gimbal. ", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_GIMBAL_THIS_INDEX_OF_GIMBAL_NOT_DOING_UNIFORM_CTRL , "Fail to stop gimbal uniform ctrl because index error. ", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_RESV, "Reserved error code", NULL}, \
 {DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_YAW_INVALID_YAW_ANGLE, "Yaw angle is lager max yaw angle. ", NULL}, \
-{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_YAW_TO_TGT_ANGLE_TIMEOUT, "Failed to target yaw angle because of timeout. ", NULL}, \
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_YAW_TO_TGT_ANGLE_TIMEOUT, "Failed to target yaw angle because of timeout. ", NULL},    \
-
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_ACTION_YAW_OCCUPIED, "Failed to target yaw angle because of timeout. ", NULL},    \
-
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_FLIGHT_CUR_AND_TGT_VEL_CLE_STATUE_EQUAL, "Failed to current and target vel not equal. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_RESV, "Failed to payload reserved error code. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_FAIL_TO_SEND_CMD_TO_PAYLOAD, "Failed to sned cmd to payload. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_EXEC_FAILED, "Failed to execute payload actuator. ", NULL},    \
+/* waypoint v3 module error message */   \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_COMMON_SUCCESS, "Execute waypoint v3 cmd successfully. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_MISSION_ID_NOT_EXIST, "Execute waypoint v3 mission id not match. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WAYLINE_INFO_ERROR , "Execute waypoint v3 wayline info error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WPMZ_FILE_VERSION_NOT_MATCH, "Execute waypoint v3 wpmz file not match. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WPMZ_FILE_LOAD_ERROR, "Load waypoint v3 wpmz file error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_NO_BREAK_INFO, "Execute waypoint v3 no break info error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CMD_INVALID, "Execute waypoint v3 cmd invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_START_WAYLINE_WHEN_WAYLINE_RUNNING, "Cannot start wayline when wayline running. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_BREAK_WAYLINE_IN_CUR_STATE, "Cannot break wayline in current state. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_STOP_WAYLINE_WHEN_WAYLINE_NOT_RUNNING, "Cannot stop wayline when wayline not running. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_BREAK_WAYLINE_WHEN_WAYLINE_NOT_RUNNING, "Cannot break wayline when wayline not running. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_REQUEST_DRONE_CONTROL, "Flight mission conflict, unable to obtain control auth of the aircraft. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_RESUME_WAYLINE_IN_CUR_STATE, "Failed to resume wayline in current state. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HEIGHT_LIMIT, "Execute waypoint v3 failed due to height limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RADIUS_LIMIT, "Execute waypoint v3 failed due to radius limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CROSS_FLYLIMIT_AERA, "Execute waypoint v3 failed due to cross flylimit area. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_LOW_LIMIT, "Execute waypoint v3 failed due to low limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_OBSTACAL_STOP, "Execute waypoint v3 failed due to obstacal stop. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RTK_DISCONNECT, "Execute waypoint v3 failed due to rtk disconnect. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_BOUNDARY_LIMIT, "Execute waypoint v3 failed due to boundary limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RC_PITCH_ROLL_BREAK, "Execute waypoint v3 failed due to rc pitch roll break. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AIRPORT_HEIGHT_LIMIT, "Execute waypoint v3 failed due to airport height limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_TAKEOFF_FAIL, "Failed to request take off. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AUTOTAKEOFF_RUN_FAIL, "Failed to run auto take off. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_WAYLINE_FAIL, "Failed to request wayline. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AGRO_PLAN_FAIL, "Failed to agro plan. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_QUICK_TAKEOFF_ASSIST_FAIL, "Failed to request quick take off assist. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_QUICK_TAKEOFF_ASSIST_RUN_FAIL, "Failed to run quick takeoff assist. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_VFENCE_LIMIT, "Execute waypoint v3 failed due to vfence limit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_GPS_INVALID, "Execute waypoint v3 failed due to gps invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_START_AT_CURRENT_RC_MODE, "Failed to start at current rc mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HOME_POINT_NOT_RECORDED, "Execute waypoint v3 failed due to homepoint not recorded. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_LOWER_BATTERY, "Execute waypoint v3 failed due to lower battery. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RETURN_HOME, "Execute waypoint v3 failed due to return home. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ADSB_ERROR, "Execute waypoint v3 failed due to adsb error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RC_LOST, "Execute waypoint v3 failed due to rc lost. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RTK_NOT_READY, "Execute waypoint v3 failed due to rtk not ready. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_IS_MOVING, "Execute waypoint v3 failed due to drone is moving. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_ON_GROUND_MOTOR_ON, "Execute waypoint v3 failed due to drone on ground motor on. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_CAMERA_INVALID, "Execute waypoint v3 failed due to surface follow camera invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_HEIGHT_INVALID, "Execute waypoint v3 failed due to surface follow height invalid.", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_MAP_WRONG, "Execute waypoint v3 failed due to surface follow map wrong. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HOMEPOINT_NOT_MATCH_RTK, "Execute waypoint v3 failed due to homepoint not match rtk. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_STRONG_WIND_GOHOME, "Execute waypoint v3 failed due to strong wind gohome. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_CRITICAL_ERROR, "Execute waypoint v3 failed due to drone critical error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_FIND_PAYLOAD, "Execute waypoint v3 failed due to cannot find payload. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_EXECUTION_FAILED, "Execute waypoint v3 failed due to action execution failed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_FARM_NO_PESTICIDE, "Execute waypoint v3 failed due to farm no pesticide. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RADAR_DISCONNECT, "Execute waypoint v3 failed due to radar disconnect. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_EXIT, "Execute waypoint v3 failed due to user exit. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_BREAK, "Execute waypoint v3 failed due to user break. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_SET_GOHOME, "Execute waypoint v3 failed due to user set gohome. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_AGRO_PLANNER_STATE_CHANGE, "Execute waypoint v3 failed due to user agro panner state change. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_SWITCH_RC_MODE, "Execute waypoint v3 failed due to user switch rc mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INIT_FAIL, "Execute waypoint v3 failed due to traj init failed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_JOB_EXIT_BUT_MIS_RUNNING, "Execute waypoint v3 failed due to traj job exit but mis running. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_ON_GROUND_MOTOR_ON_CANNOT_GO, "Execute waypoint v3 failed due to traj on ground motor is turn on. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_START_INDEX_OR_PROG, "Execute waypoint v3 failed due to traj invalid start index. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_CSYS_MODE, "Execute waypoint v3 failed due to traj invalid csys mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_HEIGHT_MODE, "Execute waypoint v3 failed due to traj invalid height mode. ", NULL},\
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_FLY_WP_MODE, "Execute waypoint v3 failed due to traj invalid fly wp mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_YAW_MODE, "Execute waypoint v3 failed due to traj invalid yaw mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_TURN_DIR_MODE, "Execute waypoint v3 failed due to traj invalid turn dir mode. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_WP_TYPE, "Execute waypoint v3 failed due to traj invalid wp type. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_FIR_LAS_WP_TYPE_ERROR, "Execute waypoint v3 failed due to fir las wp type error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GLOB_VEL_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj wp global vel out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_NUM_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj wp num out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LAT_LONG_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj lat or lon out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_DAMP_DIS_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj damp dis out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_MAX_VEL_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj max vel out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_VEL_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj vel out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_YAW_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj wp yaw out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_YAW_MODE_IN_VERT_SEGM, "Execute waypoint v3 failed due to traj invalid yaw mode in vert segm. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_MISSION_ID_CHANGED, "Execute waypoint v3 failed due to traj wp break info mission id changed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_PROGRESS_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj wp break info progress out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_INVALID_MISSION_STATE, "Execute waypoint v3 failed due to traj wp break info invalid mission state. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_WP_INDEX_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj wp break info wp index out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_BREAK_LAT_LONG_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj break lat or lon out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_BREAK_INFO_WP_YAW_OUT_OF_RANGE, "Execute waypoint v3 failed due to traj break info wp yaw out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_BREAK_INFO_FLAG , "Execute waypoint v3 failed due to traj invalid break info flag. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GET_TRAJ_INFO_FAILED, "Execute waypoint v3 failed due to traj get info failed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GENERATE_FAIL, "Execute waypoint v3 failed due to traj generate failed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LIB_RUN_FAIL, "Execute waypoint v3 failed due to traj lib run failed. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LIB_EMERGENCY_BRAKE, "Execute waypoint v3 failed due to traj lib emergency brake. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NOT_FOUND, "Execute waypoint v3 failed due to action not found. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INDEX_REPEATED, "Execute waypoint v3 failed due to action index repeated. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INFO_SIZE_TOO_LONG_OR_TOO_SHORT, "Execute waypoint v3 failed due to size too long or too short. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_EMPTY, "Execute waypoint v3 failed due to action tree empty. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_EMPTY, "Execute waypoint v3 failed due to action tree layer empty. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_ID_REPEATED, "Execute waypoint v3 failed due to action repeated. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NODE_CHILDREN_NUM_LT_2, "Execute waypoint v3 failed due to action mode children num less than 2. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INDEX_OUT_OF_RANGE, "Execute waypoint v3 failed due to action index out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_ID_IS_65535, "Execute waypoint v3 failed due to action id is 65535. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NODE_CHILDNUM_SUM_NOT_EQ_NEXT_LAYER_SIZE, "Execute waypoint v3 failed due to action node child sum not equal next layer size. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_MORE, "Execute waypoint v3 failed due to action tree layer num too more. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_LESS, "Execute waypoint v3 failed due to action tree layer num too less. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_GROUP_NUM_OUT_OF_RANGE, "Execute waypoint v3 failed due to action group num out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_GROUP_VALID_RANGE_ERROR, "Execute waypoint v3 failed due to action group valid range error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_ROOT_STATUS_INVALID, "Execute waypoint v3 failed due to action tree root status invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_NODE_STATUS_INVALID, "Execute waypoint v3 failed due to action tree mode status invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_OUT_OF_RANGE, "Execute waypoint v3 failed due to break info action group id out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_STATUS_TREE_SIZE_ERROR, "Execute waypoint v3 failed due to action status tree size error. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_TRIGGER_RUN_RESULT_INVALID, "Execute waypoint v3 failed due to break info trigger run result invalid. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_REPEATED, "Execute waypoint v3 failed due to break info action group id repeated. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_REPEATED, "Execute waypoint v3 failed due to break info action location repeated. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_OUT_OF_RANGE, "Execute waypoint v3 failed due to break info action location out of range. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_RESUME_ID_NOT_IN_BREAK_INFO, "Execute waypoint v3 failed due to resume id not in break info. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_RESUME_INFO_MODIFY_ACTION_STATUS_FROM_NO_INTERRUPT_TO_INTERRUPT, "Execute waypoint v3 failed due to modify action status from no interrupt to interrupt. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_RESUME_FAIL_FOR_INVALID_RESUME_INFO, "Execute waypoint v3 failed due to action resume failed for invalid resume info. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTUATOR_COMMON_ACTUATOR_NOT_FOUND, "Execute waypoint v3 failed due to actuator not found. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRIGGER_NOT_FOUND, "Execute waypoint v3 failed due to trigger not found. ", NULL},    \
+{DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRIGGER_SINGLE_TIME_CHECK_FAIL, "Execute waypoint v3 failed due to single time check failed. ", NULL},    \
 
 #define DJI_RETURN_CODE_OK                 DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS /*!< Payload SDK return code represents as status is ok. */
 #define DJI_RETURN_CODE_ERR_ALLOC          DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED /*!< Payload SDK return code represents as status alloc error. */
@@ -375,6 +491,7 @@ typedef enum {
     DJI_ERROR_MODULE_CAMERA_MANAGER,
     DJI_ERROR_MODULE_GIMBAL_MANAGER,
     DJI_ERROR_MODULE_WAYPOINT_V2,
+    DJI_ERROR_MODULE_WAYPOINT_V3,
     DJI_ERROR_MODULE_ERROR,
 } E_DjiErrorModule;
 
@@ -737,6 +854,121 @@ typedef enum {
     DJI_ERROR_WAYPOINT_V2_MODULE_RAW_CODE_ACTUATOR_PAYLOAD_EXEC_FAILED = 0x470002,
 } E_DjiErrorWaypointV2ModuleRawCode;
 
+typedef enum {
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SUCCESS = 0x0000,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_MISSION_ID_NOT_EXIST = 1,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WAYLINE_INFO_ERROR = 2,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WPMZ_FILE_VERSION_NOT_MATCH = 3,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WPMZ_FILE_LOAD_ERROR = 4,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_NO_BREAK_INFO = 5,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CMD_INVALID = 6,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_START_WAYLINE_WHEN_WAYLINE_RUNNING = 257,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_BREAK_WAYLINE_IN_CUR_STATE = 258,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_STOP_WAYLINE_WHEN_WAYLINE_NOT_RUNNING = 259,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_BREAK_WAYLINE_WHEN_WAYLINE_NOT_RUNNING = 260,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_REQUEST_DRONE_CONTROL = 261,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_RESUME_WAYLINE_IN_CUR_STATE = 262,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HEIGHT_LIMIT = 513,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RADIUS_LIMIT = 514,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CROSS_FLYLIMIT_AERA = 515,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_LOW_LIMIT = 516,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_OBSTACAL_STOP = 517,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RTK_DISCONNECT = 518,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_BOUNDARY_LIMIT = 519,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RC_PITCH_ROLL_BREAK = 520,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AIRPORT_HEIGHT_LIMIT = 521,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_TAKEOFF_FAIL = 522,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AUTOTAKEOFF_RUN_FAIL = 523,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_WAYLINE_FAIL = 524,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AGRO_PLAN_FAIL = 525,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_QUICK_TAKEOFF_ASSIST_FAIL = 526,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_QUICK_TAKEOFF_ASSIST_RUN_FAIL = 527,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_VFENCE_LIMIT = 528,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_GPS_INVALID = 769,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_START_AT_CURRENT_RC_MODE = 770,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HOME_POINT_NOT_RECORDED = 771,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_LOWER_BATTERY = 772,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RETURN_HOME = 773,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ADSB_ERROR = 774,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RC_LOST = 775,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RTK_NOT_READY = 776,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_IS_MOVING = 777,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_ON_GROUND_MOTOR_ON = 778,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_CAMERA_INVALID = 779,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_HEIGHT_INVALID = 780,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_MAP_WRONG = 781,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HOMEPOINT_NOT_MATCH_RTK = 782,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_STRONG_WIND_GOHOME = 784,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_CRITICAL_ERROR = 1023,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_FIND_PAYLOAD = 1025,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_EXECUTION_FAILED = 1026,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_FARM_NO_PESTICIDE = 1027,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RADAR_DISCONNECT = 1028,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_EXIT = 1281,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_BREAK = 1282,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_SET_GOHOME = 1283,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_AGRO_PLANNER_STATE_CHANGE = 1284,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_SWITCH_RC_MODE = 1285,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INIT_FAIL = 1536,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_JOB_EXIT_BUT_MIS_RUNNING = 1537,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_ON_GROUND_MOTOR_ON_CANNOT_GO = 1538,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_START_INDEX_OR_PROG = 1539,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_CSYS_MODE = 1540,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_HEIGHT_MODE = 1541,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_FLY_WP_MODE = 1542,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_YAW_MODE = 1543,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_TURN_DIR_MODE = 1544,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_WP_TYPE = 1545,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_FIR_LAS_WP_TYPE_ERROR = 1546,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GLOB_VEL_OUT_OF_RANGE = 1547,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_NUM_OUT_OF_RANGE = 1548,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LAT_LONG_OUT_OF_RANGE = 1549,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_DAMP_DIS_OUT_OF_RANGE = 1550,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_MAX_VEL_OUT_OF_RANGE = 1551,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_VEL_OUT_OF_RANGE = 1552,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_YAW_OUT_OF_RANGE = 1553,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_YAW_MODE_IN_VERT_SEGM = 1554,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_MISSION_ID_CHANGED = 1555,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_PROGRESS_OUT_OF_RANGE = 1556,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_INVALID_MISSION_STATE = 1557,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_WP_INDEX_OUT_OF_RANGE = 1558,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_BREAK_LAT_LONG_OUT_OF_RANGE = 1559,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_BREAK_INFO_WP_YAW_OUT_OF_RANGE = 1560,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_BREAK_INFO_FLAG = 1561,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GET_TRAJ_INFO_FAILED = 1562,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GENERATE_FAIL = 1563,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LIB_RUN_FAIL = 1564,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LIB_EMERGENCY_BRAKE = 1565,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NOT_FOUND = 1588,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INDEX_REPEATED = 1591,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INFO_SIZE_TOO_LONG_OR_TOO_SHORT = 1592,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_EMPTY = 1593,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_EMPTY = 1594,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_ID_REPEATED = 1595,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NODE_CHILDREN_NUM_LT_2 = 1596,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INDEX_OUT_OF_RANGE = 1597,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_ID_IS_65535 = 1598,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NODE_CHILDNUM_SUM_NOT_EQ_NEXT_LAYER_SIZE = 1599,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_MORE = 1600,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_LESS = 1601,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_GROUP_NUM_OUT_OF_RANGE = 1602,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_GROUP_VALID_RANGE_ERROR = 1603,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_ROOT_STATUS_INVALID = 1604,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_NODE_STATUS_INVALID = 1605,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_OUT_OF_RANGE = 1606,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_STATUS_TREE_SIZE_ERROR = 1607,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_TRIGGER_RUN_RESULT_INVALID = 1608,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_REPEATED = 1609,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_REPEATED = 1610,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_OUT_OF_RANGE = 1611,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_RESUME_ID_NOT_IN_BREAK_INFO = 1612,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_RESUME_INFO_MODIFY_ACTION_STATUS_FROM_NO_INTERRUPT_TO_INTERRUPT = 1613,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_RESUME_FAIL_FOR_INVALID_RESUME_INFO = 1614,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTUATOR_COMMON_ACTUATOR_NOT_FOUND = 1634,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRIGGER_NOT_FOUND = 1649,
+    DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRIGGER_SINGLE_TIME_CHECK_FAIL = 1650,
+} E_DjiErrorWaypoint3ModuleRawCode;
+
 //@formatter:off
 /**
  * @brief DJI error code complete works. Users can search all error messages here.
@@ -1016,6 +1248,120 @@ enum DjiErrorCode {
 	DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_RESV = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V2, DJI_ERROR_WAYPOINT_V2_MODULE_RAW_CODE_ACTUATOR_PAYLOAD_RESV),
 	DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_FAIL_TO_SEND_CMD_TO_PAYLOAD = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V2, DJI_ERROR_WAYPOINT_V2_MODULE_RAW_CODE_ACTUATOR_PAYLOAD_FAIL_TO_SEND_CMD_TO_PAYLOAD),
 	DJI_ERROR_WAYPOINT_V2_MODULE_CODE_ACTUATOR_PAYLOAD_EXEC_FAILED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V2, DJI_ERROR_WAYPOINT_V2_MODULE_RAW_CODE_ACTUATOR_PAYLOAD_EXEC_FAILED),
+
+    /* Waypoint v3 total errors */
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_COMMON_SUCCESS = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SUCCESS),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_MISSION_ID_NOT_EXIST = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_MISSION_ID_NOT_EXIST),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WAYLINE_INFO_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WAYLINE_INFO_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WPMZ_FILE_VERSION_NOT_MATCH = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WPMZ_FILE_VERSION_NOT_MATCH),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_WPMZ_FILE_LOAD_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_WPMZ_FILE_LOAD_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_NO_BREAK_INFO = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_NO_BREAK_INFO),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CMD_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CMD_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_START_WAYLINE_WHEN_WAYLINE_RUNNING = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_START_WAYLINE_WHEN_WAYLINE_RUNNING),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_BREAK_WAYLINE_IN_CUR_STATE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_BREAK_WAYLINE_IN_CUR_STATE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_STOP_WAYLINE_WHEN_WAYLINE_NOT_RUNNING = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_STOP_WAYLINE_WHEN_WAYLINE_NOT_RUNNING),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_BREAK_WAYLINE_WHEN_WAYLINE_NOT_RUNNING = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_BREAK_WAYLINE_WHEN_WAYLINE_NOT_RUNNING),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_REQUEST_DRONE_CONTROL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_REQUEST_DRONE_CONTROL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_RESUME_WAYLINE_IN_CUR_STATE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_RESUME_WAYLINE_IN_CUR_STATE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HEIGHT_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HEIGHT_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RADIUS_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RADIUS_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CROSS_FLYLIMIT_AERA = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CROSS_FLYLIMIT_AERA),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_LOW_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_LOW_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_OBSTACAL_STOP = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_OBSTACAL_STOP),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RTK_DISCONNECT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RTK_DISCONNECT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_BOUNDARY_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_BOUNDARY_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RC_PITCH_ROLL_BREAK = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RC_PITCH_ROLL_BREAK),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AIRPORT_HEIGHT_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AIRPORT_HEIGHT_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_TAKEOFF_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_TAKEOFF_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AUTOTAKEOFF_RUN_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AUTOTAKEOFF_RUN_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_WAYLINE_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_WAYLINE_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_AGRO_PLAN_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_AGRO_PLAN_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_REQUEST_QUICK_TAKEOFF_ASSIST_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_REQUEST_QUICK_TAKEOFF_ASSIST_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_QUICK_TAKEOFF_ASSIST_RUN_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_QUICK_TAKEOFF_ASSIST_RUN_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_VFENCE_LIMIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_VFENCE_LIMIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_GPS_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_GPS_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_START_AT_CURRENT_RC_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_START_AT_CURRENT_RC_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HOME_POINT_NOT_RECORDED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HOME_POINT_NOT_RECORDED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_LOWER_BATTERY = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_LOWER_BATTERY),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RETURN_HOME = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RETURN_HOME),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ADSB_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ADSB_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RC_LOST = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RC_LOST),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RTK_NOT_READY = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RTK_NOT_READY),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_IS_MOVING = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_IS_MOVING),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_ON_GROUND_MOTOR_ON = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_ON_GROUND_MOTOR_ON),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_CAMERA_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_CAMERA_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_HEIGHT_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_HEIGHT_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_SURFACE_FOLLOW_MAP_WRONG = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_SURFACE_FOLLOW_MAP_WRONG),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_HOMEPOINT_NOT_MATCH_RTK = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_HOMEPOINT_NOT_MATCH_RTK),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_STRONG_WIND_GOHOME = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_STRONG_WIND_GOHOME),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_DRONE_CRITICAL_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_DRONE_CRITICAL_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_CANNOT_FIND_PAYLOAD = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_CANNOT_FIND_PAYLOAD),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_EXECUTION_FAILED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_EXECUTION_FAILED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_FARM_NO_PESTICIDE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_FARM_NO_PESTICIDE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_RADAR_DISCONNECT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_RADAR_DISCONNECT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_EXIT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_EXIT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_BREAK = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_BREAK),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_SET_GOHOME = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_SET_GOHOME),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_AGRO_PLANNER_STATE_CHANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_AGRO_PLANNER_STATE_CHANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_USER_SWITCH_RC_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_USER_SWITCH_RC_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INIT_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INIT_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_JOB_EXIT_BUT_MIS_RUNNING = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_JOB_EXIT_BUT_MIS_RUNNING),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_ON_GROUND_MOTOR_ON_CANNOT_GO = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_ON_GROUND_MOTOR_ON_CANNOT_GO),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_START_INDEX_OR_PROG = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_START_INDEX_OR_PROG),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_CSYS_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_CSYS_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_HEIGHT_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_HEIGHT_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_FLY_WP_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_FLY_WP_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_YAW_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_YAW_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_TURN_DIR_MODE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_TURN_DIR_MODE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_WP_TYPE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_WP_TYPE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_FIR_LAS_WP_TYPE_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_FIR_LAS_WP_TYPE_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GLOB_VEL_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GLOB_VEL_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_NUM_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_NUM_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LAT_LONG_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LAT_LONG_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_DAMP_DIS_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_DAMP_DIS_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_MAX_VEL_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_MAX_VEL_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_VEL_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_VEL_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_YAW_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_YAW_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_YAW_MODE_IN_VERT_SEGM = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_YAW_MODE_IN_VERT_SEGM),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_MISSION_ID_CHANGED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_MISSION_ID_CHANGED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_PROGRESS_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_PROGRESS_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_INVALID_MISSION_STATE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_INVALID_MISSION_STATE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_WP_BREAK_INFO_WP_INDEX_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_WP_BREAK_INFO_WP_INDEX_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_BREAK_LAT_LONG_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_BREAK_LAT_LONG_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_BREAK_INFO_WP_YAW_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_BREAK_INFO_WP_YAW_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_INVALID_BREAK_INFO_FLAG = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_INVALID_BREAK_INFO_FLAG),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GET_TRAJ_INFO_FAILED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GET_TRAJ_INFO_FAILED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_GENERATE_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_GENERATE_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LIB_RUN_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LIB_RUN_FAIL),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRAJ_LIB_EMERGENCY_BRAKE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRAJ_LIB_EMERGENCY_BRAKE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NOT_FOUND = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NOT_FOUND),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INDEX_REPEATED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INDEX_REPEATED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INFO_SIZE_TOO_LONG_OR_TOO_SHORT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INFO_SIZE_TOO_LONG_OR_TOO_SHORT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_EMPTY = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_EMPTY),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_EMPTY = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_EMPTY),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_ID_REPEATED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_ID_REPEATED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NODE_CHILDREN_NUM_LT_2 = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NODE_CHILDREN_NUM_LT_2),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_INDEX_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_INDEX_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_ID_IS_65535 = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_ID_IS_65535),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_NODE_CHILDNUM_SUM_NOT_EQ_NEXT_LAYER_SIZE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_NODE_CHILDNUM_SUM_NOT_EQ_NEXT_LAYER_SIZE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_MORE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_MORE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_LESS = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_LAYER_NUM_TOO_LESS),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_GROUP_NUM_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_GROUP_NUM_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_GROUP_VALID_RANGE_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_GROUP_VALID_RANGE_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_ROOT_STATUS_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_ROOT_STATUS_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_TREE_NODE_STATUS_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_TREE_NODE_STATUS_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_STATUS_TREE_SIZE_ERROR = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_STATUS_TREE_SIZE_ERROR),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_TRIGGER_RUN_RESULT_INVALID = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_TRIGGER_RUN_RESULT_INVALID),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_REPEATED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_GROUP_ID_REPEATED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_REPEATED = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_REPEATED),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_OUT_OF_RANGE = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_BREAK_INFO_ACTION_LOCATION_OUT_OF_RANGE),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_RESUME_ID_NOT_IN_BREAK_INFO = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_RESUME_ID_NOT_IN_BREAK_INFO),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_RESUME_INFO_MODIFY_ACTION_STATUS_FROM_NO_INTERRUPT_TO_INTERRUPT = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_RESUME_INFO_MODIFY_ACTION_STATUS_FROM_NO_INTERRUPT_TO_INTERRUPT),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTION_COMMON_ACTION_RESUME_FAIL_FOR_INVALID_RESUME_INFO = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTION_COMMON_ACTION_RESUME_FAIL_FOR_INVALID_RESUME_INFO),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_ACTUATOR_COMMON_ACTUATOR_NOT_FOUND = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_ACTUATOR_COMMON_ACTUATOR_NOT_FOUND),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRIGGER_NOT_FOUND = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRIGGER_NOT_FOUND),
+    DJI_ERROR_WAYPOINT_V3_MODULE_CODE_TRIGGER_SINGLE_TIME_CHECK_FAIL = DJI_ERROR_CODE(DJI_ERROR_MODULE_WAYPOINT_V3, DJI_ERROR_WAYPOINT_V3_MODULE_RAW_CODE_TRIGGER_SINGLE_TIME_CHECK_FAIL),
 };
 //@formatter:on
 

psdk_lib/include/dji_fc_subscription.h

@@ -520,6 +520,12 @@ typedef enum {
     DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_SINGLE_INFO_INDEX2 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC,
                                                                                        47),
 
+    /*!
+     * @brief Please refer to ::T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp for information about data structure.
+     * @datastruct \ref T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp
+     */
+    DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
+
     /*! Total number of topics that can be subscribed. */
     DJI_FC_SUBSCRIPTION_TOPIC_TOTAL_NUMBER,
 } E_DjiFcSubscriptionTopic;
@@ -1165,6 +1171,27 @@ typedef struct GimbalThreeData {
     GimbalAnglesData anglesData[3];
 } T_DjiFcSubscriptionThreeGimbalData;
 
+/**
+ * @brief Struct for the topic DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP. Used in M300
+ */
+typedef struct ImuAttiNaviDataWithTimestamp {
+    uint16_t version;
+    uint16_t flag;
+    dji_f32_t pn_x;
+    dji_f32_t pn_y;
+    dji_f32_t pn_z;
+    dji_f32_t vn_x;
+    dji_f32_t vn_y;
+    dji_f32_t vn_z;
+    dji_f32_t an_x;
+    dji_f32_t an_y;
+    dji_f32_t an_z;
+    dji_f32_t q[4];
+    uint16_t resv;
+    uint16_t cnt;
+    uint32_t timestamp;
+} T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp;
+
 #pragma pack()
 
 /* Exported functions --------------------------------------------------------*/

psdk_lib/include/dji_flight_controller.h

@@ -260,21 +260,29 @@ typedef struct {
 typedef struct {
     char serialNum[32];
 } T_DjiFlightControllerGeneralInfo;
+
+typedef struct {
+    dji_f64_t latitude;  /*!< unit: rad */
+    dji_f64_t longitude; /*!< unit: rad */
+    uint16_t altitude;
+} T_DjiFlightControllerRidInfo;
+
 #pragma pack()
 
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise flight controller module, and user should call this function
  * before using flight controller features.
+ * @param ridInfo: Use PSDK to control the aircraft, must report the correct RID information.
  * @return Execution result.
  */
-T_DjiReturnCode DjiFlightController_Init(void);
+T_DjiReturnCode DjiFlightController_Init(T_DjiFlightControllerRidInfo ridInfo);
 
 /**
  * @brief DeInitialise flight controller module.
  * @return Execution result.
  */
-T_DjiReturnCode DjiFlightController_Deinit(void);
+T_DjiReturnCode DjiFlightController_DeInit(void);
 
 /**
  * @brief Enable/Disable RTK position function.
@@ -519,7 +527,7 @@ T_DjiReturnCode DjiFlightController_SetHomeLocationUsingCurrentAircraftLocation(
  * @brief Set go home altitude.
  * @note If aircraft's current altitude is higher than the setting value of go home altitude, aircraft will go home
  * using current altitude. Otherwise, it will climb to setting of go home altitude ,and then execute go home action.
- * Go home altitude setting is 20m ~ 500m.
+ * Go home altitude setting is 20m ~ 1500m.
  * @param altitude: go home altitude, unit: meter
  * @return Execution result.
  */

psdk_lib/include/dji_gimbal.h

@@ -66,6 +66,12 @@ typedef enum {
     /*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune 
      * angle of yaw axis of gimbal, and reset pitch axis angle to the fine tune angle. */
     DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW = 3,
+    /*! Reset only pitch axis of gimbal. */
+    DJI_GIMBAL_RESET_MODE_PITCH_ONLY = 4,
+    /*! Reset only roll axis of gimbal. */
+    DJI_GIMBAL_RESET_MODE_ROLL_ONLY = 5,
+    /*! Reset only yaw axis of gimbal. */
+    DJI_GIMBAL_RESET_MODE_YAW_ONLY = 6,
     /*! Reset yaw axis and pitch axis of gimbal. Reset angle of yaw axis to sum of yaw axis angle of aircraft and fine tune
      * angle of yaw axis of gimbal, and reset pitch axis angle to sum of -90 degree and fine tune angle if gimbal
      * downward, sum of 90 degree and fine tune angle if upward. */

psdk_lib/include/dji_gimbal_manager.h

@@ -28,6 +28,7 @@
 #define DJI_GIMBAL_MANAGER_H
 
 /* Includes ------------------------------------------------------------------*/
+#include <dji_gimbal.h>
 #include "dji_typedef.h"
 
 #ifdef __cplusplus
@@ -73,9 +74,10 @@ T_DjiReturnCode DjiGimbalManager_SetMode(E_DjiMountPosition mountPosition, E_Dji
 /**
  * @brief Reset the pitch and yaw of the gimbal.
  * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param mode: Reset mode, input limit see enum E_DjiGimbalResetMode
  * @return Execution result.
  */
-T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition);
+T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition, E_DjiGimbalResetMode resetMode);
 
 /**
  * @brief Rotate the angle of the gimbal.
@@ -86,6 +88,46 @@ T_DjiReturnCode DjiGimbalManager_Reset(E_DjiMountPosition mountPosition);
  */
 T_DjiReturnCode DjiGimbalManager_Rotate(E_DjiMountPosition mountPosition, T_DjiGimbalManagerRotation rotation);
 
+/*!
+ * @brief Prototype of callback function used to enable or disable extended pitch axis angle range.
+ * @details Switching the gimbal limit euler angle of pitch axis to the extended limit angle or the default limit
+ * angle.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param enabledFlag: flag specified whether enable or disable extended pitch axis angle range.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetPitchRangeExtensionEnabled(E_DjiMountPosition mountPosition, bool enabledFlag);
+
+/**
+ * @brief Set max speed percentage for gimbal controller.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param axis: axis to be set.
+ * @param maxSpeedPercentage: max speed value. Recommended calculation formula is "spd = default_max_spd * x / 100",
+ * x is default max speed value. Range from 1 to 100.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetControllerMaxSpeedPercentage(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
+                                                                 uint8_t maxSpeedPercentage);
+
+/**
+ * @brief Set smooth factor for gimbal controller, using to smooth control.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @param axis: axis to be set.
+ * @param smoothingFactor: smooth factor. The larger the value, the smaller the acceleration of gimbal. Recommended
+ * calculation formula is "acc = 10000 * (0.8 ^ (1 + x)) deg/s^2", x is smooth factor. Range from 0 to 30.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_SetControllerSmoothFactor(E_DjiMountPosition mountPosition, E_DjiGimbalAxis axis,
+                                                           uint8_t smoothingFactor);
+
+/**
+ * @brief Restore factory settings of gimbal, including fine tune angle, pitch angle extension enable flag and max
+ * speed etc.
+ * @param mountPosition: gimbal mount position, input limit see enum E_DjiMountPosition
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiGimbalManager_RestoreFactorySettings(E_DjiMountPosition mountPosition);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_hms.h

@@ -29,6 +29,8 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "dji_typedef.h"
+#include "dji_hms_customization.h"
+#include "dji_hms_manager.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -37,113 +39,8 @@ 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;
-    uint8_t errorLevel;
-} T_DjiHmsInfo;
-
-typedef struct {
-    T_DjiHmsInfo *hmsInfo;
-    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 --------------------------------------------------------*/
-/**
- * @brief Initialise hms module, and user should call this function
- * before using hms features.
- * @return Execution result.
- */
-T_DjiReturnCode DjiHms_Init(void);
-
-/**
- * @brief Deinitialise hms module.
- * @return Execution result.
- */
-T_DjiReturnCode DjiHms_DeInit(void);
-
-/**
- * @brief Register callback to get hms info.
- * @note: Data is pushed with a frequency of 1Hz.
- * @param callback: see reference of DjiHmsInfoCallback.
- * @return Execution result.
- */
-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
 }

psdk_lib/include/dji_hms_customization.h

@@ -0,0 +1,133 @@
+/**
+ ********************************************************************
+ * @file    dji_hms_customization.h
+ * @brief   This is the header file for "dji_hms_customization.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_HMS_CUSTOMIZATION_H
+#define DJI_HMS_CUSTOMIZATION_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 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 {
+    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;
+
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialise hms customization module, and user should call this function
+ * before using hms customization features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHmsCustomization_Init(void);
+
+/**
+ * @brief DeInitialize hms manager module.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHmsCustomization_DeInit(void);
+
+/**
+ * @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 DjiHmsCustomization_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 DjiHmsCustomization_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 DjiHmsCustomization_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 DjiHmsCustomization_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 DjiHmsCustomization_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 DjiHmsCustomization_RegHmsTextConfigByBinaryArray(E_DjiMobileAppLanguage appLanguage,
+                                                                  const T_DjiHmsBinaryArrayConfig *binaryArrayConfig);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_HMS_CUSTOMIZATION_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

psdk_lib/include/dji_hms_info_table.h

@@ -43,7 +43,9 @@ typedef struct {
     const char *flyAlarmInfo;    /*! alarm information when the flight is in the air*/
 } T_DjiHmsErrCodeInfo;
 
-/*! HMS's error code table*/
+/*! Note: This api header file will not be maintained in the future, please refer to the latest hms error code file in
+ * the hms sample.
+ */
 const T_DjiHmsErrCodeInfo hmsErrCodeInfoTbl[] = {
     {0x16070035, "Aircraft D-RTK antenna error. Fly with caution",                                                                                        ""},
     {0x16070034, "RTK flight heading inconsistent with other sources. Fly with caution",                                                                  ""},

psdk_lib/include/dji_hms_manager.h

@@ -0,0 +1,80 @@
+/**
+ ********************************************************************
+ * @file    dji_hms_manager.h
+ * @brief   This is the header file for "dji_hms_manager.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_HMS_MANAGER_H
+#define DJI_HMS_MANAGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    uint32_t errorCode;
+    uint8_t componentIndex;
+    uint8_t errorLevel;
+} T_DjiHmsInfo;
+
+typedef struct {
+    T_DjiHmsInfo *hmsInfo;
+    uint32_t hmsInfoNum;
+} T_DjiHmsInfoTable;
+
+typedef T_DjiReturnCode (*DjiHmsInfoCallback)(T_DjiHmsInfoTable hmsInfoTable);
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialise hms manager module, and user should call this function
+ * before using hms manager features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHmsManager_Init(void);
+
+/**
+ * @brief DeInitialize hms manager module.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHmsManager_DeInit(void);
+
+/**
+ * @brief Register callback to get hms info.
+ * @note: Data is pushed with a frequency of 1Hz.
+ * @param callback: see reference of DjiHmsInfoCallback.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiHmsManager_RegHmsInfoCallback(DjiHmsInfoCallback callback);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_HMS_MANAGER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

psdk_lib/include/dji_interest_point.h

@@ -0,0 +1,74 @@
+/**
+ ********************************************************************
+ * @file    dji_interest_point.h
+ * @version V1.0.0
+ * @date    2020/11/19
+ * @brief   This is the header file for "dji_interest_point.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_INTEREST_POINT_H
+#define DJI_INTEREST_POINT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct {
+    dji_f32_t curSpeed;
+    dji_f32_t radius;
+    uint8_t state;
+} T_DjiInterestPointMissionState;
+
+typedef struct {
+    dji_f64_t latitude;
+    dji_f64_t longitude;
+    dji_f32_t speed;
+} T_DjiInterestPointSettings;
+
+typedef T_DjiReturnCode (*InterestPointMissionStateCallback)(T_DjiInterestPointMissionState missionState);
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiInterestPoint_Init(void);
+
+T_DjiReturnCode DjiInterestPoint_DeInit(void);
+
+T_DjiReturnCode DjiInterestPoint_Start(T_DjiInterestPointSettings settings);
+
+T_DjiReturnCode DjiInterestPoint_Stop(void);
+
+T_DjiReturnCode DjiInterestPoint_SetSpeed(dji_f32_t speed);
+
+T_DjiReturnCode DjiInterestPoint_RegMissionStateCallback(InterestPointMissionStateCallback callback);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_INTEREST_POINT_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

psdk_lib/include/dji_positioning.h

@@ -39,6 +39,14 @@ extern "C" {
 /* Exported constants --------------------------------------------------------*/
 
 /* Exported types ------------------------------------------------------------*/
+/**
+ * @brief Positioning rtcm data type.
+ */
+typedef enum {
+    DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT = 0,
+    DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION = 1,
+} E_DjiPositioningRtcmDataType;
+
 /**
  * @brief Data structure that describes a positioning event.
  */
@@ -84,6 +92,15 @@ typedef struct {
     T_DjiPositioningPositionStandardDeviation targetPointPositionStandardDeviation; /*!< Specifies position standard deviation of target points. */
 } T_DjiPositioningPositionInfo;
 
+/**
+ * @brief Prototype of callback function used to receive the rtk rtcm raw data.
+ * @param index: the index of rtcm data package.
+ * @param data: pointer to receive rtk rtcm data from aircraft.
+ * @param dataLen: receive data length of rtcm data from aircraft.
+ * @return Execution result.
+ */
+typedef T_DjiReturnCode (*DjiReceiveRtkRtcmDataCallback)(uint8_t index, const uint8_t *data, uint16_t dataLen);
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise positioning module in blocking mode. User should call this function before all other positioning
@@ -128,6 +145,15 @@ void DjiPositioning_SetTaskIndex(uint8_t index);
 T_DjiReturnCode DjiPositioning_GetPositionInformationSync(uint8_t eventCount, T_DjiPositioningEventInfo *eventInfo,
                                                           T_DjiPositioningPositionInfo *positionInfo);
 
+/**
+ * @brief Register callback function used to receive rtk rtcm raw data by data type.
+ * @note The callback function will be called after registering. The call frequency depends on the number of satellites.
+ * @param callback: pointer to the callback function.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiPositioning_RegReceiveRtcmDataCallback(E_DjiPositioningRtcmDataType dataType,
+                                                          DjiReceiveRtkRtcmDataCallback callback);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_typedef.h

@@ -122,6 +122,7 @@ typedef enum {
     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_L2, /*!< Camera type is L2. */
     DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
     DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
     DJI_CAMERA_TYPE_M3E, /*!< Camera type is M3E. */
@@ -136,6 +137,8 @@ typedef enum {
     DJI_CAMERA_FILE_TYPE_DNG = 1, /*!< Media file DNG type. */
     DJI_CAMERA_FILE_TYPE_MOV = 2, /*!< Media file MOV type. */
     DJI_CAMERA_FILE_TYPE_MP4 = 3, /*!< Media file MP4 type. */
+    DJI_CAMERA_FILE_TYPE_TIFF = 5, /*!< Media file TIFF type. */
+    DJI_CAMERA_FILE_TYPE_PCD = 24, /*!< Media file point cloud type. */
     DJI_CAMERA_FILE_TYPE_UNKNOWN = 255, /*!< Media file unknown type. */
 } E_DjiCameraMediaFileType;
 
@@ -228,6 +231,7 @@ typedef enum {
     DJI_CHANNEL_ADDRESS_EXTENSION_PORT,
     DJI_CHANNEL_ADDRESS_MASTER_RC_APP,
     DJI_CHANNEL_ADDRESS_SLAVE_RC_APP,
+    DJI_CHANNEL_ADDRESS_CLOUD_API,
 } E_DjiChannelAddress;
 
 /**

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     5 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     6 /*!< 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     1765 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1882 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

psdk_lib/include/dji_waypoint_v2_type.h

@@ -184,7 +184,7 @@ typedef enum {
      *  using ``DJIWaypointV2_pointOfInterest`` setting point of interest coordiate and ``DJIWaypointV2_pointOfInterestAltitude``
      *  setting point of interset altitute.
      */
-    DJI_WAYPOINT_V2_HEADING_TOWARDS_POINT_OD_INTEREST,
+    DJI_WAYPOINT_V2_HEADING_TOWARDS_POINT_OF_INTEREST,
 
     /**
      *  The aircraft's heading rotate simultaneously with its gimbal's yaw.

samples/sample_c++/module_sample/camera_manager/test_camera_manager_entry.cpp

@@ -54,6 +54,22 @@ static const char *s_cameraManagerSampleSelectList[] = {
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY]                    = "Thermometry test                                    |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO]         = "Get lidar ranging info                              |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM]           = "Set ir camera zoom param                            |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE]           = "Set night scene mode                                |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS]  = "Set capture or recording streams storage type       |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO]              = "Show storage info                                   |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD]                 = "Format SD card                                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM]                  = "Set synchronized split screen zoom                  |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME]  = "Set custom directory or file name of media file     |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS]          = "Reset camera settings                               |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE]               = "Set AE lock mode                                    |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE]           = "Set focus ring value                                |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST]            = "Camera connect status test                          |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM]      = "Set camera photo and video storage param            |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE]              = "Set camera metering mode                            |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT]             = "Set and get camera metering point                   |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER]           = "Set FFC mode and trriger a FFC                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE]                  = "Set infrared camera gain mode                       |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS]              = "Get camera status, capturing & recording status etc |",
 };
 
 /* Private types -------------------------------------------------------------*/

samples/sample_c++/module_sample/flight_controller/config/flying_config.json

@@ -0,0 +1,68 @@
+{
+  "rc_lost_action": {
+    "desc_cn": "失控行为",
+    "desc_en": "rc lost action",
+    "desc_range": "go_home/hover/landing",
+    "value": "go_home"
+  },
+  "go_home_altitude": {
+    "desc_cn": "返航高度",
+    "desc_en": "go home altitude",
+    "desc_range": "0 - 1500",
+    "value": 60
+  },
+  "flying_speed": {
+    "desc_cn": "飞行速度",
+    "desc_en": "flying speed",
+    "desc_range": "0 - 10",
+    "value": 5.0
+  },
+  "home_point_latitude": {
+    "desc_cn": "home点纬度",
+    "desc_en": "home point latitude",
+    "desc_range": "-90 - 90",
+    "value": 22.5425
+  },
+  "home_point_longitude": {
+    "desc_cn": "home点经度",
+    "desc_en": "home point longitude",
+    "desc_range": "-180 - 180",
+    "value": 113.9575
+  },
+  "rtk_enable": {
+    "desc_cn": "RTK开关",
+    "desc_en": "RTK Enable",
+    "desc_range": "true/false",
+    "value": "false"
+  },
+  "HorizontalVisualObstacleAvoidanceEnable": {
+    "desc_cn": "水平视觉避障开关",
+    "desc_en": "Horizontal Visual Avoidance",
+    "desc_range": "true/false",
+    "value": "false"
+  },
+  "HorizontalRadarObstacleAvoidanceEnable": {
+    "desc_cn": "水平TOF避障开关",
+    "desc_en": "Horizontal TOF Avoidance",
+    "desc_range": "true/false",
+    "value": "false"
+  },
+  "UpwardsVisualObstacleAvoidanceEnable": {
+    "desc_cn": "上视觉避障开关",
+    "desc_en": "Upwards Visual Avoidance",
+    "desc_range": "true/false",
+    "value": "false"
+  },
+  "UpwardsRadarObstacleAvoidanceEnable": {
+    "desc_cn": "上TOF开关",
+    "desc_en": "Upwards TOF Avoidance",
+    "desc_range": "true/false",
+    "value": "false"
+  },
+  "DownwardsVisualObstacleAvoidanceEnable": {
+    "desc_cn": "下视觉避障开关",
+    "desc_en": "Downwards Visual Avoidance",
+    "desc_range": "true/false",
+    "value": "false"
+  }
+}

samples/sample_c++/module_sample/flight_controller/test_flight_controller_command_flying.h

@@ -0,0 +1,48 @@
+/**
+ ********************************************************************
+ * @file    test_flight_controller_command_flying.h
+ * @brief   This is the header file for "test_flight_controller_command_flying.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
+#define TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+void DjiUser_RunFlightControllerCommandFlyingSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_FLIGHT_CONTROLLER_COMMAND_FLYING_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/module_sample/flight_controller/test_flight_controller_entry.cpp

@@ -0,0 +1,109 @@
+/**
+ ********************************************************************
+ * @file    test_flight_controller_entry.cpp
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <iostream>
+#include <flight_control/test_flight_control.h>
+#include "test_flight_controller_entry.h"
+#include "dji_logger.h"
+#include "test_flight_controller_command_flying.h"
+#include <waypoint_v2/test_waypoint_v2.h>
+#include <waypoint_v3/test_waypoint_v3.h>
+#include <interest_point/test_interest_point.h>
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUser_RunFlightControllerSample(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    char inputSelectSample;
+
+start:
+    osalHandler->TaskSleepMs(100);
+
+    std::cout
+        << "\n"
+        << "| Available commands:                                                                              |\n"
+        << "| [0] Flight controller sample - control flying with keyboard                                      |\n"
+        << "| [1] Flight controller sample - take off landing                                                  |\n"
+        << "| [2] Flight controller sample - take off position ctrl landing                                    |\n"
+        << "| [3] Flight controller sample - take off go home force landing                                    |\n"
+        << "| [4] Flight controller sample - take off velocity ctrl landing                                    |\n"
+        << "| [5] Flight controller sample - arrest flying                                                     |\n"
+        << "| [6] Flight controller sample - set get parameters                                                |\n"
+        << "| [7] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK)             |\n"
+        << "| [8] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK)              |\n"
+        << "| [9] Interest point sample - run interest point mission by settings (only support on M3E/M3T)     |\n"
+        << std::endl;
+
+    std::cin >> inputSelectSample;
+    switch (inputSelectSample) {
+        case '0':
+            DjiUser_RunFlightControllerCommandFlyingSample();
+            goto start;
+        case '1':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
+            goto start;
+        case '2':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
+            goto start;
+        case '3':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
+            goto start;
+        case '4':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
+            goto start;
+        case '5':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
+            goto start;
+        case '6':
+            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
+            goto start;
+        case '7':
+            DjiTest_WaypointV2RunSample();
+            break;
+        case '8':
+            DjiTest_WaypointV3RunSample();
+            break;
+        case '9':
+            DjiTest_InterestPointRunSample();
+            break;
+        case 'q':
+            break;
+        default:
+            USER_LOG_ERROR("Input command is invalid");
+            goto start;
+    }
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/module_sample/flight_controller/test_flight_controller_entry.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    test_flight_controller_entry.h
+ * @brief   This is the header file for "test_flight_controller_entry.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_FLIGHT_CONTROLLER_ENTRY_H
+#define TEST_FLIGHT_CONTROLLER_ENTRY_H
+
+/* Includes ------------------------------------------------------------------*/
+#include <gimbal_manager/test_gimbal_manager.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+void DjiUser_RunFlightControllerSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_FLIGHT_CONTROLLER_ENTRY_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp

@@ -29,7 +29,12 @@
 #include "test_gimbal_entry.hpp"
 #include "dji_logger.h"
 #include "utils/util_misc.h"
+#include "dji_gimbal.h"
+#include "dji_gimbal_manager.h"
 #include <iostream>
+#include "dji_aircraft_info.h"
+#include "dji_fc_subscription.h"
+#include <math.h>
 
 /* Private constants ---------------------------------------------------------*/
 
@@ -37,6 +42,11 @@
 typedef enum {
     E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_FREE_MODE,
     E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS,
+    E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD,
     E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT,
 } E_DjiTestGimbalManagerSampleSelect;
 
@@ -46,6 +56,16 @@ static const char *s_gimbalManagerSampleList[] = {
     "| [0] Gimbal manager sample - Rotate gimbal on free mode                                           |",
     [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_ON_YAW_FOLLOW_MODE] =
     "| [1] Gimbal manager sample - Rotate gimbal on yaw follow mode                                     |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_PITCH_RANGE_EXTENSION_MODE] =
+    "| [2] Gimbal manager sample - Set pitch range extension mode                                       |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_MAX_SPEED_PERCENTAGE] =
+    "| [3] Gimbal manager sample - Set controller max speed percentage                                  |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_SET_CONTROLLER_SMOOTH_FACTOR] =
+    "| [4] Gimbal manager sample - Set controller smooth factor                                         |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_RESET_GIMBAL_SETTINGS] =
+    "| [5] Gimbal manager sample - Reset gimbal settings                                                |",
+    [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_ROTATE_GIMBAL_BY_KEYBOARD] =
+    "| [6] Gimbal manager sample - Rotate gimbal by keyboard input and read back value                  |",
     [E_DJI_TEST_GIMBAL_MANAGER_SAMPLE_SELECT_QUIT] =
     "| [q] Gimbal manager sample - Quit                                                                 |",
 };
@@ -60,6 +80,7 @@ void DjiUser_RunGimbalManagerSample(void)
     char inputTestCase;
     char mountPosition;
     E_DjiMountPosition gimbalMountPosition;
+    T_DjiReturnCode returnCode;
 
 start:
     osalHandler->TaskSleepMs(100);
@@ -110,6 +131,297 @@ start:
         case '1':
             DjiTest_GimbalManagerRunSample(gimbalMountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
             goto start;
+        case '2': {
+            int32_t enableFlag;
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input enable flag: ");
+            scanf("%d", &enableFlag);
+
+            returnCode = DjiGimbalManager_Init();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
+                return;
+            }
+
+            returnCode = DjiGimbalManager_SetPitchRangeExtensionEnabled(gimbalMountPosition, (bool)enableFlag);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Set gimbal's pitch range extension mode as %d successfully!", enableFlag);
+
+            goto start;
+            break;
+        }
+        case '3': {
+            int32_t percentage;
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input max speed percentage of yaw axis: ");
+            scanf("%d", &percentage);
+
+            returnCode = DjiGimbalManager_Init();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
+                return;
+            }
+
+            returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)percentage);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Set yaw axis's max speed percentage to %d successfully!", percentage);
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input max speed percentage of pitch axis: ");
+            scanf("%d", &percentage);
+
+            returnCode = DjiGimbalManager_SetControllerMaxSpeedPercentage(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)percentage);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Set pitch axis's max speed percentage to %d successfully!", percentage);
+
+            goto start;
+            break;
+        }
+        case '4': {
+            int32_t factor;
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input yaw axis's smooth factor: ");
+            scanf("%d", &factor);
+
+            returnCode = DjiGimbalManager_Init();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
+                return;
+            }
+
+            returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_YAW, (uint8_t)factor);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Set yaw axis smooth factor to %d successfully!", factor);
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input pitch axis's smooth factor: ");
+            scanf("%d", &factor);
+
+            returnCode = DjiGimbalManager_SetControllerSmoothFactor(gimbalMountPosition, DJI_GIMBAL_AXIS_PITCH, (uint8_t)factor);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Set pitch axis smooth factor to %d successfully!", factor);
+
+            goto start;
+            break;
+        }
+        case '5': {
+
+            returnCode = DjiGimbalManager_Init();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
+                return;
+            }
+
+            returnCode = DjiGimbalManager_RestoreFactorySettings(gimbalMountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed!");
+            }
+
+            USER_LOG_INFO("Reset gimbal factory settings successfully!");
+
+            goto start;
+            break;
+        }
+        case '6': {
+            uint32_t gimbalMode;
+            uint32_t rotateMode;
+            dji_f32_t pitch, roll, yaw;
+            T_DjiGimbalManagerRotation rotation;
+            T_DjiAircraftInfoBaseInfo baseInfo;
+            E_DjiAircraftSeries aircraftSeries;
+
+            returnCode = DjiGimbalManager_Init();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Init gimbal manager error, return code 0x%08X", returnCode);
+                return;
+            }
+
+            returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
+                goto end;
+            }
+
+            aircraftSeries = baseInfo.aircraftSeries;
+
+            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
+                returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d",
+                                   DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP, returnCode);
+                    goto end;
+                }
+
+                returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, returnCode);
+                    goto end;
+                }
+            }
+
+
+            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
+                returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA, returnCode);
+                    goto end;
+                }
+                USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA succefully.");
+            }
+            else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
+                returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
+                    goto end;
+                }
+                USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES succefully.");
+            }
+
+
+            while (1) {
+                T_DjiFcSubscriptionQuaternion quat;
+                T_DjiFcSubscriptionThreeGimbalData threeGimbalData = {0};
+                T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
+                T_DjiDataTimestamp timestamp = {0};
+                dji_f32_t nPitch, nRoll, nYaw;
+                dji_f32_t qPitch, qRoll, qYaw;
+                dji_f32_t yawOffset = 0;
+                T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp naviData = {0};
+
+                osalHandler->TaskSleepMs(5);
+                printf("gimbal mode: 0: free, 1: fpv, 2: yaw-follow, 3: exit sample\n");
+                printf("rotate mode: 0: rel, 1: abs\n");
+                printf("Input gimbal mode, rotate mode, p, r, y(range in 0 ~ 360 deg if in abs mode): ");
+
+                scanf("%d", &gimbalMode);
+                if (gimbalMode == 3) {
+                    break;
+                }
+
+                scanf("%d %f %f %f", &rotateMode, &pitch, &roll, &yaw);
+
+                printf("gimbale mode %d, rotate mode %d, p %f, r %f, y %f\n",
+                       gimbalMode, rotateMode, pitch, roll, yaw);
+
+                returnCode = DjiGimbalManager_SetMode(gimbalMountPosition, (E_DjiGimbalMode)gimbalMode);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiGimbalManager_SetMode return 0x%08X", returnCode);
+                    goto end;
+                }
+
+                rotation.rotationMode = (E_DjiGimbalRotationMode)rotateMode;
+                rotation.pitch = pitch;
+                rotation.roll = roll;
+                rotation.yaw = yaw;
+                rotation.time = 0.5;
+
+                if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
+                    osalHandler->TaskSleepMs(20);
+                    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP,
+                                                                        (uint8_t *) &naviData,
+                                                                        sizeof(T_DjiFcSubscriptionImuAttiNaviDataWithTimestamp),
+                                                                        &timestamp);
+                    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("returnCode = 0x%08X", returnCode);
+                    }
+
+                    nYaw = (dji_f64_t) atan2f(2 * naviData.q[1] * naviData.q[2] + 2 * naviData.q[0] * naviData.q[3],
+                                            -2 * naviData.q[2] * naviData.q[2] - 2 * naviData.q[3] * naviData.q[3] + 1) * 57.3;
+
+                    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION,
+                                                                        (uint8_t *) &quat,
+                                                                        sizeof(T_DjiFcSubscriptionQuaternion),
+                                                                        &timestamp);
+                    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
+                        goto end;
+                    }
+
+                    qYaw = (dji_f64_t) atan2f(2 * quat.q1 * quat.q2 + 2 * quat.q0 * quat.q3,
+                                            -2 * quat.q2 * quat.q2 - 2 * quat.q3 * quat.q3 + 1) * 57.3;
+
+
+                    yawOffset = nYaw - qYaw;
+
+                    if (rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
+                        rotation.yaw += yawOffset;
+                    }
+                }
+
+                returnCode = DjiGimbalManager_Rotate(gimbalMountPosition, rotation);
+                if (returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_POSITIVE_LIMIT ||
+                    returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_PITCH_REACH_NEGATIVE_LIMIT ||
+                    returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_POSITIVE_LIMIT ||
+                    returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_ROLL_REACH_NEGATIVE_LIMIT ||
+                    returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_POSITIVE_LIMIT ||
+                    returnCode == DJI_ERROR_GIMBAL_MODULE_CODE_YAW_REACH_NEGATIVE_LIMIT) {
+                    USER_LOG_WARN("Reach limitation!");
+                }
+                else if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("DjiGimbalManager_Rotate return %x%08X", returnCode);
+                    goto end;
+                }
+
+                osalHandler->TaskSleepMs(2000);
+
+                if (aircraftSeries == DJI_AIRCRAFT_SERIES_M300 || aircraftSeries == DJI_AIRCRAFT_SERIES_M350) {
+                    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA,
+                                                                        (uint8_t *) &threeGimbalData,
+                                                                        sizeof(T_DjiFcSubscriptionThreeGimbalData),
+                                                                        &timestamp);
+                    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
+                        goto end;
+                    }
+
+                    if (threeGimbalData.anglesData[0].yaw < 0) {
+                        threeGimbalData.anglesData[0].yaw = 360 + threeGimbalData.anglesData[0].yaw;
+                    }
+
+                    USER_LOG_INFO("reab back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
+                                  threeGimbalData.anglesData[gimbalMountPosition - 1].pitch,
+                                  threeGimbalData.anglesData[gimbalMountPosition - 1].roll,
+                                  threeGimbalData.anglesData[gimbalMountPosition - 1].yaw);
+                }
+                else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
+                    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
+                                                                        (uint8_t *) &gimbalAngles,
+                                                                        sizeof(T_DjiFcSubscriptionGimbalAngles),
+                                                                        &timestamp);
+                    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                        USER_LOG_ERROR("DjiFcSubscription_GetLatestValueOfTopic return %x%08X", returnCode);
+                        goto end;
+                    }
+
+                    if (gimbalAngles.z < 0) {
+                        gimbalAngles.z = 360 + gimbalAngles.z;
+                    }
+
+                    USER_LOG_INFO("read back gimbal's (p, r, y): p=%.4f r=%.4f y=%.4f",
+                                  gimbalAngles.x, gimbalAngles.y, gimbalAngles.z);
+                }
+            }
+
+            break;
+        }
         case 'q':
             break;
         default:
@@ -117,6 +429,15 @@ start:
             goto start;
     }
 
+end:
+    returnCode = DjiGimbalManager_Deinit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Deinit gimbal manager error, return code 0x%08X", returnCode);
+        return;
+    }
+
+    USER_LOG_INFO("Gimbal sample end");
+
     return;
 }
 /* Private functions definition-----------------------------------------------*/

samples/sample_c++/module_sample/hms_manager/hms_manager_entry.cpp

@@ -0,0 +1,82 @@
+/**
+ ********************************************************************
+ * @file    hms_manager_entry.cpp
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "hms_manager_entry.h"
+#include "dji_platform.h"
+#include <iostream>
+#include "dji_logger.h"
+#include "hms/test_hms.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUser_RunHmsManagerSample(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    char inputSelectSample;
+
+start:
+    osalHandler->TaskSleepMs(100);
+
+    std::cout
+        << "\n"
+        << "| Available commands:                                                                              |\n"
+        << "| [0] Hms manager sample - Chinese language                                                        |\n"
+        << "| [1] Hms manager sample - English language                                                        |\n"
+        << "| [2] Hms manager sample - Japanese language                                                       |\n"
+        << "| [3] Hms manager sample - French language                                                         |\n"
+        << std::endl;
+
+    std::cin >> inputSelectSample;
+    switch (inputSelectSample) {
+        case '0':
+            DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_CHINESE);
+            goto start;
+        case '1':
+            DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_ENGLISH);
+            goto start;
+        case '2':
+            DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_JAPANESE);
+            goto start;
+        case '3':
+            DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_FRENCH);
+            goto start;
+        case 'q':
+            break;
+        default:
+            USER_LOG_ERROR("Input command is invalid");
+            goto start;
+    }
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/module_sample/hms_manager/hms_manager_entry.h

@@ -0,0 +1,49 @@
+
+/**
+ ********************************************************************
+ * @file    hms_manager_entry.h
+ * @brief   This is the header file for "hms_manager_entry.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef HMS_MANAGER_ENTRY_H
+#define HMS_MANAGER_ENTRY_H
+
+/* Includes ------------------------------------------------------------------*/
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+void DjiUser_RunHmsManagerSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // HMS_MANAGER_ENTRY_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake

@@ -111,6 +111,11 @@ FIND_LIBRARY(FFMPEG_z_LIBRARY z
   /usr/lib
 )
 
+FIND_LIBRARY(FFMPEG_swresample_LIBRARY swresample
+  /usr/local/lib
+  /usr/lib
+)
+
 SET(FFMPEG_LIBRARIES)
 IF(FFMPEG_INCLUDE_DIR)
   IF(FFMPEG_avformat_LIBRARY)
@@ -120,7 +125,8 @@ IF(FFMPEG_INCLUDE_DIR)
         SET( FFMPEG_BASIC_LIBRARIES 
           ${FFMPEG_avcodec_LIBRARY} 
           ${FFMPEG_avformat_LIBRARY}
-          ${FFMPEG_avutil_LIBRARY} 
+          ${FFMPEG_avutil_LIBRARY}
+          ${FFMPEG_swresample_LIBRARY}
           )
 
         # swscale is always a part of newer ffmpeg distros
@@ -178,4 +184,5 @@ MARK_AS_ADVANCED(
   FFMPEG_gsm_LIBRARY
   FFMPEG_swscale_LIBRARY
   FFMPEG_z_LIBRARY
+  FFMPEG_swresample_LIBRARY
   )

samples/sample_c++/platform/linux/manifold2/CMakeLists.txt

@@ -31,6 +31,8 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC
         ../../../module_sample/camera_manager/*.c*
         ../../../module_sample/perception/*.c*
         ../../../module_sample/gimbal/*.c*
+        ../../../module_sample/flight_controller/*.c*
+        ../../../module_sample/hms_manager/*.c*
         ../../../../sample_c/module_sample/*.c
         )
 file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c*)
@@ -72,9 +74,11 @@ if (OpenCV_FOUND)
     execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
     if (${OPENCV_VERSION} STRLESS "4.0.0")
         add_definitions(-DOPEN_CV_VERSION_3)
-    else()
+
+    else ()
         add_definitions(-DOPEN_CV_VERSION_4)
-    endif()
+
+    endif ()
 else ()
     message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
 endif ()

samples/sample_c++/platform/linux/manifold2/application/application.cpp

@@ -31,6 +31,7 @@
 #include <dji_aircraft_info.h>
 #include <csignal>
 #include "dji_sdk_config.h"
+#include "dji_config_manager.h"
 
 #include "../common/osal/osal.h"
 #include "../common/osal/osal_fs.h"
@@ -52,6 +53,8 @@
 #define USER_UTIL_MIN(a, b)                                 (((a) < (b)) ? (a) : (b))
 #define USER_UTIL_MAX(a, b)                                 (((a) > (b)) ? (a) : (b))
 
+#define DJI_USE_SDK_CONFIG_BY_JSON      (0)
+
 /* Private types -------------------------------------------------------------*/
 
 /* Private values -------------------------------------------------------------*/
@@ -64,7 +67,7 @@ static void DjiUser_NormalExitHandler(int signalNum);
 /* Exported functions definition ---------------------------------------------*/
 Application::Application(int argc, char **argv)
 {
-    Application::DjiUser_SetupEnvironment();
+    Application::DjiUser_SetupEnvironment(argc, argv);
     Application::DjiUser_ApplicationStart();
 
     Osal_TaskSleepMs(3000);
@@ -74,7 +77,7 @@ Application::~Application()
 = default;
 
 /* Private functions definition-----------------------------------------------*/
-void Application::DjiUser_SetupEnvironment()
+void Application::DjiUser_SetupEnvironment(int argc, char **argv)
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler osalHandler = {0};
@@ -83,8 +86,9 @@ void Application::DjiUser_SetupEnvironment()
     T_DjiLoggerConsole printConsole;
     T_DjiLoggerConsole localRecordConsole;
     T_DjiFileSystemHandler fileSystemHandler = {0};
-    T_DjiSocketHandler socketHandler {0};
+    T_DjiSocketHandler socketHandler{0};
     T_DjiHalNetworkHandler networkHandler = {0};
+    T_DjiUserLinkConfig linkConfig;
 
     networkHandler.NetworkInit = HalNetWork_Init;
     networkHandler.NetworkDeInit = HalNetWork_DeInit;
@@ -163,6 +167,28 @@ void Application::DjiUser_SetupEnvironment()
         throw std::runtime_error("Register hal uart handler error.");
     }
 
+#if DJI_USE_SDK_CONFIG_BY_JSON
+    if (argc > 1) {
+        DjiUserConfigManager_LoadConfiguration(argv[1]);
+    } else {
+        DjiUserConfigManager_LoadConfiguration(nullptr);
+    }
+
+    DjiUserConfigManager_GetLinkConfig(&linkConfig);
+    if (linkConfig.type == DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE) {
+        returnCode = DjiPlatform_RegHalNetworkHandler(&networkHandler);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            throw std::runtime_error("Register hal network handler error");
+        }
+    } else if (linkConfig.type == DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE) {
+        returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            throw std::runtime_error("Register hal usb bulk handler error.");
+        }
+    } else {
+        /*!< Attention: Only use uart hardware connection. */
+    }
+#else
 #if (CONFIG_HARDWARE_CONNECTION == DJI_USE_UART_AND_USB_BULK_DEVICE)
     returnCode = DjiPlatform_RegHalUsbBulkHandler(&usbBulkHandler);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -176,6 +202,7 @@ void Application::DjiUser_SetupEnvironment()
 #elif (CONFIG_HARDWARE_CONNECTION == DJI_USE_ONLY_UART)
     /*!< Attention: Only use uart hardware connection.
      */
+#endif
 #endif
 
     //Attention: if you want to use camera stream view function, please uncomment it.
@@ -219,13 +246,18 @@ void Application::DjiUser_ApplicationStart()
     // attention: when the program is hand up ctrl-c will generate the coredump file
     signal(SIGTERM, DjiUser_NormalExitHandler);
 
+#if DJI_USE_SDK_CONFIG_BY_JSON
+    DjiUserConfigManager_GetAppInfo(&userInfo);
+#else
     returnCode = DjiUser_FillInUserInfo(&userInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         throw std::runtime_error("Fill user info error, please check user info config.");
     }
+#endif
 
     returnCode = DjiCore_Init(&userInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        sleep(1);
         throw std::runtime_error("Core init error.");
     }
 

samples/sample_c++/platform/linux/manifold2/application/application.hpp

@@ -48,7 +48,7 @@ public:
     ~Application();
 
 private:
-    static void DjiUser_SetupEnvironment();
+    static void DjiUser_SetupEnvironment(int argc, char **argv);
     static void DjiUser_ApplicationStart();
     static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
     static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);

samples/sample_c++/platform/linux/manifold2/application/dji_config_manager.c

@@ -0,0 +1,342 @@
+/**
+ ********************************************************************
+ * @file    dji_config_manager.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include <utils/util_misc.h>
+#include <dji_logger.h>
+#include <utils/util_file.h>
+#include <dji_aircraft_info.h>
+#include "dji_config_manager.h"
+#include "utils/cJSON.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiUserInfo s_configManagerUserInfo = {0};
+static T_DjiUserLinkConfig s_configManagerLinkInfo = {0};
+static bool s_configManagerIsEnable = false;
+
+/* Private functions declaration ---------------------------------------------*/
+static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo);
+static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig);
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path)
+{
+    T_DjiReturnCode returnCode;
+    char curFileDirPath[DJI_FILE_PATH_SIZE_MAX];
+    char tempFileDirPath[DJI_FILE_PATH_SIZE_MAX];
+
+    if (path == NULL) {
+        returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, DJI_FILE_PATH_SIZE_MAX,
+                                                       curFileDirPath);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+            return returnCode;
+        }
+
+        snprintf(tempFileDirPath, DJI_FILE_PATH_SIZE_MAX, "%s/dji_sdk_config.json",
+                 curFileDirPath);
+    } else {
+        strcpy(tempFileDirPath, path);
+    }
+
+    printf("Load configuration start.\r\n");
+
+    returnCode = DjiUserConfigManager_GetAppInfoInner(tempFileDirPath, &s_configManagerUserInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Get app info failed.\n");
+    }
+
+    returnCode = DjiUserConfigManager_GetLinkConfigInner(tempFileDirPath, &s_configManagerLinkInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Get link info failed.\n");
+    }
+
+    printf("\r\nLoad configuration successfully.\r\n");
+
+    s_configManagerIsEnable = true;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo)
+{
+    memcpy(userInfo, &s_configManagerUserInfo, sizeof(T_DjiUserInfo));
+}
+
+void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig)
+{
+    memcpy(linkConfig, &s_configManagerLinkInfo, sizeof(T_DjiUserLinkConfig));
+}
+
+bool DjiUserConfigManager_IsEnable(void)
+{
+    return s_configManagerIsEnable;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiUserConfigManager_GetAppInfoInner(const char *path, T_DjiUserInfo *userInfo)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t fileSize = 0;
+    uint32_t readRealSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t *jsonData = NULL;
+    cJSON *jsonRoot = NULL;
+    cJSON *jsonItem = NULL;
+    cJSON *jsonValue = NULL;
+
+#ifdef SYSTEM_ARCH_LINUX
+    returnCode = UtilFile_GetFileSizeByPath(path, &fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_DEBUG("Get config json file size is %d", fileSize);
+
+    jsonData = osalHandler->Malloc(fileSize + 1);
+    if (jsonData == NULL) {
+        USER_LOG_ERROR("Malloc failed.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
+
+    jsonData[readRealSize] = '\0';
+
+    jsonRoot = cJSON_Parse((char *) jsonData);
+    if (jsonRoot == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_app_info");
+    if (jsonItem != NULL) {
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_name");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appName, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_id");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appId, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_key");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appKey, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_app_license");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->appLicense, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_develop_account");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->developerAccount, jsonValue->valuestring);
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "user_baud_rate");
+        if (jsonValue != NULL) {
+            strcpy(userInfo->baudRate, jsonValue->valuestring);
+        }
+    }
+
+    if (strlen(userInfo->appName) >= sizeof(userInfo->appName) ||
+        strlen(userInfo->appId) > sizeof(userInfo->appId) ||
+        strlen(userInfo->appKey) > sizeof(userInfo->appKey) ||
+        strlen(userInfo->appLicense) > sizeof(userInfo->appLicense) ||
+        strlen(userInfo->developerAccount) >= sizeof(userInfo->developerAccount) ||
+        strlen(userInfo->baudRate) > sizeof(userInfo->baudRate)) {
+        USER_LOG_ERROR("Length of user information string is beyond limit. Please check.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    if (!strcmp(userInfo->appName, "your_app_name") ||
+        !strcmp(userInfo->appId, "your_app_id") ||
+        !strcmp(userInfo->appKey, "your_app_key") ||
+        !strcmp(userInfo->appLicense, "your_app_license") ||
+        !strcmp(userInfo->developerAccount, "your_developer_account") ||
+        !strcmp(userInfo->baudRate, "your_baud_rate")) {
+        USER_LOG_ERROR(
+            "Please fill in correct user information to 'samples/sample_c++/platform/linux/manifold2/application/dji_sdk_config.json' file.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    osalHandler->Free(jsonData);
+#endif
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiUserConfigManager_GetLinkConfigInner(const char *path, T_DjiUserLinkConfig *linkConfig)
+{
+    T_DjiReturnCode returnCode;
+    uint32_t fileSize = 0;
+    uint32_t readRealSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint8_t *jsonData = NULL;
+    cJSON *jsonRoot = NULL;
+    cJSON *jsonItem = NULL;
+    cJSON *jsonValue = NULL;
+    cJSON *jsonConfig = NULL;
+    int32_t configValue;
+
+#ifdef SYSTEM_ARCH_LINUX
+
+    returnCode = UtilFile_GetFileSizeByPath(path, &fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_DEBUG("Get config json file size is %d", fileSize);
+
+    jsonData = osalHandler->Malloc(fileSize + 1);
+    if (jsonData == NULL) {
+        USER_LOG_ERROR("Malloc failed.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
+    UtilFile_GetFileDataByPath(path, 0, fileSize, jsonData, &readRealSize);
+
+    jsonData[readRealSize] = '\0';
+
+    jsonRoot = cJSON_Parse((char *) jsonData);
+    if (jsonRoot == NULL) {
+        goto jsonDataFree;
+    }
+
+    jsonItem = cJSON_GetObjectItem(jsonRoot, "dji_sdk_link_config");
+    if (jsonItem != NULL) {
+        jsonValue = cJSON_GetObjectItem(jsonItem, "link_select");
+        if (jsonValue != NULL) {
+            printf("\r\nSelect link type: %s\r\n", jsonValue->valuestring);
+            if (strcmp(jsonValue->valuestring, "use_only_uart") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_ONLY_UART;
+            } else if (strcmp(jsonValue->valuestring, "use_uart_and_network_device") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE;
+            } else if (strcmp(jsonValue->valuestring, "use_uart_and_usb_bulk_device") == 0) {
+                linkConfig->type = DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE;
+            }
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "uart_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart1_device_name");
+            printf("\r\nConfig uart1 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->uartConfig.uart1DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_name");
+            printf("Config uart2 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->uartConfig.uart2DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "uart2_device_enable");
+            printf("Config uart2 device enable: %s\r\n", jsonConfig->valuestring);
+            if (strcmp(jsonConfig->valuestring, "true") == 0) {
+                linkConfig->uartConfig.uart2DeviceEnable = true;
+            } else {
+                linkConfig->uartConfig.uart2DeviceEnable = false;
+            }
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "network_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_device_name");
+            printf("\r\nConfig network device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->networkConfig.networkDeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_vid");
+            printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->networkConfig.networkUsbAdapterVid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "network_usb_adapter_pid");
+            printf("Config network usb adapter vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->networkConfig.networkUsbAdapterPid = configValue;
+        }
+
+        jsonValue = cJSON_GetObjectItem(jsonItem, "usb_bulk_config");
+        if (jsonValue != NULL) {
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_vid");
+            printf("\r\nConfig usb device vid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbDeviceVid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_device_pid");
+            printf("Config usb device pid: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbDevicePid = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_device_name");
+            printf("Config usb bulk1 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->usbBulkConfig.usbBulk1DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_interface_num");
+            printf("Config usb bulk1 interface num: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1InterfaceNum = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_in");
+            printf("Config usb bulk1 endpoint in: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1EndpointIn = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk1_endpoint_out");
+            printf("Config usb bulk1 endpoint out: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk1EndpointOut = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_device_name");
+            printf("Config usb bulk2 device name: %s\r\n", jsonConfig->valuestring);
+            strcpy(linkConfig->usbBulkConfig.usbBulk2DeviceName, jsonConfig->valuestring);
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_interface_num");
+            printf("Config usb bulk2 interface num: %s\r\n", jsonConfig->valuestring);
+            sscanf(jsonConfig->valuestring, "%X", &configValue);
+            linkConfig->usbBulkConfig.usbBulk2InterfaceNum = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_in");
+            printf("Config usb bulk2 endpoint in: %s\r\n", jsonConfig->valuestring);
+            linkConfig->usbBulkConfig.usbBulk2EndpointIn = configValue;
+
+            jsonConfig = cJSON_GetObjectItem(jsonValue, "usb_bulk2_endpoint_out");
+            printf("Config usb bulk2 endpoint out: %s\r\n", jsonConfig->valuestring);
+            linkConfig->usbBulkConfig.usbBulk2EndpointOut = configValue;
+        }
+    }
+
+jsonDataFree:
+    osalHandler->Free(jsonData);
+#endif
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c++/platform/linux/manifold2/application/dji_config_manager.h

@@ -0,0 +1,88 @@
+/**
+ ********************************************************************
+ * @file    dji_config_manager.h
+ * @brief   This is the header file for "dji_config_manager.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_CONFIG_MANAGER_H
+#define DJI_CONFIG_MANAGER_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+#include "dji_core.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define USER_DEVICE_NAME_STR_MAX_SIZE    (64)
+
+/* Exported types ------------------------------------------------------------*/
+typedef enum {
+    DJI_USER_LINK_CONFIG_USE_ONLY_UART,
+    DJI_USER_LINK_CONFIG_USE_UART_AND_NETWORK_DEVICE,
+    DJI_USER_LINK_CONFIG_USE_UART_AND_USB_BULK_DEVICE,
+} E_DjiUserLinkConfigType;
+
+typedef struct {
+    E_DjiUserLinkConfigType type;
+    struct {
+        char uart1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        bool uart2DeviceEnable;
+        char uart2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+    } uartConfig;
+    struct {
+        char networkDeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        // M300/M350 RTK payload port no need
+        uint16_t networkUsbAdapterVid;
+        uint16_t networkUsbAdapterPid;
+    } networkConfig;
+    struct {
+        uint16_t usbDeviceVid;
+        uint16_t usbDevicePid;
+
+        char usbBulk1DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        uint8_t usbBulk1InterfaceNum;
+        uint8_t usbBulk1EndpointIn;
+        uint8_t usbBulk1EndpointOut;
+
+        char usbBulk2DeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+        uint8_t usbBulk2InterfaceNum;
+        uint8_t usbBulk2EndpointIn;
+        uint8_t usbBulk2EndpointOut;
+    } usbBulkConfig;
+} T_DjiUserLinkConfig;
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiUserConfigManager_LoadConfiguration(const char *path);
+void DjiUserConfigManager_GetAppInfo(T_DjiUserInfo *userInfo);
+void DjiUserConfigManager_GetLinkConfig(T_DjiUserLinkConfig *linkConfig);
+bool DjiUserConfigManager_IsEnable(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_CONFIG_MANAGER_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c++/platform/linux/manifold2/application/dji_sdk_config.h

@@ -40,7 +40,7 @@ extern "C" {
 
 /*!< Attention: Select your hardware connection mode here.
 * */
-#define CONFIG_HARDWARE_CONNECTION         DJI_USE_UART_AND_NETWORK_DEVICE
+#define CONFIG_HARDWARE_CONNECTION         DJI_USE_ONLY_UART
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/platform/linux/manifold2/application/dji_sdk_config.json

@@ -0,0 +1,36 @@
+{
+  "dji_sdk_app_info": {
+    "user_app_name": "PSDK_APPNAME",
+    "user_app_id": "53453",
+    "user_app_key": "871bf75511531682636f0db7243a9e7",
+    "user_app_license": "BO86stxOf200Sv9FMEZUSFCZhJhWxKG1jVYBACSnFvz42nnWEnc8vU+GKGHc/OUTxuFH+5TizymlZkuIxq6WAonqut3Y58KAcmTU6HHCVCW5HJSidwbNv0Gf3Gm+O7tc18lpHiSNRr/uEbSTJeVPkshOlcEEwpSc4tUUlRBb37BkUpZQFAPKaykyznLdxdYDlFh5OAqSl6kLltdt+A3/VOiZavKfsKHM7J9jbjsTDETe3fRRRiauE5K+s8yO6uAFLE0fwHWnanl7gPkzgNJJ53qVqnKiGwEtlim5E8WvnnaiEoxLOWrDijFOEmh9tLOU7Kx/oDEM2l9O/idaqmLxKA==",
+    "user_develop_account": "payloadsdk_account@163.com",
+    "user_baud_rate": "921600"
+  },
+  "dji_sdk_link_config": {
+    "link_available": "use_only_uart/use_uart_and_usb_bulk_device/use_uart_and_network_device",
+    "link_select": "use_uart_and_network_device",
+    "uart_config": {
+      "uart1_device_name": "/dev/ttyUSB0",
+      "uart2_device_enable": "true",
+      "uart2_device_name": "/dev/ttyACM0"
+    },
+    "network_config": {
+      "network_device_name": "enxf8e43b7bbc2c",
+      "network_usb_adapter_vid": "0x0B95",
+      "network_usb_adapter_pid": "0x1790"
+    },
+    "usb_bulk_config": {
+      "usb_device_vid": "0x0B95",
+      "usb_device_pid": "0x1790",
+      "usb_bulk1_device_name": "/dev/usb-ffs/bulk1",
+      "usb_bulk1_interface_num": "2",
+      "usb_bulk1_endpoint_in": "0x83",
+      "usb_bulk1_endpoint_out": "0x02",
+      "usb_bulk2_device_name": "/dev/usb-ffs/bulk2",
+      "usb_bulk2_interface_num": "3",
+      "usb_bulk2_endpoint_in": "0x84",
+      "usb_bulk2_endpoint_out": "0x03"
+    }
+  }
+}

samples/sample_c++/platform/linux/manifold2/application/main.cpp

@@ -27,9 +27,6 @@
 #include <perception/test_perception_entry.hpp>
 #include <flight_control/test_flight_control.h>
 #include <gimbal/test_gimbal_entry.hpp>
-#include <hms/test_hms.h>
-#include <waypoint_v2/test_waypoint_v2.h>
-#include <waypoint_v3/test_waypoint_v3.h>
 #include "application.hpp"
 #include "fc_subscription/test_fc_subscription.h"
 #include <gimbal_emu/test_payload_gimbal_emu.h>
@@ -40,7 +37,9 @@
 #include "widget/test_widget_speaker.h"
 #include <power_management/test_power_management.h>
 #include "data_transmission/test_data_transmission.h"
-#include <camera_manager/test_camera_manager.h>
+#include <flight_controller/test_flight_controller_entry.h>
+#include <positioning/test_positioning.h>
+#include <hms_manager/hms_manager_entry.h>
 #include "camera_manager/test_camera_manager_entry.h"
 
 /* Private constants ---------------------------------------------------------*/
@@ -67,16 +66,9 @@ start:
         << "\n"
         << "| Available commands:                                                                              |\n"
         << "| [0] Fc subscribe sample - subscribe quaternion and gps data                                      |\n"
-        << "| [1] Flight controller sample - take off landing                                                  |\n"
+        << "| [1] Flight controller sample - you can control flying by PSDK                                    |\n"
-        << "| [2] Flight controller sample - take off position ctrl landing                                    |\n"
+        << "| [2] Hms info manager sample - get health manger system info by language                          |\n"
-        << "| [3] Flight controller sample - take off go home force landing                                    |\n"
+        << "| [a] Gimbal manager sample - you can control gimbal by PSDK                                       |\n"
-        << "| [4] Flight controller sample - take off velocity ctrl landing                                    |\n"
-        << "| [5] Flight controller sample - arrest flying                                                     |\n"
-        << "| [6] Flight controller sample - set get parameters                                                |\n"
-        << "| [7] Hms info sample - get health manger system info                                              |\n"
-        << "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK)             |\n"
-        << "| [9] Waypoint 3.0 sample - run airline mission by kmz file (not support on M300 RTK)              |\n"
-        << "| [a] Gimbal manager sample                                                                        |\n"
         << "| [c] Camera stream view sample - display the camera video stream                                  |\n"
         << "| [d] Stereo vision view sample - display the stereo image                                         |\n"
         << "| [e] Start camera all features sample - you can operate the camera on DJI Pilot                   |\n"
@@ -86,6 +78,7 @@ start:
         << "| [i] Start power management sample - you will see notification when aircraft power off            |\n"
         << "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo               |\n"
         << "| [k] Run camera manager sample - you can test camera's functions interactively                    |\n"
+        << "| [l] Start rtk positioning sample - you can receive rtk rtcm data when rtk signal is ok           |\n"
         << std::endl;
 
     std::cin >> inputChar;
@@ -94,31 +87,10 @@ start:
             DjiTest_FcSubscriptionRunSample();
             break;
         case '1':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_LANDING);
+            DjiUser_RunFlightControllerSample();
             break;
         case '2':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_POSITION_CTRL_LANDING);
+            DjiUser_RunHmsManagerSample();
-            break;
-        case '3':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_GO_HOME_FORCE_LANDING);
-            break;
-        case '4':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_TAKE_OFF_VELOCITY_CTRL_LANDING);
-            break;
-        case '5':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_ARREST_FLYING);
-            break;
-        case '6':
-            DjiTest_FlightControlRunSample(E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM);
-            break;
-        case '7':
-            DjiTest_HmsRunSample();
-            break;
-        case '8':
-            DjiTest_WaypointV2RunSample();
-            break;
-        case '9':
-            DjiTest_WaypointV3RunSample();
             break;
         case 'a':
             DjiUser_RunGimbalManagerSample();
@@ -202,6 +174,15 @@ start:
         case 'k':
             DjiUser_RunCameraManagerSample();
             break;
+        case 'l':
+            returnCode = DjiTest_PositioningStartService();
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("rtk positioning sample init error");
+                break;
+            }
+
+            USER_LOG_INFO("Start rtk positioning sample successfully");
+            break;
         default:
             break;
     }

samples/sample_c++/platform/linux/manifold2/hal/hal_network.c

@@ -30,6 +30,7 @@
 #include "stdio.h"
 #include "hal_network.h"
 #include "dji_logger.h"
+#include "dji_config_manager.h"
 
 /* Private constants ---------------------------------------------------------*/
 
@@ -44,6 +45,8 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
 {
     int32_t ret;
     char cmdStr[LINUX_CMD_STR_MAX_SIZE];
+    char networkDeviceName[USER_DEVICE_NAME_STR_MAX_SIZE];
+    T_DjiUserLinkConfig linkConfig = {0};
 
     if (ipAddr == NULL || netMask == NULL) {
         USER_LOG_ERROR("hal network config param error");
@@ -53,6 +56,13 @@ T_DjiReturnCode HalNetWork_Init(const char *ipAddr, const char *netMask, T_DjiNe
     //Attention: need root permission to config ip addr and netmask.
     memset(cmdStr, 0, sizeof(cmdStr));
 
+    if (DjiUserConfigManager_IsEnable()) {
+        DjiUserConfigManager_GetLinkConfig(&linkConfig);
+        strcpy(networkDeviceName, linkConfig.networkConfig.networkDeviceName);
+    } else {
+        strcpy(networkDeviceName, LINUX_NETWORK_DEV);
+    }
+
     snprintf(cmdStr, sizeof(cmdStr), "ifconfig %s up", LINUX_NETWORK_DEV);
     ret = system(cmdStr);
     if (ret != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -81,8 +91,16 @@ T_DjiReturnCode HalNetWork_DeInit(T_DjiNetworkHandle halObj)
 
 T_DjiReturnCode HalNetWork_GetDeviceInfo(T_DjiHalNetworkDeviceInfo *deviceInfo)
 {
-    deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
+    T_DjiUserLinkConfig linkConfig = {0};
-    deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
+
+    if (DjiUserConfigManager_IsEnable()) {
+        DjiUserConfigManager_GetLinkConfig(&linkConfig);
+        deviceInfo->usbNetAdapter.vid = linkConfig.networkConfig.networkUsbAdapterVid;
+        deviceInfo->usbNetAdapter.pid = linkConfig.networkConfig.networkUsbAdapterPid;
+    } else {
+        deviceInfo->usbNetAdapter.vid = USB_NET_ADAPTER_VID;
+        deviceInfo->usbNetAdapter.pid = USB_NET_ADAPTER_PID;
+    }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

samples/sample_c++/platform/linux/manifold2/hal/hal_uart.c

@@ -25,6 +25,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include <dji_logger.h>
 #include "hal_uart.h"
+#include "dji_config_manager.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define UART_DEV_NAME_STR_SIZE             (128)
@@ -48,20 +49,32 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
     struct flock lock;
     T_DjiReturnCode returnCode = DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
     char uartName[UART_DEV_NAME_STR_SIZE];
+    char uart1Name[UART_DEV_NAME_STR_SIZE];
+    char uart2Name[UART_DEV_NAME_STR_SIZE];
     char systemCmd[DJI_SYSTEM_CMD_STR_MAX_SIZE];
     char *ret = NULL;
     char lineBuf[DJI_SYSTEM_RESULT_STR_MAX_SIZE] = {0};
     FILE *fp;
+    T_DjiUserLinkConfig linkConfig = {0};
 
     uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
     if (uartHandleStruct == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
     }
 
+    if (DjiUserConfigManager_IsEnable()) {
+        DjiUserConfigManager_GetLinkConfig(&linkConfig);
+        strcpy(uart1Name, linkConfig.uartConfig.uart1DeviceName);
+        strcpy(uart2Name, linkConfig.uartConfig.uart2DeviceName);
+    } else {
+        strcpy(uart1Name, LINUX_UART_DEV1);
+        strcpy(uart2Name, LINUX_UART_DEV2);
+    }
+
     if (uartNum == DJI_HAL_UART_NUM_0) {
-        strcpy(uartName, LINUX_UART_DEV1);
+        strcpy(uartName, uart1Name);
     } else if (uartNum == DJI_HAL_UART_NUM_1) {
-        strcpy(uartName, LINUX_UART_DEV2);
+        strcpy(uartName, uart2Name);
     } else {
         goto free_uart_handle;
     }
@@ -88,7 +101,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
     sprintf(systemCmd, "chmod 777 %s", uartName);
     fp = popen(systemCmd, "r");
     if (fp == NULL) {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto free_uart_handle;
     }
 #endif
 
@@ -244,10 +257,17 @@ T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint3
 
 T_DjiReturnCode HalUart_GetStatus(E_DjiHalUartNum uartNum, T_DjiUartStatus *status)
 {
+    T_DjiUserLinkConfig linkConfig = {0};
+
     if (uartNum == DJI_HAL_UART_NUM_0) {
         status->isConnect = true;
     } else if (uartNum == DJI_HAL_UART_NUM_1) {
-        status->isConnect = true;
+        if (DjiUserConfigManager_IsEnable()) {
+            DjiUserConfigManager_GetLinkConfig(&linkConfig);
+            status->isConnect = linkConfig.uartConfig.uart2DeviceEnable;
+        } else {
+            status->isConnect = true;
+        }
     } else {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
     }

samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c

@@ -25,6 +25,7 @@
 /* Includes ------------------------------------------------------------------*/
 #include "hal_usb_bulk.h"
 #include "dji_logger.h"
+#include "dji_config_manager.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define LINUX_USB_BULK_TRANSFER_TIMEOUT_MS    (50)
@@ -52,6 +53,13 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 {
     int32_t ret;
     struct libusb_device_handle *handle = NULL;
+    T_DjiUserLinkConfig linkConfig = {0};
+    char usbBulk1EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE];
+    char usbBulk1EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE];
+    char usbBulk2EpInFd[USER_DEVICE_NAME_STR_MAX_SIZE];
+    char usbBulk2EpOutFd[USER_DEVICE_NAME_STR_MAX_SIZE];
+    uint8_t usbBulk1InterfaceNum;
+    uint8_t usbBulk2InterfaceNum;
 
     *usbBulkHandle = malloc(sizeof(T_HalUsbBulkObj));
     if (*usbBulkHandle == NULL) {
@@ -67,7 +75,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
         }
 
         handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
-        if(handle == NULL) {
+        if (handle == NULL) {
             USER_LOG_ERROR("open usb device failed");
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -87,23 +95,44 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
         ((T_HalUsbBulkObj *) *usbBulkHandle)->interfaceNum = usbBulkInfo.channelInfo.interfaceNum;
 
-        if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK1_INTERFACE_NUM) {
+        if (DjiUserConfigManager_IsEnable()) {
-            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK1_EP_OUT_FD, O_RDWR);
+            DjiUserConfigManager_GetLinkConfig(&linkConfig);
+            usbBulk1InterfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum;
+            usbBulk2InterfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum;
+            snprintf(usbBulk1EpOutFd, sizeof(usbBulk1EpOutFd), "%s/ep1",
+                     linkConfig.usbBulkConfig.usbBulk1DeviceName);
+            snprintf(usbBulk1EpInFd, sizeof(usbBulk1EpInFd), "%s/ep2",
+                     linkConfig.usbBulkConfig.usbBulk1DeviceName);
+            snprintf(usbBulk2EpOutFd, sizeof(usbBulk2EpOutFd), "%s/ep1",
+                     linkConfig.usbBulkConfig.usbBulk2DeviceName);
+            snprintf(usbBulk2EpInFd, sizeof(usbBulk2EpInFd), "%s/ep2",
+                     linkConfig.usbBulkConfig.usbBulk2DeviceName);
+        } else {
+            usbBulk1InterfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
+            usbBulk2InterfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
+            strcpy(usbBulk1EpInFd, LINUX_USB_BULK1_EP_IN_FD);
+            strcpy(usbBulk1EpOutFd, LINUX_USB_BULK1_EP_OUT_FD);
+            strcpy(usbBulk2EpInFd, LINUX_USB_BULK2_EP_IN_FD);
+            strcpy(usbBulk2EpOutFd, LINUX_USB_BULK2_EP_OUT_FD);
+        }
+
+        if (usbBulkInfo.channelInfo.interfaceNum == usbBulk1InterfaceNum) {
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk1EpOutFd, O_RDWR);
             if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
                 return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
             }
 
-            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK1_EP_IN_FD, O_RDWR);
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk1EpInFd, O_RDWR);
             if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
                 return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
             }
-        } else if (usbBulkInfo.channelInfo.interfaceNum == LINUX_USB_BULK2_INTERFACE_NUM) {
+        } else if (usbBulkInfo.channelInfo.interfaceNum == usbBulk2InterfaceNum) {
-            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(LINUX_USB_BULK2_EP_OUT_FD, O_RDWR);
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 = open(usbBulk2EpOutFd, O_RDWR);
             if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep1 < 0) {
                 return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
             }
 
-            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(LINUX_USB_BULK2_EP_IN_FD, O_RDWR);
+            ((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 = open(usbBulk2EpInFd, O_RDWR);
             if (((T_HalUsbBulkObj *) *usbBulkHandle)->ep2 < 0) {
                 return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
             }
@@ -127,8 +156,9 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
 #ifdef LIBUSB_INSTALLED
-        ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        ret = libusb_release_interface(handle,
-        if(ret != 0) {
+                                       ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        if (ret != 0) {
             USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -208,19 +238,39 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
 
 T_DjiReturnCode HalUsbBulk_GetDeviceInfo(T_DjiHalUsbBulkDeviceInfo *deviceInfo)
 {
-    //attention: this interface only be called in usb device mode.
+    T_DjiUserLinkConfig linkConfig = {0};
-    deviceInfo->vid = LINUX_USB_VID;
-    deviceInfo->pid = LINUX_USB_PID;
 
-    // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
+    if (DjiUserConfigManager_IsEnable()) {
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
+        DjiUserConfigManager_GetLinkConfig(&linkConfig);
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
 
-    // This bulk channel is used to obtain DJI perception image and download camera media file.
+        //attention: this interface only be called in usb device mode.
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
+        deviceInfo->vid = linkConfig.usbBulkConfig.usbDeviceVid;
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
+        deviceInfo->pid = linkConfig.usbBulkConfig.usbDevicePid;
-    deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
+
+        // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = linkConfig.usbBulkConfig.usbBulk1InterfaceNum;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = linkConfig.usbBulkConfig.usbBulk1EndpointIn;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = linkConfig.usbBulkConfig.usbBulk1EndpointOut;
+
+        // This bulk channel is used to obtain DJI perception image and download camera media file.
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = linkConfig.usbBulkConfig.usbBulk2InterfaceNum;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = linkConfig.usbBulkConfig.usbBulk2EndpointIn;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = linkConfig.usbBulkConfig.usbBulk2EndpointOut;
+    } else {
+        //attention: this interface only be called in usb device mode.
+        deviceInfo->vid = LINUX_USB_VID;
+        deviceInfo->pid = LINUX_USB_PID;
+
+        // This bulk channel is used to obtain DJI camera video stream and push 3rd-party camera video stream.
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].interfaceNum = LINUX_USB_BULK1_INTERFACE_NUM;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointIn = LINUX_USB_BULK1_END_POINT_IN;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_0].endPointOut = LINUX_USB_BULK1_END_POINT_OUT;
+
+        // This bulk channel is used to obtain DJI perception image and download camera media file.
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].interfaceNum = LINUX_USB_BULK2_INTERFACE_NUM;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointIn = LINUX_USB_BULK2_END_POINT_IN;
+        deviceInfo->channelInfo[DJI_HAL_USB_BULK_NUM_1].endPointOut = LINUX_USB_BULK2_END_POINT_OUT;
+    }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }

samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.c

@@ -155,7 +155,7 @@ T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHand
 }
 
 T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
-                                        uint8_t *data, uint16_t *realLen)
+                                        uint8_t *data, uint32_t *realLen)
 {
     if (mediaFileHandle->mediaFileOptItem.getDataOrgFunc == NULL) {
         USER_LOG_ERROR("Media file handle getDataOrgFunc null error");

samples/sample_c/module_sample/camera_emu/dji_media_file_manage/dji_media_file_core.h

@@ -57,7 +57,7 @@ typedef struct {
     T_DjiReturnCode (*getAttrFunc)(struct _DjiMediaFile *mediaFileHandle, T_DjiCameraMediaFileAttr *mediaFileAttr);
 
     T_DjiReturnCode (*getDataOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
-                                      uint8_t *data, uint16_t *realLen);
+                                      uint8_t *data, uint32_t *realLen);
     T_DjiReturnCode (*getFileSizeOrgFunc)(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
 
     T_DjiReturnCode (*createThmFunc)(struct _DjiMediaFile *mediaFileHandle);
@@ -91,7 +91,7 @@ T_DjiReturnCode DjiMediaFile_GetMediaFileAttr(T_DjiMediaFileHandle mediaFileHand
                                               T_DjiCameraMediaFileAttr *mediaFileAttr);
 
 T_DjiReturnCode DjiMediaFile_GetDataOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t offset, uint16_t len,
-                                        uint8_t *data, uint16_t *realLen);
+                                        uint8_t *data, uint32_t *realLen);
 T_DjiReturnCode DjiMediaFile_GetFileSizeOrg(struct _DjiMediaFile *mediaFileHandle, uint32_t *fileSize);
 
 T_DjiReturnCode DjiMediaFile_CreateThm(T_DjiMediaFileHandle mediaFileHandle);

samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c

@@ -770,7 +770,7 @@ static T_DjiReturnCode GetMediaFileDir(char *dirPath)
 static T_DjiReturnCode GetMediaFileOriginData(const char *filePath, uint32_t offset, uint32_t length, uint8_t *data)
 {
     T_DjiReturnCode returnCode;
-    uint16_t realLen = 0;
+    uint32_t realLen = 0;
     T_DjiMediaFileHandle mediaFileHandle;
 
     returnCode = DjiMediaFile_CreateHandle(filePath, &mediaFileHandle);

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -55,6 +55,7 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
     {DJI_CAMERA_TYPE_H20T,    "Zenmuse H20T"},
     {DJI_CAMERA_TYPE_P1,      "Zenmuse P1"},
     {DJI_CAMERA_TYPE_L1,      "Zenmuse L1"},
+    {DJI_CAMERA_TYPE_L2,      "Zenmuse L2"},
     {DJI_CAMERA_TYPE_H20N,    "Zenmuse H20N"},
     {DJI_CAMERA_TYPE_M30,     "M30 Camera"},
     {DJI_CAMERA_TYPE_M30T,    "M30T Camera"},
@@ -906,7 +907,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
                 cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
                 cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
-                cameraType == DJI_CAMERA_TYPE_M3T) {
+                cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3T ||
+                cameraType == DJI_CAMERA_TYPE_L2) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -945,7 +947,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
                 || cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
                 || cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
-                || cameraType == DJI_CAMERA_TYPE_M3T) {
+                || cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_L2) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -1245,6 +1247,876 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             }
             break;
         }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE: {
+            E_DjiCameraManagerNightSceneMode nightSceneMode;
+            T_DjiCameraManagerRangeList nightSceneModeRange;
+
+            if (cameraType == DJI_CAMERA_TYPE_XT2 || cameraType == DJI_CAMERA_TYPE_XTS ||
+                cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_L2 ||
+                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
+                USER_LOG_INFO("Camera type %d does not support night scene mode!", cameraType);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Step 1: Change camera stream source to zoom camera.");
+            returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                if (returnCode == DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+                    USER_LOG_WARN("For camera type %d, it does not need to change stream source.\r\n", cameraType);
+                }
+                else {
+                    goto exitCameraModule;
+                }
+            }
+
+            USER_LOG_INFO("Step 2: Get night scene mode range.");
+            returnCode = DjiCameraManager_GetNightSceneModeRange(mountPosition, &nightSceneModeRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get night scene mode range of camera at position %d failed, return code 0x%08llX",
+                                mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(10);
+            printf("Supported night scene mode:");
+            for(uint32_t i = 0; i < nightSceneModeRange.size; i++) {
+                printf(" %d", nightSceneModeRange.nightSceneMode[i]);
+            }
+            printf("\n");
+
+            USER_LOG_INFO("Step 3: Set ningh scene mode as enable.");
+            returnCode = DjiCameraManager_SetNightSceneMode(mountPosition, DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_ENABLE);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set ningh scene mode as enable failed at position %d, error code: 0x%08X\r\n",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_GetNightSceneMode(mountPosition, &nightSceneMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get night scene mode failed at position %d, error code: 0x%08X\r\n",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Now the night scene mode is %d", nightSceneMode);
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Step 4: Set night scene mode as auto.");
+            if (cameraType == DJI_CAMERA_TYPE_H20T) {
+                USER_LOG_WARN("Camera H20T does not support set night scene mode as auto");
+            }
+            else {
+                returnCode = DjiCameraManager_SetNightSceneMode(mountPosition, DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_AUTO);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Set ningh scene mode as auto failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+
+                returnCode = DjiCameraManager_GetNightSceneMode(mountPosition, &nightSceneMode);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get night scene mode failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+
+                USER_LOG_INFO("Now the night scene mode is %d", nightSceneMode);
+
+                USER_LOG_INFO("Sleep 2s...");
+                osalHandler->TaskSleepMs(2000);
+            }
+
+            USER_LOG_INFO("Step 5: Set ningt scene mode as disable.");
+            returnCode = DjiCameraManager_SetNightSceneMode(mountPosition, DJI_CAMERA_MANAGER_NIGHT_SCENE_MODE_DISABLE);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get lidar ranging info failed at position %d, error code: 0x%08X\r\n",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_GetNightSceneMode(mountPosition, &nightSceneMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get lidar ranging info failed at position %d, error code: 0x%08X\r\n",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Now the night scene mode is %d", nightSceneMode);
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS: {
+            T_DjiCameraManagerStreamList streamList;
+            T_DjiCameraManagerStreamList getStreamList = {0};
+            T_DjiCameraManagerRangeList streamStorageRange = {0};
+
+            if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
+                cameraType == DJI_CAMERA_TYPE_XTS || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_L1) {
+                USER_LOG_INFO("Camera type %d does not support set capture or recording stream(s) to storage.",
+                                cameraType);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_SetMode(mountPosition, DJI_CAMERA_MANAGER_WORK_MODE_SHOOT_PHOTO);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Set camera work mode failed, position %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_GetStreamStorageRange(mountPosition,
+                                                               &streamStorageRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                goto exitCameraModule;
+            }
+
+            for (uint32_t i = 0; i < streamStorageRange.size; i++) {
+                streamList.streamStorage[i] = streamStorageRange.streamStorage[i];
+            }
+            streamList.size = streamStorageRange.size;
+
+            USER_LOG_INFO("Step 1: Select all capture stream to be storaged.");
+            returnCode = DjiCameraManager_SetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_CAPTURE,
+                                                                     &streamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Set capture storaged streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Step 2: Read back capture storage streams:");
+            returnCode = DjiCameraManager_GetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_CAPTURE,
+                                                                     &getStreamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Get capture storage streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            for (uint32_t i = 0; i < getStreamList.size; i++) {
+                USER_LOG_INFO("    stream %d is %d", i, getStreamList.streamStorage[i]);
+            }
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Step 3: Select all video stream to be storaged.");
+            returnCode = DjiCameraManager_SetMode(mountPosition, DJI_CAMERA_MANAGER_WORK_MODE_RECORD_VIDEO);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_SetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_RECORDING,
+                                                                     &streamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Set recording storage streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Step 4: Read back video storage streams:");
+            returnCode = DjiCameraManager_GetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_RECORDING,
+                                                                     &getStreamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Get capture storage streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            for (uint32_t i = 0; i < getStreamList.size; i++) {
+                USER_LOG_INFO("    stream %d is %d", i, getStreamList.streamStorage[i]);
+            }
+
+            streamList.streamStorage[0] = streamStorageRange.streamStorage[0];
+            streamList.size = 1;
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Step 5: Select default video stream to storage.");
+            returnCode = DjiCameraManager_SetMode(mountPosition, DJI_CAMERA_MANAGER_WORK_MODE_RECORD_VIDEO);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_SetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_RECORDING,
+                                                                     &streamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Set recording storage streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Step 6: Read back video storage streams:");
+            returnCode = DjiCameraManager_GetCaptureRecordingStreams(mountPosition,
+                                                                     DJI_CAMERA_MANAGER_CAPTURE_OR_RECORDING_RECORDING,
+                                                                     &getStreamList);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_WARN("Get capture storage streams failed %d, error code: 0x%08X\r\n", mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            for (uint32_t i = 0; i < getStreamList.size; i++) {
+                USER_LOG_INFO("    stream %d is %d", i, getStreamList.streamStorage[i]);
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO: {
+            T_DjiCameraManagerStorageInfo storageInfo;
+
+            for (uint32_t i = 0; i < 30; i++) {
+                returnCode = DjiCameraManager_GetStorageInfo(mountPosition, &storageInfo);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_INFO("Get storage info failed!");
+                    goto exitCameraModule;
+                }
+
+                USER_LOG_INFO("total capacity: %d, remainCapcity: %d", storageInfo.totalCapacity, storageInfo.remainCapacity);
+
+                osalHandler->TaskSleepMs(200);
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD: {
+            returnCode = DjiCameraManager_FormatStorage(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Faile to Format SD card.");
+                goto exitCameraModule;
+            }
+            USER_LOG_INFO("Format SD card successfully!");
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM: {
+
+            USER_LOG_INFO("Set synchronized split screen zoom enabled");
+            returnCode = DjiCameraManager_SetSynchronizedSplitScreenZoomEnabled(mountPosition, true);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Sleep 5s...");
+            osalHandler->TaskSleepMs(5000);
+
+            USER_LOG_INFO("Set synchronized split screen zoom disabled");
+            returnCode = DjiCameraManager_SetSynchronizedSplitScreenZoomEnabled(mountPosition, false);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                goto exitCameraModule;
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME: {
+            uint8_t dirName[240] = {0};
+            uint32_t dirNameSize = 0;
+            uint8_t fileName[240] = {0};
+            uint32_t fileNameSize = 0;
+            uint8_t getNameString[100] = {0};
+            uint32_t getNameStringSize;
+
+            osalHandler->TaskSleepMs(5);
+            printf("Input expand directory name: ");
+            scanf("%s", dirName);
+            dirNameSize = strlen(dirName);
+
+            returnCode = DjiCameraManager_SetCustomExpandName(mountPosition,
+                                                              DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_DIR,
+                                                              dirName,
+                                                              dirNameSize);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set Custom expand directory name failed");
+                goto exitCameraModule;
+            }
+
+            if (cameraType != DJI_CAMERA_TYPE_L1) {
+                osalHandler->TaskSleepMs(5);
+                printf("Input expand file name: ");
+                scanf("%s", fileName);
+                fileNameSize = strlen(fileName);
+
+                returnCode = DjiCameraManager_SetCustomExpandName(mountPosition,
+                                                                DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_FILE,
+                                                                fileName,
+                                                                fileNameSize);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Set Custom expand file name failed");
+                    goto exitCameraModule;
+                }
+            }
+
+
+            getNameStringSize = sizeof(getNameString) - 1;
+            returnCode =  DjiCameraManager_GetCustomExpandName(mountPosition,
+                                                               DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_DIR,
+                                                               getNameString,
+                                                               &getNameStringSize);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get Custom expand directory name failed, stat = 0x%08llX", returnCode);
+                goto exitCameraModule;
+            }
+            getNameString[getNameStringSize] = '\0';
+            USER_LOG_INFO("Latest directory name: %s", getNameString);
+
+            if (cameraType != DJI_CAMERA_TYPE_L1) {
+                getNameStringSize = sizeof(getNameString) - 1;
+                returnCode =  DjiCameraManager_GetCustomExpandName(mountPosition,
+                                                                DJI_CAMERA_MANAGER_EXPAND_NAME_TYPE_FILE,
+                                                                getNameString,
+                                                                &getNameStringSize);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get Custom expand file name failed");
+                    goto exitCameraModule;
+                }
+                getNameString[getNameStringSize] = '\0';
+                USER_LOG_INFO("Latest file name: %s", getNameString);
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS: {
+            returnCode = DjiCameraManager_ResetCameraSetting(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("reset camera at position %d failed", mountPosition);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Reset camera settings success!");
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE: {
+            bool enable;
+
+            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
+                cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
+                cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
+                cameraType == DJI_CAMERA_TYPE_M3T) {
+                returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_WARN("Change camera stream source to zoom camera failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+            }
+
+            USER_LOG_INFO("Try to set ae locked...");
+            returnCode = DjiCameraManager_SetAELockEnabled(mountPosition, true);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera ae lock mode at position %d failed", mountPosition);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(2000);
+            USER_LOG_INFO("Sleep 2s...");
+
+            returnCode = DjiCameraManager_GetAELockEnabled(mountPosition, &enable);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get camera ae lock mode at position %d failed", mountPosition);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("The camera ae lock mode now is %d", enable);
+
+            USER_LOG_INFO("Try to set ae unlocked...");
+            returnCode = DjiCameraManager_SetAELockEnabled(mountPosition, false);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera ae lock mode at position %d failed", mountPosition);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(2000);
+            USER_LOG_INFO("Sleep 2s...");
+
+            if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1) {
+                USER_LOG_INFO("Camera type %d does not support get AE lock mode, please check by yourself.",
+                               cameraType);
+            }
+            else {
+                returnCode = DjiCameraManager_GetAELockEnabled(mountPosition, &enable);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera ae lock mode at position %d failed", mountPosition);
+                    goto exitCameraModule;
+                }
+
+                USER_LOG_INFO("The camera ae lock mode now is %d", enable);
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE: {
+            uint16_t focusRingValue;
+            T_DjiCameraManagerRangeList focusRingRange;
+
+            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N ||
+                cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30 ||
+                cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
+                cameraType == DJI_CAMERA_TYPE_M3T) {
+                USER_LOG_INFO("Set camera stream source to zoom camera.");
+                returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_ZOOM_CAM);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_WARN("Change camera stream source to zoom camera failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+            }
+
+            USER_LOG_INFO("Set camera's focus mode to manual mode.");
+            returnCode = DjiCameraManager_SetFocusMode(mountPosition, DJI_CAMERA_MANAGER_FOCUS_MODE_MANUAL);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set mounted position %d camera's focus mode(%d) failed,"
+                            " error code :0x%08X.", mountPosition, DJI_CAMERA_MANAGER_FOCUS_MODE_MANUAL,
+                            returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_GetFocusRingRange(mountPosition, &focusRingRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get range failed!");
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Focus ring vlaue range: %d to %d.", focusRingRange.minValue, focusRingRange.maxValue);
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input focus ring value to set: ");
+            scanf("%d", &focusRingValue);
+
+            USER_LOG_INFO("Try to set focus ring value as %d", focusRingValue);
+            returnCode = DjiCameraManager_SetFocusRingValue(mountPosition, focusRingValue);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera focus ring value at position %d failed", mountPosition);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(2000);
+
+            if (cameraType != DJI_CAMERA_TYPE_Z30) {
+                returnCode = DjiCameraManager_GetFocusRingValue(mountPosition, &focusRingValue);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera focus ring value at position %d failed", mountPosition);
+                    goto exitCameraModule;
+                }
+                USER_LOG_INFO("Current focus ring value is %d", focusRingValue);
+            }
+
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST: {
+            bool connectStatus;
+            uint32_t loopTime = 10;
+
+            osalHandler->TaskSleepMs(10);
+            printf("Please input checking time: ");
+            scanf("%d", &loopTime);
+
+            do {
+                returnCode = DjiCameraManager_GetCameraConnectStatus(mountPosition,
+                                                                     &connectStatus);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    goto exitCameraModule;
+                }
+
+                USER_LOG_INFO("Camera's connect state is %d", connectStatus);
+
+                osalHandler->TaskSleepMs(1500);
+            } while(loopTime--);
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM: {
+            E_DjiCameraManagerPhotoRatio photoRatio;
+            E_DjiCameraManagerPhotoStorageFormat photoFormat;
+            E_DjiCameraManagerVideoStorageFormat videoFormat;
+            T_DjiCameraManagerRangeList photoRatioRange;
+            T_DjiCameraManagerRangeList photoFormatRange;
+            T_DjiCameraManagerRangeList videoFormatRange;
+            T_DjiCameraManagerVideoFormat videoParam;
+
+            returnCode = DjiCameraManager_GetPhotoRatioRange(mountPosition, &photoRatioRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get range failed!");
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(5);
+            printf("photo ratio range:");
+            for (uint32_t i = 0; i < photoRatioRange.size; i++) {
+                printf(" %d", photoRatioRange.photoRatioFormat[i]);
+            }
+            printf("\n");
+
+            returnCode = DjiCameraManager_GetPhotoFormatStorageRange(mountPosition, &photoFormatRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get range failed!");
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(5);
+            printf("photo storage format range:");
+            for (uint32_t i = 0; i < photoFormatRange.size; i++) {
+                printf(" %d", photoFormatRange.photoStorageFormat[i]);
+            }
+            printf("\n");
+
+            returnCode = DjiCameraManager_GetVideoFormatRange(mountPosition, &videoFormatRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get range failed!");
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(5);
+            printf("video storage format range:");
+            for (uint32_t i = 0; i < videoFormatRange.size; i++) {
+                printf(" %d", videoFormatRange.videoStorageFormat[i]);
+            }
+            printf("\n");
+
+            USER_LOG_INFO("Set camera work mode as shoot photo.");
+            returnCode = DjiCameraManager_SetMode(mountPosition, DJI_CAMERA_MANAGER_WORK_MODE_SHOOT_PHOTO);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+                returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+                USER_LOG_ERROR("set mounted position %d camera's work mode as shoot-photo mode failed,"
+                            " error code :0x%08X", mountPosition, returnCode);
+                return returnCode;
+            }
+
+            USER_LOG_INFO("Set photo ratio to type %d", photoRatioRange.photoRatioFormat[0]);
+            returnCode = DjiCameraManager_SetPhotoRatio(mountPosition,
+                                                        photoRatioRange.photoRatioFormat[0]);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            {
+                USER_LOG_ERROR("Set photo ratio failed.");
+                goto exitCameraModule;
+            }
+
+            if (cameraType == DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Camera type %d does not support get photo ratio.", cameraType);
+            }
+            else {
+                returnCode = DjiCameraManager_GetPhotoRatio(mountPosition,
+                                                            &photoRatio);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera photo ratio at position %d failed, ret = 0x%08llX",
+                                    mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+                USER_LOG_INFO("Current photo ratio type: %d", photoRatio);
+            }
+
+            USER_LOG_INFO("Set photo storage format to type %d", photoFormatRange.photoStorageFormat[0]);
+            returnCode = DjiCameraManager_SetPhotoFormat(mountPosition, photoFormatRange.photoStorageFormat[0]);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            {
+                USER_LOG_ERROR("Set photo storage format failed.");
+                goto exitCameraModule;
+            }
+
+            if (cameraType == DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Camera type %d does not support get photo storage format.", cameraType);
+            }
+            else {
+                returnCode = DjiCameraManager_GetPhotoFormat(mountPosition, &photoFormat);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera photo storage format at position %d failed, ret = 0x%08llX",
+                                    mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+                USER_LOG_INFO("Current photo storage format type: %d", photoFormat);
+            }
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Set camera work mode as record video.");
+            returnCode = DjiCameraManager_SetMode(mountPosition, DJI_CAMERA_MANAGER_WORK_MODE_RECORD_VIDEO);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS &&
+                returnCode != DJI_ERROR_CAMERA_MANAGER_MODULE_CODE_UNSUPPORTED_COMMAND) {
+                USER_LOG_ERROR("set mounted position %d camera's work mode as shoot-photo mode failed,"
+                            " error code :0x%08X", mountPosition, returnCode);
+                return returnCode;
+            }
+
+            USER_LOG_INFO("Set video storage format as type %d", videoFormatRange.videoStorageFormat[0]);
+            returnCode = DjiCameraManager_SetVideoStorageFormat(mountPosition, videoFormatRange.videoStorageFormat[0]);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+            {
+                USER_LOG_ERROR("Set video storage format failed.");
+                goto exitCameraModule;
+            }
+
+            if (cameraType == DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Camera type %d does not support get video storage format, video resolution and frame rate.",
+                              cameraType);
+            }
+            else {
+                returnCode = DjiCameraManager_GetVideoFormat(mountPosition, &videoFormat);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera video storage format at position %d failed, ret = 0x%08llX",
+                                    mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+                USER_LOG_INFO("Current video stroage format: %d", videoFormat);
+
+                returnCode = DjiCameraManager_GetVideoResolutionFrameRate(mountPosition,
+                                                                        &videoParam);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Get camera video resolution and framerate failed at position %d failed",
+                                    mountPosition);
+                    goto exitCameraModule;
+                }
+                USER_LOG_INFO("resolution: %d, frame rate: %d", videoParam.videoResolution, videoParam.videoFrameRate);
+            }
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE: {
+            E_DjiCameraManagerMeteringMode meteringMode;
+
+            USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
+            returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_AVERAGE);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(200);
+
+            returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get camera metering mode failed.");
+                goto exitCameraModule;
+            }
+            USER_LOG_INFO("Current metering mode is %d", meteringMode);
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
+            returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_SPOT);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(200);
+
+            returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get camera metering mode failed.");
+                goto exitCameraModule;
+            }
+            USER_LOG_INFO("Current metering mode is %d", meteringMode);
+
+            USER_LOG_INFO("Sleep 2s...");
+            osalHandler->TaskSleepMs(2000);
+
+            USER_LOG_INFO("Set metering mode as %d", DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
+            returnCode = DjiCameraManager_SetMeteringMode(mountPosition, DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set camera metering mode %d failed", DJI_CAMERA_MANAGER_METERING_MODE_CENTRAL);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(200);
+
+            returnCode = DjiCameraManager_GetMeteringMode(mountPosition, &meteringMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get camera metering mode failed.");
+                goto exitCameraModule;
+            }
+            USER_LOG_INFO("Current metering mode is %d", meteringMode);
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT: {
+            int32_t x, y;
+            uint8_t horizonRegionNum;
+            uint8_t viticalRegionNum;
+
+            if (cameraType == DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Camera type %d does not support to set metering point.", cameraType);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_GetMeteringPointRegionRange(mountPosition, &horizonRegionNum, &viticalRegionNum);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get metering point region range failed!");
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("region range: horizon %d, vitical %d", horizonRegionNum, viticalRegionNum);
+
+            osalHandler->TaskSleepMs(5);
+            printf("Input meterting point (x, y) you want to set: ");
+            scanf("%d %d", &x, &y);
+
+            USER_LOG_INFO("Try to set metering point as (%d, %d)", (uint8_t)x, (uint8_t)y);
+            returnCode = DjiCameraManager_SetMeteringPoint(mountPosition, x, y);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set metering point failed");
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(500);
+
+            returnCode = DjiCameraManager_GetMeteringPoint(mountPosition, &x, &y);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Get metering point failed");
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Current metering point: (%d, %d)", x, y);
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER: {
+            E_DjiCameraManagerFfcMode ffcMode;
+
+            if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
+                cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
+                cameraType == DJI_CAMERA_TYPE_M3E) {
+                USER_LOG_WARN("Camera type %d don't support FFC function.", cameraType);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input mode to set FFC (0 manual, 1 auto):");
+            scanf("%d", &ffcMode);
+
+            if (cameraType != DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Set camera stream source to infrared camera.");
+                returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_IR_CAM);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Change camera stream source to infrared camera failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+            }
+
+            returnCode = DjiCameraManager_SetFfcMode(mountPosition, ffcMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Set FFC mode %d failed, camera position %d, error code 0x%08llX",
+                            ffcMode, mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            returnCode = DjiCameraManager_TriggerFfc(mountPosition);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Trigger FFC mode, camera position %d, error code 0x%08llX",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Trriger FFC successfully!");
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE: {
+            E_DjiCameraManagerIrGainMode gainMode;
+            T_DjiCameraManagerIrTempMeterRange tempRange = {0};
+
+            if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
+                cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
+                cameraType == DJI_CAMERA_TYPE_M3E) {
+                USER_LOG_WARN("Camera type %d don't support infrared function.", cameraType);
+                goto exitCameraModule;
+            }
+
+            osalHandler->TaskSleepMs(10);
+            printf("Input gain mode to set (1 low, 2 high):");
+            scanf("%d", &gainMode);
+
+            if (cameraType != DJI_CAMERA_TYPE_XTS) {
+                USER_LOG_INFO("Set camera stream source to infrared camera.");
+                returnCode = DjiCameraManager_SetStreamSource(mountPosition, DJI_CAMERA_MANAGER_SOURCE_IR_CAM);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_ERROR("Change camera stream source to infrared camera failed at position %d, error code: 0x%08X\r\n",
+                                mountPosition, returnCode);
+                    goto exitCameraModule;
+                }
+            }
+
+            USER_LOG_INFO("Get temperature range of different gain mode...");
+            returnCode = DjiCameraManager_GetInfraredCameraGainModeTemperatureRange(mountPosition, &tempRange);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Fail to get infrared mode temperature range. position %d, error code 0x%08llX",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("low_min: %.2f, low_max: %.2f, high_min: %.2f, high_max: %.2f",
+                          tempRange.lowGainTempMin, tempRange.lowGainTempMax,
+                          tempRange.highGainTempMin, tempRange.highGainTempMax);
+
+            returnCode = DjiCameraManager_SetInfraredCameraGainMode(mountPosition, gainMode);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_INFO("Fail to set infrared camera gain mode. position %d, error code 0x%08llX",
+                              mountPosition, returnCode);
+                goto exitCameraModule;
+            }
+
+            USER_LOG_INFO("Set gain mode to %d successfully!", gainMode);
+
+            break;
+        }
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS: {
+            E_DjiCameraManagerCapturingState capturingState;
+            E_DjiCameraManagerRecordingState recordingState;
+            uint16_t recordingTime;
+            uint8_t remainingTime;
+
+            if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1) {
+                USER_LOG_INFO("Camera type %d does not support to get camera stauts such as "
+                              "capturing state, recording state.", cameraType);
+                goto exitCameraModule;
+            }
+
+            for (uint32_t i = 0; i < 30; i++) {
+                returnCode = DjiCameraManager_GetCapturingState(mountPosition, &capturingState);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_INFO("Get capturing state failed!");
+                    goto exitCameraModule;
+                }
+
+                returnCode = DjiCameraManager_GetRecordingState(mountPosition, &recordingState);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_INFO("Get recording state failed!");
+                    goto exitCameraModule;
+                }
+
+                returnCode = DjiCameraManager_GetRecordingTime(mountPosition, &recordingTime);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_INFO("Get recording time failed!");
+                    goto exitCameraModule;
+                }
+
+                returnCode = DjiCameraManager_GetIntervalShootingRemainTime(mountPosition, &remainingTime);
+                if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                    USER_LOG_INFO("Get interval shooting remain time failed!");
+                    goto exitCameraModule;
+                }
+
+                USER_LOG_INFO("cap_state: %d, rec_state: %d, rec_time: %d, cap_remain: %d",
+                            capturingState,
+                            recordingState,
+                            recordingTime,
+                            remainingTime);
+
+                osalHandler->TaskSleepMs(200);
+            }
+
+            break;
+        }
         default: {
             USER_LOG_ERROR("There is no valid command input!");
             break;
@@ -1289,6 +2161,11 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
         return returnCode;
     }
 
+    returnCode = DjiCameraManager_ObtainDownloaderRights(position);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Obtain downloader rights failed, error code: 0x%08X.", returnCode);
+    }
+
     returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
@@ -1360,6 +2237,11 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
         USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
     }
 
+    returnCode = DjiCameraManager_ReleaseDownloaderRights(position);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Release downloader rights failed, error code: 0x%08X.", returnCode);
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -1377,6 +2259,11 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadFileListBySlices(E_DjiM
         return returnCode;
     }
 
+    returnCode = DjiCameraManager_ObtainDownloaderRights(position);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Obtain downloader rights failed, error code: 0x%08X.", returnCode);
+    }
+
     sliceConfig.countPerSlice = DJI_CAMERA_MANAGER_FILE_LIST_COUNT_ALL_PER_SLICE;
     sliceConfig.sliceStartIndex = 0;
 
@@ -1431,6 +2318,11 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadFileListBySlices(E_DjiM
         USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
     }
 
+    returnCode = DjiCameraManager_ReleaseDownloaderRights(position);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Release downloader rights failed, error code: 0x%08X.", returnCode);
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -1463,18 +2355,21 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
         if (s_downloadMediaFile != NULL) {
             fwrite(data, 1, len, s_downloadMediaFile);
         }
-        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
+        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %u, fileIndex: %d\033[0m\r\n",
                packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
         printf("\033[1A");
         USER_LOG_DEBUG("Transfer download media file data, len: %d, percent: %.1f", len, packetInfo.progressInPercent);
     } else if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_END) {
-        if (s_downloadMediaFile != NULL) {
+        if (s_downloadMediaFile == NULL) {
-            fwrite(data, 1, len, s_downloadMediaFile);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
+
+        fwrite(data, 1, len, s_downloadMediaFile);
+
         osalHandler->GetTimeMs(&downloadEndMs);
 
         downloadSpeed = (float) packetInfo.fileSize / (float) (downloadEndMs - downloadStartMs);
-        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
+        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %u, fileIndex: %d\033[0m\r\n",
                packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
         printf("\033[1A");
         printf("\r\n");

samples/sample_c/module_sample/camera_manager/test_camera_manager.h

@@ -56,6 +56,22 @@ typedef enum {
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_LIDAR_RANGING_INFO,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_IR_CAMERA_ZOOM_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_NIGHT_SCENE_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAPTURE_RECORDING_STREAMS,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FORMAT_SD_CARD,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_LINK_ZOOM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_USER_CUSTOM_DIR_FILE_NAME,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RESET_CAMERA_SETTINGS,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_AE_LOCK_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_FOCUS_RING_VALUE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_CONNECT_STATUS_TEST,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GET_PHOTO_VIDEO_PARAM,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_METERING_POINT,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_FFC_MODE_AND_TRRIGER,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_GAIN_MODE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_GET_CAMERA_STATUS,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_INDEX_MAX
 } E_DjiTestCameraManagerSampleSelect;
 /* Exported functions --------------------------------------------------------*/

samples/sample_c/module_sample/data_transmission/test_data_transmission.c

@@ -42,7 +42,8 @@
 /* Private functions declaration ---------------------------------------------*/
 static void *UserDataTransmission_Task(void *arg);
 static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len);
-static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len);
+static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len);
+static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len);
 static T_DjiReturnCode ReceiveDataFromPayload(const uint8_t *data, uint16_t len);
 
 /* Private variables ---------------------------------------------------------*/
@@ -79,13 +80,23 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
+    if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
+        s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
+        djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromCloud);
+        if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("register receive data from cloud error.");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+        }
+    }
+
     if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
         s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
         s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
         channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
-        djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromOnboardComputer);
+        djiStat = DjiLowSpeedDataChannel_RegRecvDataCallback(channelAddress, ReceiveDataFromExtensionPort);
         if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("register receive data from onboard coputer error.");
+            USER_LOG_ERROR("register receive data from extension port error.");
             return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
         }
 
@@ -152,7 +163,7 @@ T_DjiReturnCode DjiTest_DataTransmissionStopService(void)
 static void *UserDataTransmission_Task(void *arg)
 {
     T_DjiReturnCode djiStat;
-    const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.\r\n";
+    const uint8_t dataToBeSent[] = "DJI Data Transmission Test Data.";
     T_DjiDataChannelState state = {0};
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     E_DjiChannelAddress channelAddress;
@@ -177,25 +188,44 @@ static void *UserDataTransmission_Task(void *arg)
             USER_LOG_ERROR("get send to mobile channel state error.");
         }
 
+        if (s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
+            s_aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+            channelAddress = DJI_CHANNEL_ADDRESS_CLOUD_API;
+            djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
+            if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
+                USER_LOG_ERROR("send data to cloud error.");
+
+            djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
+            if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_DEBUG(
+                    "send to cloud state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
+                    state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
+                    state.busyState);
+            } else {
+                USER_LOG_ERROR("get send to cloud channel state error.");
+            }
+        }
+
         if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 ||
             s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 ||
             s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3) {
             channelAddress = DJI_CHANNEL_ADDRESS_EXTENSION_PORT;
             djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
             if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
-                USER_LOG_ERROR("send data to onboard computer error.");
+                USER_LOG_ERROR("send data to extension port error.");
 
             djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
             if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                 USER_LOG_DEBUG(
-                    "send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
+                    "send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
                     state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
                     state.busyState);
             } else {
-                USER_LOG_ERROR("get send to onboard computer channel state error.");
+                USER_LOG_ERROR("get send to extension port channel state error.");
             }
 
             if (DjiPlatform_GetSocketHandler() != NULL) {
+#ifdef SYSTEM_ARCH_LINUX
                 djiStat = DjiHighSpeedDataChannel_SendDataStreamData(dataToBeSent, sizeof(dataToBeSent));
                 if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
                     USER_LOG_ERROR("send data to data stream error.");
@@ -208,21 +238,22 @@ static void *UserDataTransmission_Task(void *arg)
                 } else {
                     USER_LOG_ERROR("get data stream state error.");
                 }
+#endif
             }
         } else if (s_aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT) {
             channelAddress = DJI_CHANNEL_ADDRESS_PAYLOAD_PORT_NO1;
             djiStat = DjiLowSpeedDataChannel_SendData(channelAddress, dataToBeSent, sizeof(dataToBeSent));
             if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)
-                USER_LOG_ERROR("send data to onboard computer error.");
+                USER_LOG_ERROR("send data to extension port error.");
 
             djiStat = DjiLowSpeedDataChannel_GetSendDataState(channelAddress, &state);
             if (djiStat == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                 USER_LOG_DEBUG(
-                    "send to onboard computer state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
+                    "send to extension port state: realtimeBandwidthBeforeFlowController: %d, realtimeBandwidthAfterFlowController: %d, busyState: %d.",
                     state.realtimeBandwidthBeforeFlowController, state.realtimeBandwidthAfterFlowController,
                     state.busyState);
             } else {
-                USER_LOG_ERROR("get send to onboard computer channel state error.");
+                USER_LOG_ERROR("get send to extension port channel state error.");
             }
         }
     }
@@ -253,7 +284,7 @@ static T_DjiReturnCode ReceiveDataFromMobile(const uint8_t *data, uint16_t len)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
-static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint16_t len)
+static T_DjiReturnCode ReceiveDataFromCloud(const uint8_t *data, uint16_t len)
 {
     char *printData = NULL;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
@@ -266,7 +297,28 @@ static T_DjiReturnCode ReceiveDataFromOnboardComputer(const uint8_t *data, uint1
 
     strncpy(printData, (const char *) data, len);
     printData[len] = '\0';
-    USER_LOG_INFO("receive data from onboard computer: %s, len:%d.", printData, len);
+    USER_LOG_INFO("receive data from cloud: %s, len:%d.", printData, len);
+    DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
+
+    osalHandler->Free(printData);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode ReceiveDataFromExtensionPort(const uint8_t *data, uint16_t len)
+{
+    char *printData = NULL;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+
+    printData = osalHandler->Malloc(len + 1);
+    if (printData == NULL) {
+        USER_LOG_ERROR("malloc memory for printData fail.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
+    }
+
+    strncpy(printData, (const char *) data, len);
+    printData[len] = '\0';
+    USER_LOG_INFO("receive data from extension port: %s, len:%d.", printData, len);
     DjiTest_WidgetLogAppend("receive data: %s, len:%d.", printData, len);
 
     osalHandler->Free(printData);

samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c

@@ -147,9 +147,9 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
-    USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 20 seconds\r\n");
+    USER_LOG_INFO("--> Step 3: Get latest value of the subscribed topics in the next 10 seconds\r\n");
 
-    for (int i = 0; i < 20; ++i) {
+    for (int i = 0; i < 10; ++i) {
         osalHandler->TaskSleepMs(1000 / FC_SUBSCRIPTION_TASK_FREQ);
         djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY,
                                                           (uint8_t *) &velocity,
@@ -204,7 +204,26 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
         }
     }
 
-    USER_LOG_INFO("--> Step 4: Deinit fc subscription module");
+    USER_LOG_INFO("--> Step 4: Unsubscribe the topics of quaternion, velocity and gps position");
+    djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("UnSubscribe topic quaternion error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_VELOCITY);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("UnSubscribe topic quaternion error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    djiStat = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("UnSubscribe topic quaternion error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    USER_LOG_INFO("--> Step 5: Deinit fc subscription module");
 
     djiStat = DjiFcSubscription_DeInit();
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {

samples/sample_c/module_sample/flight_control/test_flight_control.c

@@ -34,14 +34,6 @@
 /* Private constants ---------------------------------------------------------*/
 
 /* Private types -------------------------------------------------------------*/
-#pragma pack(1)
-typedef struct {
-    dji_f32_t x;
-    dji_f32_t y;
-    dji_f32_t z;
-} T_DjiTestFlightControlVector3f; // pack(1)
-#pragma pack()
-
 typedef struct {
     E_DjiFcSubscriptionDisplayMode displayMode;
     char *displayModeStr;
@@ -96,8 +88,6 @@ static bool DjiTest_FlightControlMoveByPositionOffset(T_DjiTestFlightControlVect
                                                       float yawDesiredInDeg,
                                                       float posThresholdInM,
                                                       float yawThresholdInDeg);
-static void DjiTest_FlightControlVelocityAndYawRateCtrl(T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
-                                                        uint32_t timeMs);
 static T_DjiReturnCode DjiTest_FlightControlInit(void);
 static T_DjiReturnCode DjiTest_FlightControlDeInit(void);
 static void DjiTest_FlightControlTakeOffLandingSample(void);
@@ -138,11 +128,16 @@ T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect f
 T_DjiReturnCode DjiTest_FlightControlInit(void)
 {
     T_DjiReturnCode returnCode;
+    T_DjiFlightControllerRidInfo ridInfo = {0};
 
     s_osalHandler = DjiPlatform_GetOsalHandler();
     if (!s_osalHandler) return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
 
-    returnCode = DjiFlightController_Init();
+    ridInfo.latitude = 22.542812;
+    ridInfo.longitude = 113.958902;
+    ridInfo.altitude = 10;
+
+    returnCode = DjiFlightController_Init(ridInfo);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Init flight controller module failed, error code:0x%08llX", returnCode);
         return returnCode;
@@ -236,7 +231,7 @@ T_DjiReturnCode DjiTest_FlightControlDeInit(void)
 {
     T_DjiReturnCode returnCode;
 
-    returnCode = DjiFlightController_Deinit();
+    returnCode = DjiFlightController_DeInit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Deinit flight controller module failed, error code:0x%08llX",
                        returnCode);
@@ -325,25 +320,25 @@ void DjiTest_FlightControlPositionControlSample()
     USER_LOG_INFO("Successful take off\r\n");
     DjiTest_WidgetLogAppend("Successful take off\r\n");
 
-    USER_LOG_INFO("--> Step 3: Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point");
+    USER_LOG_INFO("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
-    DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point");
+    DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 6, 6}, 30, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:0(m), earth:6(m), up:6(m) , yaw:30(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:0(m), east:6(m), up:6(m) , yaw:30(degree) from current point failed");
         goto out;
     };
 
-    USER_LOG_INFO("--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
+    USER_LOG_INFO("--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
     DjiTest_WidgetLogAppend(
-        "--> Step 4: Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point");
+        "--> Step 4: Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {6, 0, -3}, -30, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:6(m), earth:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:6(m), east:0(m), up:-3(m) , yaw:-30(degree) from current point failed");
         goto out;
     };
 
-    USER_LOG_INFO("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
+    USER_LOG_INFO("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
-    DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point");
+    DjiTest_WidgetLogAppend("--> Step 5: Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {-6, -6, 0}, 0, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:-6(m), earth:-6(m), up:0(m) , yaw:0(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:-6(m), east:-6(m), up:0(m) , yaw:0(degree) from current point failed");
         goto out;
     }
 
@@ -394,17 +389,17 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
     USER_LOG_INFO("Successful take off\r\n");
     DjiTest_WidgetLogAppend("Successful take off\r\n");
 
-    USER_LOG_INFO("--> Step 3: Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point");
+    USER_LOG_INFO("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
-    DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point");
+    DjiTest_WidgetLogAppend("--> Step 3: Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {0, 0, 30}, 0, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:0(m), earth:0(m), up:30(m) , yaw:0(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:0(m), east:0(m), up:30(m) , yaw:0(degree) from current point failed");
         goto out;
     }
 
-    USER_LOG_INFO("--> Step 4: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
+    USER_LOG_INFO("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
-    DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
+    DjiTest_WidgetLogAppend("--> Step 4: Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {10, 0, 0}, 0, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:10(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:10(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
         goto out;
     }
 
@@ -434,10 +429,10 @@ void DjiTest_FlightControlGoHomeForceLandingSample()
     USER_LOG_INFO("Current go home altitude is %d m\r\n", goHomeAltitude);
     DjiTest_WidgetLogAppend("Current go home altitude is %d m\r\n", goHomeAltitude);
 
-    USER_LOG_INFO("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
+    USER_LOG_INFO("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
-    DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point");
+    DjiTest_WidgetLogAppend("--> Step 7: Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point");
     if (!DjiTest_FlightControlMoveByPositionOffset((T_DjiTestFlightControlVector3f) {20, 0, 0}, 0, 0.8, 1)) {
-        USER_LOG_ERROR("Move to north:20(m), earth:0(m), up:0(m) , yaw:0(degree) from current point failed");
+        USER_LOG_ERROR("Move to north:20(m), east:0(m), up:0(m) , yaw:0(degree) from current point failed");
         goto out;
     }
 
@@ -489,9 +484,9 @@ void DjiTest_FlightControlVelocityControlSample()
     DjiTest_WidgetLogAppend("Successful take off\r\n");
 
     USER_LOG_INFO(
-        "--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
+        "--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
     DjiTest_WidgetLogAppend(
-        "--> Step 3: Move with north:0(m/s), earth:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
+        "--> Step 3: Move with north:0(m/s), east:0(m/s), up:5(m/s), yaw:0(deg/s) from current point for 2s!");
     DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5.0}, 0, 2000);
 
     USER_LOG_INFO("--> Step 4: Emergency brake for 2s");
@@ -509,9 +504,9 @@ void DjiTest_FlightControlVelocityControlSample()
     }
 
     USER_LOG_INFO(
-        "--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
+        "--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
     DjiTest_WidgetLogAppend(
-        "--> Step 5: Move with north:-1.5(m/s), earth:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
+        "--> Step 5: Move with north:-1.5(m/s), east:2(m/s), up:0(m/s), yaw:20(deg/s) from current point for 2s!");
     DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.5, 2, 0}, 20, 2000);
 
     USER_LOG_INFO("--> Step 6: Emergency brake for 2s");
@@ -529,9 +524,9 @@ void DjiTest_FlightControlVelocityControlSample()
     }
 
     USER_LOG_INFO(
-        "--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
+        "--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
     DjiTest_WidgetLogAppend(
-        "--> Step 7: Move with north:3(m/s), earth:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
+        "--> Step 7: Move with north:3(m/s), east:0(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.5s!");
     DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 2500);
 
     USER_LOG_INFO("--> Step 8: Emergency brake for 2s");
@@ -549,9 +544,9 @@ void DjiTest_FlightControlVelocityControlSample()
     }
 
     USER_LOG_INFO(
-        "--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
+        "--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
     DjiTest_WidgetLogAppend(
-        "--> Step 9: Move with north:-1.6(m/s), earth:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
+        "--> Step 9: Move with north:-1.6(m/s), east:-2(m/s), up:0(m/s), yaw:0(deg/s) from current point for 2.2s!");
     DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {-1.6, -2, 0}, 0, 2200);
 
     USER_LOG_INFO("--> Step 10: Emergency brake for 2s");
@@ -1218,6 +1213,12 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
 {
     T_DjiReturnCode djiStat;
     T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    E_DjiFlightControllerObstacleAvoidanceEnableStatus enableStatus;
+
+    djiStat = DjiFlightController_GetDownwardsVisualObstacleAvoidanceEnableStatus(&enableStatus);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get downwards visual obstacle avoidance enable status error");
+    }
 
     djiStat = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -1272,11 +1273,20 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
         return false;
     }
 
-    if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
+    if (enableStatus == DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE) {
-        return false;
+        if (!DjiTest_FlightControlCheckActionStarted(DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING)) {
+            return false;
+        } else {
+            while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
+                   DjiTest_FlightControlGetValueOfDisplayMode() ==
+                   DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
+                s_osalHandler->TaskSleepMs(1000);
+            }
+        }
     } else {
         while (DjiTest_FlightControlGetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR &&
-               DjiTest_FlightControlGetValueOfDisplayMode() == DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
+               DjiTest_FlightControlGetValueOfDisplayMode() ==
+               DJI_FC_SUBSCRIPTION_DISPLAY_MODE_FORCE_AUTO_LANDING) {
             s_osalHandler->TaskSleepMs(1000);
         }
     }
@@ -1454,11 +1464,12 @@ DjiTest_FlightControlMoveByPositionOffset(const T_DjiTestFlightControlVector3f o
 void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
                                                  uint32_t timeMs)
 {
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     uint32_t originTime = 0;
     uint32_t currentTime = 0;
     uint32_t elapsedTimeInMs = 0;
-    s_osalHandler->GetTimeMs(&originTime);
+    osalHandler->GetTimeMs(&originTime);
-    s_osalHandler->GetTimeMs(&currentTime);
+    osalHandler->GetTimeMs(&currentTime);
     elapsedTimeInMs = currentTime - originTime;
     T_DjiFlightControllerJoystickMode joystickMode = {
         DJI_FLIGHT_CONTROLLER_HORIZONTAL_VELOCITY_CONTROL_MODE,
@@ -1474,8 +1485,8 @@ void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVec
 
     while (elapsedTimeInMs <= timeMs) {
         DjiFlightController_ExecuteJoystickAction(joystickCommand);
-        s_osalHandler->TaskSleepMs(2);
+        osalHandler->TaskSleepMs(2);
-        s_osalHandler->GetTimeMs(&currentTime);
+        osalHandler->GetTimeMs(&currentTime);
         elapsedTimeInMs = currentTime - originTime;
     }
 }

samples/sample_c/module_sample/flight_control/test_flight_control.h

@@ -44,10 +44,20 @@ typedef enum {
     E_DJI_TEST_FLIGHT_CTRL_SAMPLE_SELECT_SET_GET_PARAM,
 } E_DjiTestFlightCtrlSampleSelect;
 
+#pragma pack(1)
+typedef struct {
+    dji_f32_t x;
+    dji_f32_t y;
+    dji_f32_t z;
+} T_DjiTestFlightControlVector3f; // pack(1)
+#pragma pack()
+
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_FlightControlRunSample(E_DjiTestFlightCtrlSampleSelect flightCtrlSampleSelect);
+void DjiTest_FlightControlVelocityAndYawRateCtrl(const T_DjiTestFlightControlVector3f offsetDesired, float yawRate,
+                                                 uint32_t timeMs);
 
 #ifdef __cplusplus
 }

samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -29,6 +29,8 @@
 #include "dji_platform.h"
 #include "dji_logger.h"
 #include "dji_gimbal_manager.h"
+#include "dji_fc_subscription.h"
+#include "dji_aircraft_info.h"
 
 /* Private constants ---------------------------------------------------------*/
 
@@ -73,10 +75,26 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     T_DjiReturnCode returnCode;
     T_DjiGimbalManagerRotation rotation;
+    T_DjiAircraftInfoBaseInfo baseInfo;
+    E_DjiAircraftSeries aircraftSeries;
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&baseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Failed to get aircraft base info, return code 0x%08X", returnCode);
+        goto out;
+    }
+
+    aircraftSeries = baseInfo.aircraftSeries;
 
     USER_LOG_INFO("Gimbal manager sample start");
     DjiTest_WidgetLogAppend("Gimbal manager sample start");
 
+    returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Failed to subscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
+        goto out;
+    }
+
     USER_LOG_INFO("--> Step 1: Init gimbal manager module");
     DjiTest_WidgetLogAppend("--> Step 1: Init gimbal manager module");
     returnCode = DjiGimbalManager_Init();
@@ -99,7 +117,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
     }
 
     USER_LOG_INFO("--> Step 3: Reset gimbal angles.\r\n");
-    returnCode = DjiGimbalManager_Reset(mountPosition);
+    returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
     }
@@ -108,7 +126,7 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
     for (int i = 0; i < sizeof(s_rotationActionList) / sizeof(T_DjiTestGimbalActionList); ++i) {
         if (s_rotationActionList[i].action == DJI_TEST_GIMBAL_RESET) {
             USER_LOG_INFO("Target gimbal reset.\r\n");
-            returnCode = DjiGimbalManager_Reset(mountPosition);
+            returnCode = DjiGimbalManager_Reset(mountPosition, DJI_GIMBAL_RESET_MODE_PITCH_AND_YAW);
             if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                 USER_LOG_ERROR("Reset gimbal failed, error code: 0x%08X", returnCode);
             }
@@ -120,11 +138,22 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
                 continue;
             }
 
-            USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)",
-                          s_rotationActionList[i].rotation.pitch, s_rotationActionList[i].rotation.roll,
-                          s_rotationActionList[i].rotation.yaw);
-
             rotation = s_rotationActionList[i].rotation;
+
+            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
+                if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
+                    T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
+                    T_DjiDataTimestamp timestamp = {0};
+                    returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
+                                                                        (uint8_t *) &gimbalAngles,
+                                                                        sizeof(T_DjiFcSubscriptionGimbalAngles),
+                                                                        &timestamp);
+                    rotation.yaw = gimbalAngles.z;
+                }
+            }
+
+            USER_LOG_INFO("Target gimbal pry = (%.1f, %.1f, %.1f)", rotation.pitch, rotation.roll, rotation.yaw);
+
             returnCode = DjiGimbalManager_Rotate(mountPosition, rotation);
             if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                 USER_LOG_ERROR("Target gimbal pry = (%.1f, %.1f, %.1f) failed, error code: 0x%08X",
@@ -136,6 +165,11 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
         }
     }
 
+    returnCode = DjiFcSubscription_UnSubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Failed to unsubscribe topic %d, 0x%08X", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
+    }
+
     USER_LOG_INFO("--> Step 5: Deinit gimbal manager module");
     DjiTest_WidgetLogAppend("--> Step 5: Deinit gimbal manager module");
     returnCode = DjiGimbalManager_Deinit();

samples/sample_c/module_sample/hms/test_hms.c

@@ -25,6 +25,8 @@
 /* Includes ------------------------------------------------------------------*/
 #include <widget_interaction_test/test_widget_interaction.h>
 #include <utils/util_misc.h>
+#include <utils/cJSON.h>
+#include <utils/util_file.h>
 #include "test_hms.h"
 #include "dji_hms.h"
 #include "dji_hms_info_table.h"
@@ -52,28 +54,32 @@ static const char *oldReplaceComponentIndexStr = "%component_index";
 static T_DjiHmsFileBinaryArray s_EnHmsTextConfigFileBinaryArrayList[] = {
     {hms_text_config_json_fileName, hms_text_config_json_fileSize, hms_text_config_json_fileBinaryArray},
 };
-static bool s_hmsServiceRunFlag = false;
+static uint8_t *s_hmsJsonData = NULL;
+static E_DjiMobileAppLanguage s_hmsLanguage = DJI_MOBILE_APP_LANGUAGE_ENGLISH;
 
 /* Private functions declaration ---------------------------------------------*/
-static T_DjiReturnCode DjiTest_HmsInit(void);
+static T_DjiReturnCode DjiTest_HmsManagerInit(void);
-static T_DjiReturnCode DjiTest_HmsDeInit(void);
+static T_DjiReturnCode DjiTest_HmsManagerDeInit(void);
 static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void);
 static bool DjiTest_ReplaceStr(char *buffer, uint32_t bufferMaxLen, const char *target, const char *dest);
 static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable);
+static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable);
 static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable);
 
 /* Exported functions definition ---------------------------------------------*/
-T_DjiReturnCode DjiTest_HmsRunSample(void)
+T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language)
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler;
 
+    s_hmsLanguage = language;
+
     USER_LOG_INFO("Hms Sample Start");
     DjiTest_WidgetLogAppend("Hms Sample Start");
 
     USER_LOG_INFO("--> Step 1: Init hms sample");
     DjiTest_WidgetLogAppend("--> Step 1: Init hms sample");
-    returnCode = DjiTest_HmsInit();
+    returnCode = DjiTest_HmsManagerInit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Hms sample init error, error code:0x%08llX", returnCode);
         goto out;
@@ -82,7 +88,7 @@ T_DjiReturnCode DjiTest_HmsRunSample(void)
     osalHandler = DjiPlatform_GetOsalHandler();
     USER_LOG_INFO("--> Step 2: Register callback function of push HMS information");
     DjiTest_WidgetLogAppend("--> Step 2: Register callback function of push HMS information");
-    returnCode = DjiHms_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
+    returnCode = DjiHmsManager_RegHmsInfoCallback(DjiTest_HmsInfoCallback);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Register callback function of push HMS information failed, error code:0x%08llX", returnCode);
         goto out;
@@ -93,7 +99,7 @@ T_DjiReturnCode DjiTest_HmsRunSample(void)
 out:
     USER_LOG_INFO("--> Step 3: Deinit hms sample");
     DjiTest_WidgetLogAppend("--> Step 3: Deinit hms sample");
-    returnCode = DjiTest_HmsDeInit();
+    returnCode = DjiTest_HmsManagerDeInit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Hms sample deinit error, error code:0x%08llX", returnCode);
     }
@@ -104,7 +110,7 @@ out:
     return returnCode;
 }
 
-T_DjiReturnCode DjiTest_HmsStartService(void)
+T_DjiReturnCode DjiTest_HmsCustomizationStartService(void)
 {
     T_DjiReturnCode returnCode;
 #ifdef SYSTEM_ARCH_LINUX
@@ -112,7 +118,7 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
     char tempPath[HMS_DIR_PATH_LEN_MAX];
 #endif
 
-    returnCode = DjiHms_Init();
+    returnCode = DjiHmsCustomization_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Hms init error, error code:0x%08llX", returnCode);
         return returnCode;
@@ -129,15 +135,15 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
     snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/en", curFileDirPath);
 
     //set default hms text config path
-    returnCode = DjiHms_RegDefaultHmsTextConfigByDirPath(tempPath);
+    returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByDirPath(tempPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
         return returnCode;
     }
 
     //set hms text config for English language
-    returnCode = DjiHms_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
+    returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_ENGLISH,
-                                                  tempPath);
+                                                               tempPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
         return returnCode;
@@ -145,8 +151,8 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
 
     //set hms text config for Chinese language
     snprintf(tempPath, HMS_DIR_PATH_LEN_MAX, "%shms_text/cn", curFileDirPath);
-    returnCode = DjiHms_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
+    returnCode = DjiHmsCustomization_RegHmsTextConfigByDirPath(DJI_MOBILE_APP_LANGUAGE_CHINESE,
-                                                  tempPath);
+                                                               tempPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Add hms text config error, stat = 0x%08llX", returnCode);
         return returnCode;
@@ -159,7 +165,7 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
     };
 
     //set default hms text config
-    returnCode = DjiHms_RegDefaultHmsTextConfigByBinaryArray(&enHmsTextBinaryArrayConfig);
+    returnCode = DjiHmsCustomization_RegDefaultHmsTextConfigByBinaryArray(&enHmsTextBinaryArrayConfig);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Add default hms text config error, stat = 0x%08llX", returnCode);
         return returnCode;
@@ -167,18 +173,21 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
 #endif
 
 #if DJI_CUSTOM_HMS_CODE_INJECT_ON
-    DjiHms_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
+    DjiHmsCustomization_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
 #endif
 
-    s_hmsServiceRunFlag = true;
-
     return returnCode;
 }
 
 /* Private functions definition-----------------------------------------------*/
-static T_DjiReturnCode DjiTest_HmsInit(void)
+static T_DjiReturnCode DjiTest_HmsManagerInit(void)
 {
     T_DjiReturnCode returnCode;
+    char curFileDirPath[HMS_DIR_PATH_LEN_MAX];
+    char tempFileDirPath[HMS_DIR_PATH_LEN_MAX];
+    uint32_t fileSize = 0;
+    uint32_t readRealSize = 0;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
     returnCode = DjiFcSubscription_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -196,16 +205,38 @@ static T_DjiReturnCode DjiTest_HmsInit(void)
         return returnCode;
     }
 
-    if (s_hmsServiceRunFlag == true) {
+#ifdef SYSTEM_ARCH_LINUX
-        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    returnCode = DjiUserUtil_GetCurrentFileDirPath(__FILE__, HMS_DIR_PATH_LEN_MAX, curFileDirPath);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);
+        return returnCode;
     }
 
-    return DjiHms_Init();
+    snprintf(tempFileDirPath, HMS_DIR_PATH_LEN_MAX, "%s/data/hms_2023_08_22.json", curFileDirPath);
+
+    returnCode = UtilFile_GetFileSizeByPath(tempFileDirPath, &fileSize);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Get file size by path failed, stat = 0x%08llX", returnCode);
+        return returnCode;
+    }
+
+    USER_LOG_DEBUG("Hms json file size is %d", fileSize);
+
+    s_hmsJsonData = osalHandler->Malloc(fileSize);
+    if (s_hmsJsonData == NULL) {
+        USER_LOG_ERROR("Malloc failed.");
+    }
+
+    UtilFile_GetFileDataByPath(tempFileDirPath, 0, fileSize, s_hmsJsonData, &readRealSize);
+#endif
+
+    return DjiHmsManager_Init();
 }
 
-static T_DjiReturnCode DjiTest_HmsDeInit(void)
+static T_DjiReturnCode DjiTest_HmsManagerDeInit(void)
 {
     T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
     returnCode = DjiFcSubscription_DeInit();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -214,11 +245,11 @@ static T_DjiReturnCode DjiTest_HmsDeInit(void)
         return returnCode;
     }
 
-    if (s_hmsServiceRunFlag == true) {
+#ifdef SYSTEM_ARCH_LINUX
-        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    osalHandler->Free(s_hmsJsonData);
-    }
+#endif
 
-    return DjiHms_DeInit();
+    return DjiHmsManager_DeInit();
 }
 
 static T_DjiFcSubscriptionFlightStatus DjiTest_GetValueOfFlightStatus(void)
@@ -326,12 +357,67 @@ static bool DjiTest_MarchErrCodeInfoTable(T_DjiHmsInfoTable hmsInfoTable)
     return true;
 }
 
+static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
+{
+    cJSON *hmsJsonRoot = NULL;
+    cJSON *hmsErrorCode = NULL;
+    cJSON *hmsLanguage = NULL;
+    char hmsErrorCodeString[HMS_DIR_PATH_LEN_MAX] = {0};
+
+    hmsJsonRoot = cJSON_Parse((char *) s_hmsJsonData);
+    if (hmsJsonRoot == NULL) {
+        return 0;
+    }
+
+    for (int i = 0; i < hmsInfoTable.hmsInfoNum; i++) {
+        if (DjiTest_GetValueOfFlightStatus() == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR) {
+            sprintf(hmsErrorCodeString, "fpv_tip_0x%08X_in_the_sky", hmsInfoTable.hmsInfo[i].errorCode);
+        } else {
+            sprintf(hmsErrorCodeString, "fpv_tip_0x%08X", hmsInfoTable.hmsInfo[i].errorCode);
+        }
+
+        hmsErrorCode = cJSON_GetObjectItem(hmsJsonRoot, hmsErrorCodeString);
+        if (hmsErrorCode != NULL) {
+            if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_CHINESE) {
+                hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "zh");
+            } else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_ENGLISH) {
+                hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "en");
+            } else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_JAPANESE) {
+                hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "ja");
+            } else if (s_hmsLanguage == DJI_MOBILE_APP_LANGUAGE_FRENCH) {
+                hmsLanguage = cJSON_GetObjectItem(hmsErrorCode, "fr");
+            }
+            if (hmsLanguage != NULL) {
+                if (hmsInfoTable.hmsInfo[i].errorLevel > MIN_HMS_ERROR_LEVEL &&
+                    hmsInfoTable.hmsInfo[i].errorLevel < MID_HMS_ERROR_LEVEL) {
+                    USER_LOG_WARN("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
+                                  hmsLanguage->valuestring);
+                } else if (hmsInfoTable.hmsInfo[i].errorLevel >= MID_HMS_ERROR_LEVEL &&
+                           hmsInfoTable.hmsInfo[i].errorLevel < MAX_HMS_ERROR_LEVEL) {
+                    USER_LOG_ERROR("[ErrorCode: 0x%2x]: %s", hmsInfoTable.hmsInfo[i].errorCode,
+                                   hmsLanguage->valuestring);
+                }
+            } else {
+                USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents for this language for now.",
+                              hmsInfoTable.hmsInfo[i].errorCode);
+            }
+        } else {
+            USER_LOG_WARN("[ErrorCode: 0x%2x] There are no matching documents in the current json for now.",
+                          hmsInfoTable.hmsInfo[i].errorCode);
+        }
+    }
+}
+
 static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)
 {
+#ifdef SYSTEM_ARCH_LINUX
+    DjiTest_MarchErrCodeInfoTableByJson(hmsInfoTable);
+#else
     if (!DjiTest_MarchErrCodeInfoTable(hmsInfoTable)) {
         USER_LOG_ERROR("March HMS Information failed.");
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
+#endif
 
     if (hmsInfoTable.hmsInfoNum == 0) {
         USER_LOG_INFO("All systems of drone are running well now.");

samples/sample_c/module_sample/hms/test_hms.h

@@ -39,8 +39,8 @@ extern "C" {
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported functions --------------------------------------------------------*/
-T_DjiReturnCode DjiTest_HmsRunSample(void);
+T_DjiReturnCode DjiTest_HmsManagerRunSample(E_DjiMobileAppLanguage language);
-T_DjiReturnCode DjiTest_HmsStartService(void);
+T_DjiReturnCode DjiTest_HmsCustomizationStartService(void);
 
 #ifdef __cplusplus
 }

samples/sample_c/module_sample/interest_point/test_interest_point.c

@@ -0,0 +1,131 @@
+/**
+ ********************************************************************
+ * @file    test_interest_point.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "test_interest_point.h"
+#include "dji_interest_point.h"
+#include "dji_logger.h"
+#include "dji_flight_controller.h"
+#include "flight_control/test_flight_control.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values -------------------------------------------------------------*/
+static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState);
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+T_DjiReturnCode DjiTest_InterestPointRunSample(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiInterestPointSettings interestPointSettings = {0};
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiFlightControllerRidInfo ridInfo = {0};
+
+    ridInfo.latitude = 22.542812;
+    ridInfo.longitude = 113.958902;
+    ridInfo.altitude = 10;
+
+    returnCode = DjiFlightController_Init(ridInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_INFO("Flight control init failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiInterestPoint_Init();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_INFO("Point interest init failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    osalHandler->TaskSleepMs(1000);
+    DjiFlightController_ObtainJoystickCtrlAuthority();
+
+    osalHandler->TaskSleepMs(1000);
+    DjiFlightController_StartTakeoff();
+
+    osalHandler->TaskSleepMs(1000);
+    DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {0, 0, 5}, 0, 10000);
+
+    osalHandler->TaskSleepMs(1000);
+    DjiTest_FlightControlVelocityAndYawRateCtrl((T_DjiTestFlightControlVector3f) {3, 0, 0}, 0, 5000);
+
+    interestPointSettings.latitude = 22.542812;
+    interestPointSettings.longitude = 113.958902;
+
+    returnCode = DjiInterestPoint_RegMissionStateCallback(DjiUser_InterestPointMissionStateCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register mission state callback failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiInterestPoint_Start(interestPointSettings);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Point interest start failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    DjiInterestPoint_SetSpeed(5.0f);
+
+    for (int i = 0; i < 60; ++i) {
+        USER_LOG_ERROR("Interest point mission running %d.", i);
+        osalHandler->TaskSleepMs(1000);
+    }
+
+    returnCode = DjiInterestPoint_Stop();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Point interest stop failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    DjiFlightController_StartForceLanding();
+
+    returnCode = DjiInterestPoint_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Point interest deinit failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    returnCode = DjiFlightController_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Flight control init failed, errno=%lld", returnCode);
+        return returnCode;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/* Private functions definition-----------------------------------------------*/
+static T_DjiReturnCode DjiUser_InterestPointMissionStateCallback(T_DjiInterestPointMissionState missionState)
+{
+    USER_LOG_INFO("Interest point state: %d, radius: %.2f m, speed: %.2f m/s", missionState.state, missionState.radius,
+                  missionState.curSpeed);
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/interest_point/test_interest_point.h

@@ -0,0 +1,49 @@
+/**
+ ********************************************************************
+ * @file    test_interest_point.h
+ * @brief   This is the header file for "test_interest_point.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef TEST_INTEREST_POINT_H
+#define TEST_INTEREST_POINT_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+
+/* Exported functions --------------------------------------------------------*/
+T_DjiReturnCode DjiTest_InterestPointRunSample(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // TEST_INTEREST_POINT_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/module_sample/positioning/test_positioning.c

@@ -32,22 +32,34 @@
 #include "dji_platform.h"
 #include "time_sync/test_time_sync.h"
 
+#ifdef SYSTEM_ARCH_LINUX
+
+#include "time.h"
+
+#endif
+
 /* Private constants ---------------------------------------------------------*/
 #define POSITIONING_TASK_FREQ                     (1)
-#define POSITIONING_TASK_STACK_SIZE               (1024)
+#define POSITIONING_TASK_STACK_SIZE               (2048)
+#define TEST_RTCM_FILE_PATH_STR_MAX_SIZE          (64)
 
 #define DJI_TEST_POSITIONING_EVENT_COUNT          (2)
 #define DJI_TEST_TIME_INTERVAL_AMONG_EVENTS_US    (200000)
 
 /* Private types -------------------------------------------------------------*/
 
-
 /* Private functions declaration ---------------------------------------------*/
 static void *DjiTest_PositioningTask(void *arg);
+static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                    uint16_t dataLen);
+static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                     uint16_t dataLen);
 
 /* Private variables ---------------------------------------------------------*/
 static T_DjiTaskHandle s_userPositioningThread;
 static int32_t s_eventIndex = 0;
+static char s_rtkOnAircraftRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
+static char s_rtkBaseStationRtcmFilePath[TEST_RTCM_FILE_PATH_STR_MAX_SIZE];
 
 /* Exported functions definition ---------------------------------------------*/
 T_DjiReturnCode DjiTest_PositioningStartService(void)
@@ -63,12 +75,40 @@ T_DjiReturnCode DjiTest_PositioningStartService(void)
 
     DjiPositioning_SetTaskIndex(0);
 
+#ifndef SYSTEM_ARCH_LINUX
     if (osalHandler->TaskCreate("user_positioning_task", DjiTest_PositioningTask,
                                 POSITIONING_TASK_STACK_SIZE, NULL, &s_userPositioningThread) !=
         DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("user positioning task create error.");
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
+#else
+    time_t currentTime = time(NULL);
+    struct tm *localTime = NULL;
+
+    localTime = localtime(&currentTime);
+    sprintf(s_rtkOnAircraftRtcmFilePath, "rtk_on_aircraft_%04d%02d%02d_%02d-%02d-%02d.rtcm",
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+
+    localTime = localtime(&currentTime);
+    sprintf(s_rtkBaseStationRtcmFilePath, "rtk_base_station_%04d%02d%02d_%02d-%02d-%02d.rtcm",
+            localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
+            localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
+#endif
+    djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_BASE_STATION,
+                                                        DjiTest_ReceiveRtkBaseStationRtcmDataCallback);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register receive rtk base station callback error.");
+        return djiStat;
+    }
+
+    djiStat = DjiPositioning_RegReceiveRtcmDataCallback(DJI_POSITIONING_RTCM_DATA_TYPE_RTK_ON_AIRCRAFT,
+                                                        DjiTest_ReceiveRtkOnAircraftRtcmDataCallback);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register receive rtk on aircraft callback error.");
+        return djiStat;
+    }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
@@ -158,4 +198,51 @@ static void *DjiTest_PositioningTask(void *arg)
 #pragma GCC diagnostic pop
 #endif
 
+static int32_t DjiTest_SaveRtcmData(char *filePath, const uint8_t *data, uint32_t len)
+{
+#ifdef SYSTEM_ARCH_LINUX
+    FILE *fp = NULL;
+    size_t size;
+
+    fp = fopen(filePath, "ab+");
+    if (fp == NULL) {
+        printf("fopen failed!\n");
+        return -1;
+    }
+
+    size = fwrite(data, 1, len, fp);
+    if (size != len) {
+        fclose(fp);
+        return -1;
+    }
+
+    fflush(fp);
+    fclose(fp);
+#endif
+    return 0;
+}
+
+static T_DjiReturnCode DjiTest_ReceiveRtkOnAircraftRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                    uint16_t dataLen)
+{
+    USER_LOG_INFO("Receive rtcm data from rtk on aircraft, index: %d, len: %d", index, dataLen);
+
+#ifdef SYSTEM_ARCH_LINUX
+    DjiTest_SaveRtcmData(s_rtkOnAircraftRtcmFilePath, data, dataLen);
+#endif
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+static T_DjiReturnCode DjiTest_ReceiveRtkBaseStationRtcmDataCallback(uint8_t index, const uint8_t *data,
+                                                                     uint16_t dataLen)
+{
+    USER_LOG_INFO("Receive rtcm data from rtk base station, index: %d, len: %d", index, dataLen);
+
+#ifdef SYSTEM_ARCH_LINUX
+    DjiTest_SaveRtcmData(s_rtkBaseStationRtcmFilePath, data, dataLen);
+#endif
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
+
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/utils/cJSON.h

@@ -0,0 +1,290 @@
+/*
+  Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
+
+  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.
+*/
+
+#ifndef cJSON__h
+#define cJSON__h
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#if !defined(__WINDOWS__) && (defined(WIN32) || defined(WIN64) || defined(_MSC_VER) || defined(_WIN32))
+#define __WINDOWS__
+#endif
+
+#ifdef __WINDOWS__
+
+/* When compiling for windows, we specify a specific calling convention to avoid issues where we are being called from a project with a different default calling convention.  For windows you have 3 define options:
+
+CJSON_HIDE_SYMBOLS - Define this in the case where you don't want to ever dllexport symbols
+CJSON_EXPORT_SYMBOLS - Define this on library build when you want to dllexport symbols (default)
+CJSON_IMPORT_SYMBOLS - Define this if you want to dllimport symbol
+
+For *nix builds that support visibility attribute, you can define similar behavior by
+
+setting default visibility to hidden by adding
+-fvisibility=hidden (for gcc)
+or
+-xldscope=hidden (for sun cc)
+to CFLAGS
+
+then using the CJSON_API_VISIBILITY flag to "export" the same symbols the way CJSON_EXPORT_SYMBOLS does
+
+*/
+
+#define CJSON_CDECL __cdecl
+#define CJSON_STDCALL __stdcall
+
+/* export symbols by default, this is necessary for copy pasting the C and header file */
+#if !defined(CJSON_HIDE_SYMBOLS) && !defined(CJSON_IMPORT_SYMBOLS) && !defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_EXPORT_SYMBOLS
+#endif
+
+#if defined(CJSON_HIDE_SYMBOLS)
+#define CJSON_PUBLIC(type)   type CJSON_STDCALL
+#elif defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllexport) type CJSON_STDCALL
+#elif defined(CJSON_IMPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllimport) type CJSON_STDCALL
+#endif
+#else /* !__WINDOWS__ */
+#define CJSON_CDECL
+#define CJSON_STDCALL
+
+#if (defined(__GNUC__) || defined(__SUNPRO_CC) || defined (__SUNPRO_C)) && defined(CJSON_API_VISIBILITY)
+#define CJSON_PUBLIC(type)   __attribute__((visibility("default"))) type
+#else
+#define CJSON_PUBLIC(type) type
+#endif
+#endif
+
+/* project version */
+#define CJSON_VERSION_MAJOR 1
+#define CJSON_VERSION_MINOR 7
+#define CJSON_VERSION_PATCH 12
+
+#include <stddef.h>
+#include <stdint.h>
+
+/* cJSON Types: */
+#define cJSON_Invalid (0)
+#define cJSON_False  (1 << 0)
+#define cJSON_True   (1 << 1)
+#define cJSON_NULL   (1 << 2)
+#define cJSON_Number (1 << 3)
+#define cJSON_String (1 << 4)
+#define cJSON_Array  (1 << 5)
+#define cJSON_Object (1 << 6)
+#define cJSON_Raw    (1 << 7) /* raw json */
+
+#define cJSON_IsReference 256
+#define cJSON_StringIsConst 512
+
+/* The cJSON structure: */
+typedef struct cJSON {
+    /* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */
+    struct cJSON *next;
+    struct cJSON *prev;
+    /* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */
+    struct cJSON *child;
+
+    /* The type of the item, as above. */
+    int type;
+
+    /* The item's string, if type==cJSON_String  and type == cJSON_Raw */
+    char *valuestring;
+    /* writing to valueint is DEPRECATED, use cJSON_SetNumberValue instead */
+    int valueint;
+    /* The item's number, if type==cJSON_Number */
+    double valuedouble;
+
+    /* The item's name string, if this item is the child of, or is in the list of subitems of an object. */
+    char *string;
+} cJSON;
+
+typedef struct cJSON_Hooks {
+    /* malloc/free are CDECL on Windows regardless of the default calling convention of the compiler, so ensure the hooks allow passing those functions directly. */
+    void *(CJSON_CDECL *malloc_fn)(size_t sz);
+    void (CJSON_CDECL *free_fn)(void *ptr);
+} cJSON_Hooks;
+
+typedef int cJSON_bool;
+
+/* Limits how deeply nested arrays/objects can be before cJSON rejects to parse them.
+ * This is to prevent stack overflows. */
+#ifndef CJSON_NESTING_LIMIT
+#define CJSON_NESTING_LIMIT 1000
+#endif
+
+/* returns the version of cJSON as a string */
+CJSON_PUBLIC(const char*)cJSON_Version(void);
+
+/* Supply malloc, realloc and free functions to cJSON */
+CJSON_PUBLIC(void) cJSON_InitHooks(cJSON_Hooks *hooks);
+
+/* Memory Management: the caller is always responsible to free the results from all variants of cJSON_Parse (with cJSON_Delete) and cJSON_Print (with stdlib free, cJSON_Hooks.free_fn, or cJSON_free as appropriate). The exception is cJSON_PrintPreallocated, where the caller has full responsibility of the buffer. */
+/* Supply a block of JSON, and this returns a cJSON object you can interrogate. */
+CJSON_PUBLIC(cJSON *)cJSON_Parse(const char *value);
+CJSON_PUBLIC(cJSON *)cJSON_ParseByJsonData(const uint8_t *json_data, uint16_t data_len);
+/* ParseWithOpts allows you to require (and check) that the JSON is null terminated, and to retrieve the pointer to the final byte parsed. */
+/* If you supply a ptr in return_parse_end and parsing fails, then return_parse_end will contain a pointer to the error so will match cJSON_GetErrorPtr(). */
+CJSON_PUBLIC(cJSON *)cJSON_ParseWithOpts(const char *value, const char **return_parse_end,
+                                         cJSON_bool require_null_terminated);
+
+/* Render a cJSON entity to text for transfer/storage. */
+CJSON_PUBLIC(char *)cJSON_Print(const cJSON *item);
+/* Render a cJSON entity to text for transfer/storage without any formatting. */
+CJSON_PUBLIC(char *)cJSON_PrintUnformatted(const cJSON *item);
+/* Render a cJSON entity to text using a buffered strategy. prebuffer is a guess at the final size. guessing well reduces reallocation. fmt=0 gives unformatted, =1 gives formatted */
+CJSON_PUBLIC(char *)cJSON_PrintBuffered(const cJSON *item, int prebuffer, cJSON_bool fmt);
+/* Render a cJSON entity to text using a buffer already allocated in memory with given length. Returns 1 on success and 0 on failure. */
+/* NOTE: cJSON is not always 100% accurate in estimating how much memory it will use, so to be safe allocate 5 bytes more than you actually need */
+CJSON_PUBLIC(cJSON_bool) cJSON_PrintPreallocated(cJSON *item, char *buffer, const int length, const cJSON_bool format);
+/* Delete a cJSON entity and all subentities. */
+CJSON_PUBLIC(void) cJSON_Delete(cJSON *item);
+
+/* Returns the number of items in an array (or object). */
+CJSON_PUBLIC(int) cJSON_GetArraySize(const cJSON *array);
+/* Retrieve item number "index" from array "array". Returns NULL if unsuccessful. */
+CJSON_PUBLIC(cJSON *)cJSON_GetArrayItem(const cJSON *array, int index);
+/* Get item "string" from object. Case insensitive. */
+CJSON_PUBLIC(cJSON *)cJSON_GetObjectItem(const cJSON *const object, const char *const string);
+CJSON_PUBLIC(cJSON *)cJSON_GetObjectItemCaseSensitive(const cJSON *const object, const char *const string);
+CJSON_PUBLIC(cJSON_bool) cJSON_HasObjectItem(const cJSON *object, const char *string);
+/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */
+CJSON_PUBLIC(const char *)cJSON_GetErrorPtr(void);
+
+/* Check if the item is a string and return its valuestring */
+CJSON_PUBLIC(char *)cJSON_GetStringValue(cJSON *item);
+
+/* These functions check the type of an item */
+CJSON_PUBLIC(cJSON_bool) cJSON_IsInvalid(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsFalse(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsTrue(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsBool(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNull(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNumber(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsString(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsArray(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsObject(const cJSON *const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsRaw(const cJSON *const item);
+
+/* These calls create a cJSON item of the appropriate type. */
+CJSON_PUBLIC(cJSON *)cJSON_CreateNull(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateTrue(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateFalse(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateBool(cJSON_bool boolean);
+CJSON_PUBLIC(cJSON *)cJSON_CreateNumber(double num);
+CJSON_PUBLIC(cJSON *)cJSON_CreateString(const char *string);
+/* raw json */
+CJSON_PUBLIC(cJSON *)cJSON_CreateRaw(const char *raw);
+CJSON_PUBLIC(cJSON *)cJSON_CreateArray(void);
+CJSON_PUBLIC(cJSON *)cJSON_CreateObject(void);
+
+/* Create a string where valuestring references a string so
+ * it will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *)cJSON_CreateStringReference(const char *string);
+/* Create an object/array that only references it's elements so
+ * they will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *)cJSON_CreateObjectReference(const cJSON *child);
+CJSON_PUBLIC(cJSON *)cJSON_CreateArrayReference(const cJSON *child);
+
+/* These utilities create an Array of count items.
+ * The parameter count cannot be greater than the number of elements in the number array, otherwise array access will be out of bounds.*/
+CJSON_PUBLIC(cJSON *)cJSON_CreateIntArray(const int *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateFloatArray(const float *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateDoubleArray(const double *numbers, int count);
+CJSON_PUBLIC(cJSON *)cJSON_CreateStringArray(const char **strings, int count);
+
+/* Append item to the specified array/object. */
+CJSON_PUBLIC(void) cJSON_AddItemToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(void) cJSON_AddItemToObject(cJSON *object, const char *string, cJSON *item);
+/* Use this when string is definitely const (i.e. a literal, or as good as), and will definitely survive the cJSON object.
+ * WARNING: When this function was used, make sure to always check that (item->type & cJSON_StringIsConst) is zero before
+ * writing to `item->string` */
+CJSON_PUBLIC(void) cJSON_AddItemToObjectCS(cJSON *object, const char *string, cJSON *item);
+/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */
+CJSON_PUBLIC(void) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(void) cJSON_AddItemReferenceToObject(cJSON *object, const char *string, cJSON *item);
+
+/* Remove/Detach items from Arrays/Objects. */
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemViaPointer(cJSON *parent, cJSON *const item);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(cJSON *)cJSON_DetachItemFromObjectCaseSensitive(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObjectCaseSensitive(cJSON *object, const char *string);
+
+/* Update array items. */
+CJSON_PUBLIC(void)
+cJSON_InsertItemInArray(cJSON *array, int which, cJSON *newitem); /* Shifts pre-existing items to the right. */
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemViaPointer(cJSON *const parent, cJSON *const item, cJSON *replacement);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInArray(cJSON *array, int which, cJSON *newitem);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInObject(cJSON *object, const char *string, cJSON *newitem);
+CJSON_PUBLIC(void) cJSON_ReplaceItemInObjectCaseSensitive(cJSON *object, const char *string, cJSON *newitem);
+
+/* Duplicate a cJSON item */
+CJSON_PUBLIC(cJSON *)cJSON_Duplicate(const cJSON *item, cJSON_bool recurse);
+/* Duplicate will create a new, identical cJSON item to the one you pass, in new memory that will
+ * need to be released. With recurse!=0, it will duplicate any children connected to the item.
+ * The item->next and ->prev pointers are always zero on return from Duplicate. */
+/* Recursively compare two cJSON items for equality. If either a or b is NULL or invalid, they will be considered unequal.
+ * case_sensitive determines if object keys are treated case sensitive (1) or case insensitive (0) */
+CJSON_PUBLIC(cJSON_bool) cJSON_Compare(const cJSON *const a, const cJSON *const b, const cJSON_bool case_sensitive);
+
+/* Minify a strings, remove blank characters(such as ' ', '\t', '\r', '\n') from strings.
+ * The input pointer json cannot point to a read-only address area, such as a string constant, 
+ * but should point to a readable and writable adress area. */
+CJSON_PUBLIC(void) cJSON_Minify(char *json);
+
+/* Helper functions for creating and adding items to an object at the same time.
+ * They return the added item or NULL on failure. */
+CJSON_PUBLIC(cJSON*)cJSON_AddNullToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddTrueToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddFalseToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddBoolToObject(cJSON *const object, const char *const name, const cJSON_bool boolean);
+CJSON_PUBLIC(cJSON*)cJSON_AddNumberToObject(cJSON *const object, const char *const name, const double number);
+CJSON_PUBLIC(cJSON*)cJSON_AddStringToObject(cJSON *const object, const char *const name, const char *const string);
+CJSON_PUBLIC(cJSON*)cJSON_AddRawToObject(cJSON *const object, const char *const name, const char *const raw);
+CJSON_PUBLIC(cJSON*)cJSON_AddObjectToObject(cJSON *const object, const char *const name);
+CJSON_PUBLIC(cJSON*)cJSON_AddArrayToObject(cJSON *const object, const char *const name);
+
+/* When assigning an integer value, it needs to be propagated to valuedouble too. */
+#define cJSON_SetIntValue(object, number) ((object) ? (object)->valueint = (object)->valuedouble = (number) : (number))
+/* helper for the cJSON_SetNumberValue macro */
+CJSON_PUBLIC(double) cJSON_SetNumberHelper(cJSON *object, double number);
+#define cJSON_SetNumberValue(object, number) ((object != NULL) ? cJSON_SetNumberHelper(object, (double)number) : (number))
+
+/* Macro for iterating over an array or object */
+#define cJSON_ArrayForEach(element, array) for(element = (array != NULL) ? (array)->child : NULL; element != NULL; element = element->next)
+
+/* malloc/free objects using the malloc/free functions that have been set with cJSON_InitHooks */
+CJSON_PUBLIC(void *)cJSON_malloc(size_t size);
+CJSON_PUBLIC(void) cJSON_free(void *object);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

samples/sample_c/module_sample/utils/util_file.c

@@ -89,8 +89,8 @@ T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileS
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
-T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
+T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
-                                           uint8_t *data, uint16_t *realLen)
+                                           uint8_t *data, uint32_t *realLen)
 {
     FILE *pF;
     T_DjiReturnCode psdkStat;

samples/sample_c/module_sample/utils/util_file.h

@@ -52,8 +52,8 @@ typedef struct {
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode UtilFile_GetCreateTime(const char *filePath, T_UtilFileCreateTime *createTime);
 T_DjiReturnCode UtilFile_GetFileSizeByPath(const char *filePath, uint32_t *fileSize);
-T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint16_t len,
+T_DjiReturnCode UtilFile_GetFileDataByPath(const char *filePath, uint32_t offset, uint32_t len,
-                                           uint8_t *data, uint16_t *realLen);
+                                           uint8_t *data, uint32_t *realLen);
 T_DjiReturnCode DjiFile_Delete(const char *filePath);
 
 T_DjiReturnCode UtilFile_GetFileSize(FILE *file, uint32_t *fileSize);

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -384,6 +384,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
     file = fopen(path, "rb");
     if (file == NULL) {
         USER_LOG_ERROR("Open tts file error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
     while (1) {
@@ -585,7 +586,7 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
                  (int32_t) realVolume);
 
         returnCode = DjiUserUtil_RunSystemCmd(cmdStr);
-        if (returnCode < 0) {
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
         }
     } else {

samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c

@@ -73,7 +73,7 @@ typedef enum {
     E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_TAKE_OFF_VELOCITY_CTRL_LANDING = 6,
     E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_ARREST_FLYING = 7,
     E_DJI_SAMPLE_INDEX_FLIGHT_CONTROL_SET_GET_PARAM = 8,
-    E_DJI_SAMPLE_INDEX_HMS = 9,
+    E_DJI_SAMPLE_INDEX_HMS_MANAGER = 9,
     E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_FREE_MODE = 10,
     E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE = 11,
     E_DJI_SAMPLE_INDEX_LIVEVIEW = 12,
@@ -102,7 +102,7 @@ typedef enum {
     E_DJI_HMS_ERROR_CODE_INDEX3,
     E_DJI_HMS_ERROR_CODE_INDEX4,
     E_DJI_HMS_ERROR_CODE_INDEX5,
-}E_DjiExtensionPortHmsErrorCodeIndex;
+} E_DjiExtensionPortHmsErrorCodeIndex;
 
 typedef enum {
     E_DJI_HMS_ERROR_LEVEL_INDEX1 = 0,
@@ -110,7 +110,7 @@ typedef enum {
     E_DJI_HMS_ERROR_LEVEL_INDEX3,
     E_DJI_HMS_ERROR_LEVEL_INDEX4,
     E_DJI_HMS_ERROR_LEVEL_INDEX5,
-}E_DjiExtensionPortHmsErrorLevelIndex;
+} E_DjiExtensionPortHmsErrorLevelIndex;
 
 typedef struct {
     bool valid;
@@ -418,7 +418,7 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
                 default:
                     break;
             }
-            DjiHms_InjectHmsErrorCode(errorCode, errorLevel);
+            DjiHmsCustomization_InjectHmsErrorCode(errorCode, errorLevel);
             osalHandler->TaskSleepMs(500);
             s_isInjectErrcode = false;
             s_isEliminateErrcode = false;
@@ -444,7 +444,7 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
                 default:
                     break;
             }
-            DjiHms_EliminateHmsErrorCode(errorCode);
+            DjiHmsCustomization_EliminateHmsErrorCode(errorCode);
             osalHandler->TaskSleepMs(500);
             s_isInjectErrcode = false;
             s_isEliminateErrcode = false;
@@ -530,8 +530,8 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
                 case E_DJI_SAMPLE_INDEX_GIMBAL_MANAGER_YAW_FOLLOW_MODE:
                     DjiTest_GimbalManagerRunSample(s_mountPosition, DJI_GIMBAL_MODE_YAW_FOLLOW);
                     break;
-                case E_DJI_SAMPLE_INDEX_HMS:
+                case E_DJI_SAMPLE_INDEX_HMS_MANAGER:
-                    DjiTest_HmsRunSample();
+                    DjiTest_HmsManagerRunSample(DJI_MOBILE_APP_LANGUAGE_ENGLISH);
                     break;
                 case E_DJI_SAMPLE_INDEX_LIVEVIEW:
 #ifdef SYSTEM_ARCH_LINUX

samples/sample_c/platform/linux/common/osal/osal_socket.c

@@ -142,7 +142,7 @@ T_DjiReturnCode Osal_UdpSendData(T_DjiSocketHandle socketHandle, const char *ipA
     T_SocketHandleStruct *socketHandleStruct = (T_SocketHandleStruct *) socketHandle;
     int32_t ret;
 
-    if (socketHandle <= 0 || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
+    if (socketHandle == NULL || ipAddr == NULL || port == 0 || buf == NULL || len == 0 || realLen == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
     }
 

samples/sample_c/platform/linux/manifold2/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(dji_sdk_demo_linux C)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")
 set(CMAKE_C_COMPILER "gcc")
 set(CMAKE_CXX_COMPILER "g++")
@@ -11,10 +12,11 @@ if (NOT USE_SYSTEM_ARCH)
     add_definitions(-DSYSTEM_ARCH_LINUX)
 endif ()
 
-set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+endif ()
 
 set(PACKAGE_NAME payloadsdk)
 

samples/sample_c/platform/linux/manifold2/application/dji_sdk_config.h

@@ -64,7 +64,7 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 
-#define CONFIG_MODULE_SAMPLE_HMS_ON
+#define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
 
 /*!< Attention: This function needs to be used together with mobile sdk mop sample.
 * */

samples/sample_c/platform/linux/manifold2/application/main.c

@@ -97,6 +97,7 @@ int main(int argc, char **argv)
     T_DjiReturnCode returnCode;
     T_DjiUserInfo userInfo;
     T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiAircraftVersion aircraftInfoVersion;
     T_DjiFirmwareVersion firmwareVersion = {
         .majorVersion = 1,
         .minorVersion = 0,
@@ -137,6 +138,17 @@ int main(int argc, char **argv)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    if (aircraftInfoBaseInfo.mountPositionType != DJI_MOUNT_POSITION_TYPE_PAYLOAD_PORT) {
+        returnCode = DjiAircraftInfo_GetAircraftVersion(&aircraftInfoVersion);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("get aircraft version info error");
+        } else {
+            USER_LOG_INFO("Aircraft version is V%d.%d.%d.%d", aircraftInfoVersion.debugVersion,
+                          aircraftInfoVersion.modifyVersion, aircraftInfoVersion.minorVersion,
+                          aircraftInfoVersion.majorVersion);
+        }
+    }
+
     returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set alias error");
@@ -193,6 +205,30 @@ int main(int argc, char **argv)
             USER_LOG_ERROR("widget speaker test init error");
         }
 
+#ifdef CONFIG_MODULE_SAMPLE_UPGRADE_ON
+        T_DjiTestUpgradePlatformOpt linuxUpgradePlatformOpt = {
+            .rebootSystem = DjiUpgradePlatformLinux_RebootSystem,
+            .cleanUpgradeProgramFileStoreArea = DjiUpgradePlatformLinux_CleanUpgradeProgramFileStoreArea,
+            .createUpgradeProgramFile = DjiUpgradePlatformLinux_CreateUpgradeProgramFile,
+            .writeUpgradeProgramFile = DjiUpgradePlatformLinux_WriteUpgradeProgramFile,
+            .readUpgradeProgramFile = DjiUpgradePlatformLinux_ReadUpgradeProgramFile,
+            .closeUpgradeProgramFile = DjiUpgradePlatformLinux_CloseUpgradeProgramFile,
+            .replaceOldProgram = DjiUpgradePlatformLinux_ReplaceOldProgram,
+            .setUpgradeRebootState = DjiUpgradePlatformLinux_SetUpgradeRebootState,
+            .getUpgradeRebootState = DjiUpgradePlatformLinux_GetUpgradeRebootState,
+            .cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
+        };
+        T_DjiTestUpgradeConfig testUpgradeConfig = {
+            .firmwareVersion = {1, 0, 0, 0},
+            .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
+            .needReplaceProgramBeforeReboot = true
+        };
+        if (DjiTest_UpgradeStartService(&linuxUpgradePlatformOpt, testUpgradeConfig) !=
+            DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("psdk upgrade init error");
+        }
+#endif
+
 #ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
         returnCode = DjiTest_MopChannelStartService();
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -301,8 +337,8 @@ int main(int argc, char **argv)
 #endif
     }
 
-#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+#ifdef CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
-    returnCode = DjiTest_HmsStartService();
+    returnCode = DjiTest_HmsCustomizationStartService();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("hms test init error");
     }

samples/sample_c/platform/linux/manifold2/hal/hal_uart.c

@@ -88,7 +88,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
     sprintf(systemCmd, "chmod 777 %s", uartName);
     fp = popen(systemCmd, "r");
     if (fp == NULL) {
-        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        goto free_uart_handle;
     }
 #endif
 

samples/sample_c/platform/linux/nvidia_jetson/CMakeLists.txt

@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 3.5)
 project(dji_sdk_demo_on_jetson C)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
+set(CMAKE_CXX_FLAGS "-std=c++11 -pthread")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")
 set(CMAKE_C_COMPILER "gcc")
 set(CMAKE_CXX_COMPILER "g++")
@@ -11,10 +12,11 @@ if (NOT USE_SYSTEM_ARCH)
     add_definitions(-DSYSTEM_ARCH_LINUX)
 endif ()
 
-set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
-set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+endif ()
 
 set(PACKAGE_NAME payloadsdk)
 

samples/sample_c/platform/linux/nvidia_jetson/application/dji_sdk_config.h

@@ -62,7 +62,7 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 
-#define CONFIG_MODULE_SAMPLE_HMS_ON
+#define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
 
 #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 

samples/sample_c/platform/linux/nvidia_jetson/application/main.c

@@ -96,6 +96,7 @@ int main(int argc, char **argv)
     T_DjiReturnCode returnCode;
     T_DjiUserInfo userInfo;
     T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+    T_DjiAircraftVersion aircraftInfoVersion;
     T_DjiFirmwareVersion firmwareVersion = {
         .majorVersion = 1,
         .minorVersion = 0,
@@ -136,6 +137,15 @@ int main(int argc, char **argv)
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    returnCode = DjiAircraftInfo_GetAircraftVersion(&aircraftInfoVersion);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft version info error");
+    } else {
+        USER_LOG_INFO("Aircraft version is V%d.%d.%d.%d", aircraftInfoVersion.debugVersion,
+                      aircraftInfoVersion.modifyVersion, aircraftInfoVersion.minorVersion,
+                      aircraftInfoVersion.majorVersion);
+    }
+
     returnCode = DjiCore_SetAlias("PSDK_APPALIAS");
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("set alias error");
@@ -291,8 +301,8 @@ int main(int argc, char **argv)
         }
 #endif
 
-#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+#ifdef CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
-        returnCode = DjiTest_HmsStartService();
+        returnCode = DjiTest_HmsCustomizationStartService();
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("hms test init error");
         }

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c

@@ -226,8 +226,8 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
-#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
+#ifdef CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
-    returnCode = DjiTest_HmsStartService();
+    returnCode = DjiTest_HmsCustomizationStartService();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("hms test init error");
     }

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h

@@ -52,7 +52,7 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 
-#define CONFIG_MODULE_SAMPLE_HMS_ON
+#define CONFIG_MODULE_SAMPLE_HMS_CUSTOMIZATION_ON
 
 /*!< Attention: Please uncomment it in gps environment.
 * */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/stm32f4discovery.cfg

@@ -1,9 +1,13 @@
 # This is an STM32F4 discovery board with a single STM32F407VGT6 chip.
 # http://www.st.com/internet/evalboard/product/252419.jsp
 
-source [find interface/jlink.cfg]
+### use stlink-v2-1
+source [find interface/stlink-v2-1.cfg]
+transport select hla_swd
 
-transport select swd
+### use jlink
+# source [find interface/jlink.cfg]
+# transport select swd
 
 # increase working area to 64KB
 set WORKAREASIZE 0x10000

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx

@@ -405,6 +405,11 @@
 <Files>
 <File>
 <FileType>1</FileType>
+<FileName>cJSON.c</FileName>
+<FilePath>..\..\..\..\..\module_sample\utils\cJSON.c</FilePath>
+</File>
+<File>
+<FileType>1</FileType>
 <FileName>file_binary_array_list_en.c</FileName>
 <FilePath>..\..\..\..\..\module_sample\widget\file_binary_array_list_en.c</FilePath>
 </File>
@@ -940,11 +945,21 @@
 </File>
 <File>
 <FileType>5</FileType>
+<FileName>dji_hms_customization.h</FileName>
+<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_hms_customization.h</FilePath>
+</File>
+<File>
+<FileType>5</FileType>
 <FileName>dji_hms_info_table.h</FileName>
 <FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_hms_info_table.h</FilePath>
 </File>
 <File>
 <FileType>5</FileType>
+<FileName>dji_hms_manager.h</FileName>
+<FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_hms_manager.h</FilePath>
+</File>
+<File>
+<FileType>5</FileType>
 <FileName>dji_liveview.h</FileName>
 <FilePath>..\..\..\..\..\..\..\psdk_lib\include\dji_liveview.h</FilePath>
 </File>