NEW: release DJI Payload-SDK version 3.5

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

LICENSE.txt

@@ -316,7 +316,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │       │   │       ├── hal_uart.h
 │   │       │   │       ├── hal_usb_bulk.c
 │   │       │   │       └── hal_usb_bulk.h
-│   │       │   └── nvidia_jeston
+│   │       │   └── nvidia_jetson
 │   │       │       ├── application
 │   │       │       │   ├── dji_sdk_app_info.h
 │   │       │       │   ├── dji_sdk_config.h
@@ -497,7 +497,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │               │       ├── hal_uart.h
 │               │       ├── hal_usb_bulk.c
 │               │       └── hal_usb_bulk.h
-│               └── nvidia_jeston
+│               └── nvidia_jetson
 │                   ├── application
 │                   │   ├── application.cpp
 │                   │   ├── application.hpp

README.md

@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.4.0-pink.svg)
+![](https://img.shields.io/badge/version-V3.5.0-yellow.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 
@@ -23,37 +23,22 @@ to get the latest version information.
 
 ## Latest Release
 
-PSDK 3.4.0 was released on 18 April 2023. This version of Payload SDK mainly add some new features support and fixed
+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. 
-some bugs. Please refer to the release notes for detailed changes list.
+Please refer to the release notes for detailed changes list.
 
-* Added support for SDK interconnection on M30/M30T
+* Added support for new drone model Matrice 350 RTK
-* Added support for downloading camera media files on M3E/M3T
+* Matrice 300 RTK added support for DJI RC Plus
-* Added support for infrared temperature in camera management on M30T/M3T
+* Added support for downloading media files in pieces on all drone models
-* Added support for waypoint action status push on M30/M30T and M3E/M3T
+* Added support for Osal get random number callback interface on all drone model
-* Added support for custom HMS function on all models
+* 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 custom device version number and serial number on all models
+* Fixed issue with failure of subscribing L1 camera code stream on M300 RTK
-* Added support for subscribing to video stream request I-frame on all models
+* Fixed issue with failure of subscribing main camera code stream in dual control mode on M300 RTK
-* Added support for obtaining H20N laser distance measurement data camera management on M300 RTK
+* Fixed issue with local upgrade function of RTOS platform on Mavic 3E/3T
-* Added support for controlling H20N infrared zoom in camera management on M300 RTK
+* Fixed issue with the initialization failure of using PSDK Payload device and millimeter wave radar on M300 RTK
-* Added support for subscribing perception grayscale image by Ethernet on M30/M30T and M3E/M3T
+* Fixed issue with custom HMS function on M300 RTK and X-Port combination
-* Added support for downloading camera media files by Ethernet on M30/M30T and M3E/M3T
+* Fixed issue with invalid TTS option of speaker widget on M300 RTK
-* Added support for Nvidia Jeston series development boards sample
+* Fixed issue with downloading file list with high probability of failure when the camera photos are over 400 on M300 RTK
-* Added support for H20/H20T model files
+* Fixed some of the memory leaks
-* Fixed issue with unsuccessful initialization in USB single Bulk mode on M30/M30T and M3E/M3T
-* Fixed issue with unstable data transmission OSDK expansion port to PSDK port for passing through small data on M300 RTK
-* Fixed issue with third-party camera function causing payload disconnection due to deleting all media files in certain platforms on M300 RTK
-* Fixed issue with gimbal mode abnormal setting in gimbal management on M300 RTK
-* Fixed issue with deleting L1 camera media files in camera management on M300 RTK
-* Fixed issue with abnormal triggering of text input box widget function in RTOS platform on M300 RTK
-* Fixed issue with abnormal payload power supply during hot plugging in some scenarios in RTOS platform on M3E/M3T
-* Fixed issue with CPU loading abnormal usage due to multiple video stream subscriptions on M30/M30T
-* Fixed issue with occasional payload negotiation failure on M30/M30T and M3E/M3T
-* Fixed issue with obtaining camera work mode on M30/M30T and M3E/M3T
-* Fixed issue with obtaining camera zoom parameters on M30/M30T and M3E/M3T
-* Fixed issue with altitude and distance limitations when using joystick function in some scenarios on all models
-* Fixed some memory leak issues
-* Optimized camera management C++ Sample support
-* Optimized gimbal management C++ Sample support
 
 ## License
 

psdk_lib/include/dji_camera_manager.h

@@ -442,6 +442,12 @@ typedef enum {
     DJI_CAMERA_MANAGER_RECORDING_CONTROL_RESUME = 3,
 } E_DjiCameraManagerRecordingControl;
 
+typedef enum {
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_60_PER_SLICE = 60,
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_120_PER_SLICE = 120,
+    DJI_CAMERA_MANAGER_FILE_LIST_COUNT_ALL_PER_SLICE = 0xFFFF,
+} E_DjiCameraManagerFileListCountPerSlice;
+
 typedef struct {
     uint8_t firmware_version[4];
 } T_DjiCameraManagerFirmwareVersion;
@@ -500,6 +506,11 @@ typedef struct {
     T_DjiCameraManagerFileListInfo *fileListInfo;
 } T_DjiCameraManagerFileList;
 
+typedef struct {
+    uint16_t sliceStartIndex;
+    E_DjiCameraManagerFileListCountPerSlice countPerSlice;
+} T_DjiCameraManagerSliceConfig;
+
 typedef enum {
     DJI_DOWNLOAD_FILE_EVENT_START,
     DJI_DOWNLOAD_FILE_EVENT_TRANSFER,
@@ -1011,6 +1022,18 @@ T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
  */
 T_DjiReturnCode DjiCameraManager_DownloadFileList(E_DjiMountPosition position, T_DjiCameraManagerFileList *fileList);
 
+/**
+ * @brief Download selected camera media file list by slices.
+ * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
+ * @param position: the mount position of the camera
+ * @param sliceConfig: the slices config for downloading file list
+ * @param fileList: the pointer to the downloaded camera file list
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_DownloadFileListBySlices(E_DjiMountPosition position,
+                                                          T_DjiCameraManagerSliceConfig sliceConfig,
+                                                          T_DjiCameraManagerFileList *fileList);
 /**
  * @brief Regsiter selected camera download file data callback,
  * @param position: the mount position of the camera

psdk_lib/include/dji_fc_subscription.h

@@ -361,8 +361,8 @@ typedef enum {
     DJI_FC_SUBSCRIPTION_TOPIC_STATUS_MOTOR_START_ERROR = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC,
                                                                                      31),
     /*!
-     * @brief Battery information topic name. Please refer to ::T_DjiFcSubscriptionBatteryInfo for information about data structure.
+     * @brief Battery information topic name. Please refer to ::T_DjiFcSubscriptionWholeBatteryInfo for information about data structure.
-     * @datastruct \ref T_DjiFcSubscriptionBatteryInfo
+     * @datastruct \ref T_DjiFcSubscriptionWholeBatteryInfo
      */
     DJI_FC_SUBSCRIPTION_TOPIC_BATTERY_INFO = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 32),
     /*!
@@ -981,7 +981,7 @@ typedef struct BatterySingleInfo {
     int32_t currentElectric;         /*!< uint: mA. */
     uint32_t fullCapacity;           /*!< uint: mAh. */
     uint32_t remainedCapacity;       /*!< uint: mAh. */
-    int16_t batteryTemperature;      /*!< uint:℃. */
+    int16_t batteryTemperature;      /*!< uint: 0.1℃. */
     uint8_t cellCount;
     uint8_t batteryCapacityPercent;  /*!< uint: %. */
     T_DjiFcSubscriptionSingleBatteryState batteryState;

psdk_lib/include/dji_flight_controller.h

@@ -76,7 +76,6 @@ typedef enum {
  */
 typedef enum {
     DJI_FLIGHT_CONTROLLER_ENABLE_EMERGENCY_STOP_MOTOR = 0x01, /*!< Execute emergency-stop-motor action */
-    DJI_FLIGHT_CONTROLLER_DISABLE_EMERGENCY_STOP_MOTOR = 0x02  /*!< Cancel emergency-stop-motor status */
 } E_DjiFlightControllerEmergencyStopMotor;
 
 /**

psdk_lib/include/dji_platform.h

@@ -89,11 +89,14 @@ typedef enum {
     * Baud rate support list on M300 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
     * Baud rate support list on M30/M30T: 115200, 230400, 460800, 921600, 1000000.
     * Baud rate support list on M3E/M3T: 921600.
+    * Baud rate support list on M350 RTK Payload Port: 115200, 230400, 460800, 921600.
+    * Baud rate support list on M350 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
     * */
     DJI_HAL_UART_NUM_0,
     /**
-    * Only support on M300 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
+    * Only support on M300/M350 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
     * Baud rate support list on M300 RTK Extension Port: 921600.
+    * Baud rate support list on M350 RTK Extension Port: 921600.
     * */
     DJI_HAL_UART_NUM_1,
 } E_DjiHalUartNum;
@@ -221,6 +224,8 @@ typedef struct {
 
     T_DjiReturnCode (*GetTimeUs)(uint64_t *us);
 
+    T_DjiReturnCode (*GetRandomNum)(uint16_t *randomNum);
+
     void *(*Malloc)(uint32_t size);
 
     void (*Free)(void *ptr);

psdk_lib/include/dji_power_management.h

@@ -71,6 +71,12 @@ typedef T_DjiReturnCode (*DjiPowerOffNotificationCallback)(bool *powerOffPrepara
  */
 T_DjiReturnCode DjiPowerManagement_Init(void);
 
+/**
+ * @brief DeInitialise power management module, and user should call this function before using power management features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiPowerManagement_DeInit(void);
+
 /**
  * @brief Apply high power from aircraft in blocking mode.
  * @details Before applying, user should register callback function used to set level state of high power application

psdk_lib/include/dji_typedef.h

@@ -83,7 +83,7 @@ typedef enum {
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1 = 1,
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO2 = 2,
     DJI_MOUNT_POSITION_PAYLOAD_PORT_NO3 = 3,
-    DJI_MOUNT_POSITION_EXTENSION_PORT = 4
+    DJI_MOUNT_POSITION_EXTENSION_PORT = 4,
 } E_DjiMountPosition;
 
 typedef enum {
@@ -92,6 +92,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_M300 = 2,
     DJI_AIRCRAFT_SERIES_M30 = 3,
     DJI_AIRCRAFT_SERIES_M3 = 4,
+    DJI_AIRCRAFT_SERIES_M350 = 5,
 } E_DjiAircraftSeries;
 
 typedef enum {
@@ -104,6 +105,7 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_M30T = 68, /*!< Aircraft type is Matrice 30T. */
     DJI_AIRCRAFT_TYPE_M3E = 77, /*!< Aircraft type is Mavic 3E. */
     DJI_AIRCRAFT_TYPE_M3T = 79, /*!< Aircraft type is Mavic 3T. */
+    DJI_AIRCRAFT_TYPE_M350_RTK = 89, /*!< Aircraft type is Matrice 350 RTK. */
 } E_DjiAircraftType;
 
 /**

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     4 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner 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_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     1749 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1764 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

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

@@ -50,6 +50,7 @@ static const char *s_cameraManagerSampleSelectList[] = {
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO]           = "Shoot interval photo                                |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO]                   = "Record video                                        |",
     [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE] = "Download and delete media file                      |",
+    [E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES]   = "Download file list by slices                        |",
     [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                            |",
@@ -120,8 +121,7 @@ void DjiUser_RunCameraManagerSample(void)
         if (posNum > 3 || posNum < 1) {
             USER_LOG_ERROR("Input mount position is invalid");
             continue;
-        }
+        } else {
-        else {
             break;
         }
     }

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

@@ -88,6 +88,7 @@ start:
     if (mountPosition == 'q') {
         return;
     }
+
     if (mountPosition > '3' || mountPosition < '1') {
         USER_LOG_ERROR("Input mount position is invalid");
         goto start;

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

@@ -49,3 +49,4 @@ void DjiUser_RunGimbalManagerSample(void);
 
 #endif // TEST_GIMBAL_ENTRY_H
 /************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
+

samples/sample_c++/module_sample/perception/test_perception_entry.cpp

@@ -358,13 +358,6 @@ static void *DjiTest_StereoImagesDisplayTask(void *arg)
         pack->gotData = false;
         osalHandler->MutexUnlock(pack->mutex);
 
-        /*! Using Opencv display here */
-        if (strstr(nameStr, "_l")) {
-            cv::moveWindow(nameStr, 200, 0);
-        } else {
-            cv::moveWindow(nameStr, (200 + (int) pack->info.rawInfo.width), 0);
-        }
-
         if (i < USER_PERCEPTION_DIRECTION_NUM) {
             /*! Calculate frame rate */
             timeNow[i] = (double) cv::getTickCount();

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

@@ -98,6 +98,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 {
     int result;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *mutex = malloc(sizeof(pthread_mutex_t));
     if (*mutex == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
@@ -118,7 +122,11 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
  */
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
 {
-    int result;
+    int result = 0;
+
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
 
     result = pthread_mutex_destroy(mutex);
     if (result != 0) {
@@ -136,8 +144,13 @@ T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_lock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_lock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -152,8 +165,13 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_unlock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_unlock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -308,6 +326,14 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
+{
+    srand(time(NULL));
+    *randomNum = random() % 65535;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 void *Osal_Malloc(uint32_t size)
 {
     return malloc(size);

samples/sample_c++/platform/linux/common/osal/osal.h

@@ -65,6 +65,7 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
 
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
 
 void *Osal_Malloc(uint32_t size);
 void Osal_Free(void *ptr);

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

@@ -72,7 +72,8 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
             goto out;
         }
 
-        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0)
+        {
             goto out;
         }
     } else if (mode == DJI_SOCKET_MODE_TCP) {
@@ -86,7 +87,6 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 
 out:
-
     close(socketHandleStruct->socketFd);
     free(socketHandleStruct);
 

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

@@ -2,15 +2,24 @@ cmake_minimum_required(VERSION 3.5)
 project(dji_sdk_demo_linux_cxx CXX)
 
 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++")
 add_definitions(-D_GNU_SOURCE)
 
+if (MEMORY_LEAK_CHECK_ON MATCHES TRUE)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fsanitize=leak")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fsanitize=leak")
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lasan")
+endif ()
+
+if (BUILD_TEST_CASES_ON MATCHES TRUE)
     set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
     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")
+endif ()
 
 include_directories(../../../module_sample)
 include_directories(../../../../sample_c/module_sample)

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

@@ -77,14 +77,14 @@ Application::~Application()
 void Application::DjiUser_SetupEnvironment()
 {
     T_DjiReturnCode returnCode;
-    T_DjiOsalHandler osalHandler;
+    T_DjiOsalHandler osalHandler = {0};
-    T_DjiHalUartHandler uartHandler;
+    T_DjiHalUartHandler uartHandler = {0};
-    T_DjiHalUsbBulkHandler usbBulkHandler;
+    T_DjiHalUsbBulkHandler usbBulkHandler = {0};
     T_DjiLoggerConsole printConsole;
     T_DjiLoggerConsole localRecordConsole;
-    T_DjiFileSystemHandler fileSystemHandler;
+    T_DjiFileSystemHandler fileSystemHandler = {0};
-    T_DjiSocketHandler socketHandler;
+    T_DjiSocketHandler socketHandler {0};
-    T_DjiHalNetworkHandler networkHandler;
+    T_DjiHalNetworkHandler networkHandler = {0};
 
     networkHandler.NetworkInit = HalNetWork_Init;
     networkHandler.NetworkDeInit = HalNetWork_DeInit;
@@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
     osalHandler.Free = Osal_Free;
     osalHandler.GetTimeMs = Osal_GetTimeMs;
     osalHandler.GetTimeUs = Osal_GetTimeUs;
+    osalHandler.GetRandomNum = Osal_GetRandomNum;
 
     printConsole.func = DjiUser_PrintConsole;
     printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;

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

@@ -30,7 +30,6 @@
 #include <hms/test_hms.h>
 #include <waypoint_v2/test_waypoint_v2.h>
 #include <waypoint_v3/test_waypoint_v3.h>
-#include <gimbal_manager/test_gimbal_manager.h>
 #include "application.hpp"
 #include "fc_subscription/test_fc_subscription.h"
 #include <gimbal_emu/test_payload_gimbal_emu.h>

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

@@ -62,17 +62,19 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 #ifdef LIBUSB_INSTALLED
         ret = libusb_init(NULL);
         if (ret < 0) {
+            USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
         if(handle == NULL) {
+            USER_LOG_ERROR("open usb device failed");
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
         if (ret != LIBUSB_SUCCESS) {
-            printf("libusb claim interface error");
+            USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
             libusb_close(handle);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -115,6 +117,7 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 {
     struct libusb_device_handle *handle = NULL;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    int32_t ret;
 
     if (usbBulkHandle == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -124,8 +127,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
 #ifdef LIBUSB_INSTALLED
-        libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        ret = libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
-        osalHandler->TaskSleepMs(100);
+        if(ret != 0) {
+            USER_LOG_ERROR("release usb bulk interface failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+        }
         libusb_exit(NULL);
 #endif
     } else {

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

@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
-project(dji_sdk_demo_on_jeston_cxx CXX)
+project(dji_sdk_demo_on_jetson_cxx CXX)
 
 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 "aarch64-linux-gnu-gcc")
 set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
 add_definitions(-D_GNU_SOURCE)
 
 if (BUILD_TEST_CASES_ON MATCHES TRUE)
-    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
     set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
     set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
 endif ()
@@ -17,7 +17,7 @@ endif ()
 include_directories(../../../module_sample)
 include_directories(../../../../sample_c/module_sample)
 include_directories(../common)
-include_directories(../nvidia_jeston/application)
+include_directories(../nvidia_jetson/application)
 
 file(GLOB_RECURSE MODULE_SAMPLE_SRC
         ../../../module_sample/liveview/*.c*
@@ -57,8 +57,10 @@ 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 ()
         add_definitions(-DOPEN_CV_VERSION_4)
+
     endif ()
 else ()
     message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
@@ -69,8 +71,6 @@ if (FFMPEG_FOUND)
     message(STATUS "Found FFMPEG installed in the system")
     message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
     message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
-    add_definitions(-DFFMPEG_INSTALLED)
-    include_directories(${FFMPEG_INCLUDE_DIR})
 
     EXECUTE_PROCESS(COMMAND ffmpeg -version
             OUTPUT_VARIABLE ffmpeg_version_psdk_libput
@@ -87,6 +87,8 @@ if (FFMPEG_FOUND)
     endif ()
 
     target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
+    include_directories(${FFMPEG_INCLUDE_DIR})
+    add_definitions(-DFFMPEG_INSTALLED)
 else ()
     message(STATUS "Cannot Find FFMPEG")
 endif (FFMPEG_FOUND)

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

@@ -77,14 +77,14 @@ Application::~Application()
 void Application::DjiUser_SetupEnvironment()
 {
     T_DjiReturnCode returnCode;
-    T_DjiOsalHandler osalHandler;
+    T_DjiOsalHandler osalHandler = {0};
-    T_DjiHalUartHandler uartHandler;
+    T_DjiHalUartHandler uartHandler = {0};
-    T_DjiHalUsbBulkHandler usbBulkHandler;
+    T_DjiHalUsbBulkHandler usbBulkHandler = {0};
     T_DjiLoggerConsole printConsole;
     T_DjiLoggerConsole localRecordConsole;
-    T_DjiFileSystemHandler fileSystemHandler;
+    T_DjiFileSystemHandler fileSystemHandler = {0};
-    T_DjiSocketHandler socketHandler;
+    T_DjiSocketHandler socketHandler = {0};
-    T_DjiHalNetworkHandler networkHandler;
+    T_DjiHalNetworkHandler networkHandler = {0};
 
     networkHandler.NetworkInit = HalNetWork_Init;
     networkHandler.NetworkDeInit = HalNetWork_DeInit;
@@ -117,6 +117,7 @@ void Application::DjiUser_SetupEnvironment()
     osalHandler.Free = Osal_Free;
     osalHandler.GetTimeMs = Osal_GetTimeMs;
     osalHandler.GetTimeUs = Osal_GetTimeUs;
+    osalHandler.GetRandomNum = Osal_GetRandomNum,
 
     printConsole.func = DjiUser_PrintConsole;
     printConsole.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO;

samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c

@@ -186,7 +186,8 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
 
     UtilBuffer_Init(&s_mediaPlayCommandBufferHandler, s_mediaPlayCommandBuffer, sizeof(s_mediaPlayCommandBuffer));
 
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
         returnCode = DjiPayloadCamera_RegMediaDownloadPlaybackHandler(&s_psdkCameraMedia);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("psdk camera media function init error.");

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -72,6 +72,7 @@ static uint32_t s_nextDownloadFileIndex = 0;
 /* Private functions declaration ---------------------------------------------*/
 static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraType);
 static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_DjiMountPosition position);
+static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadFileListBySlices(E_DjiMountPosition position);
 static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
                                                                      const uint8_t *data, uint16_t len);
 static T_DjiReturnCode DjiTest_CameraManagerGetAreaThermometryData(E_DjiMountPosition position);
@@ -1071,8 +1072,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
                                "error code: 0x%08X\r\n", mountPosition, returnCode);
                 goto exitCameraModule;
             }
-            USER_LOG_INFO("Sleep 4s...");
+            USER_LOG_INFO("Sleep 8s...");
-            osalHandler->TaskSleepMs(4000);
+            osalHandler->TaskSleepMs(8000);
 
             returnCode = DjiTest_CameraManagerOpticalZoom(mountPosition, DJI_CAMERA_ZOOM_DIRECTION_OUT, 5);
             if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -1195,6 +1196,15 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
 #endif
             break;
         }
+
+        case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES: {
+#ifdef SYSTEM_ARCH_LINUX
+            DjiTest_CameraManagerMediaDownloadFileListBySlices(mountPosition);
+#else
+            USER_LOG_WARN("This feature does not support RTOS platform.");
+#endif
+            break;
+        }
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_THERMOMETRY: {
             returnCode = DjiTest_CameraManagerGetPointThermometryData(mountPosition);
             if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -1353,6 +1363,77 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadFileListBySlices(E_DjiMountPosition position)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint16_t downloadCount = 0;
+    T_DjiCameraManagerSliceConfig sliceConfig = {0};
+
+    s_nextDownloadFileIndex = 0;
+    returnCode = DjiCameraManager_RegDownloadFileDataCallback(position, DjiTest_CameraManagerDownloadFileDataCallback);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Register download file data callback failed, error code: 0x%08X.", returnCode);
+        return returnCode;
+    }
+
+    sliceConfig.countPerSlice = DJI_CAMERA_MANAGER_FILE_LIST_COUNT_ALL_PER_SLICE;
+    sliceConfig.sliceStartIndex = 0;
+
+    returnCode = DjiCameraManager_DownloadFileListBySlices(position, sliceConfig, &s_meidaFileList);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
+        return returnCode;
+    }
+
+    if (s_meidaFileList.totalCount > 0) {
+        downloadCount = s_meidaFileList.totalCount;
+        printf(
+            "\033[1;33;40m -> Download file list finished, total file count is %d, the following %d is list details: \033[0m\r\n",
+            s_meidaFileList.totalCount, downloadCount);
+        for (int i = 0; i < downloadCount; ++i) {
+            if (s_meidaFileList.fileListInfo[i].fileSize < 1 * 1024 * 1024) {
+                printf(
+                    "\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d \033[0m\r\n",
+                    i, s_meidaFileList.fileListInfo[i].fileName,
+                    s_meidaFileList.fileListInfo[i].fileIndex,
+                    s_meidaFileList.fileListInfo[i].createTime.year,
+                    s_meidaFileList.fileListInfo[i].createTime.month,
+                    s_meidaFileList.fileListInfo[i].createTime.day,
+                    s_meidaFileList.fileListInfo[i].createTime.hour,
+                    s_meidaFileList.fileListInfo[i].createTime.minute,
+                    s_meidaFileList.fileListInfo[i].createTime.second,
+                    (dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / 1024,
+                    s_meidaFileList.fileListInfo[i].type);
+            } else {
+                printf(
+                    "\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d \033[0m\r\n",
+                    i, s_meidaFileList.fileListInfo[i].fileName,
+                    s_meidaFileList.fileListInfo[i].fileIndex,
+                    s_meidaFileList.fileListInfo[i].createTime.year,
+                    s_meidaFileList.fileListInfo[i].createTime.month,
+                    s_meidaFileList.fileListInfo[i].createTime.day,
+                    s_meidaFileList.fileListInfo[i].createTime.hour,
+                    s_meidaFileList.fileListInfo[i].createTime.minute,
+                    s_meidaFileList.fileListInfo[i].createTime.second,
+                    (dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / (1024 * 1024),
+                    s_meidaFileList.fileListInfo[i].type);
+            }
+        }
+        printf("\r\n");
+
+        returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
+        }
+
+    } else {
+        USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
                                                                      const uint8_t *data, uint16_t len)
 {
@@ -1371,7 +1452,8 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
 
         memset(downloadFileName, 0, sizeof(downloadFileName));
         snprintf(downloadFileName, sizeof(downloadFileName), "%s", s_meidaFileList.fileListInfo[i].fileName);
-        USER_LOG_INFO("Start download media file, index : %d, next download media file, index: %d", i, s_nextDownloadFileIndex);
+        USER_LOG_INFO("Start download media file, index : %d, next download media file, index: %d", i,
+                      s_nextDownloadFileIndex);
         s_downloadMediaFile = fopen(downloadFileName, "wb+");
         if (s_downloadMediaFile == NULL) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;

samples/sample_c/module_sample/camera_manager/test_camera_manager.h

@@ -52,6 +52,7 @@ typedef enum {
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_INTERVAL_PHOTO,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_RECORD_VIDEO,
     E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE,
+    E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_FILE_LIST_BY_SLICES,
     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,

samples/sample_c/module_sample/data_transmission/test_data_transmission.c

@@ -60,7 +60,6 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
     char ipAddr[DJI_IP_ADDR_STR_SIZE_MAX];
     uint16_t port;
 
-
     djiStat = DjiLowSpeedDataChannel_Init();
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("init data transmission module error.");
@@ -124,6 +123,25 @@ T_DjiReturnCode DjiTest_DataTransmissionStartService(void)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode DjiTest_DataTransmissionStopService(void)
+{
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiReturnCode returnCode;
+
+    if (osalHandler->TaskDestroy(s_userDataTransmissionThread) != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("user data transmission task destroy error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    returnCode = DjiLowSpeedDataChannel_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("deinit data transmission module error.");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    }
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 /* Private functions definition-----------------------------------------------*/
 #ifndef __CC_ARM
 #pragma GCC diagnostic push

samples/sample_c/module_sample/data_transmission/test_data_transmission.h

@@ -41,6 +41,7 @@ extern "C" {
 
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_DataTransmissionStartService(void);
+T_DjiReturnCode DjiTest_DataTransmissionStopService(void);
 
 #ifdef __cplusplus
 }

samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c

@@ -126,7 +126,7 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
     }
 
     USER_LOG_INFO("--> Step 2: Subscribe the topics of quaternion, velocity and gps position");
-    djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_1_HZ,
+    djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
                                                DjiTest_FcSubscriptionReceiveQuaternionCallback);
     if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Subscribe topic quaternion error.");

samples/sample_c/module_sample/flight_control/test_flight_control.c

@@ -186,7 +186,10 @@ T_DjiReturnCode DjiTest_FlightControlInit(void)
                                                   DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ,
                                                   NULL);
 
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    if (returnCode == DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+    } else if (returnCode == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
+        USER_LOG_WARN("Subscribe topic quaternion duplicate");
+    } else {
         USER_LOG_ERROR("Subscribe topic quaternion failed,error code:0x%08llX", returnCode);
         return returnCode;
     }
@@ -703,7 +706,8 @@ void DjiTest_FlightControlSetGetParamSample()
     DjiTest_WidgetLogAppend("--> Step 3: Turn on horizontal radar obstacle avoidance");
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
         returnCode = DjiFlightController_SetHorizontalRadarObstacleAvoidanceEnableStatus(
             DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -717,7 +721,8 @@ void DjiTest_FlightControlSetGetParamSample()
     DjiTest_WidgetLogAppend("--> Step 4: Get horizontal radar obstacle avoidance status\r\n");
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
         returnCode = DjiFlightController_GetHorizontalRadarObstacleAvoidanceEnableStatus(
             &horizontalRadarObstacleAvoidanceStatus);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -756,7 +761,8 @@ void DjiTest_FlightControlSetGetParamSample()
     DjiTest_WidgetLogAppend("--> Step 7: Turn on upwards radar obstacle avoidance.");
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
         returnCode = DjiFlightController_SetUpwardsRadarObstacleAvoidanceEnableStatus(
             DJI_FLIGHT_CONTROLLER_ENABLE_OBSTACLE_AVOIDANCE);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -770,7 +776,8 @@ void DjiTest_FlightControlSetGetParamSample()
     DjiTest_WidgetLogAppend("--> Step 8: Get upwards radar obstacle avoidance status\r\n");
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30 ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T) {
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M30T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) {
         returnCode = DjiFlightController_GetUpwardsRadarObstacleAvoidanceEnableStatus(
             &upwardsRadarObstacleAvoidanceStatus);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -846,7 +853,8 @@ void DjiTest_FlightControlSetGetParamSample()
     s_osalHandler->TaskSleepMs(1000);
 
     /*! Set rc lost action */
-    if (aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M300_RTK) {
+    if (aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M300_RTK &&
+        aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M350_RTK) {
         USER_LOG_INFO("--> Step 15: Set rc lost action");
         DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
         returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);

samples/sample_c/module_sample/gimbal_emu/test_payload_gimbal_emu.c

@@ -35,6 +35,7 @@
 #define PAYLOAD_GIMBAL_EMU_TASK_STACK_SIZE  (2048)
 #define PAYLOAD_GIMBAL_TASK_FREQ            1000
 #define PAYLOAD_GIMBAL_CALIBRATION_TIME_MS  2000
+#define PAYLOAD_GIMBAL_MIN_ACTION_TIME      5
 
 /* Private types -------------------------------------------------------------*/
 typedef enum {
@@ -389,11 +390,15 @@ static void *UserGimbal_Task(void *arg)
 
     djiStat = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_QUATERNION, DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
                                                NULL);
+    if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         if (djiStat == DJI_ERROR_SUBSCRIPTION_MODULE_CODE_TOPIC_DUPLICATE) {
-        USER_LOG_DEBUG("Subscribe topic quaternion duplicate.");
+            USER_LOG_WARN("Subscribe topic quaternion duplicate.");
-    } else if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS)  {
+        } else {
             USER_LOG_ERROR("Subscribe topic quaternion error.");
         }
+    } else {
+        USER_LOG_DEBUG("Subscribe topic quaternion success.");
+    }
 
     while (1) {
         osalHandler->TaskSleepMs(1000 / PAYLOAD_GIMBAL_TASK_FREQ);
@@ -1077,6 +1082,11 @@ DjiTest_GimbalCalculateSpeed(T_DjiAttitude3d originalAttitude, T_DjiAttitude3d t
         return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
     }
 
+    if (actionTime == 0) {
+        USER_LOG_WARN("Input action time is zero, now used max speed to rotate.");
+        actionTime = PAYLOAD_GIMBAL_MIN_ACTION_TIME;
+    }
+
     pitchSpeedTemp = (float) (targetAttitude.pitch - originalAttitude.pitch) / (float) actionTime * 100;
     rollSpeedTemp = (float) (targetAttitude.roll - originalAttitude.roll) / (float) actionTime * 100;
     yawSpeedTemp = (float) (targetAttitude.yaw - originalAttitude.yaw) / (float) actionTime * 100;

samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -151,6 +151,4 @@ out:
 }
 
 /* Private functions definition-----------------------------------------------*/
-
-
 /****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/hms/test_hms.c

@@ -52,6 +52,7 @@ 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;
 
 /* Private functions declaration ---------------------------------------------*/
 static T_DjiReturnCode DjiTest_HmsInit(void);
@@ -169,6 +170,8 @@ T_DjiReturnCode DjiTest_HmsStartService(void)
     DjiHms_InjectHmsErrorCode(0x1E020000, DJI_HMS_ERROR_LEVEL_FATAL);
 #endif
 
+    s_hmsServiceRunFlag = true;
+
     return returnCode;
 }
 
@@ -193,6 +196,10 @@ static T_DjiReturnCode DjiTest_HmsInit(void)
         return returnCode;
     }
 
+    if (s_hmsServiceRunFlag == true) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
     return DjiHms_Init();
 }
 
@@ -207,6 +214,10 @@ static T_DjiReturnCode DjiTest_HmsDeInit(void)
         return returnCode;
     }
 
+    if (s_hmsServiceRunFlag == true) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    }
+
     return DjiHms_DeInit();
 }
 

samples/sample_c/module_sample/power_management/test_power_management.c

@@ -87,7 +87,8 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
         return returnCode;
     }
 
-    if (baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK &&
+    if ((baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+         baseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK) &&
         (baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
          baseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_XPORT)) {
         // apply high power
@@ -130,6 +131,19 @@ T_DjiReturnCode DjiTest_PowerManagementStartService(void)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode DjiTest_PowerManagementStopService(void)
+{
+    T_DjiReturnCode returnCode;
+
+    returnCode = DjiPowerManagement_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("power management deinit error: 0x%08llX.", returnCode);
+        return returnCode;
+    }
+
+    return returnCode;
+}
+
 /* Private functions definition-----------------------------------------------*/
 static T_DjiReturnCode DjiTest_PowerOffNotificationCallback(bool *powerOffPreparationFlag)
 {

samples/sample_c/module_sample/power_management/test_power_management.h

@@ -46,6 +46,7 @@ typedef struct {
 
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode DjiTest_PowerManagementStartService(void);
+T_DjiReturnCode DjiTest_PowerManagementStopService(void);
 T_DjiReturnCode DjiTest_RegApplyHighPowerHandler(T_DjiTestApplyHighPowerHandler *applyHighPowerHandler);
 
 #ifdef __cplusplus

samples/sample_c/module_sample/waypoint_v3/test_waypoint_v3.c

@@ -29,6 +29,7 @@
 #include "dji_logger.h"
 #include "dji_waypoint_v3.h"
 #include "waypoint_file_c/waypoint_v3_test_file_kmz.h"
+#include "dji_fc_subscription.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define DJI_TEST_WAYPOINT_V3_KMZ_FILE_PATH_LEN_MAX         (256)
@@ -47,6 +48,9 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    T_DjiFcSubscriptionFlightStatus flightStatus = 0;
+    T_DjiDataTimestamp flightStatusTimestamp = {0};
+
 #ifdef SYSTEM_ARCH_LINUX
     FILE *kmzFile = NULL;
     uint32_t kmzFileSize = 0;
@@ -94,25 +98,25 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
     returnCode = UtilFile_GetFileSize(kmzFile, &kmzFileSize);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Get kmz file size failed.");
-        goto out;
+        goto close_file;
     }
 
     kmzFileBuf = osalHandler->Malloc(kmzFileSize);
     if (kmzFileBuf == NULL) {
         USER_LOG_ERROR("Malloc kmz file buf error.");
-        goto out;
+        goto close_file;
     }
 
     readLen = fread(kmzFileBuf, 1, kmzFileSize, kmzFile);
     if (readLen != kmzFileSize) {
         USER_LOG_ERROR("Read kmz file data failed.");
-        goto out;
+        goto close_file;
     }
 
     returnCode = DjiWaypointV3_UploadKmzFile(kmzFileBuf, kmzFileSize);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Upload kmz file failed.");
-        goto out;
+        goto close_file;
     }
 
     osalHandler->Free(kmzFileBuf);
@@ -129,14 +133,43 @@ T_DjiReturnCode DjiTest_WaypointV3RunSample(void)
     returnCode = DjiWaypointV3_Action(DJI_WAYPOINT_V3_ACTION_START);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Execute start action failed.");
+        goto close_file;
+    }
+
+    osalHandler->TaskSleepMs(2000);
+
+close_file:
+#ifdef SYSTEM_ARCH_LINUX
+    returnCode = fclose(kmzFile);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Close KMZ file failed.");
+    }
+    kmzFile = NULL;
+#endif
+
+    returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
+                                                  DJI_DATA_SUBSCRIPTION_TOPIC_10_HZ,
+                                                  NULL);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("Subscribe topic flight status failed, error code:0x%08llX", returnCode);
         goto out;
     }
 
-#ifdef SYSTEM_ARCH_LINUX
+    do {
-    fclose(kmzFile);
+        osalHandler->TaskSleepMs(2000);
-#endif
 
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_STATUS_FLIGHT,
+                                                            (uint8_t *) &flightStatus,
+                                                            sizeof(T_DjiFcSubscriptionFlightStatus),
+                                                            &flightStatusTimestamp);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get value of topic flight status failed, error code:0x%08llX", returnCode);
+        }
+
+        USER_LOG_INFO("flight status: %d", flightStatus);
+    } while(flightStatus == DJI_FC_SUBSCRIPTION_FLIGHT_STATUS_IN_AIR);
+
+    USER_LOG_INFO("The aircraft is on the ground now.");
 
 out:
 #ifdef SYSTEM_ARCH_LINUX
@@ -145,7 +178,7 @@ out:
     }
 #endif
 
-    return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
+    return DjiWaypointV3_DeInit();
 }
 
 /* Private functions definition-----------------------------------------------*/

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -163,6 +163,7 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
 
 /* Private functions definition-----------------------------------------------*/
 #ifdef SYSTEM_ARCH_LINUX
+
 static uint32_t DjiTest_GetVoicePlayProcessId(void)
 {
     FILE *fp;
@@ -220,21 +221,21 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
     /*! Attention: you can use "ffmpeg -i xxx.mp3 -ar 16000 -ac 1 out.wav" and use opus-tools to generate opus file for test */
     fin = fopen(WIDGET_SPEAKER_AUDIO_OPUS_FILE_NAME, "r");
     if (fin == NULL) {
-        USER_LOG_ERROR("failed to open input file: %s\n", strerror(errno));
+        fprintf(stderr, "failed to open input file: %s\n", strerror(errno));
         return EXIT_FAILURE;
     }
 
-    fout = fopen(WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME, "w");
-    if (fout == NULL) {
-        USER_LOG_ERROR("failed to open output file: %s\n", strerror(errno));
-        goto open_pcm_audio_failed;
-    }
-
     /* Create a new decoder state. */
     decoder = opus_decoder_create(WIDGET_SPEAKER_AUDIO_OPUS_SAMPLE_RATE, WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS, &err);
     if (err < 0) {
-        USER_LOG_ERROR("failed to create decoder: %s\n", opus_strerror(err));
+        fprintf(stderr, "failed to create decoder: %s\n", opus_strerror(err));
-        goto create_decoder_failed;
+        goto close_fin;
+    }
+
+    fout = fopen(WIDGET_SPEAKER_AUDIO_PCM_FILE_NAME, "w");
+    if (fout == NULL) {
+        fprintf(stderr, "failed to open output file: %s\n", strerror(errno));
+        goto close_fin;
     }
 
     while (1) {
@@ -254,8 +255,8 @@ static T_DjiReturnCode DjiTest_DecodeAudioData(void)
            the frame size returned. */
         frame_size = opus_decode(decoder, cbits, nbBytes, out, WIDGET_SPEAKER_AUDIO_OPUS_MAX_FRAME_SIZE, 0);
         if (frame_size < 0) {
-            USER_LOG_ERROR("decoder failed: %s\n", opus_strerror(frame_size));
+            fprintf(stderr, "decoder failed: %s\n", opus_strerror(frame_size));
-            goto decode_data_failed;
+            goto close_fout;
         }
 
         USER_LOG_DEBUG("decode data to file: %d\r\n", frame_size * WIDGET_SPEAKER_AUDIO_OPUS_CHANNELS);
@@ -278,8 +279,18 @@ create_decoder_failed:
 open_pcm_audio_failed:
     fclose(fin);
 #endif
+    return EXIT_SUCCESS;
+
+#ifdef OPUS_INSTALLED
+close_fout:
+    fclose(fout);
+
+close_fin:
+    fclose(fin);
+
+    return EXIT_FAILURE;
+#endif
 
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 static T_DjiReturnCode DjiTest_PlayAudioData(void)
@@ -364,7 +375,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
     uint32_t readFileTotalSize = 0;
     uint16_t readLen;
     T_DjiReturnCode returnCode;
-    uint8_t readBuf[1024];
+    uint8_t readBuf[1024] = {0};
     uint8_t md5Sum[16] = {0};
     FILE *file = NULL;;
 
@@ -407,6 +418,7 @@ static T_DjiReturnCode DjiTest_CheckFileMd5Sum(const char *path, uint8_t *buf, u
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
+
 #endif
 
 static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState)
@@ -628,6 +640,7 @@ static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
 #ifdef SYSTEM_ARCH_LINUX
         if (s_ttsFile != NULL) {
             fclose(s_ttsFile);
+            s_ttsFile = NULL;
         }
 
         returnCode = DjiTest_CheckFileMd5Sum(WIDGET_SPEAKER_TTS_FILE_NAME, buf, size);
@@ -685,6 +698,7 @@ static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
         USER_LOG_INFO("Close voice file.");
         if (s_audioFile != NULL) {
             fclose(s_audioFile);
+            s_audioFile = NULL;
         }
 
 #ifdef SYSTEM_ARCH_LINUX

samples/sample_c/module_sample/widget_interaction_test/test_widget_interaction.c

@@ -55,6 +55,13 @@
 #define WIDGET_LOG_STRING_MAX_SIZE      (40)
 #define WIDGET_LOG_LINE_MAX_NUM         (5)
 
+#define DJI_HMS_ERROR_CODE_VALUE0    0x1E020000
+#define DJI_HMS_ERROR_CODE_VALUE1    0x1E020001
+#define DJI_HMS_ERROR_CODE_VALUE2    0x1E020002
+#define DJI_HMS_ERROR_CODE_VALUE3    0x1E020003
+#define DJI_HMS_ERROR_CODE_VALUE4    0x1E020004
+
+
 /* Private types -------------------------------------------------------------*/
 typedef enum {
     E_DJI_SAMPLE_INDEX_FC_SUBSCRIPTION = 0,
@@ -86,7 +93,6 @@ typedef enum {
     E_DJI_SAMPLE_INDEX_CAMMGR_RECORDER_VIDEO = 26,
     E_DJI_SAMPLE_INDEX_CAMMGR_MEDIA_DOWNLOAD = 27,
     E_DJI_SAMPLE_INDEX_CAMMGR_THERMOMETRY = 28,
-
     E_DJI_SAMPLE_INDEX_UNKNOWN = 0xFF,
 } E_DjiExtensionPortSampleIndex;
 
@@ -376,19 +382,19 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
         if (s_isInjectErrcode == true && s_isEliminateErrcode == false) {
             switch (s_extensionPortErrcodeIndex) {
                 case E_DJI_HMS_ERROR_CODE_INDEX1:
-                    errorCode = 0x1E020000;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE0;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX2:
-                    errorCode = 0x1E020001;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE1;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX3:
-                    errorCode = 0x1E020002;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE2;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX4:
-                    errorCode = 0x1E020003;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE3;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX5:
-                    errorCode = 0x1E020004;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE4;
                     break;
                 default:
                     break;
@@ -421,19 +427,19 @@ static void *DjiTest_WidgetInteractionTask(void *arg)
         if (s_isEliminateErrcode == true && s_isInjectErrcode == false) {
             switch (s_extensionPortErrcodeIndex) {
                 case E_DJI_HMS_ERROR_CODE_INDEX1:
-                    errorCode = 0x1E020000;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE0;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX2:
-                    errorCode = 0x1E020001;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE1;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX3:
-                    errorCode = 0x1E020002;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE2;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX4:
-                    errorCode = 0x1E020003;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE3;
                     break;
                 case E_DJI_HMS_ERROR_CODE_INDEX5:
-                    errorCode = 0x1E020004;
+                    errorCode = DJI_HMS_ERROR_CODE_VALUE4;
                     break;
                 default:
                     break;

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

@@ -98,6 +98,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 {
     int result;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *mutex = malloc(sizeof(pthread_mutex_t));
     if (*mutex == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
@@ -118,7 +122,11 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
  */
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
 {
-    int result;
+    int result = 0;
+
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
 
     result = pthread_mutex_destroy(mutex);
     if (result != 0) {
@@ -136,8 +144,13 @@ T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_lock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_lock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -152,8 +165,13 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
  */
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
 {
-    int result = pthread_mutex_unlock(mutex);
+    int result = 0;
 
+    if (!mutex) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
+    result = pthread_mutex_unlock(mutex);
     if (result != 0) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
@@ -308,6 +326,14 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
+{
+    srand(time(NULL));
+    *randomNum = random() % 65535;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 void *Osal_Malloc(uint32_t size)
 {
     return malloc(size);

samples/sample_c/platform/linux/common/osal/osal.h

@@ -63,6 +63,7 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
 
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
 
 void *Osal_Malloc(uint32_t size);
 void Osal_Free(void *ptr);

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

@@ -72,7 +72,8 @@ T_DjiReturnCode Osal_Socket(E_DjiSocketMode mode, T_DjiSocketHandle *socketHandl
             goto out;
         }
 
-        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0) {
+        if (setsockopt(socketHandleStruct->socketFd, SOL_SOCKET, SO_RCVBUF, &rcvBufSize, optlen) < 0)
+        {
             goto out;
         }
     } else if (mode == DJI_SOCKET_MODE_TCP) {

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

@@ -81,6 +81,7 @@ static pthread_t s_monitorThread = 0;
 
 /* Private functions declaration ---------------------------------------------*/
 static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void);
+static T_DjiReturnCode DjiUser_CleanSystemEnvironment(void);
 static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo);
 static T_DjiReturnCode DjiUser_PrintConsole(const uint8_t *data, uint16_t dataLen);
 static T_DjiReturnCode DjiUser_LocalWrite(const uint8_t *data, uint16_t dataLen);
@@ -180,7 +181,8 @@ int main(int argc, char **argv)
 #endif
 
     if (aircraftInfoBaseInfo.mountPosition == DJI_MOUNT_POSITION_EXTENSION_PORT &&
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK) {
+        (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)) {
         returnCode = DjiTest_WidgetInteractionStartService();
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("widget interaction sample init error");
@@ -190,6 +192,13 @@ int main(int argc, char **argv)
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("widget speaker test init error");
         }
+
+#ifdef CONFIG_MODULE_SAMPLE_MOP_CHANNEL_ON
+        returnCode = DjiTest_MopChannelStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("mop channel sample init error");
+        }
+#endif
     } else {
 #ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
         returnCode = DjiTest_CameraEmuBaseStartService();
@@ -339,6 +348,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
         .Free = Osal_Free,
         .GetTimeMs = Osal_GetTimeMs,
         .GetTimeUs = Osal_GetTimeUs,
+        .GetRandomNum  = Osal_GetRandomNum,
     };
 
     T_DjiLoggerConsole printConsole = {
@@ -466,6 +476,39 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+static T_DjiReturnCode DjiUser_CleanSystemEnvironment(void)
+{
+    T_DjiReturnCode returnCode;
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft base info error");
+        return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    }
+
+#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
+    returnCode = DjiTest_PowerManagementStopService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("power management deinit error");
+    }
+#endif
+
+#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
+    returnCode = DjiTest_DataTransmissionStopService();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("widget sample deinit error");
+    }
+#endif
+
+    returnCode = DjiCore_DeInit();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Core deinit failed.");
+    }
+
+    return returnCode;
+}
+
 static T_DjiReturnCode DjiUser_FillInUserInfo(T_DjiUserInfo *userInfo)
 {
     if (userInfo == NULL) {
@@ -689,7 +732,15 @@ static T_DjiReturnCode DjiTest_WriteHighPowerApplyPin(E_DjiPowerManagementPinSta
 
 static void DjiUser_NormalExitHandler(int signalNum)
 {
+    T_DjiReturnCode returnCode;
+
     USER_UTIL_UNUSED(signalNum);
+
+    returnCode = DjiUser_CleanSystemEnvironment();
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        perror("Clean up system environment failed.");
+    }
+
     exit(0);
 }
 

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

@@ -62,17 +62,19 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 #ifdef LIBUSB_INSTALLED
         ret = libusb_init(NULL);
         if (ret < 0) {
+            USER_LOG_ERROR("init usb bulk failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         handle = libusb_open_device_with_vid_pid(NULL, usbBulkInfo.vid, usbBulkInfo.pid);
         if (handle == NULL) {
+            USER_LOG_ERROR("open usb device failed");
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         ret = libusb_claim_interface(handle, usbBulkInfo.channelInfo.interfaceNum);
         if (ret != LIBUSB_SUCCESS) {
-            printf("libusb claim interface error");
+            USER_LOG_ERROR("libusb claim interface failed, errno = %d", ret);
             libusb_close(handle);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -114,6 +116,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 {
     struct libusb_device_handle *handle = NULL;
+    int32_t ret;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
     if (usbBulkHandle == NULL) {
@@ -124,7 +127,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
 #ifdef LIBUSB_INSTALLED
-        libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
+        ret = libusb_release_interface(handle, ((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;
+        }
         osalHandler->TaskSleepMs(100);
         libusb_exit(NULL);
 #endif

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

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(dji_sdk_demo_on_jeston C)
+project(dji_sdk_demo_on_jetson C)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")

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

@@ -337,6 +337,7 @@ static T_DjiReturnCode DjiUser_PrepareSystemEnvironment(void)
         .SemaphorePost = Osal_SemaphorePost,
         .Malloc = Osal_Malloc,
         .Free = Osal_Free,
+        .GetRandomNum = Osal_GetRandomNum,
         .GetTimeMs = Osal_GetTimeMs,
         .GetTimeUs = Osal_GetTimeUs,
     };

samples/sample_c/platform/rtos_freertos/common/osal/osal.c

@@ -28,6 +28,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 #include "semphr.h"
+#include "stdlib.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define SEM_MUTEX_WAIT_FOREVER      0xFFFFFFFF
@@ -64,6 +65,10 @@ T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uin
 
 T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task)
 {
+    if (task == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     vTaskDelete(task);
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -83,6 +88,10 @@ T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs)
 
 T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 {
+    if (mutex == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *mutex = xSemaphoreCreateMutex();
     if (*mutex == NULL) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
@@ -93,6 +102,10 @@ T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex)
 
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex)
 {
+    if (mutex == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     vQueueDelete((SemaphoreHandle_t) mutex);
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -117,6 +130,10 @@ T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex)
 
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex)
 {
+    if (mutex == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     if (xSemaphoreGive(mutex) != pdTRUE) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
@@ -128,6 +145,10 @@ T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaph
 {
     uint32_t maxCount = UINT_MAX;
 
+    if (semaphore == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *semaphore = xSemaphoreCreateCounting(maxCount, initValue);
 
     if (*semaphore == NULL) {
@@ -139,6 +160,10 @@ T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaph
 
 T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore)
 {
+    if (semaphore == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     vSemaphoreDelete(semaphore);
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -177,6 +202,10 @@ T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore)
 
 T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
 {
+    if (semaphore == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     if (xSemaphoreGive(semaphore) != pdTRUE) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
@@ -186,6 +215,10 @@ T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore)
 
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
 {
+    if (ms == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *ms = xTaskGetTickCount();
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -193,11 +226,22 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
 
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
 {
+    if (us == NULL) {
+        return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER;
+    }
+
     *us = xTaskGetTickCount() * 1000;
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum)
+{
+    *randomNum = rand() % 65535;
+
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+}
+
 void *Osal_Malloc(uint32_t size)
 {
     return pvPortMalloc(size);

samples/sample_c/platform/rtos_freertos/common/osal/osal.h

@@ -43,35 +43,21 @@ extern "C" {
 /* Exported functions --------------------------------------------------------*/
 T_DjiReturnCode Osal_TaskCreate(const char *name, void *(*taskFunc)(void *), uint32_t stackSize,
                                 void *arg, T_DjiTaskHandle *task);
-
 T_DjiReturnCode Osal_TaskDestroy(T_DjiTaskHandle task);
-
 T_DjiReturnCode Osal_TaskSleepMs(uint32_t timeMs);
-
 T_DjiReturnCode Osal_MutexCreate(T_DjiMutexHandle *mutex);
-
 T_DjiReturnCode Osal_MutexDestroy(T_DjiMutexHandle mutex);
-
 T_DjiReturnCode Osal_MutexLock(T_DjiMutexHandle mutex);
-
 T_DjiReturnCode Osal_MutexUnlock(T_DjiMutexHandle mutex);
-
 T_DjiReturnCode Osal_SemaphoreCreate(uint32_t initValue, T_DjiSemaHandle *semaphore);
-
 T_DjiReturnCode Osal_SemaphoreDestroy(T_DjiSemaHandle semaphore);
-
 T_DjiReturnCode Osal_SemaphoreTimedWait(T_DjiSemaHandle semaphore, uint32_t waitTimeMs);
-
 T_DjiReturnCode Osal_SemaphoreWait(T_DjiSemaHandle semaphore);
-
 T_DjiReturnCode Osal_SemaphorePost(T_DjiSemaHandle semaphore);
-
 T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms);
-
 T_DjiReturnCode Osal_GetTimeUs(uint64_t *us);
-
+T_DjiReturnCode Osal_GetRandomNum(uint16_t *randomNum);
 void *Osal_Malloc(uint32_t size);
-
 void Osal_Free(void *ptr);
 
 #ifdef __cplusplus

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

@@ -97,6 +97,7 @@ void DjiUser_StartTask(void const *argument)
         .Free = Osal_Free,
         .GetTimeMs = Osal_GetTimeMs,
         .GetTimeUs = Osal_GetTimeUs,
+        .GetRandomNum = Osal_GetRandomNum,
     };
     T_DjiLoggerConsole printConsole = {
         .func = DjiUser_PrintConsole,
@@ -247,7 +248,8 @@ void DjiUser_StartTask(void const *argument)
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
+    if ((aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)
         && aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
         USER_LOG_WARN("Not support gimbal emu sample.");
     } else {
@@ -294,7 +296,8 @@ void DjiUser_StartTask(void const *argument)
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_POSITIONING_ON
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
+    if ((aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK ||
+         aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M350_RTK)
         && aircraftInfoBaseInfo.mountPosition != DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT) {
         if (DjiTest_PositioningStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("psdk positioning init error");

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/uart.c

@@ -40,7 +40,7 @@
 #define UART1_WRITE_BUF_SIZE     64
 #define UART2_READ_BUF_SIZE      64
 #define UART2_WRITE_BUF_SIZE     2048
-#define UART3_READ_BUF_SIZE      4096
+#define UART3_READ_BUF_SIZE      8192
 #define UART3_WRITE_BUF_SIZE     2048
 
 /* Private macro -------------------------------------------------------------*/

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/upgrade_platform_opt_stm32.c

@@ -81,11 +81,15 @@ T_DjiReturnCode DjiUpgradePlatformStm32_WriteUpgradeProgramFile(uint32_t offset,
 {
     uint32_t result;
 
+    __disable_irq();
+
     result = FLASH_If_Write(APPLICATION_STORE_ADDRESS + offset, (uint8_t *) data, dataLen);
     if (result != FLASHIF_OK) {
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 
+    __enable_irq();
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }