NEW: release DJI Payload-SDK version 3.3

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

psdk_lib/include/dji_aircraft_info.h

@@ -36,7 +36,6 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 
-
 /* Exported types ------------------------------------------------------------*/
 /**
  * @brief Information related to mobile APP.
@@ -72,6 +71,14 @@ T_DjiReturnCode DjiAircraftInfo_GetBaseInfo(T_DjiAircraftInfoBaseInfo *baseInfo)
  */
 T_DjiReturnCode DjiAircraftInfo_GetMobileAppInfo(T_DjiMobileAppInfo *mobileAppInfo);
 
+/**
+ * @brief Get connection status of payload and aircraft.
+ * @note Update period: 1Hz
+ * @param isConnected: pointer to connection status.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiAircraftInfo_GetConnectionStatus(bool *isConnected);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_camera_manager.h

@@ -521,7 +521,7 @@ typedef struct {
     int16_t screenX; /*! Unit: 0.1% */
     int16_t screenY; /*! Unit: 0.1% */
     bool enable_lidar;
-    bool exception;
+    uint8_t exception;
 } T_DjiCameraManagerLaserRangingInfo;
 
 typedef T_DjiReturnCode (*DjiCameraManagerDownloadFileDataCallback)(T_DjiDownloadFilePacketInfo packetInfo,
@@ -1005,6 +1005,7 @@ T_DjiReturnCode DjiCameraManager_DeleteFileByIndex(E_DjiMountPosition position,
 
 /**
  * @brief Get the camera laser ranging info of the selected camera mounted position.
+ * @note Maximum data update frequency: 5Hz.
  * @param position: the mount position of the camera
  * @param laserRangingInfo: the pointer to the camera laser ranging info
  * @return Execution result.

psdk_lib/include/dji_fc_subscription.h

@@ -771,8 +771,8 @@ typedef T_DjiVector3f T_DjiFcSubscriptionGpsVelocity;
  * @brief GPS details topic data structure.
  */
 typedef struct GpsDetail {
-    dji_f32_t hdop; /*!< Horizontal dilution of precision, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. */
-    dji_f32_t pdop; /*!< Position dilution of precision, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. */
+    dji_f32_t hdop; /*!< Horizontal dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. */
+    dji_f32_t pdop; /*!< Position dilution of precision, unit: 0.01, eg: 100 = 1.00, <1: ideal, 1-2: excellent, 2-5: good, 5-10: moderate, 10-20: fair, >20: poor. */
     dji_f32_t fixState; /*!< GPS fix state, and can be any value of ::E_DjiFcSubscriptionGpsFixState. Value other than ::E_DjiFcSubscriptionGpsFixState is invalid. */
     dji_f32_t vacc; /*!< Vertical position accuracy (mm), the smaller, the better. */
     dji_f32_t hacc; /*!< Horizontal position accuracy (mm), the smaller, the better. */
@@ -1152,6 +1152,18 @@ T_DjiReturnCode DjiFcSubscription_SubscribeTopic(E_DjiFcSubscriptionTopic topic,
                                                  E_DjiDataSubscriptionTopicFreq frequency,
                                                  DjiReceiveDataOfTopicCallback callback);
 
+/**
+ * @brief Unsubscribe a topic in blocking mode. Before unsubscribing any data from aircraft, DjiFcSubscription_Init()
+ * and DjiFcSubscription_SubscribeTopic() function has to be called,
+ * @details User can unsubscribe a topic by specifying topic name, but the topic must be unsubscribed in the order of subscription.
+ * @note Topic to be unsubscribed must have been subscribed.
+ * @note Topic to be unsubscribed must be in the order of subscription, similar to a queue, subscription is similar to enqueue,
+ * unsubscription is similar to dequeue.
+ * @param topic: topic name to be unsubscribed.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFcSubscription_UnSubscribeTopic(E_DjiFcSubscriptionTopic topic);
+
 /**
  * @brief Get the latest data value and timestamp in aircraft time system when sending the data from aircraft of specified
  * topic. If the specified topic has not been subscribed successfully, this function will return the error code.

psdk_lib/include/dji_flight_controller.h

@@ -228,6 +228,11 @@ typedef enum {
     DJI_FLIGHT_CONTROLLER_STABLE_CONTROL_MODE_ENABLE = 1   /*!< Enable the stable mode */
 } E_DjiFlightControllerStableControlMode;
 
+typedef enum {
+    DJI_FLIGHT_CONTROLLER_ENABLE_RC_LOST_ACTION = 0,
+    DJI_FLIGHT_CONTROLLER_DISABLE_RC_LOST_ACTION = 1,
+} E_DjiFlightControllerRCLostActionEnableStatus;
+
 /**
  * @brief Joystick mode.
  * @note You need to set joystick mode first before start to send joystick command to aircraft.
@@ -597,6 +602,25 @@ T_DjiReturnCode DjiFlightController_CancelEmergencyBrakeAction(void);
  */
 T_DjiReturnCode DjiFlightController_GetGeneralInfo(T_DjiFlightControllerGeneralInfo *generalInfo);
 
+/*! @brief The command decides whether execute RC lost action or not when osdk is running
+  * @note  This setting only affects the behavior of the drone when the RC lost and the OSDK is connected.
+  *         if the command is enable, the drone will not execute rc lost action when rc is lost but OSDK is running;
+  *         if the command is disable, the drone will execute rc lost action when rc is lost but OSDK is running
+  *         the drone will execute rc lost action when rc is lost and OSDK is lost whatever the command is.
+  *         default command is disable.
+  * @param executeRCLostActionOrNotWhenOnboardOn  enable:1;disable:0
+  * @return T_DjiReturnCode error code
+   */
+T_DjiReturnCode
+DjiFlightController_SetRCLostActionEnableStatus(E_DjiFlightControllerRCLostActionEnableStatus command);
+
+/*! @brief get rc lost action enable status(enable or disable)
+ *  @param command executeRCLostActionOrNotWhenOnboardOn, enable:1;disable:0
+ *  @return  T_DjiReturnCode error code
+ */
+T_DjiReturnCode
+DjiFlightController_GetEnableRCLostActionStatus(E_DjiFlightControllerRCLostActionEnableStatus *command);
+
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_liveview.h

@@ -57,11 +57,17 @@ typedef enum {
     DJI_LIVEVIEW_CAMERA_SOURCE_H20T_WIDE = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_H20T_ZOOM = 2,
     DJI_LIVEVIEW_CAMERA_SOURCE_H20T_IR = 3,
+    DJI_LIVEVIEW_CAMERA_SOURCE_H20N_WIDE = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_H20N_ZOOM = 2,
+    DJI_LIVEVIEW_CAMERA_SOURCE_H20N_IR = 3,
     DJI_LIVEVIEW_CAMERA_SOURCE_M30_ZOOM = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_M30_WIDE = 2,
     DJI_LIVEVIEW_CAMERA_SOURCE_M30T_ZOOM = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_M30T_WIDE = 2,
-    DJI_LIVEVIEW_CAMERA_SOURCE_M30T_IR = 3
+    DJI_LIVEVIEW_CAMERA_SOURCE_M30T_IR = 3,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3E_VIS = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3T_VIS = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR = 2,
 } E_DjiLiveViewCameraSource;
 
 /**
@@ -96,9 +102,10 @@ T_DjiReturnCode DjiLiveview_StartH264Stream(E_DjiLiveViewCameraPosition position
 /**
  * @brief Stop the FPV or Camera H264 Stream by selected position.
  * @param position: point out which camera to output the H264 stream
+ * @param source: point out which sub camera to output the H264 stream
  * @return Execution result.
  */
-T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position);
+T_DjiReturnCode DjiLiveview_StopH264Stream(E_DjiLiveViewCameraPosition position, E_DjiLiveViewCameraSource source);
 
 #ifdef __cplusplus
 }

psdk_lib/include/dji_logger.h

@@ -75,7 +75,7 @@ typedef struct {
 
 /* Exported functions --------------------------------------------------------*/
 /**
- * @brief Add the console function and level for Onboard SDK.
+ * @brief Add the console function and level for Payload SDK.
  * @note When registering the console, you need to provide the method of the console and the level corresponding to
  * the method. Log levels from high to low are Debug, Info, Warn, and Error, the log function module can print all
  * logs not higher than the specified level. Maximum support for registering eight different console methods at the
@@ -86,6 +86,12 @@ typedef struct {
  */
 T_DjiReturnCode DjiLogger_AddConsole(T_DjiLoggerConsole *console);
 
+/**
+ * @brief Remove the console function and level for Payload SDK.
+ * @param console: pointer to the console function.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiLogger_RemoveConsole(T_DjiLoggerConsole *console);
 /**
  * @brief Print out the selected level log of the specified format by the registration method.
  * @note The registered method is printed according to the corresponding level. If the level of the console is lower

psdk_lib/include/dji_platform.h

@@ -87,6 +87,12 @@ typedef enum {
     DJI_HAL_UART_NUM_1,
 } E_DjiHalUartNum;
 
+typedef enum {
+    DJI_HAL_USB_BULK_NUM_0 = 0,
+    DJI_HAL_USB_BULK_NUM_1,
+    DJI_HAL_USB_BULK_NUM_MAX,
+} E_DjiHalUsbBulkNum;
+
 typedef enum {
     DJI_SOCKET_MODE_UDP,
     DJI_SOCKET_MODE_TCP,
@@ -142,10 +148,16 @@ typedef struct {
 typedef struct {
     uint16_t pid;
     uint16_t vid;
-    uint8_t bulkChannelNum;
-    T_DjiHalUsbBulkChannelInfo *channelInfo;
+    T_DjiHalUsbBulkChannelInfo channelInfo[DJI_HAL_USB_BULK_NUM_MAX];
 } T_DjiHalUsbBulkDeviceInfo;
 
+typedef struct {
+    struct {
+        uint16_t vid;
+        uint16_t pid;
+    } usbNetAdapter;
+} T_DjiHalNetworkDeviceInfo;
+
 typedef struct {
     T_DjiReturnCode (*UsbBulkInit)(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHandle *usbBulkHandle);
 
@@ -164,6 +176,8 @@ typedef struct {
     T_DjiReturnCode (*NetworkInit)(const char *ipAddr, const char *netMask, T_DjiNetworkHandle *networkHandle);
 
     T_DjiReturnCode (*NetworkDeInit)(T_DjiNetworkHandle networkHandle);
+
+    T_DjiReturnCode (*NetworkGetDeviceInfo)(T_DjiHalNetworkDeviceInfo *deviceInfo);
 } T_DjiHalNetworkHandler;
 
 typedef struct {
@@ -317,19 +331,31 @@ T_DjiReturnCode DjiPlatform_RegSocketHandler(const T_DjiSocketHandler *socketHan
 
 /**
  * @brief Get the handler of osal interfaces.
- * @return Execution result.
+ * @return Pointer to osal handler.
  */
 T_DjiOsalHandler *DjiPlatform_GetOsalHandler(void);
 
+/**
+ * @brief Get the handler of usb bulk interfaces.
+ * @return Pointer to usb bulk handler.
+ */
+T_DjiHalUsbBulkHandler *DjiPlatform_GetHalUsbBulkHandler(void);
+
+/**
+ * @brief Get the handler of network interfaces.
+ * @return Pointer to network handler.
+ */
+T_DjiHalNetworkHandler *DjiPlatform_GetHalNetworkHandler(void);
+
 /**
  * @brief Get the handler of file-system interfaces.
- * @return Execution result.
+ * @return Pointer to file-system handler.
  */
 T_DjiFileSystemHandler *DjiPlatform_GetFileSystemHandler(void);
 
 /**
  * @brief Get the handler of socket interfaces.
- * @return Execution result.
+ * @return Pointer to socket handler.
  */
 T_DjiSocketHandler *DjiPlatform_GetSocketHandler(void);
 

psdk_lib/include/dji_typedef.h

@@ -91,6 +91,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_M200_V2 = 1,
     DJI_AIRCRAFT_SERIES_M300 = 2,
     DJI_AIRCRAFT_SERIES_M30 = 3,
+    DJI_AIRCRAFT_SERIES_M3 = 4,
 } E_DjiAircraftSeries;
 
 typedef enum {
@@ -101,6 +102,8 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_M300_RTK = 60, /*!< Aircraft type is Matrice 300 RTK. */
     DJI_AIRCRAFT_TYPE_M30 = 67, /*!< Aircraft type is Matrice 30. */
     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. */
 } E_DjiAircraftType;
 
 /**
@@ -119,6 +122,8 @@ typedef enum {
     DJI_CAMERA_TYPE_L1, /*!< Camera type is L1. */
     DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
     DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
+    DJI_CAMERA_TYPE_M3E, /*!< Camera type is M3E. */
+    DJI_CAMERA_TYPE_M3T, /*!< Camera type is M3T. */
 } E_DjiCameraType;
 
 /**

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     2 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_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     1569 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1659 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

psdk_lib/include/dji_widget.h

@@ -170,23 +170,26 @@ typedef struct {
 } T_DjiWidgetHandlerListItem;
 
 typedef struct {
-    uint16_t size;
-    uint32_t uuid;
-    uint8_t md5Sum[16];
-} T_DjiWidgetTtsDataInfo;
+    union {
+        /*! When event is 'DJI_WIDGET_TRANSMIT_DATA_EVENT_START', the buf contains file name, uuid and decoder bitrate. */
+        struct {
+            uint8_t fileName[32];
+            uint8_t fileUuid[32];
+            uint32_t fileDecodeBitrate;
+        } transDataStartContent;
 
-typedef struct {
-    uint16_t size;
-    uint32_t uuid;
-    uint8_t md5Sum[16];
-} T_DjiWidgetVoiceDataInfo;
+        /*! When event is 'DJI_WIDGET_TRANSMIT_DATA_EVENT_START', the buf contains file md5 sum. */
+        struct {
+            uint8_t md5Sum[16];
+        } transDataEndContent;
+    };
+} T_DjiWidgetTransDataContent;
 
 typedef struct {
     E_DjiWidgetSpeakerState state;
     E_DjiWidgetSpeakerWorkMode workMode;
     E_DjiWidgetSpeakerPlayMode playMode;
     uint8_t volume;
-    uint32_t uuid;
 } T_DjiWidgetSpeakerState;
 
 typedef struct {