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NEW: release DJI Payload-SDK version 3.3

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2022-11-18 20:59:40 +08:00
parent 513d3537e2
commit f33308c85b
79 changed files with 1185370 additions and 1979 deletions
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9
psdk_lib/include/dji_aircraft_info.h
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@ -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

3
psdk_lib/include/dji_camera_manager.h
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@ -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.

16
psdk_lib/include/dji_fc_subscription.h
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@ -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.

24
psdk_lib/include/dji_flight_controller.h
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@ -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

11
psdk_lib/include/dji_liveview.h
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@ -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
}

8
psdk_lib/include/dji_logger.h
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@ -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

36
psdk_lib/include/dji_platform.h
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@ -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);

5
psdk_lib/include/dji_typedef.h
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@ -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;
/**

4
psdk_lib/include/dji_version.h
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@ -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 ------------------------------------------------------------*/

23
psdk_lib/include/dji_widget.h
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@ -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 {