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Merge pull request #275 from dji-sdk/release/v3.12.0
NEW: release DJI Payload-SDK version 3.12.0
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‎LICENSE.txt‎

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@@ -310,36 +310,19 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
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│   │   │   │   ├── hal_uart.h
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│   │   │   │   ├── hal_usb_bulk.c
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│   │   │   │   └── hal_usb_bulk.h
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│   │   │   ├── nvidia_jetson
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│   │   │   │   ├── application
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│   │   │   │   │   ├── dji_sdk_app_info.h
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│   │   │   │   │   ├── dji_sdk_config.h
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│   │   │   │   │   └── main.c
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│   │   │   │   ├── CMakeLists.txt
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│   │   │   │   └── hal
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│   │   │   │   ├── hal_i2c.c
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│   │   │   │   ├── hal_i2c.h
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│   │   │   │   ├── hal_network.c
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│   │   │   │   ├── hal_network.h
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│   │   │   │   ├── hal_uart.c
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│   │   │   │   ├── hal_uart.h
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│   │   │   │   ├── hal_usb_bulk.c
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│   │   │   │   └── hal_usb_bulk.h
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│   │   │   ├── raspberry_pi
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│   │   │   │   ├── application
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│   │   │   │   │   ├── dji_sdk_app_info.h
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│   │   │   │   │   ├── dji_sdk_config.h
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│   │   │   │   │   └── main.c
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│   │   │   │   ├── CMakeLists.txt
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│   │   │   │   └── hal
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│   │   │   │   ├── hal_i2c.c
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│   │   │   │   ├── hal_i2c.h
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│   │   │   │   ├── hal_network.c
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│   │   │   │   ├── hal_network.h
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│   │   │   │   ├── hal_uart.c
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│   │   │   │   ├── hal_uart.h
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│   │   │   │   ├── hal_usb_bulk.c
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│   │   │   │   └── hal_usb_bulk.h
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│   │   │   └── nvidia_jetson
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│   │   │   ├── application
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│   │   │   │   ├── dji_sdk_app_info.h
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│   │   │   │   ├── dji_sdk_config.h
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│   │   │   │   └── main.c
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│   │   │   ├── CMakeLists.txt
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│   │   │   └── hal
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│   │   │   ├── hal_network.c
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│   │   │   ├── hal_network.h
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│   │   │   ├── hal_uart.c
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│   │   │   ├── hal_uart.h
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│   │   │   ├── hal_usb_bulk.c
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│   │   │   └── hal_usb_bulk.h
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│   │   └── rtos_freertos
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│   │   ├── common
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│   │   │   └── osal

‎README.md‎

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@@ -1,8 +1,8 @@
11
# DJI Payload SDK (PSDK)
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![](https://img.shields.io/badge/version-V3.11.1-yellow.svg)
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![](https://img.shields.io/badge/platform-linux_|_rtos-pink.svg)
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![](https://img.shields.io/badge/license-MIT-red.svg)
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![](https://img.shields.io/badge/version-V3.12.0-green.svg)
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![](https://img.shields.io/badge/platform-linux_|_rtos-blue.svg)
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![](https://img.shields.io/badge/license-MIT-orange.svg)
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## What is the DJI Payload SDK?
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@@ -23,12 +23,48 @@ to get the latest version information.
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## Latest Release
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The latest release version of PSDK is 3.11.1. This version of Payload SDK mainly add some new features support and fixed some
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The latest release version of PSDK is 3.12.0. This version of Payload SDK mainly add some new features support and fixed some
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bugs. Please refer to the release notes for detailed changes list.
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* Fixed the issue where the Matrice 4D or Matrice 4TD E-Port Lite interface was not recognized on FlightHub 2.
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* Fixed the crash issue when using the DjiCore_Delnit interface.
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* Fixed the occasional crash issue when transmitting video streams through the USB bulk channel on Matrice 350 RTK.
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### 1. Matrice 400 Feature Support
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- **Added point cloud data subscription for LiDAR/millimeter-wave radar on aircraft.**
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- **Added custom widget management.**
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- **Added Expanded payload device support.**
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Supports up to 7 payload devices simultaneously, compatible with:
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- Skyport-V2
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- XPort
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### 2. Manifold 3 Now Supports:
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- **Added AR image drawing function.**
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- **Added Enhanced warning functionality.**
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- **Added H30 camera image processing capabilities.**
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- Together with Matrice 400, Manifold 3 can:
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- Obtain decoded images from the H30 camera.
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- Encode using a hardware encoder.
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- Display AI recognition results in real time.
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- **Added PSDK application development**
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- Supports developing and packaging applications based on PSDK.
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- Supports installing and running applications on Manifold 3.
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### 3. Matrice 4TD/4D Series Feature Optimization
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- **Added cloud API firmware upgrade**
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### 4. E-PORT V2 Hardware Port Support
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- **Adapter compatibility:**
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- E-Port V2 coaxial cable
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- Skyport V3
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- **Power management:**
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- Supports voltage requests for 13.6V, 17V, and 24V.
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- **Link models:**
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- Added: ONLY_USB_BULK, ONLY_NETWORK.
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- Not supported: UART_AND_NETWORK, UART_AND_USB_BULK.
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- **Development support:**
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- Released DJI E-Port V2 development kit.
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- Documentation: Refer to the Quick Start > E-Port Quick Start section.
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### 5. Upgrade and Compatibility
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#### SkyPort V2 and X-Port Software Upgrade
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The software versions of Skyport V2 and X-Port have been upgraded. Devices need to be mounted on the Matrice 300 or Matrice 350 to be upgraded to the latest software version before they can be used on the Matrice 400 model. Subsequent software upgrades can be performed on the Matrice 400.
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## License
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‎psdk_lib/include/dji_cloud_api_by_websockt.h‎

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/**
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********************************************************************
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* @file dji_cloud_api_by_websockt.h
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* @brief This is the header file for "dji_cloud_api_by_websockt.h", defining the structure and
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* (exported) function prototypes.
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*
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* @copyright (c) 2021 DJI. All rights reserved.
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*
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* All information contained herein is, and remains, the property of DJI.
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* The intellectual and technical concepts contained herein are proprietary
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* to DJI and may be covered by U.S. and foreign patents, patents in process,
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* and protected by trade secret or copyright law. Dissemination of this
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* information, including but not limited to data and other proprietary
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* material(s) incorporated within the information, in any form, is strictly
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* prohibited without the express written consent of DJI.
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*
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* If you receive this source code without DJI’s authorization, you may not
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* further disseminate the information, and you must immediately remove the
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* source code and notify DJI of its removal. DJI reserves the right to pursue
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* legal actions against you for any loss(es) or damage(s) caused by your
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* failure to do so.
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*
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*********************************************************************
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*/
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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef DJI_CLOUD_API_BY_WEEBSOCKET_H
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#define DJI_CLOUD_API_BY_WEEBSOCKET_H
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/* Includes ------------------------------------------------------------------*/
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#include "dji_typedef.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Exported constants --------------------------------------------------------*/
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/* Exported types ------------------------------------------------------------*/
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/* Exported functions --------------------------------------------------------*/
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/**
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* @brief Send data into cloud api channel over pilot2 websocket.
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* @note This interface should be called only on manifold3 application. It is recommended
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* to send more bytes of data at a time to improve read and write efficiency. Need to determine whether the send is
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* successful according to the return code and the actual sent data length.
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* @param data: pointer to data to be sent.
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* @param len: length of data to be sented to pilot2, unit: byte.
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* @param realLen: pointer to real length of data that already sent.
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* @return Execution result.
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*/
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T_DjiReturnCode DjiCloudApi_SendDataByWebSocket(uint8_t *data, uint32_t len, uint32_t *realLen);
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#ifdef __cplusplus
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}
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#endif
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#endif
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/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
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‎psdk_lib/include/dji_fc_subscription.h‎

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@@ -526,6 +526,153 @@ typedef enum {
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_IMU_ATTI_NAVI_DATA_WITH_TIMESTAMP = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
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/*!
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* @brief Provides postion NO.1 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO1 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 48),
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/*!
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* @brief Provides postion NO.2 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO2 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 49),
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/*!
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* @brief Provides postion NO.3 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO3 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 50),
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/*!
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* @brief Provides postion NO.4 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO4 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 51),
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/*!
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* @brief Provides postion NO.5 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO5 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 52),
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/*!
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* @brief Provides postion NO.6 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
645+
* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO6 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 53),
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/*!
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* @brief Provides postion NO.7 gimbal pitch, roll, yaw @ up to 50Hz
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* @details
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* The reference frame for gimbal angles is a NED frame attached to the gimbal.
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* This topic uses a data structure, Vector3f, that is too generic for the topic. The order of angles is :
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* |Data Structure Element| Meaning|
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* |----------------------|--------|
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* |Vector3f.x |pitch |
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* |Vector3f.y |roll |
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* |Vector3f.z |yaw |
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*
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* @perf
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* 0.1 deg accuracy in all axes
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*
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* @sensors Gimbal Encoder, IMU, Magnetometer
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* @units deg
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* @datastruct \ref T_DjiFcSubscriptionGimbalAngles
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* @also \ref TOPIC_GIMBAL_STATUS, \ref TOPIC_GIMBAL_CONTROL_MODE
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*/
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DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES_ON_POS_NO7 = DJI_DATA_SUBSCRIPTION_TOPIC(DJI_DATA_SUBSCRIPTION_MODULE_FC, 54),
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/*! Total number of topics that can be subscribed. */
530677
DJI_FC_SUBSCRIPTION_TOPIC_TOTAL_NUMBER,
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} E_DjiFcSubscriptionTopic;

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