NEW: release DJI Payload-SDK version 3.1

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

psdk_lib/include/dji_camera_manager.h

@@ -509,6 +509,17 @@ typedef struct {
     uint8_t progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
+typedef struct {
+    dji_f64_t longitude; /*! Range: [-180,180] */
+    dji_f64_t latitude; /*! Range: [-90,90] */
+    int32_t altitude; /*! Unit: 0.1m */
+    int32_t distance; /*! Unit: 0.1m */
+    int16_t screenX; /*! Unit: 0.1% */
+    int16_t screenY; /*! Unit: 0.1% */
+    bool enable_lidar;
+    bool exception;
+} T_DjiCameraManagerLaserRangingInfo;
+
 typedef T_DjiReturnCode (*DjiCameraManagerDownloadFileDataCallback)(T_DjiDownloadFilePacketInfo packetInfo,
                                                                     const uint8_t *data,
                                                                     uint16_t dataLen);
@@ -976,6 +987,14 @@ T_DjiReturnCode DjiCameraManager_DownloadFileByIndex(E_DjiMountPosition position
  */
 T_DjiReturnCode DjiCameraManager_DeleteFileByIndex(E_DjiMountPosition position, uint32_t fileIndex);
 
+/**
+ * @brief Get the camera laser ranging info of the selected camera mounted position.
+ * @param position: the mount position of the camera
+ * @param laserRangingInfo: the pointer to the camera laser ranging info
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_GetLaserRangingInfo(E_DjiMountPosition position,
+                                                     T_DjiCameraManagerLaserRangingInfo *laserRangingInfo);
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_core.h

@@ -55,7 +55,7 @@ typedef struct {
 
 /* Exported functions --------------------------------------------------------*/
 /**
- * @brief Initialize the Onboard SDK core in blocking mode.
+ * @brief Initialize the Payload SDK core in blocking mode.
  * @note The call location of this interface requires special attention, The call needs to be completed after the
  * registration of console/OSAL handler functions/HAL handler functions are completed. At the same time, it must be
  * initialized at the beginning of calling other functional module interfaces. You need to fill in the developer
@@ -82,7 +82,7 @@ T_DjiReturnCode DjiCore_Init(const T_DjiUserInfo *userInfo);
 T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
 
 /**
- * @brief Notify that the Onboard SDK core application starts.
+ * @brief Notify that the Payload SDK core application starts.
  * @note The call location of this interface requires special attention, The call needs to be completed after all the
  * module initialize and register interfaces.
  * @return Execution result.

psdk_lib/include/dji_typedef.h

@@ -90,6 +90,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_UNKNOWN = 0,
     DJI_AIRCRAFT_SERIES_M200_V2 = 1,
     DJI_AIRCRAFT_SERIES_M300 = 2,
+    DJI_AIRCRAFT_SERIES_M30 = 3,
 } E_DjiAircraftSeries;
 
 typedef enum {
@@ -98,6 +99,8 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_M210_V2 = 45, /*!< Aircraft type is Matrice 220 V2. */
     DJI_AIRCRAFT_TYPE_M210RTK_V2 = 46, /*!< Aircraft type is Matrice 210 RTK V2. */
     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. */
 } E_DjiAircraftType;
 
 /**
@@ -113,6 +116,8 @@ typedef enum {
     DJI_CAMERA_TYPE_H20T = 43, /*!< Camera type is H20T. */
     DJI_CAMERA_TYPE_P1 = 50, /*!< Camera type is P1. */
     DJI_CAMERA_TYPE_L1, /*!< Camera type is L1. */
+    DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
+    DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
 } E_DjiCameraType;
 
 /**

psdk_lib/include/dji_version.h

@@ -28,24 +28,21 @@
 #define DJI_VERSION_H
 
 /* Includes ------------------------------------------------------------------*/
-
-
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /* 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     0 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     1 /*!< 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     1462 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1491 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 
 /* Exported functions --------------------------------------------------------*/
 
-
 #ifdef __cplusplus
 }
 #endif

psdk_lib/include/dji_waypoint_v2.h

@@ -36,9 +36,11 @@ extern "C" {
 #endif
 
 /* Exported constants --------------------------------------------------------*/
+
 /* Exported types ------------------------------------------------------------*/
 typedef T_DjiReturnCode (*WaypointV2EventCbFunc)(T_DjiWaypointV2MissionEventPush eventData);
 typedef T_DjiReturnCode (*WaypointV2StateCbFunc)(T_DjiWaypointV2MissionStatePush stateData);
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise waypoint v2 module, and user should call this function

psdk_lib/include/dji_waypoint_v3.h

@@ -0,0 +1,122 @@
+/**
+ ********************************************************************
+ * @file    dji_waypoint_v3.h
+ * @brief   This is the header file for "dji_waypoint_v3.c", defining the structure and
+ * (exported) function prototypes.
+ *
+ * @copyright (c) 2021 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef DJI_WAYPOINT_V3_H
+#define DJI_WAYPOINT_V3_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_typedef.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+
+/* Exported types ------------------------------------------------------------*/
+/**
+* @brief Waypoint v3 mission action.
+*/
+typedef enum {
+    DJI_WAYPOINT_V3_ACTION_START = 0, /*!< Waypoint v3 mission start action. */
+    DJI_WAYPOINT_V3_ACTION_STOP = 1, /*!< Waypoint v3 mission stop action. */
+    DJI_WAYPOINT_V3_ACTION_PAUSE = 2, /*!< Waypoint v3 mission pause action. */
+    DJI_WAYPOINT_V3_ACTION_RESUME = 3, /*!< Waypoint v3 mission resume action. */
+} E_DjiWaypointV3Action;
+
+/**
+*  Waypoint v3 current aircraft state.
+*/
+typedef enum {
+    DJI_WAYPOINT_V3_STATE_IDLE = 0, /*!< Waypoint v3 aircraft in idle state. */
+    DJI_WAYPOINT_V3_STATE_PREPARE = 16, /*!< Waypoint v3 aircraft in prepare state. */
+    DJI_WAYPOINT_V3_STATE_TRANS_MISSION = 32, /*!< Waypoint v3 aircraft in trans mission state. */
+    DJI_WAYPOINT_V3_STATE_MISSION = 48, /*!< Waypoint v3 aircraft in mission state. */
+    DJI_WAYPOINT_V3_STATE_BREAK = 64, /*!< Waypoint v3 aircraft in break state. */
+    DJI_WAYPOINT_V3_STATE_RESUME = 80, /*!< Waypoint v3 aircraft in resume state. */
+    DJI_WAYPOINT_V3_STATE_RETURN_FIRSTPOINT = 98, /*!< Waypoint v3 aircraft in return first point state. */
+} E_DjiWaypointV3State;
+
+/**
+*  Waypoint v3 mission state.
+*/
+typedef struct {
+    E_DjiWaypointV3State state; /*!< Waypoint v3 current aircraft state, #E_DjiWaypointV3State. */
+    uint32_t wayLineId; /*!< Waypoint v3 current way line id. */
+    uint16_t currentWaypointIndex; /*!< Waypoint v3 current waypoint index. */
+} T_DjiWaypointV3MissionState;
+
+/**
+ * @brief Prototype of callback function used to receive the waypoint v3 mission state.
+ * @warning User can not execute blocking style operations or functions in callback function, because that will block
+ * root thread, causing problems such as slow system response, payload disconnection or infinite loop.
+ * @param missionState: current waypoint v3 mission state.
+ * @return Execution result.
+ */
+typedef T_DjiReturnCode (*WaypointV3StateCallback)(T_DjiWaypointV3MissionState missionState);
+
+/* Exported functions --------------------------------------------------------*/
+/**
+ * @brief Initialise waypoint v3 module, and user should call this function.
+ * before using waypoint v3 features.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_Init(void);
+
+/**
+ * @brief Deinitialise waypoint v3 module.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_DeInit(void);
+
+/**
+ * @brief Upload kmz file by raw data.
+ * @note The size of kmz file is very small, you can use this interface to upload quickly.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_UploadKmzFile(const uint8_t *data, uint32_t dataLen);
+
+/**
+ * @brief Execute the mission action.
+ * @note This action should be called after uploading the kmz file.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_Action(E_DjiWaypointV3Action action);
+
+/**
+ * @brief Register the mission state callback for waypoint mission.
+ * @note If you want to monitor the state of waypoint mission, this interface should be called before uploading kmz
+ * file or executing this mission action.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWaypointV3_RegMissionStateCallback(WaypointV3StateCallback callback);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // DJI_WAYPOINT_V3_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

psdk_lib/include/dji_widget.h

@@ -66,6 +66,42 @@ typedef enum {
     DJI_WIDGET_SWITCH_STATE_ON = 1 /*!< Switch is turned on */
 } E_DjiWidgetSwitchState;
 
+/**
+ * @brief Switch widget speaker work mode.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_WORK_MODE_TTS,
+    DJI_WIDGET_SPEAKER_WORK_MODE_VOICE,
+} E_DjiWidgetSpeakerWorkMode;
+
+/**
+ * @brief Switch widget speaker play mode.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_PLAY_MODE_SINGLE_PLAY,
+    DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK,
+} E_DjiWidgetSpeakerPlayMode;
+
+/**
+ * @brief Switch widget speaker state.
+ */
+typedef enum {
+    DJI_WIDGET_SPEAKER_STATE_IDEL,
+    DJI_WIDGET_SPEAKER_STATE_TRANSMITTING,
+    DJI_WIDGET_SPEAKER_STATE_PLAYING,
+    DJI_WIDGET_SPEAKER_STATE_ERROR,
+} E_DjiWidgetSpeakerState;
+
+/**
+ * @brief Switch widget transmit data event.
+ */
+typedef enum {
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_START,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_TRANSMIT,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_FINISH,
+    DJI_WIDGET_TRANSMIT_DATA_EVENT_ABORT,
+} E_DjiWidgetTransmitDataEvent;
+
 /**
  * @brief Widget file binary array.
  */
@@ -132,6 +168,45 @@ typedef struct {
     void *userData;
 } T_DjiWidgetHandlerListItem;
 
+typedef struct {
+    uint16_t size;
+    uint32_t uuid;
+    uint8_t md5Sum[16];
+} T_DjiWidgetTtsDataInfo;
+
+typedef struct {
+    uint16_t size;
+    uint32_t uuid;
+    uint8_t md5Sum[16];
+} T_DjiWidgetVoiceDataInfo;
+
+typedef struct {
+    E_DjiWidgetSpeakerState state;
+    E_DjiWidgetSpeakerWorkMode workMode;
+    E_DjiWidgetSpeakerPlayMode playMode;
+    uint8_t volume;
+    uint32_t uuid;
+} T_DjiWidgetSpeakerState;
+
+typedef struct {
+    T_DjiReturnCode (*GetSpeakerState)(T_DjiWidgetSpeakerState *speakerState);
+
+    T_DjiReturnCode (*SetWorkMode)(E_DjiWidgetSpeakerWorkMode workMode);
+    T_DjiReturnCode (*GetWorkMode)(E_DjiWidgetSpeakerWorkMode *workMode);
+    T_DjiReturnCode (*SetPlayMode)(E_DjiWidgetSpeakerPlayMode playMode);
+    T_DjiReturnCode (*GetPlayMode)(E_DjiWidgetSpeakerPlayMode *playMode);
+    T_DjiReturnCode (*SetVolume)(uint8_t volume);
+    T_DjiReturnCode (*GetVolume)(uint8_t *volume);
+
+    T_DjiReturnCode (*StartPlay)(void);
+    T_DjiReturnCode (*StopPlay)(void);
+
+    T_DjiReturnCode (*ReceiveTtsData)(E_DjiWidgetTransmitDataEvent event,
+                                      uint32_t offset, uint8_t *buf, uint16_t size);
+    T_DjiReturnCode (*ReceiveVoiceData)(E_DjiWidgetTransmitDataEvent event,
+                                        uint32_t offset, uint8_t *buf, uint16_t size);
+} T_DjiWidgetSpeakerHandler;
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise widget module, and user should call this function before using widget features.
@@ -215,6 +290,15 @@ T_DjiReturnCode DjiWidgetFloatingWindow_ShowMessage(const char *str);
  */
 T_DjiReturnCode DjiWidgetFloatingWindow_GetChannelState(T_DjiDataChannelState *state);
 
+/**
+ * @brief Register the handler for widget speaker function interfaces.
+ * @note This interface registers the widget speaker function interface, including speaker settings, play operation,
+ * speaker status interface.
+ * @param widgetSpeakerHandler: pointer to the handler for widget speaker functions.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiWidget_RegSpeakerHandler(const T_DjiWidgetSpeakerHandler *widgetSpeakerHandler);
+
 #ifdef __cplusplus
 }
 #endif