NEW: release DJI Payload-SDK version 3.12.0

psdk_lib/include/dji_flight_controller.h

@@ -237,6 +237,17 @@ typedef enum {
     DJI_FLIGHT_CONTROLLER_DISABLE_RC_LOST_ACTION = 1,
 } E_DjiFlightControllerRCLostActionEnableStatus;
 
+typedef enum {
+    DJI_FLIGHT_CONTROLLER_NO_MOTOR_IN_SLOW_ROTATE_MODE = 0,
+    DJI_FLIGHT_CONTROLLER_SOME_MOTOR_IN_SLOW_ROTATE_MODE = 1,
+    DJI_FLIGHT_CONTROLLER_ALL_MOTOR_IN_SLOW_ROTATE_MODE = 2,
+} E_DjiFlightControllerElectronicSpeedControllerStatus;
+
+typedef enum {
+    DJI_FLIGHT_CONTROLLER_FTS_NOT_TRIGGERD = 0,
+    DJI_FLIGHT_CONTROLLER_FTS_TRIGGERD = 1,
+} E_DjiFlightControllerFtsStatus;
+
 /**
  * @brief Joystick mode.
  * @note You need to set joystick mode first before start to send joystick command to aircraft.
@@ -274,6 +285,16 @@ typedef struct {
 
 #pragma pack()
 
+typedef struct {
+    E_DjiMountPosition fts_select;
+    E_DjiFlightControllerFtsStatus fts_status;
+    uint8_t fts_pwm_cnt; /* correct number of PWM signals received */
+} T_DjiFtsPwmTriggerStatus;
+
+typedef struct {
+    T_DjiFtsPwmTriggerStatus ESC[2]; /* trigger status of the two ESCs */
+} T_DjiFtsPwmEscTriggerStatus;
+
 /* Exported functions --------------------------------------------------------*/
 /**
  * @brief Initialise flight controller module
@@ -649,6 +670,38 @@ DjiFlightController_GetEnableRCLostActionStatus(E_DjiFlightControllerRCLostActio
  */
 T_DjiReturnCode DjiFlightController_RegTriggerFtsEventCallback(TriggerFtsEventCallback callback);
 
+/**
+ * @brief Start to rotate motors slowly.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_StartSlowRotateMotor(void);
+
+/**
+ * @brief Stop to rotate motors slowly.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_StopSlowRotateMotor(void);
+
+/**
+ * @brief Get the status of the ESC.
+ * @param status: The status of the motor on aircraft.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_GetElectronicSpeedControllerStatus(E_DjiFlightControllerElectronicSpeedControllerStatus *status);
+
+/**
+ * @brief Select Fts pwm trigger.
+ * @param position: Pwm trigger source position.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_SelectFtsPwmTrigger(E_DjiMountPosition position);
+
+/**
+ * @brief Get Fts pwm trigger status.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiFlightController_GetFtsPwmTriggerStatus(T_DjiFtsPwmEscTriggerStatus* trigger_status);
+
 #ifdef __cplusplus
 }
 #endif