Merge pull request #87 from dji-sdk/release/v3.3

FIX: fixed the following issues

psdk_lib/include/dji_fc_subscription.h

@@ -662,6 +662,67 @@ typedef enum {
     DJI_FC_SUBSCRIPTION_HOME_POINT_SET_STATUS_SUCCESS = 1, /*!< The home point was set successfully. */
 } E_DjiFcSubscriptionHomePointSetStatus;
 
+/**
+ * @brief Smart battery self-check result.
+ */
+typedef enum {
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_NORMAL = 0, /*!< Battery self-check is normal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_NTC_ABNORMAL = 1, /*!< Battery self-check NTC is abnormal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_MOS_ABNORMAL = 2, /*!< Battery self-check MOS is abnormal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_R_ABNORMAL = 3, /*!< Battery self-check sampling resistance is abnormal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_CELL_DAMAGE = 4, /*!< Battery cell self-check is damaged. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_CAL_EXP = 5, /*!< Battery self-check is not calibrated. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SELF_CHECK_GAUGE_PARM_EXP = 6, /*!< Battery self-check fuel gauge parameters is abnormal. */
+} E_DJIFcSubscriptionBatterySelfCheck;
+
+/**
+ * @brief Smart battery closed reason.
+ */
+typedef enum {
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_NORMAL = 0, /*!< Battery closed reason is normal shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_FORCED = 1, /*!< Battery closed reason is forced by flight controller shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_SCD = 2, /*!< Battery closed reason is discharge short circuit shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OLD = 3, /*!< Battery closed reason is discharge overload shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OCD = 4, /*!< Battery closed reason is discharge over current shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_UVD = 5, /*!< Battery closed reason is discharge under voltage shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OTD = 6, /*!< Battery closed reason is discharge over temperature shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_SCC = 16, /*!< Battery closed reason is charging short circuit shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OCC = 17, /*!< Battery closed reason is charging over current shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_OVC = 18, /*!< Battery closed reason is charging over voltage shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_CHARGER_OVC = 19, /*!< Battery closed reason is charger over voltage shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_LTC = 20, /*!< Battery closed reason is charging low temperature shutdown. */
+    DJI_FC_SUBSCRIPTION_BATTERY_CLOSED_HTC = 21, /*!< Battery closed reason is charging high temperature shutdown. */
+} E_DJIFcSubscriptionBatteryClosedReason;
+
+/**
+ * @brief Smart battery SOH state.
+ */
+typedef enum {
+    DJI_FC_SUBSCRIPTION_BATTERY_SOH_NORMAL = 0, /*!< Battery SOH state is normal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOH_ALERT = 1, /*!< Battery SOH state is alert. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOH_SAFE = 2, /*!< Battery SOH state is safe. */
+} E_DJIFcSubscriptionBatterySohState;
+
+/**
+ * @brief Smart battery heart state.
+ */
+typedef enum {
+    DJI_FC_SUBSCRIPTION_BATTERY_NO_HEAT = 0, /*!< Battery is in no heat state. */
+    DJI_FC_SUBSCRIPTION_BATTERY_IN_HEAT = 1, /*!< Battery is in heat state. */
+    DJI_FC_SUBSCRIPTION_BATTERY_KEEP_WARM = 2, /*!< Battery is in keep warm state. */
+} E_DJIFcSubscriptionBatteryHeatState;
+
+/**
+ * @brief Smart battery SOC state.
+ */
+typedef enum {
+    DJI_FC_SUBSCRIPTION_BATTERY_SOC_NORMAL = 0, /*!< Battery SOC state is normal. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOC_ABNORMAL_HIGH = 1, /*!< Battery SOC state is abnormal high. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOC_JUMP_DOWN = 2, /*!< Battery SOC state is jump down. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOC_JUMP_UP = 3, /*!< Battery SOC state is jump up. */
+    DJI_FC_SUBSCRIPTION_BATTERY_SOC_INVALID = 4, /*!< Battery SOC state is invalid. */
+} E_DJIFcSubscriptionBatterySocState;
+
 #pragma pack(1)
 
 /**
@@ -885,22 +946,22 @@ typedef uint16_t T_DjiFcSubscriptionMotorStartError;
 
 typedef struct {
     uint32_t reserved: 12;
-    uint32_t cellBreak: 5;            /*! 0:normal;other:Undervoltage core index(0x01-0x1F)*/
-    uint32_t selfCheckError: 3;       /*! enum-type: DJISmartBatterySelfCheck*/
+    uint32_t cellBreak: 5;            /*!< 0: normal; other: under voltage core index(0x01-0x1F). */
+    uint32_t selfCheckError: 3;       /*!< enum-type: E_DJIFcSubscriptionBatterySelfCheck. */
     uint32_t reserved1: 7;
-    uint32_t batteryClosedReason: 5;   /*! enum-type: DJI_BETTERY_CLOSED_REASON*/
-    uint8_t reserved2: 6;             /*! [0]CHG state；[1]DSG state；[2]ORING state*/
-    uint8_t batSOHState: 2;                /*! enum-type: DJISmartBatterySohState*/
-    uint8_t maxCycleLimit: 6;          /*! APP:cycle_limit*10*/
+    uint32_t batteryClosedReason: 5;  /*!< enum-type: E_DJIFcSubscriptionBatteryClosedReason. */
+    uint8_t reserved2: 6;             /*!< 0: CHG state; 1: DSG state; 2: ORING state. */
+    uint8_t batSOHState: 2;           /*!< enum-type: E_DJIFcSubscriptionBatterySohState. */
+    uint8_t maxCycleLimit: 6;         /*!< APP: cycle_limit*10. */
     uint8_t reserved3: 2;
     uint16_t lessBattery: 1;
     uint16_t batteryCommunicationAbnormal: 1;
     uint16_t reserved4: 3;
     uint16_t hasCellBreak: 1;
     uint16_t reserved5: 4;
-    uint16_t isBatteryEmbed: 1;        /*! 0:embed;1:unmebed*/
-    uint16_t heatState: 2;             /*!enum-type: DJISmartBatteryHeatState*/
-    uint16_t socState: 3;             /*!enum-type: DJISmartBatterySocWarning*/
+    uint16_t isBatteryEmbed: 1;       /*!< 0:embed; 1:not embed. */
+    uint16_t heatState: 2;            /*!< enum-type: E_DJIFcSubscriptionBatteryHeatState. */
+    uint16_t socState: 3;             /*!< enum-type: E_DJIFcSubscriptionBatterySocState. */
 } T_DjiFcSubscriptionSingleBatteryState;
 
 /**
@@ -916,17 +977,17 @@ typedef struct BatteryWholeInfo {
 typedef struct BatterySingleInfo {
     uint8_t reserve;
     uint8_t batteryIndex;
-    int32_t currentVoltage;          /*! uint:mV*/
-    int32_t currentElectric;         /*!uint:mA*/
-    uint32_t fullCapacity;            /*!uint:mAh*/
-    uint32_t remainedCapacity;        /*!uint:mAh*/
-    int16_t batteryTemperature;      /*!uint:℃*/
+    int32_t currentVoltage;          /*!< uint:mV. */
+    int32_t currentElectric;         /*!< uint:mA. */
+    uint32_t fullCapacity;           /*!< uint:mAh. */
+    uint32_t remainedCapacity;       /*!< uint:mAh. */
+    int16_t batteryTemperature;      /*!< uint:℃. */
     uint8_t cellCount;
-    uint8_t batteryCapacityPercent;  /*!uint:%*/
+    uint8_t batteryCapacityPercent;  /*!< uint:%. */
     T_DjiFcSubscriptionSingleBatteryState batteryState;
     uint8_t reserve1;
     uint8_t reserve2;
-    uint8_t SOP;                     /*!Relative power percentage*/
+    uint8_t SOP;                     /*!< Relative power percentage. */
 } T_DjiFcSubscriptionSingleBatteryInfo;
 
 /*!

psdk_lib/include/dji_platform.h

@@ -83,7 +83,18 @@ typedef void *T_DjiDirHandle;
 typedef void *T_DjiSocketHandle;
 
 typedef enum {
+    /**
+    * All aircraft type support，users can connect via chip serial port or USB to TTL serial port.
+    * Baud rate support list on M300 RTK Payload Port: 115200, 230400, 460800, 921600.
+    * Baud rate support list on M300 RTK Extension Port: 115200, 230400, 460800, 921600, 1000000.
+    * Baud rate support list on M30/M30T: 115200, 230400, 460800, 921600, 1000000.
+    * Baud rate support list on M3E/M3T: 921600.
+    * */
     DJI_HAL_UART_NUM_0,
+    /**
+    * Only support on M300 RTK Extension Port by USB virtual serial port, such as /dev/ttyACM0.
+    * Baud rate support list on M300 RTK Extension Port: 921600.
+    * */
     DJI_HAL_UART_NUM_1,
 } E_DjiHalUartNum;
 

psdk_lib/include/dji_version.h

@@ -37,7 +37,7 @@ extern "C" {
 #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     1684 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1695 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

psdk_lib/include/dji_waypoint_v2_type.h

@@ -37,6 +37,7 @@ extern "C" {
 
 /* Exported types ------------------------------------------------------------*/
 typedef dji_f32_t T_DjiWaypointV2GlobalCruiseSpeed;
+
 /**
 *  Actions will be taken when the waypoint mission is finished.
 */
@@ -217,52 +218,44 @@ typedef enum {
     DJI_WAYPOINT_V2_TURN_MODE_UNKNOWN = 0xFF,
 } E_DJIWaypointV2TurnMode;
 
-
 /**
  *  All the possible state of ``WaypointV2MissionOperator``.
  */
 typedef enum {
     /**
-     *  The state of the operator is unknown. It is the initial state when the operator
-     *  is just created.
-     */
-    DJI_WAYPOINT_V2_MISSION_STATE_UNKNOWN = -1,
+      *  Waypoint mission state is ground station not start.
+      */
+    DJI_WAYPOINT_V2_MISSION_STATE_GROUND_STATION_NOT_START = 0,
 
     /**
-     *  The connection OSDK device, remote controller and aircraft is
-     *  broken.
+     *  Waypoint mission state is mission prepared.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_DISCONNECTED = 0,
+    DJI_WAYPOINT_V2_MISSION_STATE_MISSION_PREPARED = 1,
 
     /**
-     *  Raed to execute the mission.
+     *  Waypoint mission state is enter mission.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_READY_TO_EXECUTE = 1,
+    DJI_WAYPOINT_V2_MISSION_STATE_ENTER_MISSION = 2,
 
     /**
-     *  The execution is started successfully.
+     *  Waypoint mission state is execute flying route mission.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_EXECUTING = 2,
+    DJI_WAYPOINT_V2_MISSION_STATE_EXECUTING = 3,
 
     /**
-     *  Waypoint mission is paused successfully.
+     *  Waypoint mission state is pause state.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_INTERRUPTED = 3,
+    DJI_WAYPOINT_V2_MISSION_STATE_PAUSED = 4,
 
     /**
-     *  Waypoint mission is restarted after interrupted.
+     *  Waypoint mission state is enter mission after ending pause.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_RESUME_AFTER_INTERRUPTED = 4,
+    DJI_WAYPOINT_V2_MISSION_STATE_ENTER_MISSION_AFTER_ENDING_PAUSE = 5,
 
     /**
-     *  Waypoint mission is exited.
+     *  Waypoint mission state is exit mission.
      */
-    DJI_WAYPOINT_V2_MISSION_STATE_EXIT_MISSION = 5,
-
-    /**
-     *  Waypoint mission is finished.
-     */
-    DJI_WAYPOINT_V2_MISSION_STATE_FINISHED_MISSION = 6,
+    DJI_WAYPOINT_V2_MISSION_STATE_EXIT_MISSION = 6,
 } E_DJIWaypointV2MissionState;
 
 /*! waypoint position relative to WayPointV2InitSettings's reference point
@@ -371,8 +364,6 @@ typedef struct {
     uint16_t waypointV2Num;
 } T_DjiWaypointV2List;
 
-//Action Notes
-
 /**
 *  Possible types of action trigger.
 */
@@ -450,7 +441,6 @@ typedef enum {
     DJI_WAYPOINT_V2_ACTION_INTERVAL_TYPE_UNKNOWN = 0xFF,
 } E_DJIWaypointV2ActionIntervalType;
 
-
 /**
 *  Possible types of action actuator.
 */
@@ -638,7 +628,6 @@ typedef struct {
 
 } T_DJIWaypointV2IntervalTriggerParam;
 
-
 typedef struct {
     //see "E_DJIWaypointV2ActionTriggerType"
     uint8_t actionTriggerType;
@@ -650,7 +639,6 @@ typedef struct {
     };
 } T_DJIWaypointV2Trigger;
 
-
 /*! Focus point parameter
  */
 typedef struct {
@@ -968,7 +956,7 @@ typedef struct {
     dji_f64_t refLati;
     dji_f64_t refLong;
     dji_f32_t refAlti;
-} T_WayPointV2InitSettingsInternal;// pack(1)
+} T_WayPointV2InitSettingsInternal;
 
 /*! Mission's event data
  */
@@ -1049,24 +1037,15 @@ typedef struct {
     uint8_t event;
     uint32_t FCTimestamp;
     U_DjiWaypointV2EventData data;
-} T_DjiWaypointV2MissionEventPush;// pack(1)
+} T_DjiWaypointV2MissionEventPush;
 #pragma pack()
 
 /*! Mission's state push data
  */
 typedef struct {
     uint16_t curWaypointIndex;
-    /*!
-     * 0x0:ground station not start.
-     * 0x1:mission prepared.
-     * 0x2:enter mission.
-     * 0x3:execute flying route mission.
-     * 0x4:pause state.
-     * 0x5:enter mission after ending pause.
-     * 0x6:exit mission.
-     */
-    uint8_t state;
-    uint16_t velocity; //uint:0.01m/s
+    uint8_t state; /*!< enum-type: E_DJIWaypointV2MissionState. */
+    uint16_t velocity; /*!< Uint:0.01m/s. */
 } T_DjiWaypointV2MissionStatePush;
 
 typedef struct {