NEW: release DJI Payload-SDK version 3.8.0

LICENSE.txt

@@ -7,6 +7,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   ├── dji_sdk_template.c
 │   │   └── dji_sdk_template.h
 │   ├── reference_designs
+│   │   ├── E-Port Lite Schematic Reference.pdf
 │   │   └── Type-C Schematic Reference.pdf
 │   └── simple_model
 │       ├── H20.stp
@@ -205,6 +206,8 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   │   │   ├── util_buffer.h
 │   │   │   │   ├── util_file.c
 │   │   │   │   ├── util_file.h
+│   │   │   │   ├── util_link_list.c
+│   │   │   │   ├── util_link_list.h
 │   │   │   │   ├── util_md5.c
 │   │   │   │   ├── util_md5.h
 │   │   │   │   ├── util_misc.c
@@ -327,19 +330,19 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │       │   │       ├── hal_uart.h
 │   │       │   │       ├── hal_usb_bulk.c
 │   │       │   │       └── hal_usb_bulk.h
-│   │       │   └── nvidia_jetson
+│   │       │   ├── nvidia_jetson
-│   │       │       ├── application
+│   │       │   │   ├── application
-│   │       │       │   ├── dji_sdk_app_info.h
+│   │       │   │   │   ├── dji_sdk_app_info.h
-│   │       │       │   ├── dji_sdk_config.h
+│   │       │   │   │   ├── dji_sdk_config.h
-│   │       │       │   └── main.c
+│   │       │   │   │   └── main.c
-│   │       │       ├── CMakeLists.txt
+│   │       │   │   ├── CMakeLists.txt
-│   │       │       └── hal
+│   │       │   │   └── hal
-│   │       │           ├── hal_network.c
+│   │       │   │       ├── hal_network.c
-│   │       │           ├── hal_network.h
+│   │       │   │       ├── hal_network.h
-│   │       │           ├── hal_uart.c
+│   │       │   │       ├── hal_uart.c
-│   │       │           ├── hal_uart.h
+│   │       │   │       ├── hal_uart.h
-│   │       │           ├── hal_usb_bulk.c
+│   │       │   │       ├── hal_usb_bulk.c
-│   │       │           └── hal_usb_bulk.h
+│   │       │   │       └── hal_usb_bulk.h
 │   │       └── rtos_freertos
 │   │           ├── common
 │   │           │   └── osal
@@ -761,21 +764,21 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │               │       ├── hal_uart.h
 │               │       ├── hal_usb_bulk.c
 │               │       └── hal_usb_bulk.h
-│               └── nvidia_jetson
+│               ├── nvidia_jetson
-│                   ├── application
+│               │   ├── application
-│                   │   ├── application.cpp
+│               │   │   ├── application.cpp
-│                   │   ├── application.hpp
+│               │   │   ├── application.hpp
-│                   │   ├── dji_sdk_app_info.h
+│               │   │   ├── dji_sdk_app_info.h
-│                   │   ├── dji_sdk_config.h
+│               │   │   ├── dji_sdk_config.h
-│                   │   └── main.cpp
+│               │   │   └── main.cpp
-│                   ├── CMakeLists.txt
+│               │   ├── CMakeLists.txt
-│                   └── hal
+│               │   └── hal
-│                       ├── hal_network.c
+│               │       ├── hal_network.c
-│                       ├── hal_network.h
+│               │       ├── hal_network.h
-│                       ├── hal_uart.c
+│               │       ├── hal_uart.c
-│                       ├── hal_uart.h
+│               │       ├── hal_uart.h
-│                       ├── hal_usb_bulk.c
+│               │       ├── hal_usb_bulk.c
-│                       └── hal_usb_bulk.h
+│               │       └── hal_usb_bulk.h
 └── tools
     └── file2c
         ├── file2c.exe

README.md

@@ -1,7 +1,7 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.7.0-green.svg)
+![](https://img.shields.io/badge/version-V3.8.0-cyan.svg)
-![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
+![](https://img.shields.io/badge/platform-linux_|_rtos-cyan.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 
 ## What is the DJI Payload SDK?
@@ -23,22 +23,20 @@ to get the latest version information.
 
 ## Latest Release
 
-PSDK 3.7.0 was released on 31 Oct 2023. This version of Payload SDK mainly add some new features support and fixed some
+The latest release version of PSDK is 3.8.0. This version of Payload SDK mainly add some new features support and fixed some
 bugs. Please refer to the release notes for detailed changes list.
 
-* Added L2 new camera model support
+* Added support for the M3D series models
-* Added FlyCart 30 new drone model support
+* Fixed memory leak in the HMS Sample
-* Added support for L2 subscription 3D point cloud data function
+* Resolved compilation errors of Sample header files in certain environments
-* Added L2 support for downloading original point cloud files
+* Fixed unexpected crashes in C++ Sample when attempting to use unsupported features
-* Fixed the issue where M300 RTK and M350 RTK occasionally failed to negotiate load
+* Enhanced prompts for camera Sample file downloads
-* Fixed an issue where some open source library conflicts caused flight control module registration to fail
+* Optimized some improper uses of CMake in samples
-* Fixed the issue where PSDK obtains aircraft version numbers and displays them in reverse order
+* Change firmware version numbers in the PSDK Sample now align across DJI Assistant 2 and Pilot 2.
-* Fixed an issue where the zoom value range of some camera zoom rings was incorrect
+> Note: DJI Assistant 2 prevents firmware downgrading during payload upgrades. Ensure your upgrade package's name (the version number) is higher than the payload's reported firmware version.
-* Fixed the problem that the Sample value not updated when repeatedly running the M30/M3 series drone data subscription
+> To comply with DJI Assistant 2 verification: You can simply rename your payload firmware upgrade package to make it valid, or maintain the previous practice of independently setting a version number to be checked during upgrades.
-* Fixed compatibility issues on some ESP32 platforms
+* In the STM32 FreeRTOS Sample, the heap size has been increased to 90,000 bytes.
-* Optimize the return value prompt of MOP channel closing and destruction
+> This may cause startup or build failures on some devices. You can adjust the stack size according to the business requirements of your hardware.
-* Optimize the point of interest surround function Sample log prompt
-* Optimize compilation warning level
 
 ## License
 

psdk_lib/include/dji_fc_subscription.h

@@ -779,7 +779,7 @@ typedef T_DjiVector3f T_DjiFcSubscriptionAngularRateFusioned;
 typedef T_DjiVector3f T_DjiFcSubscriptionAngularRateRaw;
 
 /**
- * @brief DJI_FC_SUBSCRIPTION_TOPIC_ALTITUDE_FUSED topic data structure.
+ * @brief DJI_FC_SUBSCRIPTION_TOPIC_ANGULAR_RATE_RAW topic data structure.
  */
 typedef dji_f32_t T_DjiFcSubscriptionAltitudeFused;
 

psdk_lib/include/dji_liveview.h

@@ -68,6 +68,9 @@ typedef enum {
     DJI_LIVEVIEW_CAMERA_SOURCE_M3E_VIS = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_M3T_VIS = 1,
     DJI_LIVEVIEW_CAMERA_SOURCE_M3T_IR = 2,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3D_VIS = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_VIS = 1,
+    DJI_LIVEVIEW_CAMERA_SOURCE_M3TD_IR = 2,
 } E_DjiLiveViewCameraSource;
 
 /**

psdk_lib/include/dji_typedef.h

@@ -76,7 +76,7 @@ typedef enum {
     DJI_MOUNT_POSITION_TYPE_UNKNOWN = 0,
     DJI_MOUNT_POSITION_TYPE_PAYLOAD_PORT = 1,
     DJI_MOUNT_POSITION_TYPE_EXTENSION_PORT = 2,
-    DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT = 3,
+    DJI_MOUNT_POSITION_TYPE_EXTENSION_LITE_PORT = 3
 } E_DjiMountPositionType;
 
 typedef enum {
@@ -95,6 +95,7 @@ typedef enum {
     DJI_AIRCRAFT_SERIES_M30 = 3,
     DJI_AIRCRAFT_SERIES_M3 = 4,
     DJI_AIRCRAFT_SERIES_M350 = 5,
+    DJI_AIRCRAFT_SERIES_M3D = 6,
     DJI_AIRCRAFT_SERIES_FC30 = 7,
 } E_DjiAircraftSeries;
 
@@ -110,6 +111,8 @@ typedef enum {
     DJI_AIRCRAFT_TYPE_FC30 = 78, /* !<Aircraft type is FlyCart 30> */
     DJI_AIRCRAFT_TYPE_M3T = 79, /*!< Aircraft type is Mavic 3T. */
     DJI_AIRCRAFT_TYPE_M350_RTK = 89, /*!< Aircraft type is Matrice 350 RTK. */
+    DJI_AIRCRAFT_TYPE_M3D = 91, /*!< Aircraft type is Matrice 3D. */
+    DJI_AIRCRAFT_TYPE_M3TD = 93, /*!< Aircraft type is Matrice 3TD. */
 } E_DjiAircraftType;
 
 /**
@@ -131,6 +134,8 @@ typedef enum {
     DJI_CAMERA_TYPE_M30T, /*!< Camera type is M30T. */
     DJI_CAMERA_TYPE_M3E, /*!< Camera type is M3E. */
     DJI_CAMERA_TYPE_M3T, /*!< Camera type is M3T. */
+    DJI_CAMERA_TYPE_M3D, /*!< Camera type is Matrice 3D. */
+    DJI_CAMERA_TYPE_M3TD, /*!< Camera type is Matrice 3TD. */
 } E_DjiCameraType;
 
 /**

psdk_lib/include/dji_version.h

@@ -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     7 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     8 /*!< 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     1906 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1929 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/module_sample/flight_controller/test_flight_controller_command_flying.cpp

@@ -444,63 +444,63 @@ static void DjiUser_ShowFlightStatusByOpenCV(void)
     }
 
     // Display latest flight status
-    cv::putText(img, "Status: ", cvPoint(30, 20), FONT_HERSHEY_SIMPLEX, 0.6,
+    cv::putText(img, "Status: ", cv::Point(30, 20), FONT_HERSHEY_SIMPLEX, 0.6,
                 cv::Scalar(255, 0, 0));
 
-    cv::putText(img, "Roll: " + cv::format("%.4f", aircraftAngles.y), cvPoint(50, 50), FONT_HERSHEY_SIMPLEX, 0.5,
+    cv::putText(img, "Roll: " + cv::format("%.4f", aircraftAngles.y), cv::Point(50, 50), FONT_HERSHEY_SIMPLEX, 0.5,
                 cv::Scalar(200, 0, 0));
-    cv::putText(img, "Pitch: " + cv::format("%.4f", aircraftAngles.x), cvPoint(50, 80), FONT_HERSHEY_SIMPLEX, 0.5,
+    cv::putText(img, "Pitch: " + cv::format("%.4f", aircraftAngles.x), cv::Point(50, 80), FONT_HERSHEY_SIMPLEX, 0.5,
                 cv::Scalar(200, 0, 0));
-    cv::putText(img, "Yaw: " + cv::format("%.4f", aircraftAngles.z), cvPoint(50, 110), FONT_HERSHEY_SIMPLEX, 0.5,
+    cv::putText(img, "Yaw: " + cv::format("%.4f", aircraftAngles.z), cv::Point(50, 110), FONT_HERSHEY_SIMPLEX, 0.5,
                 cv::Scalar(200, 0, 0));
-    cv::putText(img, "WorldX: " + cv::format("%.4f", positionVo.x), cvPoint(50, 140), FONT_HERSHEY_SIMPLEX, 0.5,
+    cv::putText(img, "WorldX: " + cv::format("%.4f", positionVo.x), cv::Point(50, 140), FONT_HERSHEY_SIMPLEX, 0.5,
                 cv::Scalar(200, 0, 0));
-    cv::putText(img, "WorldY: " + cv::format("%.4f", positionVo.y), cvPoint(50, 170), FONT_HERSHEY_SIMPLEX, 0.5,
+    cv::putText(img, "WorldY: " + cv::format("%.4f", positionVo.y), cv::Point(50, 170), FONT_HERSHEY_SIMPLEX, 0.5,
                 cv::Scalar(200, 0, 0));
-    cv::putText(img, "WorldZ: " + cv::format("%.4f", altitudeOfHomePoint), cvPoint(50, 200), FONT_HERSHEY_SIMPLEX,
+    cv::putText(img, "WorldZ: " + cv::format("%.4f", altitudeOfHomePoint), cv::Point(50, 200), FONT_HERSHEY_SIMPLEX,
                 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "Latitude: " + cv::format("%.4f", (dji_f64_t) s_gpsPosition.y / 10000000), cvPoint(50, 230),
+    cv::putText(img, "Latitude: " + cv::format("%.4f", (dji_f64_t) s_gpsPosition.y / 10000000), cv::Point(50, 230),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "Longitude: " + cv::format("%.4f", (dji_f64_t) s_gpsPosition.x / 10000000), cvPoint(50, 260),
+    cv::putText(img, "Longitude: " + cv::format("%.4f", (dji_f64_t) s_gpsPosition.x / 10000000), cv::Point(50, 260),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "Battery1: " + cv::format("%d%%", singleBatteryInfo1.batteryCapacityPercent), cvPoint(50, 290),
+    cv::putText(img, "Battery1: " + cv::format("%d%%", singleBatteryInfo1.batteryCapacityPercent), cv::Point(50, 290),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "Battery2: " + cv::format("%d%%", singleBatteryInfo2.batteryCapacityPercent), cvPoint(50, 320),
+    cv::putText(img, "Battery2: " + cv::format("%d%%", singleBatteryInfo2.batteryCapacityPercent), cv::Point(50, 320),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
 
-    cv::putText(img, "Config: ", cvPoint(300, 20), FONT_HERSHEY_SIMPLEX, 0.6,
+    cv::putText(img, "Config: ", cv::Point(300, 20), FONT_HERSHEY_SIMPLEX, 0.6,
                 cv::Scalar(255, 0, 0));
     cv::putText(img, "-> RcLostAction(Sync APP): " + cv::format("%d  (0-hover 1-landing 2-gohome)", rcLostAction),
-                cvPoint(320, 50),
+                cv::Point(320, 50),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> GoHomeAltitude(Sync APP): " + cv::format("%d", s_goHomeAltitude), cvPoint(320, 80),
+    cv::putText(img, "-> GoHomeAltitude(Sync APP): " + cv::format("%d", s_goHomeAltitude), cv::Point(320, 80),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> RTK-Enable(Sync APP): " + cv::format("%d", rtkPositionEnableStatus), cvPoint(320, 110),
+    cv::putText(img, "-> RTK-Enable(Sync APP): " + cv::format("%d", rtkPositionEnableStatus), cv::Point(320, 110),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> HomePointLatitude: " + cv::format("%.4f", s_homeLocation.latitude), cvPoint(320, 140),
+    cv::putText(img, "-> HomePointLatitude: " + cv::format("%.4f", s_homeLocation.latitude), cv::Point(320, 140),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> HomePointLongitude: " + cv::format("%.4f", s_homeLocation.longitude), cvPoint(320, 170),
+    cv::putText(img, "-> HomePointLongitude: " + cv::format("%.4f", s_homeLocation.longitude), cv::Point(320, 170),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> FlyingSpeed: " + cv::format("%.2f", s_flyingSpeed), cvPoint(320, 200),
+    cv::putText(img, "-> FlyingSpeed: " + cv::format("%.2f", s_flyingSpeed), cv::Point(320, 200),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> downwardsVisEnable(Sync APP): " + cv::format("%d", downwardsVisEnable), cvPoint(320, 230),
+    cv::putText(img, "-> downwardsVisEnable(Sync APP): " + cv::format("%d", downwardsVisEnable), cv::Point(320, 230),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> upwardsVisEnable(Sync APP): " + cv::format("%d", upwardsVisEnable), cvPoint(320, 260),
+    cv::putText(img, "-> upwardsVisEnable(Sync APP): " + cv::format("%d", upwardsVisEnable), cv::Point(320, 260),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> horizontalVisEnable(Sync APP): " + cv::format("%d", horizontalVisEnable), cvPoint(320, 290),
+    cv::putText(img, "-> horizontalVisEnable(Sync APP): " + cv::format("%d", horizontalVisEnable), cv::Point(320, 290),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
-    cv::putText(img, "-> ControlDevice: " + cv::format("%d", controlDevice.deviceStatus), cvPoint(320, 320),
+    cv::putText(img, "-> ControlDevice: " + cv::format("%d", controlDevice.deviceStatus), cv::Point(320, 320),
                 FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(200, 0, 0));
 
     cv::putText(img,
                 "[Q]-Up    [W]-Front  [E]-Down   [R]-TakeOff  [T]-CancelLanding  [Y]-CancelGoHome  [I]-ArrestFly  [O]-CancelArrestFly  [P]-EmgStopMotor",
-                cvPoint(30, 400), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
+                cv::Point(30, 400), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
     cv::putText(img,
                 "[A]-Left   [S]-Near   [D]-Right   [F]-ForceLand   [G]-Landing   [H]-GoHome  [J]-UpdateConfig  [K]-Brake  [L]-CancelBrakeI",
-                cvPoint(30, 430), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
+                cv::Point(30, 430), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
     cv::putText(img,
                 "[Z]-Yaw-  [X]-RefreshHomePoint   [C]-Yaw+  [V]-ConfirmLanding   [B]-TurnOn  [N]-TurnOff  [M]-ObtainCtrlAuth",
-                cvPoint(30, 460), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
+                cv::Point(30, 460), FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(128, 0, 0));
 
     cv::imshow("Payload SDK Command Flying Data Observation Window", img);
     cv::waitKey(1);

samples/sample_c++/module_sample/gimbal/test_gimbal_entry.cpp

@@ -286,7 +286,8 @@ start:
                 }
                 USER_LOG_INFO("Subscribe topic DJI_FC_SUBSCRIPTION_TOPIC_THREE_GIMBAL_DATA succefully.");
             }
-            else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
+            else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
+                     aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
                 returnCode = DjiFcSubscription_SubscribeTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, DJI_DATA_SUBSCRIPTION_TOPIC_50_HZ, NULL);
                 if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
                     USER_LOG_ERROR("DjiFcSubscription_SubscribeTopic %d return %d", DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES, returnCode);
@@ -401,7 +402,8 @@ start:
                                   threeGimbalData.anglesData[gimbalMountPosition - 1].roll,
                                   threeGimbalData.anglesData[gimbalMountPosition - 1].yaw);
                 }
-                else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3) {
+                else if (aircraftSeries == DJI_AIRCRAFT_SERIES_M30 || aircraftSeries == DJI_AIRCRAFT_SERIES_M3 ||
+                         aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
                     returnCode = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GIMBAL_ANGLES,
                                                                         (uint8_t *) &gimbalAngles,
                                                                         sizeof(T_DjiFcSubscriptionGimbalAngles),

samples/sample_c++/module_sample/liveview/test_liveview.cpp

@@ -42,7 +42,7 @@ LiveviewSample::LiveviewSample()
 
     returnCode = DjiLiveview_Init();
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        perror("Liveview init failed");
+        throw ("Liveview init failed");
     }
 
     streamDecoder = {

samples/sample_c++/module_sample/liveview/test_liveview_entry.cpp

@@ -82,9 +82,15 @@ void DjiUser_RunCameraStreamViewSample()
     char mainName[] = "MAIN_CAM";
     char viceName[] = "VICE_CAM";
     char topName[] = "TOP_CAM";
-    auto *liveviewSample = new LiveviewSample();
     T_DjiReturnCode returnCode;
 
+    LiveviewSample *liveviewSample;
+    try {
+        liveviewSample = new LiveviewSample();
+    } catch (...) {
+        return;
+    }
+
     returnCode = DjiUser_GetCurrentFileDirPath(__FILE__, DJI_FILE_PATH_SIZE_MAX, curFileDirPath);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Get file current path error, stat = 0x%08llX", returnCode);

samples/sample_c++/module_sample/perception/test_perception.cpp

@@ -46,7 +46,7 @@ PerceptionSample::PerceptionSample()
             USER_LOG_ERROR("Perception feature will support on later version.");
         }
 
-        perror("Perception init failed");
+        throw ("Perception init failed");
     }
 }
 

samples/sample_c++/module_sample/perception/test_perception_entry.cpp

@@ -103,10 +103,16 @@ void DjiUser_RunStereoVisionViewSample(void)
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
     char inputChar;
     char isQuit;
-    auto *perceptionSample = new PerceptionSample;
     T_DjiReturnCode returnCode;
     T_DjiPerceptionCameraParametersPacket cameraParametersPacket = {0};
 
+    PerceptionSample *perceptionSample;
+    try {
+        perceptionSample = new PerceptionSample;
+    } catch (...) {
+        return;
+    }
+
     returnCode = osalHandler->MutexCreate(&s_stereoImagePacket.mutex);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         USER_LOG_ERROR("Crete mutex failed, return code:0x%08X", returnCode);

samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake

@@ -111,11 +111,6 @@ FIND_LIBRARY(FFMPEG_z_LIBRARY z
   /usr/lib
 )
 
-FIND_LIBRARY(FFMPEG_swresample_LIBRARY swresample
-  /usr/local/lib
-  /usr/lib
-)
-
 SET(FFMPEG_LIBRARIES)
 IF(FFMPEG_INCLUDE_DIR)
   IF(FFMPEG_avformat_LIBRARY)
@@ -125,8 +120,7 @@ IF(FFMPEG_INCLUDE_DIR)
         SET( FFMPEG_BASIC_LIBRARIES 
           ${FFMPEG_avcodec_LIBRARY} 
           ${FFMPEG_avformat_LIBRARY}
-          ${FFMPEG_avutil_LIBRARY}
+          ${FFMPEG_avutil_LIBRARY} 
-          ${FFMPEG_swresample_LIBRARY}
           )
 
         # swscale is always a part of newer ffmpeg distros
@@ -184,5 +178,4 @@ MARK_AS_ADVANCED(
   FFMPEG_gsm_LIBRARY
   FFMPEG_swscale_LIBRARY
   FFMPEG_z_LIBRARY
-  FFMPEG_swresample_LIBRARY
   )

samples/sample_c++/platform/linux/manifold2/CMakeLists.txt

@@ -71,8 +71,7 @@ if (OpenCV_FOUND)
     message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
     message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
     add_definitions(-DOPEN_CV_INSTALLED)
-    execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
+    if ("${OpenCV_VERSION}" STRLESS "4.0.0")
-    if (${OPENCV_VERSION} STRLESS "4.0.0")
         add_definitions(-DOPEN_CV_VERSION_3)
 
     else ()

samples/sample_c++/platform/linux/nvidia_jetson/CMakeLists.txt

@@ -54,8 +54,7 @@ if (OpenCV_FOUND)
     message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
     message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
     add_definitions(-DOPEN_CV_INSTALLED)
-    execute_process(COMMAND opencv_version OUTPUT_VARIABLE OPENCV_VERSION)
+    if ("${OpenCV_VERSION}" STRLESS "4.0.0")
-    if (${OPENCV_VERSION} STRLESS "4.0.0")
         add_definitions(-DOPEN_CV_VERSION_3)
 
     else ()

samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c

@@ -1167,7 +1167,7 @@ static void *UserCameraMedia_SendVideoTask(void *arg)
     int lengthOfDataHaveBeenSent = 0;
     char *dataBuffer = NULL;
     T_TestPayloadCameraPlaybackCommand playbackCommand = {0};
-    uint16_t bufferReadSize = 0; 
+    uint16_t bufferReadSize = 0;
     char *videoFilePath = NULL;
     char *transcodedFilePath = NULL;
     float frameRate = 1.0f;

samples/sample_c/module_sample/camera_manager/test_camera_manager.c

@@ -69,6 +69,8 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
     {DJI_CAMERA_TYPE_M30T,    "M30T Camera"},
     {DJI_CAMERA_TYPE_M3E,     "M3E Camera"},
     {DJI_CAMERA_TYPE_M3T,     "M3T Camera"},
+    {DJI_CAMERA_TYPE_M3D,     "M3D Camera"},
+    {DJI_CAMERA_TYPE_M3TD,    "M3TD Camera"},
 };
 
 static FILE *s_downloadMediaFile = NULL;
@@ -918,8 +920,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
                 cameraType == DJI_CAMERA_TYPE_H20N || cameraType == DJI_CAMERA_TYPE_M30 ||
                 cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E ||
-                cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3T ||
+                cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D ||
-                cameraType == DJI_CAMERA_TYPE_L2) {
+                cameraType == DJI_CAMERA_TYPE_M3TD) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -958,7 +960,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20N
                 || cameraType == DJI_CAMERA_TYPE_H20T || cameraType == DJI_CAMERA_TYPE_M30
                 || cameraType == DJI_CAMERA_TYPE_M30T || cameraType == DJI_CAMERA_TYPE_M3E
-                || cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_L2) {
+                || cameraType == DJI_CAMERA_TYPE_M3T || cameraType == DJI_CAMERA_TYPE_M3D
+                || cameraType == DJI_CAMERA_TYPE_M3TD) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -1265,7 +1268,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_XT2 || cameraType == DJI_CAMERA_TYPE_XTS ||
                 cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
                 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_L2 ||
-                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T) {
+                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3T ||
+                cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
                 USER_LOG_INFO("Camera type %s does not support night scene mode!",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
                 goto exitCameraModule;
@@ -1368,7 +1372,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
 
             if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
                 cameraType == DJI_CAMERA_TYPE_XTS || cameraType == DJI_CAMERA_TYPE_P1 ||
-                cameraType == DJI_CAMERA_TYPE_L1) {
+                cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M3D) {
                 USER_LOG_INFO("Camera type %s does not support set capture or recording stream(s) to storage.",
                                 s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
                 goto exitCameraModule;
@@ -1483,6 +1487,12 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOW_STORAGE_INFO: {
             T_DjiCameraManagerStorageInfo storageInfo;
 
+            if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
+                USER_LOG_INFO("Position %d, camera type %d, doesn't support get storage info. Sample exits.");
+                goto exitCameraModule;
+            }
+
             for (uint32_t i = 0; i < 30; i++) {
                 returnCode = DjiCameraManager_GetStorageInfo(mountPosition, &storageInfo);
                 if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -1996,7 +2006,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
                 cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
                 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
-                cameraType == DJI_CAMERA_TYPE_M3E ||
+                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
                 cameraType == DJI_CAMERA_TYPE_L2) {
                 USER_LOG_WARN("Camera type %s don't support FFC function.",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
@@ -2042,7 +2052,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             if (cameraType == DJI_CAMERA_TYPE_Z30 || cameraType == DJI_CAMERA_TYPE_XT2 ||
                 cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_P1 ||
                 cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_M30 ||
-                cameraType == DJI_CAMERA_TYPE_M3E ||
+                cameraType == DJI_CAMERA_TYPE_M3E || cameraType == DJI_CAMERA_TYPE_M3D ||
                 cameraType == DJI_CAMERA_TYPE_L2) {
                 USER_LOG_WARN("Camera type %s don't support infrared function.",
                               s_cameraTypeStrList[DjiTest_CameraManagerGetCameraTypeIndex(cameraType)].cameraTypeStr);
@@ -2092,7 +2102,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
             uint16_t recordingTime;
             uint8_t remainingTime;
 
-            if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1) {
+            if (cameraType == DJI_CAMERA_TYPE_L1 || cameraType == DJI_CAMERA_TYPE_P1 ||
+                cameraType == DJI_CAMERA_TYPE_M3D || cameraType == DJI_CAMERA_TYPE_M3TD) {
                 USER_LOG_INFO("Camera type %d does not support to get camera stauts such as "
                               "capturing state, recording state.", cameraType);
                 goto exitCameraModule;

samples/sample_c/module_sample/flight_control/test_flight_control.c

@@ -1253,7 +1253,9 @@ bool DjiTest_FlightControlGoHomeAndConfirmLanding(void)
             T_DjiFcSubscriptionHeightFusion heightFusion = DjiTest_FlightControlGetValueOfHeightFusion();
             s_osalHandler->TaskSleepMs(1000);
             if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
-                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
+                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
+                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
+                aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
                 if ((dji_f64_t) 0.45 < heightFusion && heightFusion < (dji_f64_t) 0.55) {
                     break;
                 }

samples/sample_c/module_sample/gimbal_manager/test_gimbal_manager.c

@@ -140,7 +140,8 @@ T_DjiReturnCode DjiTest_GimbalManagerRunSample(E_DjiMountPosition mountPosition,
 
             rotation = s_rotationActionList[i].rotation;
 
-            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
+            if (aircraftSeries == DJI_AIRCRAFT_SERIES_M3 || aircraftSeries == DJI_AIRCRAFT_SERIES_M30
+	        || aircraftSeries == DJI_AIRCRAFT_SERIES_M3D) {
                 if (s_rotationActionList[i].rotation.rotationMode == DJI_GIMBAL_ROTATION_MODE_ABSOLUTE_ANGLE) {
                     T_DjiFcSubscriptionGimbalAngles gimbalAngles = {0};
                     T_DjiDataTimestamp timestamp = {0};

samples/sample_c/module_sample/hms/test_hms.c

@@ -406,6 +406,8 @@ static bool DjiTest_MarchErrCodeInfoTableByJson(T_DjiHmsInfoTable hmsInfoTable)
                           hmsInfoTable.hmsInfo[i].errorCode);
         }
     }
+
+    cJSON_Delete(hmsJsonRoot);
 }
 
 static T_DjiReturnCode DjiTest_HmsInfoCallback(T_DjiHmsInfoTable hmsInfoTable)

samples/sample_c/module_sample/liveview/test_liveview.c

@@ -80,11 +80,10 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
     USER_LOG_INFO("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
     DjiTest_WidgetLogAppend("--> Step 2: Start h264 stream of the fpv and selected payload\r\n");
 
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
+    if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
+        aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
+        aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
 
-    } else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
-
-    } else {
         localTime = localtime(&currentTime);
         sprintf(s_fpvCameraStreamFilePath, "fpv_stream_%04d%02d%02d_%02d-%02d-%02d.h264",
                 localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday,
@@ -127,11 +126,9 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
 
     USER_LOG_INFO("--> Step 3: Stop h264 stream of the fpv and selected payload\r\n");
     DjiTest_WidgetLogAppend("--> Step 3: Stop h264 stream of the fpv and selected payload");
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E) {
+    if (aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M300 ||
-
+        aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M350 ||
-    } else if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
+        aircraftInfoBaseInfo.aircraftSeries == DJI_AIRCRAFT_SERIES_M30) {
-
-    } else {
         returnCode = DjiLiveview_StopH264Stream(DJI_LIVEVIEW_CAMERA_POSITION_FPV, DJI_LIVEVIEW_CAMERA_SOURCE_DEFAULT);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("Request to stop h264 of fpv failed, error code: 0x%08X", returnCode);
@@ -149,7 +146,8 @@ T_DjiReturnCode DjiTest_LiveviewRunSample(E_DjiMountPosition mountPosition)
     USER_LOG_INFO("Fpv stream is saved to file: %s", s_fpvCameraStreamFilePath);
     USER_LOG_INFO("Payload%d stream is saved to file: %s\r\n", mountPosition, s_payloadCameraStreamFilePath);
 
-    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
+    if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
         USER_LOG_INFO("--> Start h264 stream of the fpv and selected payload\r\n");
 
         localTime = localtime(&currentTime);

samples/sample_c/module_sample/utils/util_link_list.c

@@ -0,0 +1,218 @@
+/**
+ ********************************************************************
+ * @file    util_link_list.c
+ * @brief
+ *
+ * @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 UTIL_LINK_LIST_C
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "util_link_list.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Private values ------------------------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node )
+{
+    if ( NULL == node) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( NULL != node->data ) {
+        UTIL_OSAL_MEMRY_FREE( node->data );
+        node->data = NULL;
+    }
+    return;
+}
+
+void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node )
+{
+    if ( NULL == node) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    UTIL_OSAL_MEMRY_FREE( node );
+    return;
+}
+
+void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data )
+{
+    if ( NULL == node ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    node->prev = NULL;
+    node->next = NULL;
+    node->data = data;
+    return;
+}
+
+T_UtilListNode *DjiUserUtil_NewListNode( void *data )
+{
+    T_UtilListNode *node = NULL;
+
+    node = (T_UtilListNode *)UTIL_OSAL_MEMRY_ALLOC( sizeof(T_UtilListNode) );
+    if ( NULL == node ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return NULL;
+    }
+
+    DjiUserUtil_InitListNode( node, data );
+    return node;
+}
+
+void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList )
+{
+    T_UtilListNode *node = NULL;
+    T_UtilListNode *next = NULL;
+
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    for ( node = linkList->first; NULL != node ; node = next ) {
+        next = node->next;
+        DjiUserUtil_ListNodeDeleteDataOnly( node );
+        DjiUserUtil_ListNodeDeleteNodeSelf( node );
+    }
+}
+void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
+        node->prev = NULL;
+        node->next = NULL;
+        linkList->first = node;
+        linkList->last  = node;
+    } else {
+        node->prev = NULL;
+        node->next = linkList->first;
+        linkList->first = node;
+        node->next->prev = node;
+    }
+    linkList->count ++;
+    return;
+}
+
+void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( UTIL_LINKLIST_IS_EMPTY( *linkList ) ) {
+        node->prev = NULL;
+        node->next = NULL;
+        linkList->first = node;
+        linkList->last  = node;
+    } else {
+        node->next = NULL;
+        node->prev = linkList->last;
+        linkList->last = node;
+        node->prev->next = node;
+    }
+    linkList->count ++;
+    return;
+}
+
+void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList )
+{
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    linkList->first = NULL;
+    linkList->last  = NULL;
+    linkList->count = 0;
+    return;
+}
+
+T_UtilLinkList *DjiUserUtil_NewLinkList( void )
+{
+    T_UtilLinkList *linkList = NULL;
+
+    linkList = (T_UtilLinkList *)UTIL_OSAL_MEMRY_ALLOC( sizeof( T_UtilLinkList ) );
+    if ( NULL == linkList ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return NULL;
+    }
+
+    DjiUserUtil_InitLinkList( linkList );
+    return linkList;
+}
+
+void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node )
+{
+    if ( ( NULL == linkList ) || ( NULL == node ) ) {
+        UTIL_REPORT_ERROR( "null pointer" );
+        return;
+    }
+
+    if ( node == linkList->first ) {
+        linkList->first = linkList->first->next;
+    }
+
+    if ( node == linkList->last ) {
+        linkList->last  = linkList->last->prev;
+    }
+
+    if ( NULL != node->next ) {
+        node->next->prev = node->prev;
+    }
+
+    if ( NULL != node->prev ) {
+        node->prev->next = node->next;
+    }
+
+    if ( 0 != linkList->count ) {
+        linkList->count --;
+    }
+
+    DjiUserUtil_ListNodeDeleteNodeSelf( node );
+    return;
+}
+/* Private functions definition-----------------------------------------------*/
+
+#ifdef __cplusplus
+}
+#endif
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/

samples/sample_c/module_sample/utils/util_link_list.h

@@ -0,0 +1,94 @@
+/**
+ ********************************************************************
+ * @file    link_list.h
+ * @brief   This is the header file for "link_list.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 UTIL_LINK_LIST_H
+#define UTIL_LINK_LIST_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "dji_platform.h"
+
+#ifdef UTIL_LINK_LIST_C
+    #define UTIL_LINK_LIST_EXT
+#else
+    #define UTIL_LINK_LIST_EXT          extern
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Exported constants --------------------------------------------------------*/
+#define UTIL_REPORT_ERROR( exp... )
+
+#define UTIL_OSAL_MEMRY_ALLOC(size)     ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Malloc( size ); } )
+#define UTIL_OSAL_MEMRY_FREE(ptr)       ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); osalHandler->Free( ptr ); } )
+
+#define UTIL_OSAL_SEM_FREE_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreDestroy( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_INIT_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreCreate( 0, sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_POST_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphorePost( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_WAIT_MAY_RETURN(sem)          ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreWait( sem ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_SEM_WAIT_FOR(sem,ms)              ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->SemaphoreTimedWait( sem, ms ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+
+#define UTIL_OSAL_MUTEX_FREE_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexDestroy( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_INIT_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexCreate( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_LOCK_MAY_RETURN(mutex)      ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexLock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+#define UTIL_OSAL_MUTEX_UNLOCK_MAY_RETURN(mutex)    ( { T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler(); if( DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS != osalHandler->MutexUnlock( mutex ) ) { return DJI_ERROR_SYSTEM_MODULE_CODE_INVALID_PARAMETER; } } )
+
+#define UTIL_LINKLIST_IS_EMPTY(l)       ( ((l).first == NULL)  ? true : false )
+
+/* Exported types ------------------------------------------------------------*/
+typedef struct tagT_UtilListNode {
+    struct tagT_UtilListNode        *next;
+    struct tagT_UtilListNode        *prev;
+    void                            *data;
+} T_UtilListNode;
+
+typedef struct tagT_UtilLinkList {
+    T_UtilListNode                  *first;
+    T_UtilListNode                  *last;
+    uint32_t                        count;
+} T_UtilLinkList;
+
+/* Exported functions --------------------------------------------------------*/
+UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteDataOnly( T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_ListNodeDeleteNodeSelf( T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_InitListNode( T_UtilListNode *node, void *data );
+UTIL_LINK_LIST_EXT T_UtilListNode *DjiUserUtil_NewListNode( void *data );
+
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListDestory( T_UtilLinkList *linkList );
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeFirst( T_UtilLinkList *linkList, T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListAddNodeLast( T_UtilLinkList *linkList, T_UtilListNode *node );
+UTIL_LINK_LIST_EXT void DjiUserUtil_InitLinkList( T_UtilLinkList *linkList );
+UTIL_LINK_LIST_EXT T_UtilLinkList *DjiUserUtil_NewLinkList( void );
+
+UTIL_LINK_LIST_EXT void DjiUserUtil_LinkListRemoveNodeOnly( T_UtilLinkList *linkList, T_UtilListNode *node );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // UTIL_LINK_LIST_H
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

samples/sample_c/module_sample/widget/test_widget_speaker.c

@@ -322,7 +322,9 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
     }
 
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3E ||
-        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T) {
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3T ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3D ||
+        aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M3TD) {
         return DjiTest_PlayAudioData();
     } else {
         txtFile = fopen(WIDGET_SPEAKER_TTS_FILE_NAME, "r");

samples/sample_c/platform/linux/common/upgrade_platform_opt/upgrade_platform_opt_linux.c

@@ -132,7 +132,7 @@ T_DjiReturnCode DjiUpgradePlatformLinux_CreateUpgradeProgramFile(const T_DjiUpgr
     snprintf(filePath, DJI_FILE_PATH_SIZE_MAX, "%s%s", DJI_TEST_UPGRADE_FILE_DIR, fileInfo->fileName);
     s_upgradeProgramFile = fopen(filePath, "w+");
     if (s_upgradeProgramFile == NULL) {
-        USER_LOG_ERROR("Upgrade program file can't create: \"%s\"", filePath);
+        USER_LOG_ERROR("Upgrade program file can't create");
         return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
     }
 

samples/sample_c/platform/linux/manifold2/application/main.c

@@ -219,7 +219,7 @@ int main(int argc, char **argv)
             .cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
         };
         T_DjiTestUpgradeConfig testUpgradeConfig = {
-            .firmwareVersion = {1, 0, 0, 0},
+            .firmwareVersion = firmwareVersion,
             .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
             .needReplaceProgramBeforeReboot = true
         };
@@ -326,7 +326,7 @@ int main(int argc, char **argv)
             .cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
         };
         T_DjiTestUpgradeConfig testUpgradeConfig = {
-            .firmwareVersion = {1, 0, 0, 0},
+            .firmwareVersion = firmwareVersion,
             .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
             .needReplaceProgramBeforeReboot = true
         };

samples/sample_c/platform/linux/nvidia_jetson/application/main.c

@@ -291,7 +291,7 @@ int main(int argc, char **argv)
             .cleanUpgradeRebootState = DjiUpgradePlatformLinux_CleanUpgradeRebootState,
         };
         T_DjiTestUpgradeConfig testUpgradeConfig = {
-            .firmwareVersion = {1, 0, 0, 0},
+            .firmwareVersion = firmwareVersion,
             .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
             .needReplaceProgramBeforeReboot = true
         };

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/FreeRTOSConfig.h

@@ -64,7 +64,7 @@
 #define configTICK_RATE_HZ                       ((TickType_t)1000)
 #define configMAX_PRIORITIES                     ( 7 )
 #define configMINIMAL_STACK_SIZE                 ((uint16_t)128)
-#define configTOTAL_HEAP_SIZE                    ((size_t)75000)
+#define configTOTAL_HEAP_SIZE                    ((size_t)90000)
 #define configMAX_TASK_NAME_LEN                  ( 16 )
 #define configUSE_16_BIT_TICKS                   0
 #define configUSE_MUTEXES                        1

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c

@@ -112,10 +112,10 @@ void DjiUser_StartTask(void const *argument)
         .UartGetStatus = HalUart_GetStatus,
     };
     T_DjiFirmwareVersion firmwareVersion = {
-        .majorVersion = 1,
+        .majorVersion = USER_FIRMWARE_MAJOR_VERSION,
-        .minorVersion = 0,
+        .minorVersion = USER_FIRMWARE_MINOR_VERSION,
-        .modifyVersion = 0,
+        .modifyVersion = USER_FIRMWARE_MODIFY_VERSION,
-        .debugVersion = 0,
+        .debugVersion = USER_FIRMWARE_DEBUG_VERSION,
     };
 
     UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
@@ -233,7 +233,6 @@ void DjiUser_StartTask(void const *argument)
     }
 #endif
 
-#if !USE_USB_HOST_UART
 #ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
     if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
         && aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
@@ -318,7 +317,12 @@ void DjiUser_StartTask(void const *argument)
         .cleanUpgradeRebootState = DjiUpgradePlatformStm32_CleanUpgradeRebootState,
     };
     T_DjiTestUpgradeConfig testUpgradeConfig = {
-        .firmwareVersion = {1, 0, 0, 0},
+        .firmwareVersion = {
+            USER_FIRMWARE_MAJOR_VERSION,
+            USER_FIRMWARE_MINOR_VERSION,
+            USER_FIRMWARE_MODIFY_VERSION,
+            USER_FIRMWARE_DEBUG_VERSION
+        },
         .transferType = DJI_FIRMWARE_TRANSFER_TYPE_DCFTP,
         .needReplaceProgramBeforeReboot = false
     };
@@ -326,7 +330,6 @@ void DjiUser_StartTask(void const *argument)
         DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
         printf("psdk upgrade init error");
     }
-#endif
 #endif
 
     returnCode = DjiCore_ApplicationStart();

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h

@@ -44,11 +44,11 @@ extern "C" {
 
 #define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
 
-#define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
+// #define CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
 
-#define CONFIG_MODULE_SAMPLE_CAMERA_ON
+// #define CONFIG_MODULE_SAMPLE_CAMERA_ON
 
-#define CONFIG_MODULE_SAMPLE_XPORT_ON
+// #define CONFIG_MODULE_SAMPLE_XPORT_ON
 
 #define CONFIG_MODULE_SAMPLE_UPGRADE_ON
 

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/main.c

@@ -27,6 +27,8 @@
 #include "application.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "core_cm4.h"
+#include "flash_if.h"
 
 /* Private constants ---------------------------------------------------------*/
 #define USER_START_TASK_STACK_SIZE          2048
@@ -53,6 +55,10 @@ void Error_Handler(void);
 
 int main(void)
 {
+    __disable_irq();
+    SCB->VTOR = APPLICATION_ADDRESS;
+    __enable_irq();
+
     /* STM32F4xx HAL library initialization:
          - Configure the Flash prefetch, instruction and Data caches
          - Configure the Systick to generate an interrupt each 1 msec

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/STM32F407VGTX_FLASH.ld

@@ -29,7 +29,7 @@
 ENTRY(Reset_Handler)
 
 /* Highest address of the user mode stack */
-_estack = ORIGIN(RAM) + LENGTH(RAM);	/* end of "RAM" Ram type memory */
+_estack = ORIGIN(RAM) + LENGTH(RAM) - 4;	/* end of "RAM" Ram type memory */
 
 _Min_Heap_Size = 0x800 ;	/* required amount of heap  */
 _Min_Stack_Size = 0x800 ;	/* required amount of stack */
@@ -39,7 +39,7 @@ MEMORY
 {
   CCMRAM    (xrw)    : ORIGIN = 0x10000000,   LENGTH = 64K
   RAM    (xrw)    : ORIGIN = 0x20000000,   LENGTH = 128K
-  FLASH    (rx)    : ORIGIN = 0x8000000,   LENGTH = 1024K
+  FLASH    (rx)    : ORIGIN = 0x8010000,   LENGTH = 448K
 }
 
 /* Sections */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/mdk/mdk_app.uvprojx

@@ -535,6 +535,11 @@
 </File>
 <File>
 <FileType>1</FileType>
+<FileName>util_link_list.c</FileName>
+<FilePath>..\..\..\..\..\module_sample\utils\util_link_list.c</FilePath>
+</File>
+<File>
+<FileType>1</FileType>
 <FileName>util_md5.c</FileName>
 <FilePath>..\..\..\..\..\module_sample\utils\util_md5.c</FilePath>
 </File>