PSDK 3.9.2 Release (Released on 7 Nov 2024)

• Added support for cloud-based custom small data transmission on Matrice 3D/3TD models.
• Fixed an issue with acquiring disordered sequence numbers of the RTCM data packet.

Note: When transmitting the video stream from the payload camera, only the stream in DJI-H264 format is supported. The
CUSTOM-H264 stream is not supported. Use the latest PSDK community version to transmit the stream in the CUSTOM-H264 format.
Note: Non-RC flight is not supported by default. Call the DjiFlightController_SetRCLostActionEnableStatus interface to enable
this feature.

PSDK 3.9.1 Release (Released on 18 Jul 2024)

• GEO Caging feature supported for the M3D series models.
• Flight control function and waypoint mission supported for the FlyCart 30 model.
• Fixed an issue with subscribing to the flight control topics for M300 RTK and M350 RTK models.
• Resolved a problem with DJI Smart Controller Enterprise not recognizing PSDK payload devices on M300 RTK.
• Fixed an issue with acquiring the camera stream without I-frames on M3D series models.
• Added the MOP 49154 channel as an alternative to the 49152 channel for subscribing to the L2 camera's real-time 3D point cloud. This enhancement avoids conflicts when subscribing to point cloud data concurrently with Pilot2 and improves the quality of the point cloud data.

Note: When using M300 RTK with the DJI Smart Controller Enterprise to activate payloads via the OSDK interface, the remote controller will not recognize the payload device if the virtual serial port is not utilized.

PSDK 3.9.0 Release (Released on 16 May 2024)

• Supports the payload camera Zenmuse H30 series.
• FlyCart 30 aircraft supports the time synchronization function.
• FlyCart 30 aircraft supports HMS functions.
• FlyCart 30 aircraft supports the data subscription function.
• Fixed the issue with inaccurate zoom multiplier retrieval for the Mavic 3 Enterprise series cameras.
• Fixed data errors on the receiving end of small data transfers from MSDK to PSDK.
• Fixed the inability of devices at payload ports 2 and 3 of the M300 RTK aircraft to perform small data transmission to devices connected to the OSDK port.
• Fixed the issue where MSDK V5 and PSDK devices could not perform small data transmission when using M300 RTK and M350 RTK aircraft.
• Fixed occasional payload negotiation failures between PSDK and the M350 RTK aircraft.
• Fixed screen flickering and glitching issues with the H20T payload camera's video stream.
• Fixed issues with retrieving the visible light camera video stream from the M3TD camera.
• Optimized the C++ camera management sample.
• Optimized memory usage strategy for STM32 platform sample by introducing CCMRAM.

Note: For M300 RTK and M350 RTK, the camera management module now checks the payload port device's status at startup. This may occasionally result in log errors. Normal function is not affected, and this will be optimized in a future release.

PSDK 3.8.1 Release (Released on 7 Apr 2024)

The latest release version of PSDK is 3.8.1. 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.

• Removed the camera management module interface DjiCameraManager_GetPhotoBurstCount.
• Removed the AEB photography function in the camera management module.
• Fixed the issue where subscribing to real-time point cloud data was not byte-aligned on some platforms.
• Fixed the discrepancy between flight speed units and annotations in the motion planning WP 2.0 feature.
• Fixed issues with obtaining the camera shooting mode and zoom magnification on the Mavic 3 series drones.
• Optimized the startup time for PSDK initialization.
• Complemented the flight control topic CONTROL_DEVICE data structure definition and added related enumeration ranges.
• Fixed the incorrect zoom multiplier retrieval for the H20N camera.
• Fixed the issue where custom media file suffix names were not taking effect.
• Fixed the occasional subscription errors for single battery data in the M300 RTK and M350 RTK.
• Fixed anomalous Pilot widget values for the M30 series, M300 RTK, and M350 RTK remote controllers.
• Note: Streamlined the toolchain for compiling PSDK, removing low-usage toolchain libraries.

We have stopped offering some toolchains on GitHub. If you have trouble building your project, reach out to the SDK Support Team for help.

PSDK 3.8 Release (Released on 11 Dec 2023)

• Added support for the M3D series models
• Fixed memory leak in the HMS Sample
• Resolved compilation errors of Sample header files in certain environments
• Fixed unexpected crashes in C++ Sample when attempting to use unsupported features
• Enhanced prompts for camera Sample file downloads
• Optimized some improper uses of CMake in samples
• Change firmware version numbers in the PSDK Sample now align across DJI Assistant 2 and Pilot 2.

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.
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.

• In the STM32 FreeRTOS Sample, the heap size has been increased to 90,000 bytes.

This may cause startup or build failures on some devices. You can adjust the stack size according to the business requirements of your hardware.

PSDK 3.7 Release (Released on 31 Oct 2023)

• Added L2 new camera model support
• Added FlyCart 30 new drone model support
• Added support for L2 subscription 3D point cloud data function
• Added L2 support for downloading original point cloud files
• Fixed the issue where M300 RTK and M350 RTK occasionally failed to negotiate load
• Fixed an issue where some open source library conflicts caused flight control module registration to fail
• Fixed the issue where PSDK obtains aircraft version numbers and displays them in reverse order
• Fixed an issue where the zoom value range of some camera zoom rings was incorrect
• Fixed the problem that the Sample value not updated when repeatedly running the M30/M3 series drone data subscription
• Fixed compatibility issues on some ESP32 platforms
• Optimize the return value prompt of MOP channel closing and destruction
• Optimize the point of interest surround function Sample log prompt
• Optimize compilation warning level

PSDK 3.6 Release (Released on 18 Sep 2023)

• Added support for multi-language display in HMS management.
• Added support for PSDK Non-RC flight.
• Added support for aircraft version number retrieval.
• Added support for RTCM data subscription.
• Added support for cloud-based custom small data communication on Matrice 30/30T PSDK.
• Added Support for Matrice 30/30T PSDK speaker cloud integration.
• Added support for custom widgets wayline actions on Matrice 30/30T and Mavic 3E/3T aircraft.
• Added support for grayscale image retrieval on M350 RTK.
• Added support for time synchronization on M300 RTK and Matrice 30/30T.
• Added support for third-party firmware upgrades through M350 RTK E-Port.
• Added support for SDK interconnection on Mavic 3E/3T.
• Added support for hotspot orbit function on Mavic 3E/3T.
• Added support for expanded camera and gimbal management interfaces.
• Fixed issue with the 500m altitude limit for flight control across all models.
• Fixed issue with incomplete small data transmission on specific models.
• Fixed issue with H20 I-frame retrieval on M300 RTK.
• Fixed issue with occasional custom widget display failure in DJI Pilot.
• Fixed issues with multiple live stream retrieval on Matrice 30/30T.
• Fixed issues with camera mode retrieval on Matrice 30/30T.
• Fixed issues with camera focal length value retrieval on Matrice 30/30T.
• Fixed issue with X-Port failed to self-check when both X-Port and SkyPort V2 were equipped on M300 RTK.
• Fixed issue with gimbal angle subscription data mismatching App display on M300 RTK.
• Fixed issue with flight control feature initialization failure on specific models after multiple calls.
• Fixed compatibility issues with initialization failures on some HiSilicon platforms.
• Optimized PSDK startup delays in single UART mode.
• Optimized slow media file download speeds for Mavic 3E/3T on ethernet links.

PSDK 3.5 Release (Released on 18 May 2023)

• Added support for new drone model Matrice 350 RTK
• Matrice 300 RTK added support for DJI RC Plus
• Added support for downloading media files in pieces on all drone models
• Added support for Osal get random number callback interface on all drone model
• Fixed issue with the black screen problem when uses third-party camera to playback video on M300 RTK and DJI smart controller screen combination
• Fixed issue with failure of subscribing L1 camera code stream on M300 RTK
• Fixed issue with failure of subscribing main camera code stream in dual control mode on M300 RTK
• Fixed issue with local upgrade function of RTOS platform on Mavic 3E/3T
• Fixed issue with the initialization failure of using PSDK Payload device and millimeter wave radar on M300 RTK
• Fixed issue with custom HMS function on M300 RTK and X-Port combination
• Fixed issue with invalid TTS option of speaker widget on M300 RTK
• Fixed issue with downloading file list with high probability of failure when the camera photos are over 400 on M300 RTK
• Fixed some of the memory leaks

PSDK 3.4 Release (Released on 18 April 2023)

• Added support for SDK interconnection on M30/M30T
• Added support for downloading camera media files on M3E/M3T
• Added support for infrared temperature in camera management on M30T/M3T
• Added support for waypoint action status push on M30/M30T and M3E/M3T
• Added support for custom HMS function on all models
• Added support for custom device version number and serial number on all models
• Added support for subscribing to video stream request I-frame on all models
• Added support for obtaining H20N laser distance measurement data camera management on M300 RTK
• Added support for controlling H20N infrared zoom in camera management on M300 RTK
• Added support for subscribing perception grayscale image by Ethernet on M30/M30T and M3E/M3T
• Added support for downloading camera media files by Ethernet on M30/M30T and M3E/M3T
• Added support for Nvidia Jeston series development boards sample
• Added support for H20/H20T model files
• Fixed issue with unsuccessful initialization in USB single Bulk mode on M30/M30T and M3E/M3T
• Fixed issue with unstable data transmission OSDK expansion port to PSDK port for passing through small data on M300 RTK
• Fixed issue with third-party camera function causing payload disconnection due to deleting all media files in certain platforms on M300 RTK
• Fixed issue with gimbal mode abnormal setting in gimbal management on M300 RTK
• Fixed issue with deleting L1 camera media files in camera management on M300 RTK
• Fixed issue with abnormal triggering of text input box widget function in RTOS platform on M300 RTK
• Fixed issue with abnormal payload power supply during hot plugging in some scenarios in RTOS platform on M3E/M3T
• Fixed issue with CPU loading abnormal usage due to multiple video stream subscriptions on M30/M30T
• Fixed issue with occasional payload negotiation failure on M30/M30T and M3E/M3T
• Fixed issue with obtaining camera work mode on M30/M30T and M3E/M3T
• Fixed issue with obtaining camera zoom parameters on M30/M30T and M3E/M3T
• Fixed issue with altitude and distance limitations when using joystick function in some scenarios on all models
• Fixed some memory leak issues
• Optimized camera management C++ Sample support
• Optimized gimbal management C++ Sample support

PSDK 3.3 Release (Released on 18 November 2022)

• Add the Mavic 3E/3T support
• Add getting the perception image support on M30/M30T and M3E/M3T
• Add downloading and deleting camera media file support on M30/M30T
• Add USB convert to Ethernet support on M30/M30T and M3E/M3T
• Add hybrid zoom function support of camera H20/H20T/H20N in Camera Manager module
• Add gimbal speed control mode in Gimbal Manager module
• Add getting aircraft connection state support in Aircraft Info module
• Fix the problem that Camera P1 can not set the parameter of interval shooting in Camera Manager module
• Fix the camera type recognition problem of H20 in Camera Manager module
• Fix the abnormal camera switching working mode of H20/H20T/H20N in Camera Manager module
• Fix the infrared zoom interface error in Camera Manager module
• Fix the occasional problem that force landing fail in Flight Controller module
• Fix the abnormal display in specific configuration of custom widget function
• Fix the occasional black screen when the M300 RTK PSDK camera is playing back
• Fix the abnormal display of custom widget icon in Pilot App because the dual PSDK payload is mounted on M300 RTK.
• Fix the occasional abnormal bandwidth occupation of Data Subscription function on M30/M30T
• Optimize the getting the camera laser measuring data function in Camera Manager module
• Optimize the Gimbal Manager module Sample
• Optimize the channel configuration method of USB-Bulk and Ethernet
• Optimize the problem that the memory occupation is too large in STM32 platform in some cases
• Optimize the import audio transmission quality of Speaker widget function