Hotfix Release for A3 FW 1.5.0.0.

osdk-core/inc/DJI_API.h

@@ -25,11 +25,11 @@
 
 #ifndef DJI_API_H
 #define DJI_API_H
-#include "DJI_Type.h"
-//#include "DJI_Mission.h"
 
+#include "DJI_Type.h"
 #include "DJI_HardDriver.h"
 #include "DJI_App.h"
+
 namespace DJI
 {
 namespace onboardSDK
@@ -72,11 +72,13 @@ enum ACK_ACTIVE_CODE
 
 enum ACK_SETCONTROL_CODE
 {
-  ACK_SETCONTROL_NEED_MODE_F = 0x0000,
+  ACK_SETCONTROL_ERROR_MODE = 0x0000,
   ACK_SETCONTROL_RELEASE_SUCCESS = 0x0001,
   ACK_SETCONTROL_OBTAIN_SUCCESS = 0x0002,
   ACK_SETCONTROL_OBTAIN_RUNNING = 0x0003,
   ACK_SETCONTROL_RELEASE_RUNNING = 0x0004,
+  ACK_SETCONTROL_NEED_MODE_F = 0x0006,
+  ACK_SETCONTROL_NEED_MODE_P = 0x0005,
   ACK_SETCONTROL_IOC = 0x00C9,
 
 };
@@ -227,6 +229,7 @@ class CoreAPI
   void ack(req_id_t req_id, unsigned char *ackdata, int len);
 
   //! Notify caller ACK frame arrived
+  void allocateACK(Header *protocolHeader);
   void notifyCaller(Header *protocolHeader);
   void notifyNonBlockingCaller(Header *protocolHeader);
 
@@ -658,7 +661,6 @@ class CoreAPI
   ActivateData accountData;
 
   unsigned short seq_num;
-  unsigned char *version_ack_data;
 
   SDKFilter filter;
 

osdk-core/inc/DJI_Config.h

@@ -33,7 +33,7 @@
 #define API_STATUS_DATA
 
 //! @note if you do NOT want to use AES encrypt, comment this macro below
-#define USE_ENCRYPT
+//#define USE_ENCRYPT
 
 //! @todo Not supported in this release.
 //#define USE_SIMULATION

osdk-core/inc/DJI_Type.h

@@ -1,6 +1,6 @@
 /*! @file DJI_Type.h
- *  @version 3.1.7
- *  @date Jul 01 2016
+ *  @version 3.1.9
+ *  @date November 10, 2016
  *
  *  @brief
  *  Type definition for DJI onboardSDK library.
@@ -22,6 +22,8 @@
 #include "DJI_Config.h"
 #include "DJICommonType.h"
 #include <stdio.h>
+#include <exception>
+#include <stdexcept>
 
 #define NAME(x) #x
 
@@ -122,6 +124,13 @@ extern uint8_t encrypt;
 const size_t SESSION_TABLE_NUM = 32;
 const size_t CALLBACK_LIST_NUM = 10;
 
+/**
+ * @note size is in Bytes
+ */
+const size_t MAX_ACK_SIZE = 64;
+const size_t M100_MAX_ACK_SIZE = 64;
+const size_t A3_MAX_ACK_SIZE = 63;
+
 //! The CoreAPI class definition is detailed in DJI_API.h 
 class CoreAPI;
 
@@ -337,18 +346,7 @@ typedef struct WayPointVelocityACK
   float32_t idleVelocity;
 } WayPointVelocityACK;
 
-
-typedef union MissionACKUnion
-{ 
-  uint8_t raw_ack_array[5];
-  MissionACK missionACK;
-  SimpleACK simpleACK;
-  HotPointStartACK hotpointStartACK;
-  WayPointDataACK waypointDataACK; 
-  WayPointVelocityACK waypointVelocityACK;
-} MissionACKUnion; 
-
-// These big structs have structs within and don't seem to be used 
+// HotPoint data read from flight controller
 typedef struct HotPointReadACK
 {
   MissionACK ack;
@@ -361,6 +359,33 @@ typedef struct WayPointInitACK
   WayPointInitData data;
 } WayPointInitACK;
 
+typedef struct DroneVersionACK
+{
+  unsigned char ack[MAX_ACK_SIZE];
+};
+
+typedef union MissionACKUnion
+{ 
+  uint8_t raw_ack_array[MAX_ACK_SIZE];
+  DroneVersionACK droneVersion;
+  MissionACK missionACK;
+
+  SimpleACK simpleACK;
+
+  HotPointStartACK hotpointStartACK;
+
+  // Contains 1-Byte ACK plus hotpoint mission
+  // information read from flight controller
+  HotpointReadACK hotpointReadACK;
+
+  // Contains 1-Byte ACK plus waypoint mission
+  // information read from flight controller
+  WayPointInitACK waypointInitACK;
+
+  WayPointDataACK waypointDataACK;
+  WayPointVelocityACK waypointVelocityACK;
+} MissionACKUnion; 
+
 typedef struct QuaternionData
 {
   float32_t q0;

osdk-core/inc/DJI_Version.h

@@ -35,6 +35,7 @@ typedef uint32_t Version;
 const Version versionM100_23 = (MAKE_VERSION(2, 3, 10, 0));
 const Version versionM100_31 = (MAKE_VERSION(3, 1, 10, 0));
 const Version versionA3_31 = (MAKE_VERSION(3, 1, 100, 0));
+const Version versionA3_32 = (MAKE_VERSION(3, 2, 0, 0));
 
 #ifdef SDK_DEV
 #include "dev.h"