NOTE This series of documents describe the detail of the function and interfaces supported by PSDK V2.x.x, If you still use PSDK V1.x.x to develop payload, please download PSDK V1.x.x Documents.

DJI Payload SDK(PSDK), is a development kit provided by DJI to support developers to develop payload that can be mounted on DJI drones. Combined with the X-Port or SkyPort, developers can apply high power,status information and other resource from DJI's drone.

Highlights

• Use C language development (support C99 and C11)
• Support mainstream embedded systems such as Linux and RTOS
• Modular design, easy to transplant

Basic Features

PSDK Core	PSDK Core	PsdkCore_Init PsdkCore_ApplicationStart PsdkProductInfo_SetAlias
Porting	PSDK supports developers to port the applications to different OS and hardwares.	PsdkPlatform_RegHalUartHandler PsdkPlatform_RegOsalHandler PsdkOsal_TaskCreate PsdkOsal_TaskDestroy PsdkOsal_TaskSleepMs PsdkOsal_MutexCreate PsdkOsal_MutexDestroy PsdkOsal_MutexLock PsdkOsal_MutexUnlock PsdkOsal_SemaphoreCreate PsdkOsal_SemaphoreDestroy PsdkOsal_SemaphoreWait PsdkOsal_SemaphoreTimedWait PsdkOsal_SemaphorePost PsdkOsal_GetTimeMs PsdkOsal_Malloc PsdkOsal_Free
Information Management	The information management function includes information acquisition and message subscription function. The information acquisition function is used to obtain information of the drone; the message subscription function is used to subscribed the data from the drone.	PsdkAircraftInfo_GetBaseInfo PsdkAircraftInfo_GetMobileAppInfo ReceiveDataOfTopicCallback PsdkDataSubscription_Init PsdkDataSubscription_DeInit PsdkDataSubscription_RegTopicSync PsdkDataSubscription_AntiRegTopicSync PsdkDataSubscription_GetValueOfTopicWithTimestamp
Log Management	The log management function supports developers to use the serial port, terminal or USB and other log output methods to output the required logs.	PsdkLogger_AddConsole PsdkLogger_UserLogInfo PsdkLogger_UserLogWarn PsdkLogger_UserLogDebug PsdkLogger_UserLogError
Power Management	The payload can obtain higher power from the drone In order to prevent the payload losing data or being accidentally damaged without performing the shutdown preparation, the PSDK also provides the function to push the shutdown notification.	PsdkPowerManagement_RegWriteHighPowerApplyPinCallback PsdkPowerManagement_RegPowerOffNotificationCallback
Data Transmission	The data transmission module can transmit data information and user-defined data between PSDK, MSDK and OSDK in a transparent transmission mode on the control command transmission channel and high-speed data transmission channel.	ReceiveDataFromMobileCallback ReceiveDataFromOsdkCallback PsdkDataTransmission_Init PsdkDataTransmission_DeInit PsdkDataTransmission_RegReceiveDataFromMobileCallback PsdkDataTransmission_RegReceiveDataFromOsdkCallback PsdkDataTransmission_SendDataToMobile PsdkDataTransmission_SendDataToOsdk PsdkDataTransmission_GetSendToMobileState PsdkDataTransmission_GetSendToOsdkState PsdkDataTransmission_GetDataStreamRemoteAddress PsdkDataTransmission_SendDataStream PsdkDataTransmission_GetDataStreamState
SDK Interconnection	Using SDK Interconnection, developer could create transmission channels dynamically, specified, and communicate simultaneously.	PsdkMopChannel_Init PsdkMopChannel_Create PsdkMopChannel_Destroy PsdkMopChannel_Bind PsdkMopChannel_Accept PsdkMopChannel_Close PsdkMopChannel_SendData PsdkMopChannel_RecvData
Time Synchronization	The time synchronization is used to synchronize the time of the payload and the drone, which is convenient for users to use the log to troubleshoot all kinds of faults during the flight of the drone, analyze the data sampled by the sensor, and obtain accurate positioning information.	PsdkTimeSync_Init PsdkTimeSync_RegGetNewestPpsTriggerTimeCallback PsdkTimeSync_TransferToAircraftTime
Upgrade	upgrade is used to facilitate users to upgrade the firmware for payload which developed based on PSDK.	PsdkUpgrade_Init PsdkUpgrade_EnableLocalUpgrade PsdkUpgrade_RegHandler PsdkUpgrade_PushUpgradeState

Application Function

Custom Widget	Using the "custom widget" package the functions of the payload as a widget such as button, switch and slider, which is convenient for the user to set the parameters or perform the specified action quickly, also could control the payload display the status information of the payload form the floating window.	PsdkWidget_Init PsdkWidget_RegDefaultUiConfigByDirPath PsdkWidget_RegUiConfigByDirPath PsdkWidget_RegDefaultUiConfigByBinaryArray PsdkWidget_RegUiConfigByBinaryArray PsdkWidget_RegHandlerList PsdkWidgetFloatingWindow_ShowMessage PsdkWidgetFloatingWindow_GetChannelState
Positioning	Using the Positioning function, developers can obtain positioning requirements with centimeter-level accuracy using payload developed based on PSDK.	PsdkPositioning_Init PsdkPositioning_SetTaskIndex PsdkPositioning_GetPositionInformationSync
Payload Coordination	Using payload coordination function, developers can control multiple payloads on the drone to cooperate with each other to meet different usage requirements.	PsdkPayloadCollaboration_Init PsdkPayloadCollaboration_GetCameraTypeOfPayload PsdkPayloadCollaboration_GetCameraOpticalZoom SpecOfPayload PsdkPayloadCollaboration_GetCameraHybridZoom FocalLengthOfPayload
X-Port Control	Developers using DJI X-Port can develop payload with gimbal functions quickly, and could use the API interface to set various parameters of X-Port.	PsdkXPort_Init PsdkXPort_DeInit PsdkXPort_RegReceiveSystemStateCallback PsdkXPort_RegReceiveAttitudeInformationCallback PsdkXPort_SetGimbalModeSync PsdkXPort_RotateSync PsdkXPort_ReleaseControlPermissionSync PsdkXPort_ResetSync PsdkXPort_SetLimitAngleSync PsdkXPort_GetLimitAngleSync PsdkXPort_SetSpeedConversionFactor

Payload components

Gimbal Control	Using gimbal control function developer could developed the payload which has gimbal's function.	PsdkGimbal_Init PsdkGimbal_DeInit PsdkGimbal_RegCommonHandler
Camera Control	Using the camera functions of PSDK, developers can develop payload with camera functions such as taking pictures, recording, focusing, and exposure.	PsdkPayloadCamera_Init PsdkPayloadCamera_RegCommonHandler PsdkPayloadCamera_RegExposureMeteringHandler PsdkPayloadCamera_RegFocusHandler PsdkPayloadCamera_RegDigitalZoomHandler PsdkPayloadCamera_RegOpticalZoomHandler PsdkPayloadCamera_RegTapZoomHandler PsdkPayloadCamera_RegMediaDownloadPlaybackHandler PsdkPayloadCamera_SendVideoStream PsdkPayloadCamera_GetVideoStreamState PsdkPayloadCamera_SetVideoStreamType PsdkPayloadCamera_GetVideoStreamRemoteAddress PsdkPayloadCamera_PushAddedMediaFileInfo

Agreement

Developers can use PSDK to develop payload within the scope allowed by DJI. The copyright of payload developed based on DJI PSDK belongs to the developer. DJI will not request the developer's code in any form or reason. If you need to use DJI PSDK to develop payload devices, please register a PSDK Enterprise Account; if you need to develop more than 9 payloads, please apply for mass production permission.