Standard Hardware Port
Standard Hardware Port Introduction
We introduce the standard hardware ports and corresponding development kits, and provide the pins definition and function description. Please be familiar with the aircraft hardware ports and corresponding development kits first, then read the Device Connection.
Note: The E-port of Mavic 3E/3T and Matrice 30/30T corresponds to the PSDK port on the aircraft model User manual.
| Aircraft | Port Name | Adapted Development Kit (with DJI store link) | Whether to support application binding |
|---|---|---|---|
| Matrice 4D/4TD | E-Port E-Port Lite | E-Port Development Kit SDK Certified Chip (Please contact local industry agents to purchase) | √ |
| Matrice 4E/4T | E-Port E-Port Lite | E-Port Development Kit SDK Certified Chip (Please contact local industry agents to purchase) | √ |
| Matrice 3D/3TD | E-Port E-Port Lite | E-Port Development Kit | - |
| FlyCart 30 | E-Port Lite | - | - |
| M350 RTK | E-Port | E-Port Development Kit | - |
| PSDK Port (Gimbal Port) | SkyPort V2 Development Kit SkyPort V2 Production Suit DJI X-Port | √ | |
| Mavic 3E/3T | E-Port | E-Port Development Kit | - |
| Matrice 30/30T | E-Port | E-Port Development Kit SDK Round Ribbon Cable PSDK Mounting Bracket | - |
| M300 RTK | OSDK Port | E-Port Development Kit SDK Round Ribbon Cable OSDK Expansion Module(Not recommended) | - |
| PSDK Port (Gimbal Port) | SkyPort V2 Development Kit SkyPort V2 Production Suit X-Port SkyPort V1 Development Kit SkyPort V1 Production Suit | √ |
Table. Standard Hardware Port and Development Kit
E-Port Lite
The Matrice 3D/3TD and FlyCart 30 models provide an E-Port Lite interface, which serves as the aircraft's USB-C calibration port. This interface's dimensions and pin definitions align with the USB Type-C standard.
The interface supports the USB 2.0 to Serial Communication Protocols and supports some of the PSDK V3 software features. For a detailed list of features please refer to the Aircraft Type Function Difference in Development Platform.
With a USB-OTG cable and a USB-to-serial module, it can be connected to the MCU platform for PSDK development and debugging, which supports payload applications and improves work efficiency.
Figure. E-Port Lite
| Number | A1 | A2 | A3 | A4 | A5 | A6 | A7 | A8 | A9 | A10 | A11 | A12 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Interface Name | GND | TX1+ | TX1- | VBUS | CC1 | D+ | D- | SBU1 | VBUS | RX2- | RX2+ | GND |
| Number | B12 | B11 | B10 | B9 | B8 | B7 | B6 | B5 | B4 | B3 | B2 | B1 |
| Interface Name | GND | RX1+ | RX1- | VBUS | SBU2 | D- | D+ | CC2 | VBUS | TX2- | TX2+ | GND |
Figure. E-Port Lite Pins Introduction
Note:
- For the USB-OTG mode of E-Port Lite, ensure a 5.1 K resistance between the CC1 (A5) pin and the GND pin.
- When using the PSDK, the E-Port Lite should be in OTG mode, using the USB's D+, D-, CC1, VBUS, and GND pins. Ensure any unused pins remain unconnected.
- The VBUS interface has a rated voltage of 5V and a rated current of 2A. Please avoid exceeding these specifications.
- When designing interface connectors, waterproofing considerations should align with the aircraft's protection level.
- Connector designs should ensure a stable connection to prevent contact issues due to aircraft vibrations.
E-Port Lite USB-to-Serial Chip Model Standards
| Chip Model \ Aircraft Model | Matrice 3D/3TD | FlyCart 30 |
| FT232 | Compatible | Compatible |
| CP2102 | Compatible | Compatible |
Table. E-Port Lite USB-to-Serial Chip Model Standards
E Port-Lite Related Development Port
FlyCart 30 Payload Port (Power Supply Port)
Some PSDK devices developed for the FlyCart 30 model rely on the FlyCart 30's payload interface for power supply. The interface display and pin definition are illustrated in the table below.
 | 1 | 3 | 5 | 7 | 9 | 11 |
| VCC_60V_FZ | VCC_60V_FZ | GND_BAT | GND_BAT | GND_BAT | - | |
| 2 | 4 | 6 | 8 | 10 | 12 | |
| VCC_60V_FZ | VCC_60V_FZ | VCC_60V_FZ | GND_BAT | GND_BAT | - |
- Rated power is 460 W (51.2 V), with a peak power of 1024 W (51.2 V). Exceeding this power can jeopardize flight safety, and may cause loss of aircraft control or even an crash.
- High voltage is not the default output. To enable high voltage output, use the
ApplyHighPowerSyncinterface in the PSDK power management feature. After applying through this interface, high power voltage can be output normally.- The actual working voltage range is 42 V - 60 V, and devices must be compatible with this entire range.
- Rated current should be less than 9 A, with a peak current not exceeding 20 A. It's advised to avoid load current frequencies between 10 KHz - 1 MHz as high current peaks can impact aircraft sensor performance.
- Ensure the current does not exceed 10 A within 3 seconds of aircraft startup and 80 A within 10 seconds of startup.
- Devices must incorporate a soft-start circuit in the input bus. Exceeding standard power at aircraft startup triggers the aircraft load control board's over-current protection, causing the aircraft to shut off its power.
- Do not short-circuit the pins of aircraft or hardware platforms. Do not connect aircraft to a power output system or input current into the aircraft.
E-Port
Matrice 3D/3TD, M350 RTK, Matrice 30/30T and Mavic 3E/3T provide E-Port. This port and pin definition is introduced below. E-Port supports PSDK V3 and can be used with E-port development kit. You can use the E-port development kit to start your custom development project with low development threshold and maintenance cost and high development efficiency.
Figure. E-Port
| Number | A1 | A2 | A3 | A4 | A5 | A6 | A7 | A8 | A9 | A10 | A11 | A12 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Interface Name | GND | NC | NC | VCC | SYNC_PPS | USB_ID | USB_VBUS | ON_DET | VCC | NC | NC | GND |
| Number | B12 | B11 | B10 | B9 | B8 | B7 | B6 | B5 | B4 | B3 | B2 | B1 |
| Interface Name | GND | NC | NC | VCC | UART_RX | USB_DM | USB_DP | UART_TX | VCC | NC | NC | GND |
Table. E-Port Pins Introduction
Notes:
- There are differences between different models in power supply interface, USB_VBUS interface, and USB_ID interface. Compatibility needs to be considered in software and hardware design.
- NC pins are reserved signal pins of the aircraft side. To avoid the damage of the aircraft SDK interface during development and use, please leave the NC pins unconnected and do not connect to the custom pins of the device side.
- For Mavic 3E/3T aircraft models, when it is in a powered-off state and connected to a PSDK payload, the PSDK payload and aircraft will be powered on simultaneously. The E-Port will supply power normally. When the aircraft is already powered on and the PSDK payload is hot swapped or connected the PSDK payload to the aircraft, the power supply of E-Port will be automatically cut off if the PSDK program fail to start within 15s.
Power Output:
- If you need to power the payload device, please use the VCC pin.
Notes:
- The rated voltage of M350 RTK VCC pin is 24 V. The current is limited to 4A. The total power output is 96W.
- The rated voltage of Matrice 30/30T VCC pin is 19.2-26.1 V. The current is limited to 4A. The total power output is from 76.8W to 104.4W.
- The rated voltage of Mavic 3E/3T VCC pin is 12-17.6 V. The current is limited to 3A. The total power output is 36-52.8W.
- Those VCC pins are under one network. Developers could connect the VCC pins according to actual requirements. But to ensure the aircraft output the current continuously and steadily, please connect 4 VCC pins at the same time.
M350 RTK、Matrice 30/30T、Mavic 3E/3T are the USB Host device by default. The USB_ID pin (A6) must be pulled down.
Only when the USB_ID pin (A6) is pulled down, then the USB_VBUS pin (A7) will output 5V voltage. Maximum current is 500mA. The USB_VBUS pins (A7) of M350 RTK and Mavic 3E/3T have no voltage output ability. They can only detect the presence or absence of external voltage.
ON_DET pin (A8) is the PSDK payload device detection pin of M350 RTK、Matrice 30/30T、Mavic 3E/3T. For rated voltage output, the opposite connected to the ON_DET pin (A8) must be GND, and do not connect any resistance in series.
Data Communication:
- If you want to use the USB 2.0 (usb bulk transfer) function or the Rndis (TCP/IP over USB) function, please use the USB_DP pin (B6) and USB_DM pin (B7).
- For using the serial port on the aircraft to communicate with the payload device, please use the UART_RX pin (B8) and UART_TX pin (B5). UART_RX pin (B8) should connect with the TX side of the PSDK device and UART_TX pin (B5) should connect with the RX side of the PSDK device.
Notes:
- The baud rates of serial port supported by M350 RTK E-Port are 115200, 230400, 460800, 921600 and 1000000.
- The baud rates of serial port supported by Matrice 30/30T E-Port are 115200, 230400, 460800, 921600 and 1000000.
- The baud rate of serial port supported by Mavic 3E/3T E-Port is 921600.
Time Synchronization: If you need to use the synchronization signal output by the aircraft, please use the SYNC_PPS pin (A5).
E-Port Development Kit
Figure. E-Port Development Kit
Table. E-Port Development Kit Pins Introduction
| Sequence Number | E-Port | Function |
|---|---|---|
| 1 | XT30 Power Output Port (12V) | 12V/2A |
| 2 | XT30 Power Output Port (5V) | 5V/2A |
| 3 | XT30 Power Output Port (VCC) | Same with the VCC pin of aircraft E-Port |
| 4 | E-Port Switch | E-Port working switch. OFF means stopping the voltage output. |
| 5 | E-Port Connector | Connect to the aircraft E-port using the coaxial cable. |
| 6 | Power Indicator | E-Port switch is ON and the LED is lit. |
| 7 | Pin Header Power Output Port | Two-ways 5V output and two-ways 3.3V output. |
| 8 | UART/PPS Signal Port | TX/RX/GND is UART pin, corresponding respectively to the RX/TX/GND of device side. PPS connects to the GPIO of device side according to demand. When use the function of time synchronization and precised positioning, PPS should be connected to the GPIO pin of PSDK payload device. |
| 9 | USB2.0 Port | Connect to the USB port of PSDK payload device. |
| 10 | USB ID Switch | Switch the host or device of aircraft USB. M300 RTK switches to Device, other models switch to Host. |
SDK Round Ribbon Cable
Figure. SDK Round Ribbon Cable
SDK round ribbon cable is waterproof and foolproof. It can realize quick installation and dismantlement on models like M350 RTK, Matrice 30/30T. You can migrate the SDK round ribbon cable to your custom payload device according to the pin definition.
Gimbal Port
The gimbal port supports using with DJI Official Gimbal Connector, the pin definition is not opened. You can develop through SkyPort V2 or X-Port.
Figure. Gimbal Port
Note: The baud rates of serial port supported by M350 RTK gimbal ports are 115200、230400、460800、921600.
SkyPort V2
SkyPort V2 provides flat ribbon cable port and round ribbon cable port. Using flat ribbon cable to connect the Port 1 with J3 of PSDK Adapter Board. Using round ribbon cable to connect the Port 2 with J2 of PSDK Adapter Board. The pins of SkyPort V2 is shown at Figure. SkyPort V2 pins.
Notes:
- Developer only could choose Port 1 or Port 2, both of them cannot be used at the same time.
- Please use the specified cable to connect the Port1 and the Expansion Board, confirmed that the red cable is aligned with the dot mark, otherwise, the payload may be burned.
Figure. SkyPort V2 pins
- Port 1
| Pin Number | Function |
|---|---|
| 1～６ | Power Supply |
| 11, 12 | Payload communicate with aircraft（Must） |
| 14 | Time Sync (the aircraft must have RTK) |
| 15, 16 | High Power Apply |
| 17～20 | Transfer the high-speed data |
Table. SkyPort V2 Pins
- Port 2
| Pin Number | Function |
|---|---|
| 1～17 | Power Supply |
| 37, 39 | Payload communicate with aircraft（Must） |
| 19 | Time Sync(the aircraft must have RTK) |
| 22 | High Power Apply |
| 23, 25, 29, 31 | Transfer the high-speed data |
Table. SkyPort V2 Pins
X-Port
X-Port provides a cable interface, which can be used to connect X-Port to an interface expansion board or third-party development board. The pins of X-Port standard gimbal is shown at Figure. X-Port standard gimbal pins.
Note: Please use the specified cable to connect the X-Port and the Expansion Board. It should be confirmed that the red cable is aligned with the dot mark, otherwise, the payload may be burned.
Figure. X-Port standard gimbal pins
Note: When using X-Port standard gimbal to develop payload device with gimbal function, accessories in Payload SDK Development Kit 2.0 can be adapted to third-party platforms.
| Pin Number | Function |
|---|---|
| 1～６ | Power Supply |
| 11, 12 | Payload communicate with aircraft（Must） |
| 14 | Time Sync (the aircraft must have RTK) |
| 15, 16 | High Power Apply |
| 17～20 | Transfer the high-speed data |
Table. X-Port Pins
Install the Payload
- Install the spindle arm: Use four M2 × 12 screws to lock the payload, and the depth of the corresponding threaded hole on the payload is not less than 5.3 mm.
- Install the auxiliary shaft arm: Use an M3 screw, auxiliary shaft sleeve, and auxiliary shaft rubber plug to lock the auxiliary shaft arm. Make sure the M3 screw passes through the center axis of the pitch axis.
- The centroid of the payload
- For a payload with a constant centroid, the payload must be on the vertical line of the pitch axis.
- For a zoom camera with a variable center of the centroid, the payload must be on the vertical line of the pitch axis when the lens is at the maximum magnification.
PSDK Adapter Board
Figure. Adapter Board
| Interface number | Interface type | Pin Name | Function Description |
|---|---|---|---|
| J2 | Cable interface | - | Connect the interface expansion board to SkyPort V2 or X-Port through this interface |
| J3 | Coaxial interface | - | Through this interface, connect the interface expansion board to the load device development board in SkyPort V2 or SkyPort development kit |
| J10 | Pin | UART_TX、UART_RX | Connect the interface expansion board to a third-party development board through this interface, UART_ TX/UART_ RX/GND is connected to the RX/TX/GND of the load device separately |
| PPS | The third-party development board synchronizes the time with the aircraft with RTK function through this pin | - | - |
| HPWR | The third-party development board applies for high voltage to the aircraft through this pin | - | - |
| J35 | Power Output Port | - | Interface expansion board outputs 13.6V/4A or 17V/4A voltage |
| J36 | Interface expansion board outputs 9V/2A voltage | - | - |
| J37 | Interface expansion board outputs 5V/2A voltage | - | - |
| J40 | Network interface | - | You can obtain video streams and user-defined data information on the load device through this interface |
Table. Adapter Board Pin
OSDK Port
Figure. OSDK Port
| Number | A1 | A2 | A3 | A4 | A5 | A6 | A7 | A8 | A9 | A10 | A11 | A12 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Interface Name | GND | NC | NC | VCC_24V | SYNC_PPS | USB_ID | USB_VBUS | ON_DET | VCC_24V | NC | NC | GND |
| Number | B12 | B11 | B10 | B9 | B8 | B7 | B6 | B5 | B4 | B3 | B2 | B1 |
| Interface Name | GND | NC | NC | VCC_24V | UART_RX | USB_DM | USB_DP | UART_TX | VCC_24V | NC | NC | GND |
Table. OSDK Port pins
Notes:
- There are differences between different models in power supply interface, USB_VBUS interface, and USB_ID interface. Compatibility needs to be considered in software and hardware design.
- NC pins are reserved signal pins of the aircraft side. To avoid the damage of the aircraft SDK interface during development and use, please leave the NC pins unconnected and do not connect to the custom pins of the device side.
Power Output:
If you need to power the user load equipment, please use the VCC_24V pin.
Note:
- The rated voltage of this interface is 24V, and the total power output by the aircraft is 96w.
- Those VCC_24V pins are on the same network, developers could connect the VCC_24V pins according to actual requirements. But to ensure the aircraft output the current continuously and steadily, please connect 4 VCC_24V pins at the same time.
M300 RTK is in USB accessory mode, USB_ID pin (A6) must be floated.
If USB_VBUS pin (A7) is connected to the VBUS pin of the user's OSDK device, TVS devices should be connected for ESD protection. The voltage of this pin should not exceed 5V.
ON_DET pin (A8) is a detect pin of M300 external OSDK device. For 24V voltage output, the opposite connected to the ON_DET pin (A8) must be GND, and do not connect any resistance in series.
Data Communication:
- If you want to use the USB 2.0 function, please use the USB_DP pin (B6) and USB_DM pin (B7).
- To use the serial port on the aircraft to communicate with the user payload device, please use the UART_RX pin (B8) and UART_TX pin (B5). UART_RX pin (B8) should connect with the TX side of the OSDK device and UART_TX pin (B5) should connect with the RX side of the OSDK device.
Note: The baud rates of serial port supported by M300 RTK OSDK Port are 115200, 230400, 460800, 921600 and 1000000.
Time Synchronization: If you need to use the synchronization signal output by the aircraft, please use the SYNC_PPS pin (A5).
E-Port Development Kit
OSDK port can connect to the E-Port development kit. Please read the E-Port Development Kit on this page.
Using OSDK Expansion Module
Note: The details for installing the OSDK expansion module on the M300 RTK, please refer to the OSDK Expansion Module Product Information. The extension component is now available for sale in DJI mall, please click purchase link.
- Communication Interface
Figure. Communication Interface
Note:
- The USB 2.0 port of the OSDK expansion module is the USB Device, and the user payload device is the Host.
- Developers can use the power cord and USB cable to connect the user payload device and the OSDK expansion module.
- OSDK USB2.0 Interface
Figure. OSDK USB2.0 Interface
- Power Output 24V (XT30)
Figure. Power Output 24V (XT30)