From 2be2a26602e80acf949f653cca30332749bbfa8c Mon Sep 17 00:00:00 2001
From: "William.Wu" <git@justwillim.com>
Date: Fri, 11 Dec 2015 14:46:14 +0800
Subject: [PATCH] Update available Library fos 2.3 SDK

---
 lib/doc/img/LibV2_3Structure.jpg | Bin 0 -> 161745 bytes
 lib/inc/DJI_API.h                | 190 ++++++++------------
 lib/inc/DJI_App.h                |  66 ++-----
 lib/inc/DJI_Camera.h             |  48 +++++
 lib/inc/DJI_Config.h             |  15 +-
 lib/inc/DJI_Flight.h             |  45 +++++
 lib/inc/DJI_HardDriver.h         |  86 +++++++--
 lib/inc/DJI_Link.h               |  37 ++--
 lib/inc/DJI_Memory.h             |   6 +-
 lib/inc/DJI_Type.h               | 233 +++++++++++++++---------
 lib/inc/DJI_Version.h            |  21 +++
 lib/src/DJI_API.cpp              | 293 +++++++++++++++----------------
 lib/src/DJI_App.cpp              | 167 ++++++++----------
 lib/src/DJI_Camera.cpp           |  57 ++++++
 lib/src/DJI_Codec.cpp            |  48 ++++-
 lib/src/DJI_Flight.cpp           |  85 ++++++++-
 lib/src/DJI_HardDriver.cpp       |  27 ++-
 lib/src/DJI_Link.cpp             |  93 +++++++---
 lib/src/DJI_Memory.cpp           |  12 +-
 19 files changed, 949 insertions(+), 580 deletions(-)
 create mode 100644 lib/doc/img/LibV2_3Structure.jpg
 create mode 100644 lib/inc/DJI_Camera.h
 create mode 100644 lib/inc/DJI_Flight.h
 create mode 100644 lib/inc/DJI_Version.h
 create mode 100644 lib/src/DJI_Camera.cpp

diff --git a/lib/doc/img/LibV2_3Structure.jpg b/lib/doc/img/LibV2_3Structure.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6f1c0b9d297e04824ea626e1ddb638e25b533cb7
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diff --git a/lib/inc/DJI_API.h b/lib/inc/DJI_API.h
index d5835e7ef..2c11eb407 100644
--- a/lib/inc/DJI_API.h
+++ b/lib/inc/DJI_API.h
@@ -1,9 +1,10 @@
 /*! @brief
- *  @file DJI_Pro_API.h
- *  @version 1.0
+ *  @file DJI_API.h
+ *  @version 3.0
  *  @date Nov 15, 2015
  *
  *  @abstract
+ *  Core API for DJI onboardSDK library
  *
  *  @attention
  *  Project configuration:
@@ -16,8 +17,8 @@
  *
  * */
 
-#ifndef DJI_PRO_API_H
-#define DJI_PRO_API_H
+#ifndef DJI_API_H
+#define DJI_API_H
 #include "DJI_Type.h"
 
 #include "DJI_HardDriver.h"
@@ -29,10 +30,8 @@ namespace onboardSDK
 class CoreAPI;
 class Flight;
 class Camera;
-class Mission;
-class Swarm;
-class VirtualRC;
 
+//! @todo sort enum and move to a new file
 enum TASK
 {
     TASK_GOHOME = 1,
@@ -40,17 +39,28 @@ enum TASK
     TASK_LANDING = 6
 };
 
+enum ACK_CODE
+{
+    ACK_SUCCESS = 0x0000,
+    ACK_KEYERROR = 0xFF00,
+    ACK_NO_AUTHORIZATION = 0xFF01,
+    ACK_NO_RIGHTS = 0xFF02,
+    ACK_NO_RESPONSE = 0xFFFF
+};
+
 enum CMD_SET
 {
     SET_ACTIVATION = 0x00,
     SET_CONTROL = 0x01,
-    SET_BROADCAST = 0x02
+    SET_BROADCAST = 0x02,
+    SET_VIRTUALRC = 0x05
 };
 
 enum ACTIVATION_CODE
 {
     CODE_GETVERSION = 0,
     CODE_ACTIVATE = 1,
+    CODE_FREQUENCY = 0x10,
     CODE_TOMOBILE = 0xFE
 };
 
@@ -59,29 +69,23 @@ enum CONTROL_CODE
     CODE_SETCONTROL = 0,
     CODE_TASK = 1,
     CODE_STATUS = 2,
-    CODE_CONTORL = 3,
-    CODE_GIMBAL_SPEED = 0x1A,
-    CODE_GIMBAL_ANGLE = 0x1B,
-    CODE_CAMERA_SHOT = 0x20,
-    CODE_CAMERA_VIDEO_START = 0x21,
-    CODE_CAMERA_VIDEO_STOP = 0x22
+    CODE_CONTROL = 3,
+    CODE_SETARM = 5,
 };
 
 enum BROADCAST_CODE
 {
     CODE_BROADCAST = 0x00,
     CODE_LOSTCTRL = 0x01,
-    CODE_FROMMOBILE = 0x02
+    CODE_FROMMOBILE = 0x02,
+    CODE_MISSION = 0x03,
+    CODE_WAYPOINT = 0x04
 };
 
-/*! @note overdefined in CONTROL_CODE
- * Just using for test
- * */
-enum CAMERA
+enum VIRTUALRC_CODE
 {
-    CAMERA_SHOT = 0x20,
-    CAMERA_VIDEO_START = 0x21,
-    CAMERA_VIDEO_STOP = 0x22
+    CODE_VIRTUALRC_SETTINGS,
+    CODE_VIRTUALRC_DATA
 };
 
 class CoreAPI
@@ -94,83 +98,79 @@ class CoreAPI
      *
      * @note
      * if you can read data in a interrupt, try to pass data through
-     *byteHandler();
+     * byteHandler() or byteStreamHandler()
      * */
   public:
     void sendPoll(void);
     void readPoll(void);
+    void callbackPoll(void);//! @todo not available yet
+    void autoResendPoll(void);//! @todo not available yet
 
+    //! @todo modify to a new algorithm
     void byteHandler(const uint8_t in_data);
+    void byteStreamHandler(uint8_t *buffer, size_t size);
 
   public:
-    /*! @code API*/
-    CoreAPI(HardDriver *Driver, ReceiveHandler user_cmd_handler_entrance = 0);
+    /*! @code CoreAPI*/
+    //! @note init API
+    CoreAPI(HardDriver *Driver, bool useCallbackThread = false, CallBack userRecvCallback = 0);
+
+    //! @note Core Control API
+    void ack(req_id_t req_id, unsigned char *ackdata, int len);
     void send(unsigned char session_mode, unsigned char is_enc, CMD_SET cmd_set,
-              unsigned char cmd_id, unsigned char *pdata, int len,
-              CallBack ack_callback, int timeout, int retry_time);
+              unsigned char cmd_id, void *pdata, int len,
+              CallBack ack_callback = 0, int timeout = 0, int retry_time = 1);
     void send(Command *parameter);
-    void ack(req_id_t req_id, unsigned char *ackdata, int len);
-    void getVersion(Get_API_Version_Notify user_notice_entrance);
-    void task(TASK taskname, CommandResult user_notice_entrance);
-    void activate(ActivateData_t *p_user_data,
-                  CommandResult user_notice_entrance);
-    void sendToMobile(unsigned char *data, unsigned char len,
-                      CommandResult user_notice_entrance);
-    void setControl(unsigned char cmd, CommandResult user_notice_entrance);
-
-    /*! @code Flight contorl
-     *  @note These functions is based on API functions above.
-     *  @todo move to a new class
-     */
-    void setAttitude(AttitudeData_t *p_user_data);
-    void setGimbalAngle(GimbalAngleData *p_user_data);
-    void setGimbalSpeed(GimbalSpeedData *p_user_data);
-    void setCamera(CAMERA camera_cmd);
-
-    QuaternionData getQuaternion() const;
+
+    void activate(ActivateData *data, CallBack callback = 0);
+    void setControl(bool enable, CallBack callback = 0);
+    void getVersion(CallBack callback = 0);
+    void sendToMobile(uint8_t *data, uint8_t len, CallBack callback = 0);
+    void setBroadcastFeq(uint8_t *data, CallBack callback = 0);
+    void setActivation(bool isActivated);
+    void setKey(const char *key);
+
+    //! @note Core read API
     BroadcastData getBroadcastData() const;
+    TimeStampData getTime() const;
+    FlightStatus getFlightStatus() const;
     CtrlInfoData getCtrlInfo() const;
     BatteryData getBatteryCapacity() const;
-    CommonData getGroundAcc() const;
-    SpeedData getGroundSpeed() const;
 
-    /*! @code user functions entrance*/
+    /*! @todo user functions entrance*/
     void setTransparentTransmissionCallback(
         TransparentHandler transparentHandlerEntrance);
-    void setBroadcastCallback(BroadcastHandler broadcastHandlerEntrance);
+
+    //! @note call back functions
+  public:
+    void setBroadcastCallback(CallBack callback);
+
+    static void activateCallback(CoreAPI *This, Header *header);
+    static void getVersionCallback(CoreAPI *This, Header *header);
+    static void setControlCallback(CoreAPI *This, Header *header);
+    static void sendToMobileCallback(CoreAPI *This, Header *header);
+    static void setFrequencyCallback(CoreAPI *This, Header *header);
 
   private:
     BroadcastData broadcastData;
 
   private:
-    //! @note reconstructed from DJI_Pro_App.cpp
     unsigned char encodeSendData[BUFFER_SIZE];
     unsigned char encodeACK[ACK_SIZE];
 
-    CommandResult taskResult;
-    CommandResult activateResult;
-    CommandResult toMobileResult;
-    CommandResult setControlResult;
-
-    ReceiveHandler recvHandler;
-    BroadcastHandler broadcastHandler;
+    CallBack cbList[CALLBACK_LIST_NUM];
+    CallBack broadcastCallback;
+    CallBack recvCallback;
+    uint8_t cblistTail;
     TransparentHandler transparentHandler;
 
-    TaskData_t taskData;
-    VersionData_t versionData;
-    ActivateData_t accountData;
+    VersionData versionData;
+    ActivateData accountData;
 
     unsigned short seq_num;
 
     SDKFilter filter;
 
-  private:
-    static void taskCallback(CoreAPI *This, Header *header);
-    static void activateCallback(CoreAPI *This, Header *header);
-    static void getVersionCallback(CoreAPI *This, Header *header);
-    static void setControlCallback(CoreAPI *This, Header *header);
-    static void sendToMobileCallback(CoreAPI *This, Header *header);
-
   private:
     void recvReqData(Header *header);
     void appHandler(Header *header);
@@ -212,62 +212,22 @@ class CoreAPI
     void verifyHead(SDKFilter *p_filter);
     void verifyData(SDKFilter *p_filter);
     void callApp(SDKFilter *p_filter);
-    void setKey(const char *key);
+    void storeData(SDKFilter *p_filter, unsigned char in_data);
+    bool decodeACKStatus(unsigned short ack);
 
   public:
     HardDriver *getDriver() const;
     void setDriver(HardDriver *value);
 
+    ActivateData getAccountData() const;
+    void setAccountData(const ActivateData &value);
+
   private:
     HardDriver *driver;
-};
-
-class Flight
-{
-public:
-    Flight(CoreAPI* ContorlAPI);
-private:
-    Flight();
-    CoreAPI* api;
-};
-
-class Camera
-{
-public:
-    Camera(CoreAPI* ContorlAPI);
-private:
-    Camera();
-    CoreAPI* api;
-};
-
-class Mission
-{
-public:
-    Mission(CoreAPI* ContorlAPI);
-private:
-    Mission();
-    CoreAPI* api;
-};
-
-class Swarm
-{
-public:
-    Swarm(CoreAPI* ContorlAPI);
-private:
-    Swarm();
-    CoreAPI* api;
-};
-
-class VirtualRC
-{
-public:
-    VirtualRC(CoreAPI* ContorlAPI);
-private:
-    VirtualRC();
-    CoreAPI* api;
+    bool CallbackThread;
 };
 
 } // namespace onboardSDK
 } // namespace DJI
 
-#endif // DJI_PRO_API_H
+#endif // DJI_API_H
diff --git a/lib/inc/DJI_App.h b/lib/inc/DJI_App.h
index f7d2fc88c..884783954 100644
--- a/lib/inc/DJI_App.h
+++ b/lib/inc/DJI_App.h
@@ -1,19 +1,10 @@
-/*
- * DJI_Pro_App.cpp
- *
- *  Created on: Sep 8, 2015
- *      Author: wuyuwei
- *  Modified on: Nov 11, 2015
- *  by william.wu
- */
-#ifndef __DJI_PRO_APP_H__
-#define __DJI_PRO_APP_H__
+#ifndef DJI_APP_H
+#define DJI_APP_H
 
 #include <stdint.h>
 
 #include "DJI_Link.h"
-
-#define MY_DEV_ID 0x00
+#include "DJI_Type.h"
 
 #define API_VER_QUERY 0x00
 #define API_CTRL_MANAGEMENT 0x00
@@ -56,19 +47,12 @@
 #define YAW_GND 0x00
 #define YAW_BODY 0x01
 
-#define MAKE_VERSION(a, b, c, d)                                               \
-    (((a << 24) & 0xff000000) | ((b << 16) & 0x00ff0000) |                     \
-     ((c << 8) & 0x0000ff00) | (d & 0x000000ff))
-#define SDK_VERSION (MAKE_VERSION(2, 3, 10, 0))
-
-// data_type
-
 //----------------------------------------------------------------------
 // uav std_msgs reciever
 //----------------------------------------------------------------------
 #define MSG_ENABLE_FLAG_LEN 2
 
-#define ENABLE_MSG_TIME 0x0001
+#define HAS_TIME 0x0001
 #define HAS_Q 0x0002
 #define HAS_A 0x0004
 #define HAS_V 0x0008
@@ -115,7 +99,7 @@ typedef struct
 {
     unsigned char cmd_sequence;
     unsigned char cmd_data;
-} TaskData_t;
+} TaskData;
 
 //----------------------------------------------------------------------
 // for activation
@@ -124,13 +108,6 @@ typedef struct
 /*
  *  code re-construction according onboard api protocol
  */
-
-#define SDK_ERR_SUCCESS 0x0000
-#define SDK_ERR_COMMAND_NOT_SUPPORTED 0xFF00
-#define SDK_ERR_NO_AUTHORIZED 0xFF01
-#define SDK_ERR_NO_RIGHTS 0xFF02
-#define SDK_ERR_NO_RESPONSE 0xFFFF
-
 #define SDK_ACTIVATE_SUCCESS 0x0000
 #define SDK_ACTIVATE_PARAM_ERROR 0x0001
 #define SDK_ACTIVATE_DATA_ENC_ERROR 0x0002
@@ -141,54 +118,41 @@ typedef struct
 #define SDK_ACTIVATE_LEVEL_ERROR 0x0007
 #define SDK_ACTIVATE_SDK_VERSION_ERROR 0x0008
 
-
 #pragma pack(1)
 
-/*
- *struct of activate data
- */
-
-typedef struct
+typedef struct ActivateData
 {
     unsigned int app_id;
     unsigned int app_api_level;
     unsigned int app_ver;
     unsigned char app_bundle_id[32];
     char *app_key;
-} ActivateData_t;
+} ActivateData;
 
-/*
- *struct of version query data
- */
-
-typedef struct
+typedef struct VersionData
 {
     unsigned short version_ack;
     unsigned int version_crc;
+#ifdef SDK_VERSION_3_1
+    char version_ID[11];
+#endif //SDK_VERSION_3_1
     char version_name[32];
-} VersionData_t;
+} VersionData;
 
-/*
- *struct of attitude data
- */
-
-typedef struct
+typedef struct FlightData
 {
     unsigned char ctrl_flag;
     float roll_or_x;
     float pitch_or_y;
     float thr_z;
     float yaw;
-} AttitudeData_t;
+} FlightData;
 
 #pragma pack()
 
 typedef void (*CommandResult)(unsigned short result);
-typedef void (*Get_API_Version_Notify)(VersionData_t *);
 typedef void (*ReceiveHandler)(DJI::onboardSDK::Header *pHeader);
 typedef void (*BroadcastHandler)(void);
 typedef void (*TransparentHandler)(unsigned char *buf, unsigned char len);
 
-typedef void (*ResultCallback)(DJI::onboardSDK::CoreAPI *);
-
-#endif
+#endif // DJI_APP_H
diff --git a/lib/inc/DJI_Camera.h b/lib/inc/DJI_Camera.h
new file mode 100644
index 000000000..cfc29ddad
--- /dev/null
+++ b/lib/inc/DJI_Camera.h
@@ -0,0 +1,48 @@
+#ifndef DJI_CAMERA_H
+#define DJI_CAMERA_H
+
+#include "DJI_API.h"
+
+namespace DJI
+{
+namespace onboardSDK
+{
+class Camera
+{
+  public:
+    enum CAMERA_CODE
+    {
+        CODE_GIMBAL_SPEED = 0x1A,
+        CODE_GIMBAL_ANGLE = 0x1B,
+        CODE_CAMERA_SHOT = 0x20,
+        CODE_CAMERA_VIDEO_START = 0x21,
+        CODE_CAMERA_VIDEO_STOP = 0x22
+    };
+
+  public:
+    Camera(CoreAPI *ContorlAPI = 0);
+
+    //! @note all camera control functions are none-callback function.
+    void setCamera(CAMERA_CODE camera_cmd);
+    void setGimbalAngle(GimbalAngleData *data);
+    void setGimbalSpeed(GimbalSpeedData *data);
+
+    GimbalData getGimbal() const;
+    float32_t getYaw() const;
+    float32_t getRoll() const;
+    float32_t getPitch() const;
+    bool isYawLimit() const;
+    bool isRollLimit() const;
+    bool isPitchLimit() const;
+
+  public: //! @note Access method
+    CoreAPI *getApi() const;
+    void setApi(CoreAPI *value);
+
+  private:
+    CoreAPI *api;
+};
+} // namespace onboardSDK
+} // namespace DJI
+
+#endif // DJI_CAMERA_H
diff --git a/lib/inc/DJI_Config.h b/lib/inc/DJI_Config.h
index 3cefeb7ca..c4d877518 100644
--- a/lib/inc/DJI_Config.h
+++ b/lib/inc/DJI_Config.h
@@ -1,13 +1,18 @@
-#ifndef __DJI_CONFIG_H__
-#define __DJI_CONFIG_H__
+#ifndef DJI_CONFIG_H
+#define DJI_CONFIG_H
 
 #include <stdint.h>
-#define MEMORY_SIZE 1000 // unit is byte
+#define MEMORY_SIZE 1024 // unit is byte
 #define BUFFER_SIZE 1024
 #define ACK_SIZE 10
 
-#define API_DEBUG_DATA
+//#define API_DEBUG_DATA
 #define API_ERROR_DATA
 #define API_STATUS_DATA
 
-#endif //__DJI_CONFIG_H__
+#define SDK_VERSION_2_3
+//#define SDK_VERSION_3_0
+//#define SDK_VERSION_3_1
+#include <DJI_Version.h>
+
+#endif // DJI_CONFIG_H
diff --git a/lib/inc/DJI_Flight.h b/lib/inc/DJI_Flight.h
new file mode 100644
index 000000000..91053af6a
--- /dev/null
+++ b/lib/inc/DJI_Flight.h
@@ -0,0 +1,45 @@
+#ifndef DJI_FLIGHT_H
+#define DJI_FLIGHT_H
+
+#include "DJI_API.h"
+
+namespace DJI
+{
+namespace onboardSDK
+{
+
+class Flight
+{
+public:
+
+  public:
+    Flight(CoreAPI *ContorlAPI = 0);
+
+    void task(TASK taskname, CallBack TaskCallback = 0);
+    void setArm(bool enable, CallBack ArmCallback = 0);
+    void setFlight(FlightData *data);
+
+    QuaternionData getQuaternion() const;
+    PossitionData getPossition()const;
+    VelocityData getVelocity() const;
+    CommonData getAcceleration() const;
+    CommonData getPalstance() const;
+    MagnetData getMagnet() const;
+
+  public: //! @note callbacks
+    static void armCallback(CoreAPI *This, Header *header);
+    static void taskCallback(CoreAPI *This, Header *header);
+
+  public: //! @note Access method
+    CoreAPI *getApi() const;
+    void setApi(CoreAPI *value);
+
+  private:
+    CoreAPI *api;
+    TaskData taskData;
+};
+
+} // namespace onboardSDK
+} // namespace DJI
+
+#endif // DJI_FLIGHT_H
diff --git a/lib/inc/DJI_HardDriver.h b/lib/inc/DJI_HardDriver.h
index ed32915af..2ca235df1 100644
--- a/lib/inc/DJI_HardDriver.h
+++ b/lib/inc/DJI_HardDriver.h
@@ -1,5 +1,23 @@
-#ifndef __DJI_PRO_HW_H__
-#define __DJI_PRO_HW_H__
+/*! @brief
+ *  @file DJI_HardDriver.h
+ *  @version 3.0
+ *  @date Dec 9, 2015
+ *
+ *  @abstract
+ *  Hard ware level for DJI onboardSDK library
+ *
+ *  @attention
+ *  Project configuration:
+ *
+ *  @version features:
+ *  -* @version V3.0
+ *  -* DJI-onboard-SDK for Windows,QT,STM32,ROS,Cmake
+ *  -* @date Dec 9, 2015
+ *  -* @author william.wu
+ *
+ * */
+#ifndef DJI_HARDDRIVER_H
+#define DJI_HARDDRIVER_H
 
 #include <stdint.h>
 #include "DJI_Type.h"
@@ -11,28 +29,72 @@ namespace onboardSDK
 
 class HardDriver
 {
-public:
-    HardDriver();
+  public:
+    HardDriver() {}
 
-public:
+    /*! @note How to use
+     *  In order to provide platform crossable DJI onboardSDK library,
+     *  we abstract this class as a hard ware level.
+     *
+     *  @note function descriptions:
+     *
+     *  void init();
+     *  @brief After calling this function, HardDriver should be able to
+     *  read and send correctly, through a correct UART part
+     *
+     *  unsigned int getTimeStamp();
+     *  @brief returns a TimeStamp data in unit msec.
+     *  The difference between the return value of the function call two times
+     *  is the excat time between them in msec.
+     *
+     *  size_t send(const uint8_t *buf, size_t len);
+     *  @brief return sent data length.
+     *
+     *  size_t readall(uint8_t *buf, size_t maxlen) = 0;
+     *  @brief return read data length.
+     *
+     *  void lockMemory();/ void freeMemory();
+     *  @brief provide a mutex for multi-thread. when operating memory.
+     *
+     *  void lockMSG();/ void freeMSG();
+     *  @brief provide a mutex for multi-thread. when operating messages.
+     *
+     *  @attention
+     *  when writting and reading data, there might have multi-thread problems.
+     *  Abstract class HardDriver did not consider these issue.
+     *  Please be careful when you are going to implement send and readall
+     *funtions.
+     *
+     *  @note
+     *  we strongly suggest you to inherit this class in your own file, not just
+     *implement
+     *  it in DJI_HardDriver.cpp or inside this class
+     *
+     * */
+  public:
     virtual void init() = 0;
     virtual unsigned int getTimeStamp() = 0;
     virtual size_t send(const uint8_t *buf, size_t len) = 0;
     virtual size_t readall(uint8_t *buf, size_t maxlen) = 0;
 
-public:
+  public:
     virtual void lockMemory() = 0;
     virtual void freeMemory() = 0;
 
     virtual void lockMSG() = 0;
     virtual void freeMSG() = 0;
+
+  public:
+    enum DisplayType
+    {
+        TYPE_STATUS,
+        TYPE_ERROR,
+        TYPE_DEBUG
+    };
+
+    virtual void displayLog(char *buf = 0);
 };
 } // namespace onboardSDK
 } // namespace DJI
 
-#ifdef V2_0
-extern void Get_Memory_Lock(void);
-extern void Free_Memory_Lock(void);
-#endif
-
-#endif // DJI_PRO_HW_H
+#endif // DJI_HARDDRIVER_H
diff --git a/lib/inc/DJI_Link.h b/lib/inc/DJI_Link.h
index 0962a5167..4cbe2f610 100644
--- a/lib/inc/DJI_Link.h
+++ b/lib/inc/DJI_Link.h
@@ -1,16 +1,27 @@
-/*
- * DJI_Pro_Link.h
+/*! @brief
+ *  @file DJI_Link.h
+ *  @version 3.0
+ *  @date Dec 4, 2015
  *
- *  Created on: Mar 12, 2015
- *      Author: wuyuwei
- *  Modified on: Nov 11, 2015
- *  by william.wu
- */
-
-#ifndef DJI_PRO_LINK_H_
-#define DJI_PRO_LINK_H_
-
-#define DJI_SDK_PRO_VER 0
+ *  @abstract
+ *
+ *  @attention
+ *  Project configuration:
+ *
+ *  @version features:
+ *  -* @version V3.0
+ *  -* DJI-onboard-SDK for Windows,QT,STM32,ROS,Cmake
+ *  -* @date Nov 15, 2015
+ *  -* @author william.wu
+ *  -*
+ *  -* @version V2.0
+ *  -* C-like DJI-onboard-SDK library
+ *  -* @date Mar 12, 2015
+ *  -* @author wuyuwei
+ *
+ * */
+#ifndef DJI_LINK_H
+#define DJI_LINK_H
 
 #define ACK_SESSION_IDLE 0
 #define ACK_SESSION_PROCESS 1
@@ -20,4 +31,4 @@
 
 #include "DJI_Type.h"
 
-#endif /* DJI_PRO_LINK_H_ */
+#endif // DJI_LINK_H
diff --git a/lib/inc/DJI_Memory.h b/lib/inc/DJI_Memory.h
index 1e41d0604..61638ab2c 100644
--- a/lib/inc/DJI_Memory.h
+++ b/lib/inc/DJI_Memory.h
@@ -1,6 +1,6 @@
-#ifndef DJI_PRO_RMU_H_
-#define DJI_PRO_RMU_H_
+#ifndef DJI_MEMORY_H
+#define DJI_MEMORY_H
 
 #include "DJI_Type.h"
 
-#endif /* DJI_PRO_RMU_H_ */
+#endif // DJI_MEMORY_H
diff --git a/lib/inc/DJI_Type.h b/lib/inc/DJI_Type.h
index 86c39f3ce..5258399cd 100644
--- a/lib/inc/DJI_Type.h
+++ b/lib/inc/DJI_Type.h
@@ -1,38 +1,59 @@
-#ifndef DJI_PRO_TYPE
-#define DJI_PRO_TYPE
+#ifndef DJI_TYPE
+#define DJI_TYPE
 
 #include "DJI_Config.h"
+#include <stdio.h>
+
+#ifdef __GNUC__
+#define __UNUSED __attribute__((__unused__))
+#else
+#define __UNUSED
+#endif //__GNUC__
 
 #ifdef WIN32
 #define __func__ __FUNCTION__
-#endif
+#endif // WIN32
+
+#define APIprintf(...)                                                         \
+    sprintf_s(DJI::onboardSDK::buffer, bufsize, ##__VA_ARGS__)
+
+#define API_LOG(driver, title, fmt, ...)                                       \
+    {                                                                          \
+        if ((title))                                                           \
+        {                                                                      \
+            APIprintf("%s %s,line %d: " fmt, title, __func__, __LINE__,        \
+                      ##__VA_ARGS__);                                          \
+            (driver)->displayLog();                                            \
+        }                                                                      \
+    }
 
 #ifdef API_DEBUG_DATA
-#define API_DEBUG(format, ...)                                                 \
-    printf("DEBUG %s,line %d: " format, __func__, __LINE__, ##__VA_ARGS__)
+#define DEBUG_LOG "DEBUG"
 #else
-#define API_DEBUG(format, ...) 0
+#define DEBUG_LOG 0
 #endif
 
 #ifdef API_ERROR_DATA
-#define API_ERROR(format, ...)                                                 \
-    printf("Error %s,line %d: " format, __func__, __LINE__, ##__VA_ARGS__)
+#define ERROR_LOG "ERROR"
 #else
-#define API_ERROR(format, ...) 0
+#define ERROR_LOG 0
 #endif
 
 #ifdef API_STATUS_DATA
-#define API_STATUS(format, ...)                                                \
-    printf("MSG %s,line %d: " format, __func__, __LINE__, ##__VA_ARGS__)
+#define STATUS_LOG "STATUS"
 #else
-#define API_STATUS(format, ...) 0
+#define STATUS_LOG 0
 #endif
 
 namespace DJI
 {
 namespace onboardSDK
 {
+const size_t bufsize = 1024;
+extern char buffer[];
+
 const size_t SESSION_TABLE_NUM = 32;
+const size_t CALLBACK_LIST_NUM = 10;
 class CoreAPI;
 
 typedef struct Header
@@ -87,63 +108,52 @@ typedef struct MMU_Tab
 
 typedef struct CMDSession
 {
-    unsigned int sessionID : 5;
-    unsigned int usageFlag : 1;
-    unsigned int sent : 5;
-    unsigned int retry : 5;
-    unsigned int timeout : 16;
+    uint32_t sessionID : 5;
+    uint32_t usageFlag : 1;
+    uint32_t sent : 5;
+    uint32_t retry : 5;
+    uint32_t timeout : 16;
     MMU_Tab *mmu;
     CallBack callback;
-    unsigned int pre_seq_num;
-    unsigned int pre_timestamp;
+    uint32_t pre_seq_num;
+    uint32_t pre_timestamp;
 } CMDSession;
 
 typedef struct ACKSession
 {
-    unsigned int sessionID : 5;
-    unsigned int session_status : 2;
-    unsigned int res : 25;
+    uint32_t sessionID : 5;
+    uint32_t session_status : 2;
+    uint32_t res : 25;
     MMU_Tab *mmu;
 } ACKSession;
 
 typedef struct Ack
 {
-    unsigned short session_id : 8;
-    unsigned short need_encrypt : 8;
-    unsigned short seq_num;
-    unsigned int length;
-    unsigned char *buf;
+    uint16_t session_id : 8;
+    uint16_t need_encrypt : 8;
+    uint16_t seq_num;
+    uint32_t length;
+    uint8_t *buf;
 } Ack;
 
-typedef uint8_t BatteryData;
 #pragma pack(1)
+typedef uint8_t BatteryData;
 
 typedef struct GimbalAngleData
 {
-    signed short yaw_angle;
-    signed short roll_angle;
-    signed short pitch_angle;
-    struct
-    {
-        unsigned char base : 1;
-        unsigned char yaw_cmd_ignore : 1;
-        unsigned char roll_cmd_ignore : 1;
-        unsigned char pitch_cmd_ignore : 1;
-        unsigned char reserve : 4;
-    } ctrl_byte;
-    unsigned char duration;
+    int16_t yaw_angle;
+    int16_t roll_angle;
+    int16_t pitch_angle;
+    uint8_t ctrl_byte;
+    uint8_t duration;
 } GimbalAngleData;
 
 typedef struct GimbalSpeedData
 {
-    signed short yaw_angle_rate;
-    signed short roll_angle_rate;
-    signed short pitch_angle_rate;
-    struct ControlByte
-    {
-        unsigned char reserve : 7;
-        unsigned char ctrl_switch : 1; // decide increment mode or absolute mode
-    } ctrl_byte;
+    int16_t yaw_angle_rate;
+    int16_t roll_angle_rate;
+    int16_t pitch_angle_rate;
+    uint8_t reserved; // always 0x80;
 } GimbalSpeedData;
 
 typedef float float32_t;
@@ -164,66 +174,125 @@ typedef struct
     float32_t z;
 } CommonData;
 
-typedef struct SpeedData
+typedef struct VelocityData
 {
     float32_t x;
     float32_t y;
     float32_t z;
-    unsigned char health_flag : 1;
-    unsigned char feedback_sensor_id : 4;
-    unsigned char reserve : 3;
-} SpeedData;
+    uint8_t health_flag : 1;
+    uint8_t feedback_sensor_id : 4;
+    uint8_t reserve : 3;
+} VelocityData;
 
 typedef struct
 {
-    float64_t lati;
-    float64_t longti;
-    float32_t alti;
+    float64_t latitude;
+    float64_t longtitude;
+    float32_t altitude;
     float32_t height;
-    unsigned char health_flag;
-} PositionData_t;
+    uint8_t health;
+} PossitionData;
 
 typedef struct
 {
-    signed short roll;
-    signed short pitch;
-    signed short yaw;
-    signed short throttle;
-    signed short mode;
-    signed short gear;
-} RadioData_t;
+    int16_t roll;
+    int16_t pitch;
+    int16_t yaw;
+    int16_t throttle;
+    int16_t mode;
+    int16_t gear;
+} RadioData;
 
 typedef struct
 {
-    signed short x;
-    signed short y;
-    signed short z;
-} api_mag_data_t;
+    int16_t x;
+    int16_t y;
+    int16_t z;
+} MagnetData;
 
-typedef struct
+typedef struct CtrlInfoData
 {
-    unsigned char cur_ctrl_dev_in_navi_mode : 3; /*0->rc  1->app  2->serial*/
-    unsigned char serial_req_status : 1;		 /*1->opensd  0->close*/
-    unsigned char reserved : 4;
+#ifdef SDK_VERSION_3_0
+    uint8_t data;
+#endif
+    //! @todo mode remote to enums
+    uint8_t cur_ctrl_dev_in_navi_mode : 3; /*0->rc  1->app  2->serial*/
+    uint8_t serial_req_status : 1;		   /*1->opensd  0->close*/
+    uint8_t reserved : 4;
 } CtrlInfoData;
 
-typedef struct
+#ifdef SDK_VERSION_2_3
+typedef uint32_t TimeStampData;
+#endif // SDK_VERSION_2_3
+
+#ifdef SDK_VERSION_3_0
+typedef struct TimeStampData
+{
+    uint32_t time;
+    uint32_t asr_ts;
+    uint8_t sync_flag;
+} TimeStampData;
+#endif // SDK_VERSION_3_0
+
+typedef struct GimbalData
 {
-    unsigned int timeStamp;
+    float32_t roll;
+    float32_t pitch;
+    float32_t yaw;
+#ifdef SDK_VERSION_3_0
+    uint8_t is_pitch_limit : 1;
+    uint8_t is_roll_limit : 1;
+    uint8_t is_yaw_limit : 1;
+    uint8_t reserved : 5;
+#endif // SDK_VERSION_3_0
+} GimbalData;
+
+typedef uint8_t FlightStatus;
+
+typedef struct BroadcastData
+{
+    TimeStampData timeStamp;
     QuaternionData q;
     CommonData a;
-    SpeedData v;
+    VelocityData v;
     CommonData w;
-    PositionData_t pos;
-    api_mag_data_t mag;
-    RadioData_t rc;
-    CommonData gimbal;
-    unsigned char status;
+    PossitionData pos;
+    MagnetData mag;
+    RadioData rc;
+    GimbalData gimbal;
+    FlightStatus status; //! @todo define enum
     BatteryData capacity;
     CtrlInfoData ctrl_info;
     uint8_t activation;
 } BroadcastData;
 
+typedef struct VirtualRCSetting
+{
+    uint8_t enable : 1;
+    uint8_t cutoff : 1;
+    uint8_t reserved : 6;
+} VirtualRCSetting;
+
+typedef struct VirtualRCData
+{
+    uint32_t roll;
+    uint32_t pitch;
+    uint32_t throttle;
+    uint32_t yaw;
+    uint32_t gear;
+    uint32_t reserved;
+    uint32_t mode;
+    uint32_t Channel_07;
+    uint32_t Channel_08;
+    uint32_t Channel_09;
+    uint32_t Channel_10;
+    uint32_t Channel_11;
+    uint32_t Channel_12;
+    uint32_t Channel_13;
+    uint32_t Channel_14;
+    uint32_t Channel_15;
+} VirtualRCData;
+
 #pragma pack()
 } // namespace onboardSDK
 } // namespace DJI
@@ -243,4 +312,4 @@ const size_t MMU_TABLE_NUM = 32;
 #define CMD_SESSION_1 1
 #define CMD_SESSION_AUTO 32
 
-#endif // DJI_PRO_TYPE
+#endif // DJI_TYPE
diff --git a/lib/inc/DJI_Version.h b/lib/inc/DJI_Version.h
new file mode 100644
index 000000000..5b8e254de
--- /dev/null
+++ b/lib/inc/DJI_Version.h
@@ -0,0 +1,21 @@
+#ifndef DJI_VERSION_H
+#define DJI_VERSION_H
+
+#define MAKE_VERSION(a, b, c, d)                                               \
+    (((a << 24) & 0xff000000) | ((b << 16) & 0x00ff0000) |                     \
+     ((c << 8) & 0x0000ff00) | (d & 0x000000ff))
+
+#ifdef SDK_VERSION_2_3
+#define SDK_VERSION (MAKE_VERSION(2, 3, 10, 0))
+#endif
+
+#ifdef SDK_VERSION_3_0
+#define SDK_VERSION (MAKE_VERSION(3, 0, 10, 0))
+#endif
+
+#ifdef SDK_VERSION_3_1
+#define SDK_VERSION (MAKE_VERSION(3, 1, 10, 0))
+#endif
+
+#endif // DJI_VERSION_H
+
diff --git a/lib/src/DJI_API.cpp b/lib/src/DJI_API.cpp
index ddeff4a4f..9889a59e3 100644
--- a/lib/src/DJI_API.cpp
+++ b/lib/src/DJI_API.cpp
@@ -2,29 +2,39 @@
 #include <string.h>
 #include <stdio.h>
 
-DJI::onboardSDK::CoreAPI::CoreAPI(DJI::onboardSDK::HardDriver *Driver,
-                          ReceiveHandler user_cmd_handler_entrance)
+using namespace DJI::onboardSDK;
+
+CoreAPI::CoreAPI(HardDriver *Driver, bool useCallbackThread,
+                 CallBack userRecvCallback)
 {
     driver = Driver;
-    // taskData = { 0, 0 };
+    // driver->init();
+
     seq_num = 0;
-    // filter = { 0 };
-    taskResult = 0;
-    activateResult = 0;
-    toMobileResult = 0;
-    setControlResult = 0;
-    broadcastHandler = 0;
+    filter.recv_index = 0;
+    filter.reuse_count = 0;
+    filter.reuse_index = 0;
+    filter.enc_enabled = 0;
+    broadcastCallback = 0;
     transparentHandler = 0;
-    recvHandler = user_cmd_handler_entrance ? user_cmd_handler_entrance : 0;
+#ifndef SDK_VERSION_2_3
+    broadcastData.timeStamp.time = 0;
+    broadcastData.timeStamp.asr_ts = 0;
+    broadcastData.timeStamp.sync_flag = 0;
+#endif
+
+    recvCallback = userRecvCallback ? userRecvCallback : 0;
+
+    CallbackThread = useCallbackThread;
 
     setup();
+
+    getVersion();
 }
 
-void DJI::onboardSDK::CoreAPI::send(unsigned char session_mode,
-                                unsigned char is_enc, CMD_SET cmd_set,
-                                unsigned char cmd_id, unsigned char *pdata,
-                                int len, CallBack ack_callback, int timeout,
-                                int retry_time)
+void CoreAPI::send(unsigned char session_mode, unsigned char is_enc,
+                   CMD_SET cmd_set, unsigned char cmd_id, void *pdata, int len,
+                   CallBack ack_callback, int timeout, int retry_time)
 {
     Command param;
     unsigned char *ptemp = (unsigned char *)encodeSendData;
@@ -45,12 +55,9 @@ void DJI::onboardSDK::CoreAPI::send(unsigned char session_mode,
     sendInterface(&param);
 }
 
-void DJI::onboardSDK::CoreAPI::send(Command *parameter)
-{
-    sendInterface(parameter);
-}
+void CoreAPI::send(Command *parameter) { sendInterface(parameter); }
 
-void DJI::onboardSDK::CoreAPI::ack(req_id_t req_id, unsigned char *ackdata, int len)
+void CoreAPI::ack(req_id_t req_id, unsigned char *ackdata, int len)
 {
     Ack param;
 
@@ -65,24 +72,9 @@ void DJI::onboardSDK::CoreAPI::ack(req_id_t req_id, unsigned char *ackdata, int
     this->ackInterface(&param);
 }
 
-void DJI::onboardSDK::CoreAPI::task(TASK taskname,
-                                CommandResult user_notice_entrance)
-{
-    unsigned char cur_cmd = 0;
-    taskResult = user_notice_entrance;
-    cur_cmd = taskname;
-
-    taskData.cmd_data = cur_cmd;
-    taskData.cmd_sequence++;
-
-    send(2, 1, SET_CONTROL, API_CMD_REQUEST, (unsigned char *)&taskData,
-         sizeof(taskData), DJI::onboardSDK::CoreAPI::taskCallback, 100, 3);
-}
-
-void DJI::onboardSDK::CoreAPI::getVersion(
-    Get_API_Version_Notify user_notice_entrance)
+void CoreAPI::getVersion(CallBack callback)
 {
-    versionData.version_ack = 0xFFFF;
+    versionData.version_ack = ACK_NO_RESPONSE;
     versionData.version_crc = 0x0;
     versionData.version_name[0] = 0;
 
@@ -90,126 +82,79 @@ void DJI::onboardSDK::CoreAPI::getVersion(
     unsigned retry_time = 3;
     unsigned char cmd_data = 0;
 
-    send(2, 1, SET_ACTIVATION, API_VER_QUERY, (unsigned char *)&cmd_data, 1,
-         DJI::onboardSDK::CoreAPI::getVersionCallback, cmd_timeout, retry_time);
+    send(2, 0, SET_ACTIVATION, CODE_GETVERSION, (unsigned char *)&cmd_data, 1,
+         callback ? callback : CoreAPI::getVersionCallback, cmd_timeout,
+         retry_time);
 }
 
-void DJI::onboardSDK::CoreAPI::activate(ActivateData_t *p_user_data,
-                                    CommandResult user_notice_entrance)
+void CoreAPI::activate(ActivateData *data, CallBack callback)
 {
-    activateResult = user_notice_entrance ? user_notice_entrance : 0;
-    accountData = *p_user_data;
+    accountData = *data;
 
-    send(2, 0, SET_ACTIVATION, API_USER_ACTIVATION,
-         (unsigned char *)&accountData, sizeof(accountData) - sizeof(char *),
-         DJI::onboardSDK::CoreAPI::activateCallback, 1000, 3);
+    send(2, 0, SET_ACTIVATION, CODE_ACTIVATE, (unsigned char *)&accountData,
+         sizeof(accountData) - sizeof(char *),
+         callback ? callback : CoreAPI::activateCallback, 1000, 3);
 }
 
-void DJI::onboardSDK::CoreAPI::sendToMobile(unsigned char *data, unsigned char len,
-                                        CommandResult user_notice_entrance)
+void CoreAPI::sendToMobile(uint8_t *data, uint8_t len, CallBack callback)
 {
     if (len > 100)
     {
-        API_ERROR("Too much data to send");
+        API_LOG(driver,ERROR_LOG,"Too much data to send");
         return;
     }
-    toMobileResult = user_notice_entrance ? user_notice_entrance : 0;
-    send(2, 0, SET_ACTIVATION, API_TRANSPARENT_DATA_TO_MOBILE, data, len,
-         DJI::onboardSDK::CoreAPI::sendToMobileCallback, 500, 2);
+    send(2, 0, SET_ACTIVATION, CODE_TOMOBILE, data, len,
+         callback ? callback : CoreAPI::sendToMobileCallback, 500, 2);
 }
 
-void DJI::onboardSDK::CoreAPI::setControl(unsigned char cmd,
-                                      CommandResult user_notice_entrance)
+void CoreAPI::setBroadcastFeq(uint8_t *data, CallBack callback)
 {
-    unsigned char data = cmd & 0x1;
-    setControlResult = user_notice_entrance ? user_notice_entrance : 0;
-    send(2, 1, SET_CONTROL, API_CTRL_MANAGEMENT, &data, 1,
-         DJI::onboardSDK::CoreAPI::setControlCallback, 500, 1);
+    send(2, 0, SET_ACTIVATION, CODE_FREQUENCY, data, 16,
+         callback ? callback : CoreAPI::setFrequencyCallback, 100, 1);
 }
 
-void DJI::onboardSDK::CoreAPI::setAttitude(AttitudeData_t *p_user_data)
-{
-    send(0, 1, SET_CONTROL, API_CTRL_REQUEST, (unsigned char *)p_user_data,
-         sizeof(AttitudeData_t), 0, 0, 1);
-}
+TimeStampData CoreAPI::getTime() const { return broadcastData.timeStamp; }
 
-void DJI::onboardSDK::CoreAPI::setGimbalAngle(GimbalAngleData *p_user_data)
-{
-    send(0, 1, SET_CONTROL, API_GIMBAL_CTRL_ANGLE_REQUEST,
-         (unsigned char *)p_user_data, sizeof(GimbalAngleData), 0, 0, 1);
-}
-
-void DJI::onboardSDK::CoreAPI::setGimbalSpeed(GimbalSpeedData *p_user_data)
-{
-    send(0, 1, SET_CONTROL, API_GIMBAL_CTRL_SPEED_REQUEST,
-         (unsigned char *)p_user_data, sizeof(GimbalSpeedData), 0, 0, 1);
-}
+FlightStatus CoreAPI::getFlightStatus() const { return broadcastData.status; }
+ActivateData CoreAPI::getAccountData() const { return accountData; }
 
-void DJI::onboardSDK::CoreAPI::setCamera(DJI::onboardSDK::CAMERA camera_cmd)
-{
-    unsigned char send_data = 0;
-    send(0, 1, SET_CONTROL, camera_cmd, (unsigned char *)&send_data,
-         sizeof(send_data), 0, 0, 0);
-}
+void CoreAPI::setAccountData(const ActivateData &value) { accountData = value; }
 
-DJI::onboardSDK::HardDriver *DJI::onboardSDK::CoreAPI::getDriver() const
+void CoreAPI::setControl(bool enable, CallBack callback)
 {
-    return driver;
+    unsigned char data = enable ? 1 : 0;
+    send(2, 1, SET_CONTROL, CODE_SETCONTROL, &data, 1,
+         callback ? callback : CoreAPI::setControlCallback, 500, 2);
 }
 
-void DJI::onboardSDK::CoreAPI::setDriver(HardDriver *value) { driver = value; }
-
-void DJI::onboardSDK::CoreAPI::taskCallback(DJI::onboardSDK::CoreAPI *This,
-                                        Header *header)
-{
-    unsigned short ack_data;
-    if (header->length - EXC_DATA_SIZE <= 2)
-    {
-        memcpy((unsigned char *)&ack_data,
-               ((unsigned char *)header) + sizeof(Header),
-               (header->length - EXC_DATA_SIZE));
-        API_STATUS("task running successfully,%d\n", ack_data);
-        //! @todo
+HardDriver *CoreAPI::getDriver() const { return driver; }
 
-        if (This->taskResult)
-            This->taskResult(ack_data);
-    }
-    else
-    {
-        API_ERROR("ACK is exception,seesion id %d,sequence %d\n",
-                  header->sessionID, header->sequence_number);
-    }
-}
+void CoreAPI::setDriver(HardDriver *value) { driver = value; }
 
-void DJI::onboardSDK::CoreAPI::getVersionCallback(DJI::onboardSDK::CoreAPI *This,
-                                              Header *header)
+void CoreAPI::getVersionCallback(CoreAPI *This, Header *header)
 {
     unsigned char *ptemp = ((unsigned char *)header) + sizeof(Header);
-    char *ptemp2;
-    int count = 31;
-    VersionData_t *p_version_data = &This->versionData;
 
-    p_version_data->version_ack = ptemp[0] + (ptemp[1] << 8);
+    This->versionData.version_ack = ptemp[0] + (ptemp[1] << 8);
     ptemp += 2;
-    p_version_data->version_crc =
+    This->versionData.version_crc =
         ptemp[0] + (ptemp[1] << 8) + (ptemp[2] << 16) + (ptemp[3] << 24);
     ptemp += 4;
-    ptemp2 = p_version_data->version_name;
-    while (*ptemp && count)
-    {
-        *ptemp2++ = (char)*ptemp++;
-        count--;
-    }
-    *ptemp2 = 0;
-
-    //! @todo
-    API_STATUS("version ack=%d\n", p_version_data->version_ack);
-    API_STATUS("version crc=0x%X\n", p_version_data->version_crc);
-    API_STATUS("version name=%s\n", p_version_data->version_name);
+#ifdef SDK_VERSION_3_1
+    memcpy(This->versionData.version_ID, ptemp, 11);
+    ptemp += 11;
+#endif
+    memcpy(This->versionData.version_name, ptemp, 32);
+
+    API_LOG(This->driver,STATUS_LOG,"version ack = %d", This->versionData.version_ack);
+    API_LOG(This->driver,STATUS_LOG,"version crc = 0x%X", This->versionData.version_crc);
+#ifdef SDK_VERSION_3_1
+    API_LOG(This->driver,STATUS_LOG,"version ID = %s\n", This->versionData.version_ID);
+#endif
+    API_LOG(This->driver,STATUS_LOG,"version name = %s", This->versionData.version_name);
 }
 
-void DJI::onboardSDK::CoreAPI::activateCallback(DJI::onboardSDK::CoreAPI *This,
-                                            Header *header)
+void CoreAPI::activateCallback(CoreAPI *This, Header *header)
 {
     volatile unsigned short ack_data;
     if (header->length - EXC_DATA_SIZE <= 2)
@@ -219,94 +164,132 @@ void DJI::onboardSDK::CoreAPI::activateCallback(DJI::onboardSDK::CoreAPI *This,
                (header->length - EXC_DATA_SIZE));
         if (ack_data == SDK_ACTIVATE_NEW_DEVICE)
         {
-            API_STATUS("new device try again\n");
+            API_LOG(This->driver,STATUS_LOG,"new device try again\n");
         }
         else
         {
             if (ack_data == SDK_ACTIVATE_SUCCESS)
             {
-                API_STATUS("Activation Successfully\n");
+                API_LOG(This->driver,STATUS_LOG,"Activation Successfully\n");
 
-                This->driver->lockMSG();
+                This->getDriver()->lockMSG();
                 This->broadcastData.activation = 1;
-                This->driver->freeMSG();
+                This->getDriver()->freeMSG();
 
                 if (This->accountData.app_key)
                     This->setKey(This->accountData.app_key);
             }
             else
             {
-                API_STATUS("activate code:0x%X\n", ack_data);
-
-                This->driver->lockMSG();
+                API_LOG(This->driver,ERROR_LOG,"activate code:0x%X\n", ack_data);
+                This->getDriver()->lockMSG();
                 This->broadcastData.activation = 0;
-                This->driver->freeMSG();
-            }
-            if (This->activateResult)
-            {
-                This->activateResult(ack_data);
+                This->getDriver()->freeMSG();
             }
         }
     }
     else
     {
-        API_ERROR("ACK is exception,seesion id %d,sequence %d\n",
+        API_LOG(This->driver,ERROR_LOG,"ACK is exception,seesion id %d,sequence %d\n",
                   header->sessionID, header->sequence_number);
     }
 }
 
-void DJI::onboardSDK::CoreAPI::sendToMobileCallback(DJI::onboardSDK::CoreAPI *This,
-                                                Header *header)
+void CoreAPI::sendToMobileCallback(CoreAPI *This, Header *header)
 {
-    unsigned short ack_data = 0xFFFF;
+    unsigned short ack_data = ACK_NO_RESPONSE;
     if (header->length - EXC_DATA_SIZE <= 2)
     {
         memcpy((unsigned char *)&ack_data,
                ((unsigned char *)header) + sizeof(Header),
                (header->length - EXC_DATA_SIZE));
-        if (This->toMobileResult)
-            This->toMobileResult(ack_data);
+        if (!This->decodeACKStatus(ack_data))
+        {
+            API_LOG(This->driver,ERROR_LOG,"While calling this function");
+        }
     }
     else
-        API_ERROR("ACK is exception,seesion id %d,sequence %d\n",
+    {
+        API_LOG(This->driver,ERROR_LOG,"ACK is exception,seesion id %d,sequence %d\n",
                   header->sessionID, header->sequence_number);
+    }
 }
 
-void DJI::onboardSDK::CoreAPI::setControlCallback(CoreAPI *This, Header *header)
+void CoreAPI::setFrequencyCallback(CoreAPI *This __UNUSED, Header *header)
 {
-    unsigned short ack_data = 0xFFFF;
+    unsigned short ack_data = ACK_NO_RESPONSE;
+
+    if (header->length - EXC_DATA_SIZE <= 2)
+    {
+        memcpy((unsigned char *)&ack_data,
+               ((unsigned char *)header) + sizeof(Header),
+               (header->length - EXC_DATA_SIZE));
+    }
+    switch (ack_data)
+    {
+        case 0x0000:
+            API_LOG(This->driver,STATUS_LOG,"Frequency set success");
+            break;
+        case 0x0001:
+            API_LOG(This->driver,ERROR_LOG,"Frequency parameter error");
+            break;
+        default:
+            if (!This->decodeACKStatus(ack_data))
+            {
+                API_LOG(This->driver,ERROR_LOG,"While calling this function");
+            }
+            break;
+    }
+}
+
+void CoreAPI::setControlCallback(CoreAPI *This, Header *header)
+{
+    unsigned short ack_data = ACK_NO_RESPONSE;
+    unsigned char data = 0x1;
+
     if (header->length - EXC_DATA_SIZE <= 2)
     {
         memcpy((unsigned char *)&ack_data,
                ((unsigned char *)header) + sizeof(Header),
                (header->length - EXC_DATA_SIZE));
-        if (This->setControlResult)
-            This->setControlResult(ack_data);
     }
     else
-        API_ERROR("ACK is exception,seesion id %d,sequence %d\n",
+    {
+        API_LOG(This->driver,ERROR_LOG,"ACK is exception,seesion id %d,sequence %d\n",
                   header->sessionID, header->sequence_number);
+    }
 
     switch (ack_data)
     {
         case 0x0000:
-            API_STATUS("Obtain control failed, Conditions did not "
+            API_LOG(This->driver,STATUS_LOG,"Obtain control failed, Conditions did not "
                        "satisfied");
             break;
         case 0x0001:
-            API_STATUS("release control successfully\n");
+            API_LOG(This->driver,STATUS_LOG,"release control successfully\n");
             break;
         case 0x0002:
-            API_STATUS("obtain control successfully\n");
+            API_LOG(This->driver,STATUS_LOG,"obtain control successfully\n");
             break;
         case 0x0003:
-            API_STATUS("obtain control running\n");
+            API_LOG(This->driver,STATUS_LOG,"obtain control running\n");
+            This->send(2, 1, SET_CONTROL, CODE_SETCONTROL, &data, 1,
+                       CoreAPI::setControlCallback, 500, 2);
             break;
         case 0x0004:
-            API_STATUS("control request already done");
+            API_LOG(This->driver,STATUS_LOG,"release control running\n");
+            data = 0;
+            This->send(2, 1, SET_CONTROL, CODE_SETCONTROL, &data, 1,
+                       CoreAPI::setControlCallback, 500, 2);
+            break;
+        case 0x00C9:
+            API_LOG(This->driver,STATUS_LOG,"IOC mode opening can not obtain control\n");
             break;
         default:
-            API_STATUS("there is unkown error,ack=0x%X\n", ack_data);
+            if (!This->decodeACKStatus(ack_data))
+            {
+                API_LOG(This->driver,ERROR_LOG,"While calling this function");
+            }
             break;
     }
 }
diff --git a/lib/src/DJI_App.cpp b/lib/src/DJI_App.cpp
index d5cba5c9f..a472a2c29 100644
--- a/lib/src/DJI_App.cpp
+++ b/lib/src/DJI_App.cpp
@@ -26,14 +26,14 @@
 
 using namespace DJI::onboardSDK;
 
-inline void passData(uint16_t _flag, uint16_t _enable, void *_data,
-                     unsigned char *_buf, size_t _datalen)
+inline void passData(uint16_t flag, uint16_t enable, void *data,
+                     unsigned char *buf, size_t datalen, size_t &offset)
 {
-    if ((_flag & _enable))
+    //! @todo new algorithm
+    if ((flag & enable))
     {
-        memcpy((unsigned char *)&(_data), (unsigned char *)(_buf) + (_datalen),
-               sizeof(_data));
-        _datalen += sizeof(_data);
+        memcpy((unsigned char *)data, (unsigned char *)buf + offset, datalen);
+        offset += datalen;
     }
 }
 
@@ -60,21 +60,6 @@ BatteryData DJI::onboardSDK::CoreAPI::getBatteryCapacity() const
     return broadcastData.capacity;
 }
 
-QuaternionData DJI::onboardSDK::CoreAPI::getQuaternion() const
-{
-    return broadcastData.q;
-}
-
-CommonData DJI::onboardSDK::CoreAPI::getGroundAcc() const
-{
-    return broadcastData.a;
-}
-
-SpeedData DJI::onboardSDK::CoreAPI::getGroundSpeed() const
-{
-    return broadcastData.v;
-}
-
 CtrlInfoData DJI::onboardSDK::CoreAPI::getCtrlInfo() const
 {
     return broadcastData.ctrl_info;
@@ -84,87 +69,67 @@ void DJI::onboardSDK::CoreAPI::broadcast(Header *header)
 {
     unsigned char *pdata = ((unsigned char *)header) + sizeof(Header);
     unsigned short *enableFlag;
-    unsigned short len = MSG_ENABLE_FLAG_LEN;
     driver->lockMSG();
     pdata += 2;
     enableFlag = (unsigned short *)pdata;
-    passData(*enableFlag, ENABLE_MSG_TIME, &broadcastData.timeStamp, pdata,
+    size_t len = MSG_ENABLE_FLAG_LEN;
+
+    passData(*enableFlag, HAS_TIME, &broadcastData.timeStamp, pdata,
+             sizeof(TimeStampData), len);
+    passData(*enableFlag, HAS_Q, &broadcastData.q, pdata,
+             sizeof(QuaternionData), len);
+    passData(*enableFlag, HAS_A, &broadcastData.a, pdata, sizeof(CommonData),
              len);
-    passData(*enableFlag, HAS_Q, &broadcastData.q, pdata, len);
-    passData(*enableFlag, HAS_A, &broadcastData.a, pdata, len);
-    passData(*enableFlag, HAS_V, &broadcastData.v, pdata, len);
-    passData(*enableFlag, HAS_W, &broadcastData.w, pdata, len);
-    passData(*enableFlag, HAS_POS, &broadcastData.pos, pdata, len);
-    passData(*enableFlag, HAS_MAG, &broadcastData.mag, pdata, len);
-    passData(*enableFlag, HAS_RC, &broadcastData.rc, pdata, len);
-    passData(*enableFlag, HAS_GIMBAL, &broadcastData.gimbal, pdata, len);
-    passData(*enableFlag, HAS_STATUS, &broadcastData.status, pdata, len);
-    passData(*enableFlag, HAS_BATTERY, &broadcastData.capacity, pdata, len);
-    passData(*enableFlag, HAS_DEVICE, &broadcastData.ctrl_info, pdata, len);
-    driver->freeMSG();
+    passData(*enableFlag, HAS_V, &broadcastData.v, pdata, sizeof(VelocityData),
+             len);
+    passData(*enableFlag, HAS_W, &broadcastData.w, pdata, sizeof(CommonData),
+             len);
+    passData(*enableFlag, HAS_POS, &broadcastData.pos, pdata,
+             sizeof(PossitionData), len);
+    passData(*enableFlag, HAS_MAG, &broadcastData.mag, pdata,
+             sizeof(MagnetData), len);
+    passData(*enableFlag, HAS_RC, &broadcastData.rc, pdata, sizeof(RadioData),
+             len);
+    passData(*enableFlag, HAS_GIMBAL, &broadcastData.gimbal, pdata,
+             sizeof(GimbalData), len);
+    passData(*enableFlag, HAS_STATUS, &broadcastData.status, pdata,
+             sizeof(uint8_t), len);
+    passData(*enableFlag, HAS_BATTERY, &broadcastData.capacity, pdata,
+             sizeof(BatteryData), len);
+    passData(*enableFlag, HAS_DEVICE, &broadcastData.ctrl_info, pdata,
+             sizeof(CtrlInfoData), len);
 
-    if (broadcastHandler)
-        broadcastHandler();
+    driver->freeMSG();
 
-    if (broadcastData.timeStamp % 600 == 0)
-        API_DEBUG("time: %d\n", broadcastData.timeStamp);
+    if (broadcastCallback)
+        broadcastCallback(this, header);
 }
 
 void DJI::onboardSDK::CoreAPI::recvReqData(Header *header)
 {
     unsigned char buf[100] = { 0, 0 };
     unsigned char len = 0;
-    switch (header->sessionID)
+
+    if (getCmdSet(header) == SET_BROADCAST)
     {
-        case 0:
-            if (getCmdSet(header) == SET_BROADCAST)
-            {
-                switch (getCmdCode(header))
-                {
-                    case CODE_BROADCAST:
-                        broadcast(header);
-                        break;
-                    case CODE_FROMMOBILE:
-                        if (transparentHandler)
-                        {
-                            len = (header->length - EXC_DATA_SIZE - 2) > 100
-                                      ? 100
-                                      : (header->length - EXC_DATA_SIZE - 2);
-                            memcpy(buf, ((unsigned char *)header) +
-                                            sizeof(Header) + 2,
-                                   len);
-                            transparentHandler(buf, len);
-                        }
-                        break;
-                    case CODE_LOSTCTRL:
-                        API_STATUS("onboardSDK lost contrl\n");
-                        break;
-                    default:
-                        API_STATUS(
-                            "error, unknown BROADCAST command code 0x%X\n",
-                            getCmdCode(header));
-                        break;
-                }
-            }
-            else
-            {
-                API_DEBUG("receive unknown command\n");
-                if (recvHandler)
+        switch (getCmdCode(header))
+        {
+            case CODE_BROADCAST:
+                broadcast(header);
+                break;
+            case CODE_FROMMOBILE:
+                if (transparentHandler)
                 {
-                    recvHandler(header);
+                    len = (header->length - EXC_DATA_SIZE - 2) > 100
+                              ? 100
+                              : (header->length - EXC_DATA_SIZE - 2);
+                    memcpy(buf, ((unsigned char *)header) + sizeof(Header) + 2,
+                           len);
+                    transparentHandler(buf, len);
                 }
-            }
-            break;
-        case 1:
-        case 2:
-            API_DEBUG("Recv request,session id=%d,seq_num=%d\n",
-                      header->sessionID, header->sequence_number);
-            if (recvHandler)
-            {
-                recvHandler(header);
-            }
-            else
-            {
+                break;
+            case CODE_LOSTCTRL:
+                API_LOG(driver, STATUS_LOG, "onboardSDK lost contrl\n");
                 Ack param;
                 if (header->sessionID > 0)
                 {
@@ -176,19 +141,35 @@ void DJI::onboardSDK::CoreAPI::recvReqData(Header *header)
                     param.length = 2;
                     ackInterface(&param);
                 }
-            }
-            break;
+                break;
+            case CODE_MISSION:
+                //! @todo add mission session decode
+
+                API_LOG(driver, DEBUG_LOG, "%x",
+                        *((unsigned char *)header + sizeof(Header) + 2));
+                break;
+            case CODE_WAYPOINT:
+                //! @todo add waypoint session decode
+                break;
+            default:
+                API_LOG(driver, STATUS_LOG,
+                        "error, unknown BROADCAST command code\n");
+                break;
+        }
     }
+    else
+        API_LOG(driver, DEBUG_LOG, "receive unknown command\n");
+    if (recvCallback)
+        recvCallback(this, header);
 }
 
-void DJI::onboardSDK::CoreAPI::setTransparentTransmissionCallback(
+void CoreAPI::setTransparentTransmissionCallback(
     TransparentHandler transparentHandlerEntrance)
 {
     transparentHandler = transparentHandlerEntrance;
 }
 
-void DJI::onboardSDK::CoreAPI::setBroadcastCallback(
-    BroadcastHandler broadcastHandlerEntrance)
+void CoreAPI::setBroadcastCallback(CallBack callback)
 {
-    broadcastHandler = broadcastHandlerEntrance;
+    broadcastCallback = callback;
 }
diff --git a/lib/src/DJI_Camera.cpp b/lib/src/DJI_Camera.cpp
new file mode 100644
index 000000000..195b8f6f3
--- /dev/null
+++ b/lib/src/DJI_Camera.cpp
@@ -0,0 +1,57 @@
+#include "DJI_Camera.h"
+
+using namespace DJI::onboardSDK;
+
+Camera::Camera(CoreAPI *ContorlAPI) { api = ContorlAPI; }
+
+void Camera::setCamera(Camera::CAMERA_CODE camera_cmd)
+{
+    unsigned char send_data = 0;
+    api->send(0, 1, SET_CONTROL, camera_cmd, &send_data, 1);
+}
+
+void Camera::setGimbalAngle(GimbalAngleData *data)
+{
+    api->send(0, 1, SET_CONTROL, Camera::CODE_GIMBAL_ANGLE,
+              (unsigned char *)data, sizeof(GimbalAngleData));
+}
+
+void Camera::setGimbalSpeed(GimbalSpeedData *data)
+{
+    data->reserved = 0x80;
+    api->send(0, 1, SET_CONTROL, Camera::CODE_GIMBAL_SPEED,
+              (unsigned char *)data, sizeof(GimbalSpeedData));
+}
+
+GimbalData Camera::getGimbal() const { return api->getBroadcastData().gimbal; }
+
+float32_t Camera::getYaw() const { return api->getBroadcastData().gimbal.yaw; }
+
+float32_t Camera::getRoll() const
+{
+    return api->getBroadcastData().gimbal.roll;
+}
+
+float32_t Camera::getPitch() const
+{
+    return api->getBroadcastData().gimbal.pitch;
+}
+
+bool Camera::isYawLimit() const
+{
+    return api->getBroadcastData().gimbal.is_yaw_limit ? true : false;
+}
+
+bool Camera::isRollLimit() const
+{
+    return api->getBroadcastData().gimbal.is_roll_limit ? true : false;
+}
+
+bool Camera::isPitchLimit() const
+{
+    return api->getBroadcastData().gimbal.is_pitch_limit ? true : false;
+}
+
+CoreAPI *Camera::getApi() const { return api; }
+
+void Camera::setApi(CoreAPI *value) { api = value; }
diff --git a/lib/src/DJI_Codec.cpp b/lib/src/DJI_Codec.cpp
index 7f731ee8d..b491cc8be 100644
--- a/lib/src/DJI_Codec.cpp
+++ b/lib/src/DJI_Codec.cpp
@@ -619,6 +619,32 @@ void DJI::onboardSDK::CoreAPI::callApp(SDKFilter *p_filter)
     sdk_stream_prepare_lambda(p_filter);
 }
 
+bool CoreAPI::decodeACKStatus(unsigned short ack)
+{
+    switch (ack)
+    {
+        case ACK_SUCCESS:
+            API_LOG(driver, STATUS_LOG,"SUCCESS.");
+            return true;
+        case ACK_KEYERROR:
+            API_LOG(driver, ERROR_LOG, "Wrong encode Key, Activate again.");
+            return false;
+        case ACK_NO_AUTHORIZATION:
+            API_LOG(driver, ERROR_LOG, "Pleasd obtain control and retry.");
+            return false;
+        case ACK_NO_RIGHTS:
+            API_LOG(driver, ERROR_LOG, "Need higher Level access.");
+            return false;
+        case ACK_NO_RESPONSE:
+            API_LOG(driver, ERROR_LOG,
+                    "Check your Hardware connection and retry.");
+            return false;
+        default:
+            API_LOG(driver, ERROR_LOG, "Unkown ACK code: 0x%x", ack);
+            return false;
+    }
+}
+
 void sdk_stream_shift_data_lambda(SDKFilter *p_filter)
 {
     if (p_filter->recv_index)
@@ -632,8 +658,8 @@ void sdk_stream_shift_data_lambda(SDKFilter *p_filter)
     }
 }
 
-// push data to filter buffer
-void storeData(SDKFilter *p_filter, unsigned char in_data)
+//! @note push data to filter buffer
+void CoreAPI::storeData(SDKFilter *p_filter, unsigned char in_data)
 {
     if (p_filter->recv_index < _SDK_MAX_RECV_SIZE)
     {
@@ -642,7 +668,7 @@ void storeData(SDKFilter *p_filter, unsigned char in_data)
     }
     else
     {
-        // Error, buffer overflow! Just clear and continue.
+        API_LOG(driver, ERROR_LOG, "buffer overflow");
         memset(p_filter->comm_recv_buf, 0, p_filter->recv_index);
         p_filter->recv_index = 0;
     }
@@ -698,7 +724,7 @@ void DJI::onboardSDK::CoreAPI::verifyData(SDKFilter *p_filter)
     }
     else
     {
-        // data crc fail, re-use the data part
+        //! @note data crc fail, re-use the data part
         sdk_stream_update_reuse_part_lambda(p_filter);
     }
 }
@@ -745,7 +771,7 @@ void DJI::onboardSDK::CoreAPI::checkStream(SDKFilter *p_filter)
 }
 
 void DJI::onboardSDK::CoreAPI::streamHandler(SDKFilter *p_filter,
-                                         unsigned char in_data)
+                                             unsigned char in_data)
 {
     storeData(p_filter, in_data);
     checkStream(p_filter);
@@ -795,6 +821,11 @@ void DJI::onboardSDK::CoreAPI::byteHandler(const uint8_t in_data)
     }
 }
 
+void CoreAPI::byteStreamHandler(uint8_t *buffer __UNUSED, size_t size __UNUSED)
+{
+    //! @todo implement
+}
+
 void calculateCRC(void *p_data)
 {
     Header *p_head = (Header *)p_data;
@@ -851,8 +882,11 @@ unsigned short DJI::onboardSDK::CoreAPI::encrypt(
         return 0;
 
     if (filter.enc_enabled == 0 && is_enc)
+    {
+        API_LOG(driver, ERROR_LOG,
+                "Can not send encode data, no available key");
         return 0;
-
+    }
     if (w_len == 0 || psrc == 0)
         data_len = (unsigned short)sizeof(Header);
     else
@@ -861,6 +895,8 @@ unsigned short DJI::onboardSDK::CoreAPI::encrypt(
     if (is_enc)
         data_len = data_len + (16 - w_len % 16);
 
+    API_LOG(driver, DEBUG_LOG, "data len: %d\n", data_len);
+
     p_head->sof = _SDK_SOF;
     p_head->length = data_len;
     p_head->version = 0;
diff --git a/lib/src/DJI_Flight.cpp b/lib/src/DJI_Flight.cpp
index a9cc4e74a..2cadb4458 100644
--- a/lib/src/DJI_Flight.cpp
+++ b/lib/src/DJI_Flight.cpp
@@ -1,9 +1,88 @@
-#include "DJI_API.h"
+#include "DJI_Flight.h"
+#include <string.h>
 
 using namespace DJI::onboardSDK;
 
-Flight::Flight(DJI::onboardSDK::CoreAPI *ContorlAPI)
+Flight::Flight(DJI::onboardSDK::CoreAPI *ContorlAPI) { api = ContorlAPI; }
+
+CoreAPI *Flight::getApi() const { return api; }
+
+void Flight::setApi(CoreAPI *value) { api = value; }
+
+void Flight::task(TASK taskname, CallBack TaskCallback)
+{
+    taskData.cmd_data = taskname;
+    taskData.cmd_sequence++;
+
+    api->send(2, 1, SET_CONTROL, API_CMD_REQUEST, (unsigned char *)&taskData,
+              sizeof(taskData),
+              TaskCallback ? TaskCallback : Flight::taskCallback, 100, 3);
+}
+
+void Flight::setArm(bool enable, CallBack ArmCallback)
+{
+    uint8_t data = enable ? 1 : 0;
+    api->send(2, 1, SET_CONTROL, CODE_SETARM, &data, 1,
+              ArmCallback ? ArmCallback : Flight::armCallback, 0, 1);
+}
+
+void Flight::setFlight(FlightData *data)
+{
+    api->send(0, 1, SET_CONTROL, CODE_CONTROL, (unsigned char *)data,
+              sizeof(FlightData));
+}
+
+QuaternionData Flight::getQuaternion() const
 {
-    api = ContorlAPI;
+    return api->getBroadcastData().q;
 }
 
+PossitionData Flight::getPossition() const
+{
+    return api->getBroadcastData().pos;
+}
+
+VelocityData Flight::getVelocity() const { return api->getBroadcastData().v; }
+
+CommonData Flight::getAcceleration() const { return api->getBroadcastData().a; }
+
+CommonData Flight::getPalstance() const { return api->getBroadcastData().w; }
+
+MagnetData Flight::getMagnet() const { return api->getBroadcastData().mag; }
+
+void Flight::armCallback(CoreAPI *This, Header *header)
+{
+    unsigned short ack_data;
+    if (header->length - EXC_DATA_SIZE <= 2)
+    {
+        memcpy((unsigned char *)&ack_data,
+               ((unsigned char *)header) + sizeof(Header),
+               (header->length - EXC_DATA_SIZE));
+        API_LOG(This->getDriver(), STATUS_LOG, "Call back,0x%x\n", ack_data);
+    }
+    else
+    {
+        API_LOG(This->getDriver(), ERROR_LOG,
+                "ACK is exception,seesion id %d,sequence %d\n",
+                header->sessionID, header->sequence_number);
+    }
+}
+
+void Flight::taskCallback(CoreAPI *This __UNUSED, Header *header)
+{
+    unsigned short ack_data;
+    if (header->length - EXC_DATA_SIZE <= 2)
+    {
+        memcpy((unsigned char *)&ack_data,
+               ((unsigned char *)header) + sizeof(Header),
+               (header->length - EXC_DATA_SIZE));
+        API_LOG(This->getDriver(), STATUS_LOG, "task running successfully,%d\n",
+                ack_data);
+    }
+    else
+    {
+        API_LOG(This->getDriver(), ERROR_LOG,
+                "ACK is exception,seesion id %d,sequence %d\n",
+                header->sessionID, header->sequence_number);
+    }
+}
diff --git a/lib/src/DJI_HardDriver.cpp b/lib/src/DJI_HardDriver.cpp
index b83c34fb3..be0722596 100644
--- a/lib/src/DJI_HardDriver.cpp
+++ b/lib/src/DJI_HardDriver.cpp
@@ -1,10 +1,21 @@
-/*
- * DJI_Pro_Hw.cpp
+#include "DJI_HardDriver.h"
+
+using namespace DJI::onboardSDK;
+
+char DJI::onboardSDK::buffer[DJI::onboardSDK::bufsize];
+
+/*! @note in this file we will implement some common corss platform drivers
+ *later
+ *  @todo implement
  *
- *  Created on: Aug 24, 2015
- *  Author: wuyuwe
  *
- *  Modified on: Nov 11, 2015
- *  by william.wu
- */
-#include "DJI_HardDriver.h"
+ *
+ * */
+
+void HardDriver::displayLog(char *buf)
+{
+    if (buf)
+        printf("%s", buf);
+    else
+        printf("%s", DJI::onboardSDK::buffer);
+}
diff --git a/lib/src/DJI_Link.cpp b/lib/src/DJI_Link.cpp
index 3f64dc89a..d13f8fff4 100644
--- a/lib/src/DJI_Link.cpp
+++ b/lib/src/DJI_Link.cpp
@@ -36,8 +36,13 @@ using namespace DJI::onboardSDK;
 
 void DJI::onboardSDK::CoreAPI::sendData(unsigned char *buf)
 {
+    size_t ans;
     Header *pHeader = (Header *)buf;
-    driver->send(buf, pHeader->length);
+    ans = driver->send(buf, pHeader->length);
+    if (ans == 0)
+        API_LOG(driver, STATUS_LOG,"Port not send");
+    if (ans == (size_t)-1)
+        API_LOG(driver, ERROR_LOG,"Port closed");
 }
 
 void DJI::onboardSDK::CoreAPI::appHandler(Header *header)
@@ -55,12 +60,15 @@ void DJI::onboardSDK::CoreAPI::appHandler(Header *header)
                 if (p2header->sessionID == header->sessionID &&
                     p2header->sequence_number == header->sequence_number)
                 {
-                    API_DEBUG("Recv Session %d ACK\n", p2header->sessionID);
+                    API_LOG(driver, DEBUG_LOG,"Recv Session %d ACK\n", p2header->sessionID);
+
                     callBack = CMDSessionTab[header->sessionID].callback;
                     freeSession(&CMDSessionTab[header->sessionID]);
                     driver->freeMemory();
                     if (callBack)
-                        callBack(this, header);
+                        callBack(
+                            this,
+                            header); //! @todo new algorithm call in a thread
                 }
                 else
                     driver->freeMemory();
@@ -69,19 +77,23 @@ void DJI::onboardSDK::CoreAPI::appHandler(Header *header)
     }
     else
     {
-        // TODO,is a request package
-
+        //! @todo request package
+        //!
         switch (header->sessionID)
         {
             case 0:
                 recvReqData(header);
                 break;
             case 1:
-            default:
+            //! @todo unnecessary ack in case 1. Maybe add code later
+            //! @todo check algorithm
+            default: //! @note session id is 2
+                API_LOG(driver, STATUS_LOG,"ACK %d", header->sessionID);
+
                 if (ACKSessionTab[header->sessionID - 1].session_status ==
                     ACK_SESSION_PROCESS)
                 {
-                    API_DEBUG("This session is waiting for App ack:"
+                    API_LOG(driver, DEBUG_LOG,"This session is waiting for App ack:"
                               "session id=%d,seq_num=%d\n",
                               header->sessionID, header->sequence_number);
                 }
@@ -102,7 +114,7 @@ void DJI::onboardSDK::CoreAPI::appHandler(Header *header)
                             ACKSessionTab[header->sessionID - 1].mmu->pmem;
                     if (p2header->sequence_number == header->sequence_number)
                     {
-                        API_DEBUG("repeat ACK to remote,session "
+                        API_LOG(driver, DEBUG_LOG,"repeat ACK to remote,session "
                                   "id=%d,seq_num=%d\n",
                                   header->sessionID, header->sequence_number);
                         sendData(
@@ -111,7 +123,7 @@ void DJI::onboardSDK::CoreAPI::appHandler(Header *header)
                     }
                     else
                     {
-                        API_DEBUG(
+                        API_LOG(driver, DEBUG_LOG,
                             "same session,but new seq_num pkg,session id=%d,"
                             "pre seq_num=%d,cur seq_num=%d\n",
                             header->sessionID, p2header->sequence_number,
@@ -144,13 +156,14 @@ void DJI::onboardSDK::CoreAPI::sendPoll()
                 {
                     if (CMDSessionTab[i].sent >= CMDSessionTab[i].retry)
                     {
-                        API_DEBUG("Free ssion %d\n",
+                        API_LOG(driver, DEBUG_LOG,"Free ssion %d\n",
                                   CMDSessionTab[i].sessionID);
+
                         freeSession(&CMDSessionTab[i]);
                     }
                     else
                     {
-                        API_DEBUG("Retry session %d\n",
+                        API_LOG(driver, DEBUG_LOG,"Retry session %d\n",
                                   CMDSessionTab[i].sessionID);
                         sendData(CMDSessionTab[i].mmu->pmem);
                         CMDSessionTab[i].pre_timestamp = cur_timestamp;
@@ -159,7 +172,7 @@ void DJI::onboardSDK::CoreAPI::sendPoll()
                 }
                 else
                 {
-                    API_DEBUG("send once %d", i);
+                    API_LOG(driver, DEBUG_LOG,"send once %d", i);
                     sendData(CMDSessionTab[i].mmu->pmem);
                     CMDSessionTab[i].pre_timestamp = cur_timestamp;
                 }
@@ -174,7 +187,17 @@ void DJI::onboardSDK::CoreAPI::readPoll()
     int read_len;
     uint8_t buf[BUFFER_SIZE];
     read_len = driver->readall(buf, BUFFER_SIZE);
-    for (int i = 0; i < read_len; i++) byteHandler(buf[i]);
+    for (int i = 0; i < read_len; i++)
+    {
+        byteHandler(buf[i]);
+    }
+}
+
+void CoreAPI::callbackPoll()
+{
+    if (cblistTail != CALLBACK_LIST_NUM)
+    {
+    }
 }
 
 void DJI::onboardSDK::CoreAPI::setup()
@@ -189,6 +212,14 @@ void DJI::onboardSDK::CoreAPI::setKey(const char *key)
     filter.enc_enabled = 1;
 }
 
+void CoreAPI::setActivation(bool isActivated)
+{
+    if (isActivated)
+        broadcastData.activation = 1;
+    else
+        broadcastData.activation = 0;
+}
+
 unsigned short calculateLength(unsigned short size, unsigned short encrypt_flag)
 {
     unsigned short len;
@@ -206,14 +237,14 @@ int DJI::onboardSDK::CoreAPI::ackInterface(Ack *parameter)
 
     if (parameter->length > PRO_PURE_DATA_MAX_SIZE)
     {
-        API_ERROR("length=%d is oversize\n", parameter->length);
+        API_LOG(driver, ERROR_LOG,"length=%d is oversize\n", parameter->length);
         return -1;
     }
 
     if (parameter->session_id == 0)
     {
-        //! @todo
-        ;
+        //! @note nothing todo session 0 is a nack session.
+        return 0;
     }
     else if (parameter->session_id > 0 && parameter->session_id < 32)
     {
@@ -223,7 +254,7 @@ int DJI::onboardSDK::CoreAPI::ackInterface(Ack *parameter)
             calculateLength(parameter->length, parameter->need_encrypt));
         if (ack_session == (ACKSession *)NULL)
         {
-            API_ERROR("there is not enough memory\n");
+            API_LOG(driver, ERROR_LOG,"there is not enough memory\n");
             driver->freeMemory();
             return -1;
         }
@@ -233,11 +264,12 @@ int DJI::onboardSDK::CoreAPI::ackInterface(Ack *parameter)
                       parameter->seq_num);
         if (ret == 0)
         {
-            API_ERROR("encrypt ERROR\n");
+            API_LOG(driver, ERROR_LOG,"encrypt ERROR\n");
             driver->freeMemory();
             return -1;
         }
 
+        API_LOG(driver, DEBUG_LOG,"Sending data!");
         sendData(ack_session->mmu->pmem);
         driver->freeMemory();
         ack_session->session_status = ACK_SESSION_USING;
@@ -253,7 +285,7 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
     CMDSession *cmd_session = (CMDSession *)NULL;
     if (parameter->length > PRO_PURE_DATA_MAX_SIZE)
     {
-        API_ERROR("ERROR,length=%d is oversize\n", parameter->length);
+        API_LOG(driver, ERROR_LOG,"ERROR,length=%d is oversize\n", parameter->length);
         return -1;
     }
 
@@ -267,7 +299,7 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
             if (cmd_session == (CMDSession *)NULL)
             {
                 driver->freeMemory();
-                API_ERROR("ERROR,there is not enough memory\n");
+                API_LOG(driver, ERROR_LOG,"ERROR,there is not enough memory\n");
                 return -1;
             }
             ret = encrypt(cmd_session->mmu->pmem, parameter->buf,
@@ -275,13 +307,13 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
                           cmd_session->sessionID, seq_num);
             if (ret == 0)
             {
-                API_ERROR("encrypt ERROR\n");
+                API_LOG(driver, ERROR_LOG,"encrypt ERROR\n");
                 freeSession(cmd_session);
                 driver->freeMemory();
                 return -1;
             }
 
-            API_DEBUG("send data in session mode 0\n");
+            API_LOG(driver, DEBUG_LOG,"send data in session mode 0\n");
 
             sendData(cmd_session->mmu->pmem);
             seq_num++;
@@ -296,7 +328,7 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
             if (cmd_session == (CMDSession *)NULL)
             {
                 driver->freeMemory();
-                API_ERROR("ERROR,there are not enough memory\n");
+                API_LOG(driver, ERROR_LOG,"ERROR,there are not enough memory\n");
                 return -1;
             }
             if (seq_num == cmd_session->pre_seq_num)
@@ -306,7 +338,7 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
                           cmd_session->sessionID, seq_num);
             if (ret == 0)
             {
-                API_ERROR("encrypt ERROR\n");
+                API_LOG(driver, ERROR_LOG,"encrypt ERROR\n");
                 freeSession(cmd_session);
                 driver->freeMemory();
                 return -1;
@@ -319,7 +351,7 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
             cmd_session->pre_timestamp = driver->getTimeStamp();
             cmd_session->sent = 1;
             cmd_session->retry = 1;
-            API_DEBUG("sending session %d\n", cmd_session->sessionID);
+            API_LOG(driver, DEBUG_LOG,"sending session %d\n", cmd_session->sessionID);
             sendData(cmd_session->mmu->pmem);
             driver->freeMemory();
             break;
@@ -331,17 +363,20 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
             if (cmd_session == (CMDSession *)NULL)
             {
                 driver->freeMemory();
-                API_ERROR("ERROR,there is not enough memory\n");
+                API_LOG(driver, ERROR_LOG,"ERROR,there is not enough memory\n");
                 return -1;
             }
             if (seq_num == cmd_session->pre_seq_num)
+            {
                 seq_num++;
+            }
             ret = encrypt(cmd_session->mmu->pmem, parameter->buf,
                           parameter->length, 0, parameter->need_encrypt,
                           cmd_session->sessionID, seq_num);
+
             if (ret == 0)
             {
-                API_ERROR("encrypt ERROR\n");
+                API_LOG(driver, ERROR_LOG,"encrypt ERROR");
                 freeSession(cmd_session);
                 driver->freeMemory();
                 return -1;
@@ -354,12 +389,12 @@ int DJI::onboardSDK::CoreAPI::sendInterface(Command *parameter)
             cmd_session->pre_timestamp = driver->getTimeStamp();
             cmd_session->sent = 1;
             cmd_session->retry = parameter->retry_time;
-            API_DEBUG("Sending session %d\n", cmd_session->sessionID);
+            API_LOG(driver, DEBUG_LOG,"Sending session %d\n", cmd_session->sessionID);
             sendData(cmd_session->mmu->pmem);
             driver->freeMemory();
             break;
         default:
-            API_ERROR("Unknown mode:%d\n", parameter->session_mode);
+            API_LOG(driver, ERROR_LOG,"Unknown mode:%d\n", parameter->session_mode);
             break;
     }
     return 0;
diff --git a/lib/src/DJI_Memory.cpp b/lib/src/DJI_Memory.cpp
index 83185d7b5..1e8f4b249 100644
--- a/lib/src/DJI_Memory.cpp
+++ b/lib/src/DJI_Memory.cpp
@@ -209,9 +209,10 @@ void DJI::onboardSDK::CoreAPI::setupSession()
  */
 
 CMDSession *DJI::onboardSDK::CoreAPI::allocSession(unsigned short session_id,
-                                               unsigned short size)
+                                                   unsigned short size)
 {
     unsigned int i;
+    API_LOG(driver, DEBUG_LOG,"Alloc size %d", size);
     MMU_Tab *mmu = NULL;
 
     if (session_id == 0 || session_id == 1)
@@ -223,7 +224,7 @@ CMDSession *DJI::onboardSDK::CoreAPI::allocSession(unsigned short session_id,
         else
         {
             /* session is busy */
-            API_ERROR("session %d is busy\n", session_id);
+            API_LOG(driver, ERROR_LOG,"session %d is busy\n", session_id);
             return NULL;
         }
     }
@@ -258,25 +259,26 @@ void DJI::onboardSDK::CoreAPI::freeSession(CMDSession *session)
 {
     if (session->usageFlag == 1)
     {
-        API_DEBUG("session id %d\n", session->sessionID);
+        API_LOG(driver, DEBUG_LOG,"session id %d\n", session->sessionID);
         freeMemory(session->mmu);
         session->usageFlag = 0;
     }
 }
 
 ACKSession *DJI::onboardSDK::CoreAPI::allocACK(unsigned short session_id,
-                                           unsigned short size)
+                                               unsigned short size)
 {
     MMU_Tab *mmu = NULL;
     if (session_id > 0 && session_id < 32)
     {
         if (ACKSessionTab[session_id - 1].mmu)
         {
-            freeMemory(ACKSessionTab[session_id - 1].mmu);
+            freeACK(&ACKSessionTab[session_id - 1]);
         }
         mmu = allocMemory(size);
         if (mmu == NULL)
         {
+            //! @todo optmize
         }
         else
         {