diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4a2ac06..3d1ff571 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,9 +28,7 @@ endif ()
 if (USE_SYSTEM_ARCH MATCHES LINUX)
     add_definitions(-DSYSTEM_ARCH_LINUX)
     add_subdirectory(samples/sample_c/platform/linux/manifold2)
-
-    message("-- Attention: If you want to use opencv C++ sample, please uncomment the next line.")
-#   add_subdirectory(samples/sample_c++/platform/linux/manifold2)
+    add_subdirectory(samples/sample_c++/platform/linux/manifold2)
     
     execute_process(COMMAND uname -m OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
     if (DEVICE_SYSTEM_ID MATCHES x86_64)
diff --git a/LICENSE.txt b/LICENSE.txt
index 1590fa05..41755cde 100644
--- a/LICENSE.txt
+++ b/LICENSE.txt
@@ -6,11 +6,15 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   ├── dji_sdk_code_style
 │   │   ├── dji_sdk_template.c
 │   │   └── dji_sdk_template.h
+│   ├── reference_designs
+│   │   └── Type-C Schematic Reference.pdf
 │   └── simple_model
 │       ├── M300_OSDK_Adapter.stp
 │       ├── M300_RTK_1.stp
 │       ├── M300_RTK_2.stp
 │       ├── M300_RTK_3.stp
+│       ├── M30T.stp
+│       ├── PSDK Mounting Bracket(Payload).stp
 │       ├── Skyport_Adapter_2.stp
 │       └── X-Port 80mm.stp
 ├── EULA.txt
@@ -43,6 +47,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   ├── dji_version.h
 │   │   ├── dji_waypoint_v2.h
 │   │   ├── dji_waypoint_v2_type.h
+│   │   ├── dji_waypoint_v3.h
 │   │   ├── dji_widget.h
 │   │   ├── dji_xport.h
 │   │   └── legacy_psdk2.x
@@ -75,7 +80,7 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       ├── aarch64-linux-gnu-gcc
 │       │   └── libpayloadsdk.a
 │       ├── armcc_cortex-m4
-│       │   └── libpayloadsdk.lib
+│       │   └── libpayload.lib
 │       ├── arm-himix100-linux-gcc
 │       │   └── libpayloadsdk.a
 │       ├── arm-himix200-linux-gcc
@@ -96,7 +101,9 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       │   └── libpayloadsdk.a
 │       ├── arm-none-eabi-gcc
 │       │   └── libpayloadsdk.a
-│       └── x86_64-linux-gnu-gcc
+│       ├── x86_64-linux-gnu-gcc
+│       │   └── libpayloadsdk.a
+│       └── xtensa-esp32-elf-gcc
 │           └── libpayloadsdk.a
 ├── README.md
 ├── samples
@@ -186,11 +193,20 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │   │   ├── waypoint_v2
 │   │   │   │   ├── test_waypoint_v2.c
 │   │   │   │   └── test_waypoint_v2.h
+│   │   │   ├── waypoint_v3
+│   │   │   │   ├── test_waypoint_v3.c
+│   │   │   │   ├── test_waypoint_v3.h
+│   │   │   │   ├── waypoint_file
+│   │   │   │   │   └── waypoint_v3_test_file.kmz
+│   │   │   │   └── waypoint_file_c
+│   │   │   │       └── waypoint_v3_test_file_kmz.h
 │   │   │   ├── widget
 │   │   │   │   ├── file_binary_array_list_en.c
 │   │   │   │   ├── file_binary_array_list_en.h
 │   │   │   │   ├── test_widget.c
 │   │   │   │   ├── test_widget.h
+│   │   │   │   ├── test_widget_speaker.c
+│   │   │   │   ├── test_widget_speaker.h
 │   │   │   │   ├── widget_file
 │   │   │   │   │   ├── cn_big_screen
 │   │   │   │   │   │   ├── icon_button1.png
@@ -261,8 +277,9 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │       ├── linux
 │   │       │   ├── common
 │   │       │   │   ├── 3rdparty
-│   │       │   │   │   └── ffmpeg
-│   │       │   │   │       └── FindFFMPEG.cmake
+│   │       │   │   │   ├── FindFFMPEG.cmake
+│   │       │   │   │   ├── FindLIBUSB.cmake
+│   │       │   │   │   └── FindOPUS.cmake
 │   │       │   │   ├── monitor
 │   │       │   │   │   ├── sys_monitor.c
 │   │       │   │   │   └── sys_monitor.h
@@ -302,12 +319,24 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │   ├── dji_sdk_config.h
 │   │               │   ├── FreeRTOSConfig.h
 │   │               │   └── main.c
+│   │               ├── bootloader
+│   │               │   ├── common.c
+│   │               │   ├── common.h
+│   │               │   ├── main.c
+│   │               │   ├── main.h
+│   │               │   ├── menu.c
+│   │               │   ├── menu.h
+│   │               │   └── ymodem.c
 │   │               ├── drivers
 │   │               │   ├── BSP
 │   │               │   │   ├── apply_high_power.c
 │   │               │   │   ├── apply_high_power.h
+│   │               │   │   ├── button.c
+│   │               │   │   ├── button.h
 │   │               │   │   ├── dji_ringbuffer.c
 │   │               │   │   ├── dji_ringbuffer.h
+│   │               │   │   ├── flash_if.c
+│   │               │   │   ├── flash_if.h
 │   │               │   │   ├── freertos.c
 │   │               │   │   ├── led.c
 │   │               │   │   ├── led.h
@@ -321,15 +350,16 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │   │   ├── stm32f4xx_it.h
 │   │               │   │   ├── syscalls.c
 │   │               │   │   ├── sysmem.c
+│   │               │   │   ├── sysmem.h
 │   │               │   │   ├── system_stm32f4xx.c
 │   │               │   │   ├── uart.c
-│   │               │   │   └── uart.h
+│   │               │   │   ├── uart.h
+│   │               │   │   ├── upgrade_platform_opt_stm32.c
+│   │               │   │   └── upgrade_platform_opt_stm32.h
 │   │               │   ├── CMSIS
 │   │               │   │   ├── Device
 │   │               │   │   │   └── ST
 │   │               │   │   │       └── STM32F4xx
-│   │               │   │   │           ├── Include
-│   │               │   │   │           └── Source
 │   │               │   │   └── Include
 │   │               │   ├── STM32F4xx_HAL_Driver
 │   │               │   │   ├── Inc
@@ -378,21 +408,22 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │   │               │               ├── stream_buffer.c
 │   │               │               ├── tasks.c
 │   │               │               └── timers.c
-│   │               └── project
-│   │                   ├── clion_app
-│   │                   │   ├── CMakeLists.txt
-│   │                   │   ├── STM32F407VGTX_FLASH.ld
-│   │                   │   └── stm32f4discovery.cfg
-│   │                   └── mdk_app
-│   │                       └── mdk_app.uvprojx
+│   │               ├── project
+│   │               │   ├── armgcc
+│   │               │   │   ├── CMakeLists.txt
+│   │               │   │   ├── STM32F407VGTX_FLASH.ld
+│   │               │   │   └── stm32f4discovery.cfg
+│   │               │   ├── mdk
+│   │               │   │   └── mdk_app.uvprojx
+│   │               │   └── mdk_bootloader
+│   │               │       └── mdk_bootloader.uvprojx
+│   │               └── readme.txt
 │   └── sample_c++
 │       ├── module_sample
 │       │   ├── liveview
 │       │   │   ├── data
-│       │   │   │   ├── cars.xml
 │       │   │   │   ├── haarcascade_frontalface_alt.xml
 │       │   │   │   └── tensorflow
-│       │   │   │       ├── frozen_inference_graph.pb
 │       │   │   │       └── ssd_inception_v2_coco_2017_11_17.pbtxt
 │       │   │   ├── dji_camera_image_handler.cpp
 │       │   │   ├── dji_camera_image_handler.hpp
@@ -410,9 +441,17 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │       └── platform
 │           └── linux
 │               ├── common
+│               │   ├── 3rdparty
+│               │   │   ├── FindFFMPEG.cmake
+│               │   │   ├── FindLIBUSB.cmake
+│               │   │   └── FindOPUS.cmake
 │               │   └── osal
 │               │       ├── osal.c
-│               │       └── osal.h
+│               │       ├── osal_fs.c
+│               │       ├── osal_fs.h
+│               │       ├── osal.h
+│               │       ├── osal_socket.c
+│               │       └── osal_socket.h
 │               └── manifold2
 │                   ├── application
 │                   │   ├── application.cpp
@@ -420,14 +459,13 @@ The following portions of the DJI’s Payload SDK (“Software” referred to in
 │                   │   ├── dji_sdk_app_info.h
 │                   │   └── main.cpp
 │                   ├── CMakeLists.txt
-│                   ├── FindFFMPEG.cmake
 │                   └── hal
 │                       ├── hal_network.c
 │                       ├── hal_network.h
 │                       ├── hal_uart.c
 │                       ├── hal_uart.h
 │                       ├── hal_usb_bulk.c
-│                     └── hal_usb_bulk.h
+│                       └── hal_usb_bulk.h
 └── tools
     └── file2c
         ├── file2c.exe
diff --git a/README.md b/README.md
index 8f036fc3..9910907c 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # DJI Payload SDK (PSDK)
 
-![](https://img.shields.io/badge/version-V3.1.0-orange.svg)
+![](https://img.shields.io/badge/version-V3.2.0-orange.svg)
 ![](https://img.shields.io/badge/platform-linux_|_rtos-green.svg)
 ![](https://img.shields.io/badge/license-MIT-blue.svg)
 [![Join the chat at https://gitter.im/dji-sdk/Payload-SDK](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dji-sdk/Payload-SDK?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
@@ -15,17 +15,31 @@ Payload Controller, Video Image Analysis Platform, Mapping Camera, Megaphone And
 
 ## Documentation
 
-For full documentation, please visit the [DJI Developer Documentation](https://developer.dji.com/payload-sdk/documentation/). 
-Documentation regarding the code can be found in the [PSDK API Reference](https://developer.dji.com/payload-api-reference/introduction/index.html) section of the developer's website.
-Please visit the [Latest Version Information](https://developer.dji.com/payload-sdk/documentation/appendix/firmware.html) to get the latest version information.
+For full documentation, please visit
+the [DJI Developer Documentation](https://developer.dji.com/payload-sdk/documentation/). Documentation regarding the
+code can be found in the [PSDK API Reference](https://developer.dji.com/payload-api-reference/introduction/index.html)
+section of the developer's website. Please visit
+the [Latest Version Information](https://developer.dji.com/payload-sdk/documentation/appendix/firmware.html) to get the
+latest version information.
 
 ## Latest Release
 
-PSDK 3.1.0 was released on 21 March 2022. This version of Payload SDK mainly add some features support, such as add the 
-Matrice 30/30T support, add the standard speaker widget support on M30/M30T, add the waypoint 3.0 support on M30/30T, add the 
-get camera laser ranging data support on M30/30T, add the power-off notification support on M300 RTK OSDK port, etc. At 
-the same time, we also fixed some bugs on the last version, add more sample support and add ESP32 toolchain support. 
-Please refer to the release notes for detailed changes list.
+PSDK 3.2.0 was released on 08 August 2022. This version of Payload SDK mainly add some features support and fixed some
+bugs. Please refer to the release notes for detailed changes list.
+
+* Add the support of standard speaker on M300 RTK, M30/M30T Pilot
+* Add the support of the mapping between the speaker with the remote controller button on M300 RTK, M30/M30T Pilot
+* Add function support for H20N on M300 RTK
+* Add infrared zoom function support of H20T on M300 RTK
+* Fix the occasional problem of the Camera Livestream can not be subscribed on M30/M30T
+* Fix the problem of some interfaces of camera management run error on M30/M30T
+* Fix the problem of the infrared code stream can not be obtained on M30/M30T
+* Fix the problem of RTOS platform data subscription crash on M30/M30T
+* Fix the occasional problem of abnormal media download function on M300 RTK
+* Fix the occasional problem of abnormal SDK interconnection function on M300 RTK
+* Fix the occasional problem of the PSDK payload name displays abnormally
+* Fix the coordinate system problem of the gimbal angle of the data subscription function
+* Optimize the compilation dependency problems of third-party dependent libraries
 
 ## License
 
diff --git a/psdk_lib/include/dji_camera_manager.h b/psdk_lib/include/dji_camera_manager.h
index 614776a7..286a0c19 100644
--- a/psdk_lib/include/dji_camera_manager.h
+++ b/psdk_lib/include/dji_camera_manager.h
@@ -509,7 +509,8 @@ typedef enum {
 typedef struct {
     E_DjiDownloadFileEvent downloadFileEvent;
     uint32_t fileIndex;
-    uint8_t progressInPercent;
+    uint32_t fileSize;
+    float progressInPercent;
 } T_DjiDownloadFilePacketInfo;
 
 typedef struct {
@@ -767,6 +768,15 @@ T_DjiReturnCode DjiCameraManager_SetOpticalZoomParam(E_DjiMountPosition position
 T_DjiReturnCode DjiCameraManager_GetOpticalZoomParam(E_DjiMountPosition position,
                                                      T_DjiCameraManagerOpticalZoomParam *opticalZoomParam);
 
+/**
+ * @brief Set parameters for camera infrared zooming of the selected camera mounted position.
+ * @param position: camera mounted position
+ * @param factor: target zoom factor.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCameraManager_SetInfraredZoomParam(E_DjiMountPosition position,
+                                                      dji_f32_t factor);
+
 /**
  * @brief Stop camera optical zooming of the selected camera mounted position.
  * @note Called to stop focal length changing, when it currently is from
@@ -957,6 +967,8 @@ T_DjiReturnCode DjiCameraManager_StopRecordVideo(E_DjiMountPosition position);
 
 /**
  * @brief Download selected camera media file list.
+ * @note The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileList: the pointer to the downloaded camera file list
  * @return Execution result.
@@ -975,7 +987,8 @@ T_DjiReturnCode DjiCameraManager_RegDownloadFileDataCallback(E_DjiMountPosition
 /**
  * @brief Download selected camera media file by file index.
  * @note Only support download one file at the same time, the new file download need wait for the previous file
- * download finished.
+ * download finished.The interface is a synchronous interface, which occupies more CPU resources when using it.
+ * If the download file fails, the timeout time is 3S.
  * @param position: the mount position of the camera
  * @param fileIndex: the index of the camera media file
  * @return Execution result.
diff --git a/psdk_lib/include/dji_core.h b/psdk_lib/include/dji_core.h
index e28890a5..c1b9276e 100644
--- a/psdk_lib/include/dji_core.h
+++ b/psdk_lib/include/dji_core.h
@@ -89,6 +89,12 @@ T_DjiReturnCode DjiCore_SetAlias(const char *productAlias);
  */
 T_DjiReturnCode DjiCore_ApplicationStart(void);
 
+/**
+ * @brief DeInitialize the Payload SDK core in blocking mode.
+ * @return Execution result.
+ */
+T_DjiReturnCode DjiCore_DeInit(void);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/psdk_lib/include/dji_fc_subscription.h b/psdk_lib/include/dji_fc_subscription.h
index 1d73c8b0..6c02df6d 100644
--- a/psdk_lib/include/dji_fc_subscription.h
+++ b/psdk_lib/include/dji_fc_subscription.h
@@ -157,7 +157,6 @@ typedef enum {
      *
      * @note This value is updated each time the drone takes off.
      *
-     * @sensors Visual Odometry (M210 only), Barometer, IMU
      * @units m
      * @datastruct \ref T_DjiFcSubscriptionAltitudeOfHomePoint
      */
@@ -935,8 +934,7 @@ typedef struct BatterySingleInfo {
  */
 typedef struct SDKCtrlInfo {
     uint8_t controlMode;      /*!< See CtlrMode in dji_status.hpp*/
-    uint8_t deviceStatus: 3; /*!< For M300 and M210V2(firmware version V01.00.0690 and later):0->rc  1->app  4->serial;
-                                 Other: 0->rc  1->app  2->serial*/
+    uint8_t deviceStatus: 3; /*!< 0->rc  1->app  4->serial */
     uint8_t flightStatus: 1; /*!< 1->opensd  0->close */
     uint8_t vrcStatus: 1;
     uint8_t reserved: 3;
@@ -1062,7 +1060,6 @@ typedef struct PositionVO {
 /*!
  * @brief struct for data broadcast and subscription, return obstacle info around the vehicle
  *
- * @note available in M210 (front, up, down)
  */
 typedef struct RelativePosition {
     dji_f32_t down;            /*!< distance from obstacle (m) */
@@ -1170,7 +1167,8 @@ T_DjiReturnCode DjiFcSubscription_SubscribeTopic(E_DjiFcSubscriptionTopic topic,
  * @param timestamp: pointer to memory space used to store timestamps. The memory space used to store timestamps
  * have to have been allocated correctly, and should ensure its size is equal to data structure size of timestamp,
  * otherwise, this function will not be able to return data and timestamp (return error code) or even cause memory
- * overflow event. If the user does not need timestamp information, can fill in NULL.
+ * overflow event. If the user does not need timestamp information, can fill in NULL. Use flight controller power-on
+ * timestamp on M300 RTK. Use payload local timestamp on M30/M30T.
  * @return Execution result.
  */
 T_DjiReturnCode DjiFcSubscription_GetLatestValueOfTopic(E_DjiFcSubscriptionTopic topic,
diff --git a/psdk_lib/include/dji_flight_controller.h b/psdk_lib/include/dji_flight_controller.h
index 1a40bd4a..4069c796 100644
--- a/psdk_lib/include/dji_flight_controller.h
+++ b/psdk_lib/include/dji_flight_controller.h
@@ -294,7 +294,7 @@ DjiFlightController_GetRtkPositionEnableStatus(E_DjiFlightControllerRtkPositionE
 
 /**
  * @brief Set rc lost action.
- * @note It will be valid when rc and osdk is both lost.It only support M320.
+ * @note It will be valid when rc and osdk is both lost.It only support M30.
  * @param rcLostAction: actions when rc is lost.(hover/landing/go home).It keeps in sync with pilot's param.
  * @return Execution result.
  */
@@ -302,7 +302,7 @@ T_DjiReturnCode DjiFlightController_SetRCLostAction(E_DjiFlightControllerRCLostA
 
 /**
  * @brief Get rc lost action(hover/landing/gohome).
- * @note It will be valid when rc and osdk is both lost.It only support M320.
+ * @note It will be valid when rc and osdk is both lost.It only support M30.
  * @param rcLostAction: see reference of E_DjiFlightControllerRCLostAction.It keeps in sync with pilot's param.
  * @return Execution result.
  */
@@ -583,7 +583,7 @@ T_DjiReturnCode DjiFlightController_ExecuteEmergencyBrakeAction(void);
 
 /**
  * @brief Request cancel emergency brake action.
- * @note It is only support on M320.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
+ * @note It is only support on M30.If you use DjiFlightController_ExecuteEmergencyBrakeAction(), you need to use
  * "DjiFlightController_CancelEmergencyBrakeAction()" to allow aircraft to execute drone action again.
  * @return Execution result.
  */
diff --git a/psdk_lib/include/dji_typedef.h b/psdk_lib/include/dji_typedef.h
index 01ebb08a..f52c2eff 100644
--- a/psdk_lib/include/dji_typedef.h
+++ b/psdk_lib/include/dji_typedef.h
@@ -114,6 +114,7 @@ typedef enum {
     DJI_CAMERA_TYPE_XTS = 41, /*!< Camera type is XT S. */
     DJI_CAMERA_TYPE_H20 = 42, /*!< Camera type is H20. */
     DJI_CAMERA_TYPE_H20T = 43, /*!< Camera type is H20T. */
+    DJI_CAMERA_TYPE_H20N = 61, /*!< Camera type is H20N. */
     DJI_CAMERA_TYPE_P1 = 50, /*!< Camera type is P1. */
     DJI_CAMERA_TYPE_L1, /*!< Camera type is L1. */
     DJI_CAMERA_TYPE_M30, /*!< Camera type is M30. */
@@ -256,7 +257,7 @@ typedef enum {
 typedef enum {
     /*! The number of pictures to continuously take each time in BURST mode is 2
      */
-    DJI_CAMERA_BURST_COUNT_2  = 2,
+    DJI_CAMERA_BURST_COUNT_2 = 2,
     /*! The number of pictures to continuously take each time in BURST mode is 3
      */
     DJI_CAMERA_BURST_COUNT_3 = 3,
@@ -359,7 +360,8 @@ typedef struct {
  * @param data: pointer to data of the topic, user need transfer type of this pointer to the corresponding data structure
  * pointer for getting every item of the topic conveniently.
  * @param dataSize: the size of memory space pointed by data argument, equal to data structure size corresponding to the topic.
- * @param timestamp: pointer to timestamp corresponding this data.
+ * @param timestamp: pointer to timestamp corresponding this data. Use flight controller power-on timestamp on M300 RTK.
+ * Use payload local timestamp on M30/M30T.
  * @return Execution result.
  */
 typedef T_DjiReturnCode (*DjiReceiveDataOfTopicCallback)(const uint8_t *data, uint16_t dataSize,
diff --git a/psdk_lib/include/dji_version.h b/psdk_lib/include/dji_version.h
index 11ebe094..15f6012b 100644
--- a/psdk_lib/include/dji_version.h
+++ b/psdk_lib/include/dji_version.h
@@ -34,10 +34,10 @@ extern "C" {
 
 /* Exported constants --------------------------------------------------------*/
 #define DJI_VERSION_MAJOR     3 /*!< DJI SDK major version num, when have incompatible API changes. Range from 0 to 99. */
-#define DJI_VERSION_MINOR     1 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
+#define DJI_VERSION_MINOR     2 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1509 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1539 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 
diff --git a/psdk_lib/include/dji_widget.h b/psdk_lib/include/dji_widget.h
index b8c851af..bf13ea4e 100644
--- a/psdk_lib/include/dji_widget.h
+++ b/psdk_lib/include/dji_widget.h
@@ -191,13 +191,9 @@ typedef struct {
 
 typedef struct {
     T_DjiReturnCode (*GetSpeakerState)(T_DjiWidgetSpeakerState *speakerState);
-
     T_DjiReturnCode (*SetWorkMode)(E_DjiWidgetSpeakerWorkMode workMode);
-    T_DjiReturnCode (*GetWorkMode)(E_DjiWidgetSpeakerWorkMode *workMode);
     T_DjiReturnCode (*SetPlayMode)(E_DjiWidgetSpeakerPlayMode playMode);
-    T_DjiReturnCode (*GetPlayMode)(E_DjiWidgetSpeakerPlayMode *playMode);
     T_DjiReturnCode (*SetVolume)(uint8_t volume);
-    T_DjiReturnCode (*GetVolume)(uint8_t *volume);
 
     T_DjiReturnCode (*StartPlay)(void);
     T_DjiReturnCode (*StopPlay)(void);
diff --git a/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a
index 839f2e8c..6a596cb2 100644
Binary files a/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/aarch64-linux-android-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-linux-android-gcc/libpayloadsdk.a
index 727e943f..7f512f9a 100644
Binary files a/psdk_lib/lib/aarch64-linux-android-gcc/libpayloadsdk.a and b/psdk_lib/lib/aarch64-linux-android-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a
index bd1d60be..885bc1e2 100644
Binary files a/psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a and b/psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-himix100-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-himix100-linux-gcc/libpayloadsdk.a
index c9b2219c..c3cbbc4e 100644
Binary files a/psdk_lib/lib/arm-himix100-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-himix100-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-himix200-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-himix200-linux-gcc/libpayloadsdk.a
index 47570934..109a5917 100644
Binary files a/psdk_lib/lib/arm-himix200-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-himix200-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-hisiv300-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-hisiv300-linux-gcc/libpayloadsdk.a
index 61bf5be0..02ce26f9 100644
Binary files a/psdk_lib/lib/arm-hisiv300-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-hisiv300-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-hisiv400-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-hisiv400-linux-gcc/libpayloadsdk.a
index 5e939c06..5b1c4ae3 100644
Binary files a/psdk_lib/lib/arm-hisiv400-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-hisiv400-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-hisiv500-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-hisiv500-linux-gcc/libpayloadsdk.a
index 6dbe9cec..830d2f87 100644
Binary files a/psdk_lib/lib/arm-hisiv500-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-hisiv500-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-hisiv600-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-hisiv600-linux-gcc/libpayloadsdk.a
index fa1ef15b..fb0fa0a0 100644
Binary files a/psdk_lib/lib/arm-hisiv600-linux-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-hisiv600-linux-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-linux-androideabi-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-linux-androideabi-gcc/libpayloadsdk.a
index 12a477fe..5c01fe46 100644
Binary files a/psdk_lib/lib/arm-linux-androideabi-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-linux-androideabi-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-linux-gnueabi-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-linux-gnueabi-gcc/libpayloadsdk.a
index f34bbdd6..9e3aa20f 100644
Binary files a/psdk_lib/lib/arm-linux-gnueabi-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-linux-gnueabi-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-linux-gnueabihf-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-linux-gnueabihf-gcc/libpayloadsdk.a
index 32b0b8eb..2f1d88c0 100644
Binary files a/psdk_lib/lib/arm-linux-gnueabihf-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-linux-gnueabihf-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/arm-none-eabi-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-none-eabi-gcc/libpayloadsdk.a
index 71b1a70b..08b5ced9 100644
Binary files a/psdk_lib/lib/arm-none-eabi-gcc/libpayloadsdk.a and b/psdk_lib/lib/arm-none-eabi-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/armcc_cortex-m4/libpayload.lib b/psdk_lib/lib/armcc_cortex-m4/libpayload.lib
index 8e07d12a..fcdea586 100644
Binary files a/psdk_lib/lib/armcc_cortex-m4/libpayload.lib and b/psdk_lib/lib/armcc_cortex-m4/libpayload.lib differ
diff --git a/psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a b/psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a
index 5ba6cfeb..30f63cda 100644
Binary files a/psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a and b/psdk_lib/lib/x86_64-linux-gnu-gcc/libpayloadsdk.a differ
diff --git a/psdk_lib/lib/xtensa-esp32-elf-gcc/libpayloadsdk.a b/psdk_lib/lib/xtensa-esp32-elf-gcc/libpayloadsdk.a
index 381717f0..dbc1bbe4 100644
Binary files a/psdk_lib/lib/xtensa-esp32-elf-gcc/libpayloadsdk.a and b/psdk_lib/lib/xtensa-esp32-elf-gcc/libpayloadsdk.a differ
diff --git a/samples/sample_c++/platform/linux/manifold2/FindFFMPEG.cmake b/samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake
similarity index 100%
rename from samples/sample_c++/platform/linux/manifold2/FindFFMPEG.cmake
rename to samples/sample_c++/platform/linux/common/3rdparty/FindFFMPEG.cmake
diff --git a/samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake b/samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake
new file mode 100644
index 00000000..43f94712
--- /dev/null
+++ b/samples/sample_c++/platform/linux/common/3rdparty/FindLIBUSB.cmake
@@ -0,0 +1,34 @@
+#
+# Find the native LIBUSB includes and library
+#
+# This module defines
+# LIBUSB_INCLUDE_DIR, where to find libusb.h
+# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
+# LIBUSB_FOUND, If false, do not try to use LIBUSB.
+
+FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
+        PATHS
+        /usr/local/include/libusb-1.0
+        /usr/include/libusb-1.0
+        /opt/local/include
+        /opt/include
+        )
+
+get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
+
+FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
+        /usr/local/lib
+        /usr/lib
+        )
+
+IF (LIBUSB_INCLUDE_DIR)
+    IF (LIBUSB_LIBRARY)
+        SET(LIBUSB_FOUND "YES")
+    ENDIF (LIBUSB_LIBRARY)
+ENDIF (LIBUSB_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(
+        LIBUSB_INCLUDE_DIR
+        LIBUSB_LIBRARY
+        LIBUSB_FOUND
+)
\ No newline at end of file
diff --git a/samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake b/samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake
new file mode 100644
index 00000000..269b6263
--- /dev/null
+++ b/samples/sample_c++/platform/linux/common/3rdparty/FindOPUS.cmake
@@ -0,0 +1,34 @@
+#
+# Find the native OPUS includes and library
+#
+# This module defines
+# OPUS_INCLUDE_DIR, where to find opus.h
+# OPUS_LIBRARY, the libraries to link against to use OPUS.
+# OPUS_FOUND, If false, do not try to use OPUS.
+
+FIND_PATH(OPUS_INCLUDE_DIR opus.h
+        PATHS
+        /usr/local/include/opus
+        /usr/include/opus
+        /opt/local/include
+        /opt/include
+        )
+
+get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
+
+FIND_LIBRARY(OPUS_LIBRARY opus
+        /usr/local/lib
+        /usr/lib
+        )
+
+IF (OPUS_INCLUDE_DIR)
+    IF (OPUS_LIBRARY)
+        SET(OPUS_FOUND "YES")
+    ENDIF (OPUS_LIBRARY)
+ENDIF (OPUS_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(
+        OPUS_INCLUDE_DIR
+        OPUS_LIBRARY
+        OPUS_FOUND
+)
\ No newline at end of file
diff --git a/samples/sample_c++/platform/linux/common/osal/osal.c b/samples/sample_c++/platform/linux/common/osal/osal.c
index 6aa16fc2..f70952b2 100644
--- a/samples/sample_c++/platform/linux/common/osal/osal.c
+++ b/samples/sample_c++/platform/linux/common/osal/osal.c
@@ -1,8 +1,6 @@
 /**
  ********************************************************************
- * @file    psdk_osal.c
- * @version V2.0.0
- * @date    2019/07/01
+ * @file   osal.c
  * @brief
  *
  * @copyright (c) 2021 DJI. All rights reserved.
@@ -32,6 +30,10 @@
 
 /* Private types -------------------------------------------------------------*/
 
+/* Private values -------------------------------------------------------------*/
+static uint32_t s_localTimeMsOffset = 0;
+static uint64_t s_localTimeUsOffset = 0;
+
 /* Private functions declaration ---------------------------------------------*/
 
 /* Exported functions definition ---------------------------------------------*/
@@ -281,6 +283,12 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
     gettimeofday(&time, NULL);
     *ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
 
+    if (s_localTimeMsOffset == 0) {
+        s_localTimeMsOffset = *ms;
+    } else {
+        *ms = *ms - s_localTimeMsOffset;
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -291,15 +299,17 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     gettimeofday(&time, NULL);
     *us = (time.tv_sec * 1000000 + time.tv_usec);
 
+    if (s_localTimeUsOffset == 0) {
+        s_localTimeUsOffset = *us;
+    } else {
+        *us = *us - s_localTimeMsOffset;
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 void *Osal_Malloc(uint32_t size)
 {
-    if (size == 0) {
-        return NULL;
-    }
-
     return malloc(size);
 }
 
diff --git a/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt b/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
index 8b1055e0..961ecbf1 100644
--- a/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
+++ b/samples/sample_c++/platform/linux/manifold2/CMakeLists.txt
@@ -7,19 +7,6 @@ set(CMAKE_C_COMPILER "gcc")
 set(CMAKE_CXX_COMPILER "g++")
 add_definitions(-D_GNU_SOURCE)
 
-# Try to see if user has OpenCV installed
-# if yes, default callback will display the image
-find_package( OpenCV QUIET )
-if (OpenCV_FOUND)
-    message( "\n${PROJECT_NAME}...")
-    message( STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
-    message( STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
-    message( STATUS " - Libraries: ${OpenCV_LIBRARIES}")
-    add_definitions(-DOPEN_CV_INSTALLED)
-else()
-    message( STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
-endif ()
-
 set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_CXX_FLAGS} -fprofile-arcs -ftest-coverage -Wno-deprecated-declarations")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
@@ -50,31 +37,72 @@ else ()
     message(FATAL_ERROR "FATAL: Please confirm your platform.")
 endif ()
 
-set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
+
+link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
+link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
+
+add_executable(${PROJECT_NAME}
+        ${MODULE_APP_SRC}
+        ${MODULE_SAMPLE_SRC}
+        ${MODULE_COMMON_SRC}
+        ${MODULE_HAL_SRC})
+
+# Try to see if user has OpenCV installed因为额
+# if yes, default callback will display the image
+find_package(OpenCV QUIET)
+if (OpenCV_FOUND)
+    message("\n${PROJECT_NAME}...")
+    message(STATUS "Found OpenCV installed in the system, will use it to display image in AdvancedSensing APIs")
+    message(STATUS " - Includes: ${OpenCV_INCLUDE_DIRS}")
+    message(STATUS " - Libraries: ${OpenCV_LIBRARIES}")
+    add_definitions(-DOPEN_CV_INSTALLED)
+else ()
+    message(STATUS "Did not find OpenCV in the system, image data is inside RecvContainer as raw data")
+endif ()
+
 find_package(FFMPEG REQUIRED)
+if (FFMPEG_FOUND)
+    message(STATUS "Found FFMPEG installed in the system")
+    message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
 
-if(FFMPEG_FOUND)
-    message("Found FFMPEG FFMPEG_INCLUDE_DIR = ${FFMPEG_INCLUDE_DIR}")
-    message("Found FFMPEG FFMPEG_LIBRARIES   = ${FFMPEG_LIBRARIES}")
-else()
-    message("Cannot Find FFMPEG")
-endif(FFMPEG_FOUND)
+    target_link_libraries(${PROJECT_NAME} ${FFMPEG_LIBRARIES})
+else ()
+    message(STATUS "Cannot Find FFMPEG")
+endif (FFMPEG_FOUND)
 include_directories(${FFMPEG_INCLUDE_DIR})
 include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
 
-link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
-link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
+find_package(OPUS REQUIRED)
+if (OPUS_FOUND)
+    message(STATUS "Found OPUS installed in the system")
+    message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${OPUS_LIBRARY}")
+
+    add_definitions(-DOPUS_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
+else ()
+    message(STATUS "Cannot Find OPUS")
+endif (OPUS_FOUND)
+
+find_package(LIBUSB REQUIRED)
+if (LIBUSB_FOUND)
+    message(STATUS "Found LIBUSB installed in the system")
+    message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
+
+    add_definitions(-DLIBUSB_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} usb-1.0)
+else ()
+    message(STATUS "Cannot Find LIBUSB")
+endif (LIBUSB_FOUND)
 
 if (NOT EXECUTABLE_OUTPUT_PATH)
     set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
 endif ()
 
-add_executable(${PROJECT_NAME}
-        ${MODULE_APP_SRC}
-        ${MODULE_SAMPLE_SRC}
-        ${MODULE_COMMON_SRC}
-        ${MODULE_HAL_SRC})
-target_link_libraries(${PROJECT_NAME} m usb-1.0 ${FFMPEG_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} m)
 
 add_custom_command(TARGET ${PROJECT_NAME}
         PRE_LINK COMMAND cmake ..
diff --git a/samples/sample_c++/platform/linux/manifold2/application/main.cpp b/samples/sample_c++/platform/linux/manifold2/application/main.cpp
index 7d8ef8f9..32ef2787 100644
--- a/samples/sample_c++/platform/linux/manifold2/application/main.cpp
+++ b/samples/sample_c++/platform/linux/manifold2/application/main.cpp
@@ -64,28 +64,29 @@ int main(int argc, char **argv)
 start:
     std::cout
         << "\n"
-        << "| Available commands:                                                                         |\n"
-        << "| [0] Fc subscribe sample - subscribe quaternion and gps data                                 |\n"
-        << "| [1] Flight controller sample - take off landing                                             |\n"
-        << "| [2] Flight controller sample - take off position ctrl landing                               |\n"
-        << "| [3] Flight controller sample - take off go home force landing                               |\n"
-        << "| [4] Flight controller sample - take off velocity ctrl landing                               |\n"
-        << "| [5] Flight controller sample - arrest flying                                                |\n"
-        << "| [6] Flight controller sample - set get parameters                                           |\n"
-        << "| [7] Hms info sample - get health manger system info                                         |\n"
-        << "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK)        |\n"
-        << "| [9] Waypoint 3.0 sample - run airline mission by kmz file (only support on M30/30T)         |\n"
-        << "| [a] Gimbal manager sample - rotate gimbal on free mode                                      |\n"
-        << "| [b] Gimbal manager sample - rotate gimbal on yaw follow mode                                |\n"
-        << "| [c] Camera stream view sample - display the camera video stream                             |\n"
-        << "| [d] Stereo vision view sample - display the stereo image (only support on M300 RTK)         |\n"
-        << "| [e] Start camera all feautes sample - you can operate the camera on DJI Pilot               |\n"
-        << "| [f] Start gimbal all feautes sample - you can operate the gimbal on DJI Pilot               |\n"
-        << "| [g] Start widget all feautes sample - you can operate the widget on DJI Pilot               |\n"
-        << "| [h] Start widget speaker sample - you can operate the speaker on MSDK demo                  |\n"
-        << "| [i] Start power management sample - you will see notification when aircraft power off       |\n"
-        << "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo          |\n"
-        << "| [l] Run camera manager sample - shoot photo by the selected camera mounted position         |\n"
+        << "| Available commands:                                                                              |\n"
+        << "| [0] Fc subscribe sample - subscribe quaternion and gps data                                      |\n"
+        << "| [1] Flight controller sample - take off landing                                                  |\n"
+        << "| [2] Flight controller sample - take off position ctrl landing                                    |\n"
+        << "| [3] Flight controller sample - take off go home force landing                                    |\n"
+        << "| [4] Flight controller sample - take off velocity ctrl landing                                    |\n"
+        << "| [5] Flight controller sample - arrest flying                                                     |\n"
+        << "| [6] Flight controller sample - set get parameters                                                |\n"
+        << "| [7] Hms info sample - get health manger system info                                              |\n"
+        << "| [8] Waypoint 2.0 sample - run airline mission by settings (only support on M300 RTK)             |\n"
+        << "| [9] Waypoint 3.0 sample - run airline mission by kmz file (only support on M30/30T)              |\n"
+        << "| [a] Gimbal manager sample - rotate gimbal on free mode                                           |\n"
+        << "| [b] Gimbal manager sample - rotate gimbal on yaw follow mode                                     |\n"
+        << "| [c] Camera stream view sample - display the camera video stream                                  |\n"
+        << "| [d] Stereo vision view sample - display the stereo image (only support on M300 RTK)              |\n"
+        << "| [e] Start camera all feautes sample - you can operate the camera on DJI Pilot                    |\n"
+        << "| [f] Start gimbal all feautes sample - you can operate the gimbal on DJI Pilot                    |\n"
+        << "| [g] Start widget all feautes sample - you can operate the widget on DJI Pilot                    |\n"
+        << "| [h] Start widget speaker sample - you can operate the speaker on MSDK demo                       |\n"
+        << "| [i] Start power management sample - you will see notification when aircraft power off            |\n"
+        << "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo               |\n"
+        << "| [l] Run camera manager sample - shoot photo by the selected camera mounted position              |\n"
+        << "| [m] Run camera manager download sample - download camera media file (only support on M300 RTK)   |\n"
         << std::endl;
 
     std::cin >> inputChar;
@@ -206,6 +207,11 @@ int main(int argc, char **argv)
             DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
                                            E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SHOOT_SINGLE_PHOTO);
             break;
+        case 'm':
+            DjiTest_CameraManagerRunSample(DJI_MOUNT_POSITION_PAYLOAD_PORT_NO1,
+                                           E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_DOWNLOAD_AND_DELETE_MEDIA_FILE);
+            exit(1);
+            break;
         default:
             break;
     }
diff --git a/samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c b/samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c
index 2ed2034f..e0c843be 100644
--- a/samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c
+++ b/samples/sample_c++/platform/linux/manifold2/hal/hal_usb_bulk.c
@@ -32,12 +32,16 @@
 
 #define LINUX_USB_BULK_EP_OUT                 "/dev/usb-ffs/bulk/ep1"
 #define LINUX_USB_BULK_EP_IN                  "/dev/usb-ffs/bulk/ep2"
-#define LINUX_USB_PID                         (0x0955)
-#define LINUX_USB_VID                         (0x7020)
+#define LINUX_USB_PID                         (0x7020)
+#define LINUX_USB_VID                         (0x0955)
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
+#ifdef LIBUSB_INSTALLED
     libusb_device_handle *handle;
+#else
+    void *handle;
+#endif
     int32_t ep1;
     int32_t ep2;
     T_DjiHalUsbBulkInfo usbBulkInfo;
@@ -59,6 +63,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
     }
 
     if (usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_init(NULL);
         if (ret < 0) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -78,7 +83,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 
         ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
-
+#endif
     } else {
         ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
@@ -109,9 +114,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
         osalHandler->TaskSleepMs(100);
         libusb_exit(NULL);
+#endif
     } else {
         close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
         close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
@@ -136,18 +143,21 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
                                    (uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
         if (ret < 0) {
-            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+            USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         *realLen = actualLen;
+#endif
     } else {
         *realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
     }
 
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
@@ -164,13 +174,16 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
                                    buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
         if (ret < 0) {
+            USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         *realLen = actualLen;
+#endif
     } else {
         *realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
     }
diff --git a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
index 120a8b14..6f7c86f6 100644
--- a/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
+++ b/samples/sample_c/module_sample/camera_emu/test_payload_cam_emu_media.c
@@ -189,11 +189,16 @@ T_DjiReturnCode DjiTest_CameraEmuMediaStartService(void)
         return DJI_ERROR_SYSTEM_MODULE_CODE_UNKNOWN;
     }
 
-    returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
-                                         NULL, &s_userSendVideoThread);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("user send video task create error.");
-        return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+    if (DjiPlatform_GetSocketHandler() != NULL) {
+        returnCode = osalHandler->TaskCreate("user_camera_media_task", UserCameraMedia_SendVideoTask, 2048,
+                                             NULL, &s_userSendVideoThread);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("user send video task create error.");
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+        }
+    } else {
+        USER_LOG_WARN(
+            "Socket handler is null. Probably because socket handler is not be registered. Camera media sample may not be running.");
     }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
diff --git a/samples/sample_c/module_sample/camera_manager/test_camera_manager.c b/samples/sample_c/module_sample/camera_manager/test_camera_manager.c
index 8725537a..fce26a87 100644
--- a/samples/sample_c/module_sample/camera_manager/test_camera_manager.c
+++ b/samples/sample_c/module_sample/camera_manager/test_camera_manager.c
@@ -31,8 +31,8 @@
 #include "dji_logger.h"
 #include "dji_liveview.h"
 /* Private constants ---------------------------------------------------------*/
-#define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE             32
-#define TEST_CAMERA_MANAGER_MEDIA_EXTEND_INFO_MAX_SIZE           128
+#define TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE             256
+#define TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM              5
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
@@ -53,10 +53,14 @@ static const T_DjiTestCameraTypeStr s_cameraTypeStrList[] = {
     {DJI_CAMERA_TYPE_L1,      "Zenmuse L1"},
     {DJI_CAMERA_TYPE_M30,     "Zenmuse M30"},
     {DJI_CAMERA_TYPE_M30T,    "Zenmuse M30T"},
+    {DJI_CAMERA_TYPE_H20N,    "Zenmuse H20N"},
 };
 
 static FILE *s_downloadMediaFile = NULL;
 static T_DjiCameraManagerFileList s_meidaFileList;
+static uint32_t downloadStartMs = 0;
+static uint32_t downloadEndMs = 0;
+static char downloadFileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE] = {0};
 
 /* Private functions declaration ---------------------------------------------*/
 static uint8_t DjiTest_CameraManagerGetCameraTypeIndex(E_DjiCameraType cameraType);
@@ -817,7 +821,7 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
                        mountPosition, returnCode);
         goto exitCameraModule;
     }
-    USER_LOG_INFO("Mounted position %d camera's firmware is V%d.%d.%d.%d\r\n", mountPosition,
+    USER_LOG_INFO("Mounted position %d camera's firmware is V%02d.%02d.%02d.%02d\r\n", mountPosition,
                   firmwareVersion.firmware_version[0], firmwareVersion.firmware_version[1],
                   firmwareVersion.firmware_version[2], firmwareVersion.firmware_version[3]);
 
@@ -850,7 +854,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_SHUTTER_SPEED: {
             USER_LOG_INFO("--> Function a: Set camera shutter speed to 1/100 s");
             DjiTest_WidgetLogAppend("--> Function a: Set camera shutter speed to 1/100 s");
-            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
+            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T ||
+                cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -886,7 +891,8 @@ T_DjiReturnCode DjiTest_CameraManagerRunSample(E_DjiMountPosition mountPosition,
         case E_DJI_TEST_CAMERA_MANAGER_SAMPLE_SELECT_SET_CAMERA_APERTURE: {
             USER_LOG_INFO("--> Function b: Set camera aperture to 400(F/4)");
             DjiTest_WidgetLogAppend("--> Function b: Set camera aperture to 400(F/4)");
-            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T) {
+            if (cameraType == DJI_CAMERA_TYPE_H20 || cameraType == DJI_CAMERA_TYPE_H20T
+                || cameraType == DJI_CAMERA_TYPE_M30 || cameraType == DJI_CAMERA_TYPE_M30T) {
                 USER_LOG_INFO("Set mounted position %d camera's exposure mode to manual mode.",
                               mountPosition);
                 returnCode = DjiTest_CameraManagerSetExposureMode(mountPosition,
@@ -1188,24 +1194,29 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
 {
     T_DjiReturnCode returnCode;
     T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
+    uint16_t downloadCount = 0;
 
-    returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
+    returnCode = DjiCameraManager_RegDownloadFileDataCallback(position, DjiTest_CameraManagerDownloadFileDataCallback);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
+        USER_LOG_ERROR("Register download file data callback failed, error code: 0x%08X.", returnCode);
         return returnCode;
     }
 
-    returnCode = DjiCameraManager_RegDownloadFileDataCallback(position, DjiTest_CameraManagerDownloadFileDataCallback);
+    returnCode = DjiCameraManager_DownloadFileList(position, &s_meidaFileList);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("Register download file data callback failed, error code: 0x%08X.", returnCode);
+        USER_LOG_ERROR("Download file list failed, error code: 0x%08X.", returnCode);
         return returnCode;
     }
 
     if (s_meidaFileList.totalCount > 0) {
-        for (int i = 0; i < s_meidaFileList.totalCount; ++i) {
+        downloadCount = s_meidaFileList.totalCount;
+        printf(
+            "\033[1;33;40m -> Download file list finished, total file count is %d, the following %d is list details: \033[0m\r\n",
+            s_meidaFileList.totalCount, downloadCount);
+        for (int i = 0; i < downloadCount; ++i) {
             if (s_meidaFileList.fileListInfo[i].fileSize < 1 * 1024 * 1024) {
-                USER_LOG_INFO(
-                    "Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d",
+                printf(
+                    "\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f KB, type: %d \033[0m\r\n",
                     i, s_meidaFileList.fileListInfo[i].fileName,
                     s_meidaFileList.fileListInfo[i].fileIndex,
                     s_meidaFileList.fileListInfo[i].createTime.year,
@@ -1217,8 +1228,8 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
                     (dji_f32_t) s_meidaFileList.fileListInfo[i].fileSize / 1024,
                     s_meidaFileList.fileListInfo[i].type);
             } else {
-                USER_LOG_INFO(
-                    "Media file_%03d name: %s, index: %d,  time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d",
+                printf(
+                    "\033[1;32;40m ### Media file_%03d name: %s, index: %d, time:%04d-%02d-%02d_%02d:%02d:%02d, size: %.2f MB, type: %d \033[0m\r\n",
                     i, s_meidaFileList.fileListInfo[i].fileName,
                     s_meidaFileList.fileListInfo[i].fileIndex,
                     s_meidaFileList.fileListInfo[i].createTime.year,
@@ -1231,16 +1242,23 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
                     s_meidaFileList.fileListInfo[i].type);
             }
         }
+        printf("\r\n");
 
         osalHandler->TaskSleepMs(1000);
 
-        returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
-        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-            USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
-            return returnCode;
+        if (s_meidaFileList.totalCount < TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM) {
+            downloadCount = s_meidaFileList.totalCount;
+        } else {
+            downloadCount = TEST_CAMERA_MANAGER_MEDIA_DOWNLOAD_FILE_NUM;
         }
 
-        osalHandler->TaskSleepMs(1000);
+        for (int i = 0; i < downloadCount; ++i) {
+            returnCode = DjiCameraManager_DownloadFileByIndex(position, s_meidaFileList.fileListInfo[i].fileIndex);
+            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+                USER_LOG_ERROR("Download media file by index failed, error code: 0x%08X.", returnCode);
+                return returnCode;
+            }
+        }
 
         returnCode = DjiCameraManager_DeleteFileByIndex(position, s_meidaFileList.fileListInfo[0].fileIndex);
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -1250,7 +1268,7 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
 
         osalHandler->TaskSleepMs(1000);
     } else {
-        USER_LOG_WARN("Media file is not existed in sdcard.");
+        USER_LOG_WARN("Media file is not existed in sdcard.\r\n");
     }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
@@ -1259,11 +1277,9 @@ static T_DjiReturnCode DjiTest_CameraManagerMediaDownloadAndDeleteMediaFile(E_Dj
 static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownloadFilePacketInfo packetInfo,
                                                                      const uint8_t *data, uint16_t len)
 {
-    char fileName[TEST_CAMERA_MANAGER_MEDIA_FILE_NAME_MAX_SIZE];
-    char extendInfo[TEST_CAMERA_MANAGER_MEDIA_EXTEND_INFO_MAX_SIZE];
     int32_t i;
-
-    sprintf(extendInfo, " FileIndex: %d", packetInfo.fileIndex);
+    float downloadSpeed = 0.0f;
+    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
 
     if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_START) {
         for (i = 0; i < s_meidaFileList.totalCount; ++i) {
@@ -1271,9 +1287,12 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
                 break;
             }
         }
-        sprintf(fileName, "%s", s_meidaFileList.fileListInfo[i].fileName);
-        USER_LOG_INFO("Start download media file %s", s_meidaFileList.fileListInfo[i].fileName);
-        s_downloadMediaFile = fopen(fileName, "wb+");
+        osalHandler->GetTimeMs(&downloadStartMs);
+
+        memset(downloadFileName, 0, sizeof(downloadFileName));
+        snprintf(downloadFileName, sizeof(downloadFileName), "%s", s_meidaFileList.fileListInfo[i].fileName);
+        USER_LOG_INFO("Start download media file");
+        s_downloadMediaFile = fopen(downloadFileName, "wb+");
         if (s_downloadMediaFile == NULL) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
@@ -1282,13 +1301,24 @@ static T_DjiReturnCode DjiTest_CameraManagerDownloadFileDataCallback(T_DjiDownlo
         if (s_downloadMediaFile != NULL) {
             fwrite(data, 1, len, s_downloadMediaFile);
         }
+        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
+               packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
+        printf("\033[1A");
+        USER_LOG_DEBUG("Transfer download media file data, len: %d, percent: %.1f", len, packetInfo.progressInPercent);
     } else if (packetInfo.downloadFileEvent == DJI_DOWNLOAD_FILE_EVENT_END) {
         if (s_downloadMediaFile != NULL) {
             fwrite(data, 1, len, s_downloadMediaFile);
         }
-
-        USER_LOG_INFO("End download media file");
+        osalHandler->GetTimeMs(&downloadEndMs);
+
+        downloadSpeed = (float) packetInfo.fileSize / (float) (downloadEndMs - downloadStartMs);
+        printf("\033[1;32;40m ### [Complete rate : %0.1f%%] (%s), size: %d, fileIndex: %d\033[0m\r\n",
+               packetInfo.progressInPercent, downloadFileName, packetInfo.fileSize, packetInfo.fileIndex);
+        printf("\033[1A");
+        printf("\r\n");
+        USER_LOG_INFO("End download media file, Download Speed %.2f KB/S\r\n\r\n", downloadSpeed);
         fclose(s_downloadMediaFile);
+        s_downloadMediaFile = NULL;
     }
 
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
diff --git a/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c b/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
index 2deaf958..35ec8108 100644
--- a/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
+++ b/samples/sample_c/module_sample/fc_subscription/test_fc_subscription.c
@@ -156,8 +156,9 @@ T_DjiReturnCode DjiTest_FcSubscriptionRunSample(void)
         if (djiStat != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("get value of topic velocity error.");
         } else {
-            USER_LOG_INFO("velocity: x = %f y = %f z = %f healthFlag = %d.", velocity.data.x, velocity.data.y,
-                          velocity.data.z, velocity.health);
+            USER_LOG_INFO("velocity: x = %f y = %f z = %f healthFlag = %d, timestamp ms = %d us = %d.", velocity.data.x,
+                          velocity.data.y,
+                          velocity.data.z, velocity.health, timestamp.millisecond, timestamp.microsecond);
         }
 
         djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_GPS_POSITION,
diff --git a/samples/sample_c/module_sample/flight_control/test_flight_control.c b/samples/sample_c/module_sample/flight_control/test_flight_control.c
index ed5d67f4..30777d73 100644
--- a/samples/sample_c/module_sample/flight_control/test_flight_control.c
+++ b/samples/sample_c/module_sample/flight_control/test_flight_control.c
@@ -30,6 +30,7 @@
 #include "dji_logger.h"
 #include <math.h>
 #include <widget_interaction_test/test_widget_interaction.h>
+#include <dji_aircraft_info.h>
 /* Private constants ---------------------------------------------------------*/
 
 /* Private types -------------------------------------------------------------*/
@@ -665,6 +666,12 @@ void DjiTest_FlightControlSetGetParamSample()
     E_DjiFlightControllerGoHomeAltitude goHomeAltitude;
     E_DjiFlightControllerRtkPositionEnableStatus rtkEnableStatus;
     E_DjiFlightControllerRCLostAction rcLostAction;
+    T_DjiAircraftInfoBaseInfo aircraftInfoBaseInfo;
+
+    returnCode = DjiAircraftInfo_GetBaseInfo(&aircraftInfoBaseInfo);
+    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+        USER_LOG_ERROR("get aircraft base info error");
+    }
 
     USER_LOG_INFO("Flight control set-get-param sample start");
     DjiTest_WidgetLogAppend("Flight control set-get-param sample start");
@@ -823,25 +830,27 @@ void DjiTest_FlightControlSetGetParamSample()
     s_osalHandler->TaskSleepMs(1000);
 
     /*! Set rc lost action */
-    USER_LOG_INFO("--> Step 15: Set rc lost action");
-    DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
-    returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("Set rc lost action failed, error code: 0x%08X", returnCode);
-        goto out;
-    }
-    s_osalHandler->TaskSleepMs(1000);
+    if (aircraftInfoBaseInfo.aircraftType != DJI_AIRCRAFT_TYPE_M300_RTK) {
+        USER_LOG_INFO("--> Step 15: Set rc lost action");
+        DjiTest_WidgetLogAppend("--> Step 15: Set rc lost action");
+        returnCode = DjiFlightController_SetRCLostAction(DJI_FLIGHT_CONTROLLER_RC_LOST_ACTION_GOHOME);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Set rc lost action failed, error code: 0x%08X", returnCode);
+            goto out;
+        }
+        s_osalHandler->TaskSleepMs(1000);
 
-    USER_LOG_INFO("--> Step 16: Get rc lost action\r\n");
-    DjiTest_WidgetLogAppend("--> Step 16: Get rc lost action\r\n");
-    returnCode = DjiFlightController_GetRCLostAction(&rcLostAction);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("Get rc lost action failed, error code: 0x%08X", returnCode);
-        goto out;
+        USER_LOG_INFO("--> Step 16: Get rc lost action\r\n");
+        DjiTest_WidgetLogAppend("--> Step 16: Get rc lost action\r\n");
+        returnCode = DjiFlightController_GetRCLostAction(&rcLostAction);
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("Get rc lost action failed, error code: 0x%08X", returnCode);
+            goto out;
+        }
+        USER_LOG_INFO("Current rc lost action is %d\r\n", rcLostAction);
+        DjiTest_WidgetLogAppend("Current rc lost action is %d\r\n", rcLostAction);
+        s_osalHandler->TaskSleepMs(1000);
     }
-    USER_LOG_INFO("Current rc lost action is %d\r\n", rcLostAction);
-    DjiTest_WidgetLogAppend("Current rc lost action is %d\r\n", rcLostAction);
-    s_osalHandler->TaskSleepMs(1000);
 
 out:
     USER_LOG_INFO("Flight control set-get-param sample end");
diff --git a/samples/sample_c/module_sample/utils/util_file.h b/samples/sample_c/module_sample/utils/util_file.h
index bd212307..42a391f9 100644
--- a/samples/sample_c/module_sample/utils/util_file.h
+++ b/samples/sample_c/module_sample/utils/util_file.h
@@ -67,4 +67,4 @@ T_DjiReturnCode UtilFile_GetFileData(FILE *file, uint32_t offset, uint16_t len,
 
 #endif // UTIL_FILE_H
 
-/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
\ No newline at end of file
+/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/
diff --git a/samples/sample_c/module_sample/widget/test_widget_speaker.c b/samples/sample_c/module_sample/widget/test_widget_speaker.c
index e84d2a07..6445905b 100644
--- a/samples/sample_c/module_sample/widget/test_widget_speaker.c
+++ b/samples/sample_c/module_sample/widget/test_widget_speaker.c
@@ -36,7 +36,7 @@
 
 #ifdef OPUS_INSTALLED
 
-#include <opus.h>
+#include <opus/opus.h>
 
 #endif
 
@@ -80,13 +80,10 @@ static bool s_isDecodeFinished = true;
 static void SetSpeakerState(E_DjiWidgetSpeakerState speakerState);
 static T_DjiReturnCode GetSpeakerState(T_DjiWidgetSpeakerState *speakerState);
 static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode);
-static T_DjiReturnCode GetWorkMode(E_DjiWidgetSpeakerWorkMode *workMode);
 static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode);
-static T_DjiReturnCode GetPlayMode(E_DjiWidgetSpeakerPlayMode *playMode);
 static T_DjiReturnCode StartPlay(void);
 static T_DjiReturnCode StopPlay(void);
 static T_DjiReturnCode SetVolume(uint8_t volume);
-static T_DjiReturnCode GetVolume(uint8_t *volume);
 static T_DjiReturnCode ReceiveTtsData(E_DjiWidgetTransmitDataEvent event,
                                       uint32_t offset, uint8_t *buf, uint16_t size);
 static T_DjiReturnCode ReceiveAudioData(E_DjiWidgetTransmitDataEvent event,
@@ -107,13 +104,10 @@ T_DjiReturnCode DjiTest_WidgetSpeakerStartService(void)
 
     s_speakerHandler.GetSpeakerState = GetSpeakerState;
     s_speakerHandler.SetWorkMode = SetWorkMode;
-    s_speakerHandler.GetWorkMode = GetWorkMode;
     s_speakerHandler.StartPlay = StartPlay;
     s_speakerHandler.StopPlay = StopPlay;
     s_speakerHandler.SetPlayMode = SetPlayMode;
-    s_speakerHandler.GetPlayMode = GetPlayMode;
     s_speakerHandler.SetVolume = SetVolume;
-    s_speakerHandler.GetVolume = GetVolume;
     s_speakerHandler.ReceiveTtsData = ReceiveTtsData;
     s_speakerHandler.ReceiveVoiceData = ReceiveAudioData;
 
@@ -322,12 +316,13 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
 
     SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_IN_TTS_CONVERSION);
 
-#ifdef EKHO_INSTALLED
+#if EKHO_INSTALLED
     /*! Attention: you can use other tts opensource function to convert txt to speech, example used ekho v7.5 */
-    snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100", data);
+    snprintf(cmdStr, sizeof(cmdStr), " ekho %s -s 20 -p 20 -a 100 -o %s", data, WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
 #else
-    snprintf(cmdStr, sizeof(cmdStr), "tts_offline_sample '%s' %s", data,
-             WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
+    USER_LOG_WARN(
+        "Ekho is not installed, please visit https://www.eguidedog.net/ekho.php to install it or use other TTS tools to convert audio");
+#endif
     DjiUserUtil_RunSystemCmd(cmdStr);
 
     SetSpeakerState(DJI_WIDGET_SPEAKER_STATE_PLAYING);
@@ -335,7 +330,6 @@ static T_DjiReturnCode DjiTest_PlayTtsData(void)
     memset(cmdStr, 0, sizeof(cmdStr));
     snprintf(cmdStr, sizeof(cmdStr), "ffplay -nodisp -autoexit -ar 16000 -ac 1 -f s16le -i %s 2>/dev/null",
              WIDGET_SPEAKER_TTS_OUTPUT_FILE_NAME);
-#endif
 
     return DjiUserUtil_RunSystemCmd(cmdStr);
 }
@@ -453,28 +447,6 @@ static T_DjiReturnCode SetWorkMode(E_DjiWidgetSpeakerWorkMode workMode)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
-static T_DjiReturnCode GetWorkMode(E_DjiWidgetSpeakerWorkMode *workMode)
-{
-    T_DjiReturnCode returnCode;
-    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
-
-    returnCode = osalHandler->MutexLock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    *workMode = s_speakerState.workMode;
-
-    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
-}
-
 static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
 {
     T_DjiReturnCode returnCode;
@@ -498,28 +470,6 @@ static T_DjiReturnCode SetPlayMode(E_DjiWidgetSpeakerPlayMode playMode)
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
-static T_DjiReturnCode GetPlayMode(E_DjiWidgetSpeakerPlayMode *playMode)
-{
-    T_DjiReturnCode returnCode;
-    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
-
-    returnCode = osalHandler->MutexLock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    *playMode = s_speakerState.playMode;
-
-    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
-}
-
 static T_DjiReturnCode StartPlay(void)
 {
     uint32_t pid;
@@ -581,9 +531,10 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
     }
 
     realVolume = 1.5f * (float) volume;
-    USER_LOG_INFO("Set widget speaker volume: %d", volume);
     s_speakerState.volume = volume;
 
+#ifdef PLATFORM_ARCH_x86_64
+    USER_LOG_INFO("Set widget speaker volume: %d", volume);
     memset(cmdStr, 0, sizeof(cmdStr));
     snprintf(cmdStr, sizeof(cmdStr), "pactl set-sink-volume %s %d%%", WIDGET_SPEAKER_USB_AUDIO_DEVICE_NAME,
              (int32_t) realVolume);
@@ -592,28 +543,9 @@ static T_DjiReturnCode SetVolume(uint8_t volume)
     if (returnCode < 0) {
         USER_LOG_ERROR("Set widget speaker volume error: %d", ret);
     }
-
-    returnCode = osalHandler->MutexUnlock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("unlock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
-}
-
-static T_DjiReturnCode GetVolume(uint8_t *volume)
-{
-    T_DjiReturnCode returnCode;
-    T_DjiOsalHandler *osalHandler = DjiPlatform_GetOsalHandler();
-
-    returnCode = osalHandler->MutexLock(s_speakerMutex);
-    if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-        USER_LOG_ERROR("lock mutex error: 0x%08llX.", returnCode);
-        return returnCode;
-    }
-
-    *volume = s_speakerState.volume;
+#else
+    USER_LOG_WARN("Add set speaker volume function here!");
+#endif
 
     returnCode = osalHandler->MutexUnlock(s_speakerMutex);
     if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@@ -737,7 +669,7 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
         if (s_speakerState.state == DJI_WIDGET_SPEAKER_STATE_PLAYING) {
             if (s_speakerState.playMode == DJI_WIDGET_SPEAKER_PLAY_MODE_LOOP_PLAYBACK) {
                 if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
-                    USER_LOG_WARN("Waiting opus decoder finished...");
+                    USER_LOG_DEBUG("Waiting opus decoder finished...");
                     while (s_isDecodeFinished == false) {
                         osalHandler->TaskSleepMs(1);
                     }
@@ -754,7 +686,7 @@ static void *DjiTest_WidgetSpeakerTask(void *arg)
                 osalHandler->TaskSleepMs(1000);
             } else {
                 if (s_speakerState.workMode == DJI_WIDGET_SPEAKER_WORK_MODE_VOICE) {
-                    USER_LOG_WARN("Waiting opus decoder finished...");
+                    USER_LOG_DEBUG("Waiting opus decoder finished...");
                     while (s_isDecodeFinished == false) {
                         osalHandler->TaskSleepMs(1);
                     }
diff --git a/samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json b/samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
index 508fb59e..c744acb2 100644
--- a/samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
+++ b/samples/sample_c/module_sample/widget_interaction_test/widget_file/cn_big_screen/widget_config.json
@@ -7,6 +7,10 @@
     "floating_window": {
       "is_enable": true
     },
+    "speaker": {
+      "is_enable_tts": true,
+      "is_enable_voice": true
+    },
     "widget_list": [
       {
         "widget_index": 0,
diff --git a/samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json b/samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
index a7a33fd6..ffd2de03 100644
--- a/samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
+++ b/samples/sample_c/module_sample/widget_interaction_test/widget_file/en_big_screen/widget_config.json
@@ -7,6 +7,10 @@
     "floating_window": {
       "is_enable": true
     },
+    "speaker": {
+      "is_enable_tts": true,
+      "is_enable_voice": true
+    },
     "widget_list": [
       {
         "widget_index": 0,
diff --git a/samples/sample_c/platform/linux/common/3rdparty/ffmpeg/FindFFMPEG.cmake b/samples/sample_c/platform/linux/common/3rdparty/FindFFMPEG.cmake
similarity index 100%
rename from samples/sample_c/platform/linux/common/3rdparty/ffmpeg/FindFFMPEG.cmake
rename to samples/sample_c/platform/linux/common/3rdparty/FindFFMPEG.cmake
diff --git a/samples/sample_c/platform/linux/common/3rdparty/FindLIBUSB.cmake b/samples/sample_c/platform/linux/common/3rdparty/FindLIBUSB.cmake
new file mode 100644
index 00000000..43f94712
--- /dev/null
+++ b/samples/sample_c/platform/linux/common/3rdparty/FindLIBUSB.cmake
@@ -0,0 +1,34 @@
+#
+# Find the native LIBUSB includes and library
+#
+# This module defines
+# LIBUSB_INCLUDE_DIR, where to find libusb.h
+# LIBUSB_LIBRARY, the libraries to link against to use LIBUSB.
+# LIBUSB_FOUND, If false, do not try to use LIBUSB.
+
+FIND_PATH(LIBUSB_INCLUDE_DIR libusb.h
+        PATHS
+        /usr/local/include/libusb-1.0
+        /usr/include/libusb-1.0
+        /opt/local/include
+        /opt/include
+        )
+
+get_filename_component(LIBUSB_INCLUDE_DIR ${LIBUSB_INCLUDE_DIR} ABSOLUTE)
+
+FIND_LIBRARY(LIBUSB_LIBRARY usb-1.0
+        /usr/local/lib
+        /usr/lib
+        )
+
+IF (LIBUSB_INCLUDE_DIR)
+    IF (LIBUSB_LIBRARY)
+        SET(LIBUSB_FOUND "YES")
+    ENDIF (LIBUSB_LIBRARY)
+ENDIF (LIBUSB_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(
+        LIBUSB_INCLUDE_DIR
+        LIBUSB_LIBRARY
+        LIBUSB_FOUND
+)
\ No newline at end of file
diff --git a/samples/sample_c/platform/linux/common/3rdparty/FindOPUS.cmake b/samples/sample_c/platform/linux/common/3rdparty/FindOPUS.cmake
new file mode 100644
index 00000000..269b6263
--- /dev/null
+++ b/samples/sample_c/platform/linux/common/3rdparty/FindOPUS.cmake
@@ -0,0 +1,34 @@
+#
+# Find the native OPUS includes and library
+#
+# This module defines
+# OPUS_INCLUDE_DIR, where to find opus.h
+# OPUS_LIBRARY, the libraries to link against to use OPUS.
+# OPUS_FOUND, If false, do not try to use OPUS.
+
+FIND_PATH(OPUS_INCLUDE_DIR opus.h
+        PATHS
+        /usr/local/include/opus
+        /usr/include/opus
+        /opt/local/include
+        /opt/include
+        )
+
+get_filename_component(OPUS_INCLUDE_DIR ${OPUS_INCLUDE_DIR} ABSOLUTE)
+
+FIND_LIBRARY(OPUS_LIBRARY opus
+        /usr/local/lib
+        /usr/lib
+        )
+
+IF (OPUS_INCLUDE_DIR)
+    IF (OPUS_LIBRARY)
+        SET(OPUS_FOUND "YES")
+    ENDIF (OPUS_LIBRARY)
+ENDIF (OPUS_INCLUDE_DIR)
+
+MARK_AS_ADVANCED(
+        OPUS_INCLUDE_DIR
+        OPUS_LIBRARY
+        OPUS_FOUND
+)
\ No newline at end of file
diff --git a/samples/sample_c/platform/linux/common/osal/osal.c b/samples/sample_c/platform/linux/common/osal/osal.c
index 3f4ff9e0..f70952b2 100644
--- a/samples/sample_c/platform/linux/common/osal/osal.c
+++ b/samples/sample_c/platform/linux/common/osal/osal.c
@@ -30,6 +30,10 @@
 
 /* Private types -------------------------------------------------------------*/
 
+/* Private values -------------------------------------------------------------*/
+static uint32_t s_localTimeMsOffset = 0;
+static uint64_t s_localTimeUsOffset = 0;
+
 /* Private functions declaration ---------------------------------------------*/
 
 /* Exported functions definition ---------------------------------------------*/
@@ -279,6 +283,12 @@ T_DjiReturnCode Osal_GetTimeMs(uint32_t *ms)
     gettimeofday(&time, NULL);
     *ms = (time.tv_sec * 1000 + time.tv_usec / 1000);
 
+    if (s_localTimeMsOffset == 0) {
+        s_localTimeMsOffset = *ms;
+    } else {
+        *ms = *ms - s_localTimeMsOffset;
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
@@ -289,6 +299,12 @@ T_DjiReturnCode Osal_GetTimeUs(uint64_t *us)
     gettimeofday(&time, NULL);
     *us = (time.tv_sec * 1000000 + time.tv_usec);
 
+    if (s_localTimeUsOffset == 0) {
+        s_localTimeUsOffset = *us;
+    } else {
+        *us = *us - s_localTimeMsOffset;
+    }
+
     return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
diff --git a/samples/sample_c/platform/linux/manifold2/CMakeLists.txt b/samples/sample_c/platform/linux/manifold2/CMakeLists.txt
index 0064284d..674cf8d9 100644
--- a/samples/sample_c/platform/linux/manifold2/CMakeLists.txt
+++ b/samples/sample_c/platform/linux/manifold2/CMakeLists.txt
@@ -53,7 +53,33 @@ add_executable(${PROJECT_NAME}
         ${MODULE_SAMPLE_SRC}
         ${MODULE_COMMON_SRC}
         ${MODULE_HAL_SRC})
-target_link_libraries(${PROJECT_NAME} m usb-1.0)
+
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
+find_package(OPUS REQUIRED)
+if (OPUS_FOUND)
+    message(STATUS "Found OPUS installed in the system")
+    message(STATUS " - Includes: ${OPUS_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${OPUS_LIBRARY}")
+
+    add_definitions(-DOPUS_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
+else ()
+    message(STATUS "Cannot Find OPUS")
+endif (OPUS_FOUND)
+
+find_package(LIBUSB REQUIRED)
+if (LIBUSB_FOUND)
+    message(STATUS "Found LIBUSB installed in the system")
+    message(STATUS " - Includes: ${LIBUSB_INCLUDE_DIR}")
+    message(STATUS " - Libraries: ${LIBUSB_LIBRARY}")
+
+    add_definitions(-DLIBUSB_INSTALLED)
+    target_link_libraries(${PROJECT_NAME} usb-1.0)
+else ()
+    message(STATUS "Cannot Find LIBUSB")
+endif (LIBUSB_FOUND)
+
+target_link_libraries(${PROJECT_NAME} m)
 
 add_custom_command(TARGET ${PROJECT_NAME}
         PRE_LINK COMMAND cmake ..
diff --git a/samples/sample_c/platform/linux/manifold2/application/main.c b/samples/sample_c/platform/linux/manifold2/application/main.c
index d54ee283..eeeddbee 100644
--- a/samples/sample_c/platform/linux/manifold2/application/main.c
+++ b/samples/sample_c/platform/linux/manifold2/application/main.c
@@ -162,6 +162,11 @@ int main(int argc, char **argv)
         if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
             USER_LOG_ERROR("widget interaction sample init error");
         }
+
+        returnCode = DjiTest_WidgetSpeakerStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("widget speaker test init error");
+        }
     } else {
 #ifdef CONFIG_MODULE_SAMPLE_CAMERA_EMU_ON
         returnCode = DjiTest_CameraEmuBaseStartService();
@@ -216,11 +221,9 @@ int main(int argc, char **argv)
 #endif
 
 #ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
-        if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
-            returnCode = DjiTest_WidgetSpeakerStartService();
-            if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
-                USER_LOG_ERROR("widget speaker test init error");
-            }
+        returnCode = DjiTest_WidgetSpeakerStartService();
+        if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
+            USER_LOG_ERROR("widget speaker test init error");
         }
 #endif
 
diff --git a/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c b/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
index 2ed2034f..e0c843be 100644
--- a/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
+++ b/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.c
@@ -32,12 +32,16 @@
 
 #define LINUX_USB_BULK_EP_OUT                 "/dev/usb-ffs/bulk/ep1"
 #define LINUX_USB_BULK_EP_IN                  "/dev/usb-ffs/bulk/ep2"
-#define LINUX_USB_PID                         (0x0955)
-#define LINUX_USB_VID                         (0x7020)
+#define LINUX_USB_PID                         (0x7020)
+#define LINUX_USB_VID                         (0x0955)
 
 /* Private types -------------------------------------------------------------*/
 typedef struct {
+#ifdef LIBUSB_INSTALLED
     libusb_device_handle *handle;
+#else
+    void *handle;
+#endif
     int32_t ep1;
     int32_t ep2;
     T_DjiHalUsbBulkInfo usbBulkInfo;
@@ -59,6 +63,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
     }
 
     if (usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_init(NULL);
         if (ret < 0) {
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
@@ -78,7 +83,7 @@ T_DjiReturnCode HalUsbBulk_Init(T_DjiHalUsbBulkInfo usbBulkInfo, T_DjiUsbBulkHan
 
         ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
-
+#endif
     } else {
         ((T_HalUsbBulkObj *) *usbBulkHandle)->handle = handle;
         memcpy(&((T_HalUsbBulkObj *) *usbBulkHandle)->usbBulkInfo, &usbBulkInfo, sizeof(usbBulkInfo));
@@ -109,9 +114,11 @@ T_DjiReturnCode HalUsbBulk_DeInit(T_DjiUsbBulkHandle usbBulkHandle)
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         libusb_release_interface(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.interfaceNum);
         osalHandler->TaskSleepMs(100);
         libusb_exit(NULL);
+#endif
     } else {
         close(((T_HalUsbBulkObj *) usbBulkHandle)->ep1);
         close(((T_HalUsbBulkObj *) usbBulkHandle)->ep2);
@@ -136,18 +143,21 @@ T_DjiReturnCode HalUsbBulk_WriteData(T_DjiUsbBulkHandle usbBulkHandle, const uin
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointOut,
                                    (uint8_t *) buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_TIMEOUT_MS);
         if (ret < 0) {
-            return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
+            USER_LOG_ERROR("Write usb bulk data failed, errno = %d", ret);
+            return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         *realLen = actualLen;
+#endif
     } else {
         *realLen = write(((T_HalUsbBulkObj *) usbBulkHandle)->ep1, buf, len);
     }
 
-    return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
+    return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
 }
 
 T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *buf, uint32_t len,
@@ -164,13 +174,16 @@ T_DjiReturnCode HalUsbBulk_ReadData(T_DjiUsbBulkHandle usbBulkHandle, uint8_t *b
     handle = ((T_HalUsbBulkObj *) usbBulkHandle)->handle;
 
     if (((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.isUsbHost == true) {
+#ifdef LIBUSB_INSTALLED
         ret = libusb_bulk_transfer(handle, ((T_HalUsbBulkObj *) usbBulkHandle)->usbBulkInfo.channelInfo.endPointIn,
                                    buf, len, &actualLen, LINUX_USB_BULK_TRANSFER_WAIT_FOREVER);
         if (ret < 0) {
+            USER_LOG_ERROR("Read usb bulk data failed, errno = %d", ret);
             return DJI_ERROR_SYSTEM_MODULE_CODE_SYSTEM_ERROR;
         }
 
         *realLen = actualLen;
+#endif
     } else {
         *realLen = read(((T_HalUsbBulkObj *) usbBulkHandle)->ep2, buf, len);
     }
diff --git a/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h b/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
index 6792529e..9c3ccbd3 100644
--- a/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
+++ b/samples/sample_c/platform/linux/manifold2/hal/hal_usb_bulk.h
@@ -38,9 +38,12 @@
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
+#include "dji_platform.h"
+
+#ifdef LIBUSB_INSTALLED
 #include <libusb-1.0/libusb.h>
+#endif
 
-#include "dji_platform.h"
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/CMakeLists.txt b/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/CMakeLists.txt
index 51c4f352..30f16195 100644
--- a/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/CMakeLists.txt
+++ b/samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/armgcc/CMakeLists.txt
@@ -46,7 +46,7 @@ include_directories(../../../../../module_sample
         ../../drivers/USB_HOST/App
         ../../drivers/BSP
         ../../hal/
-        ../../osal/
+        ../../../common/osal/
         ../../middlewares/Third_Party/FreeRTOS/Source/include
         ../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
         ../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
@@ -79,7 +79,7 @@ file(GLOB_RECURSE MODULE_SAMPLE_SRC
         )
 
 file(GLOB_RECURSE SOURCES
-        "../../osal/*.*"
+        "../../../common/osal/*.*"
         "../../drivers/BSP/*.*"
         "../../hal/*.*"
         "../../drivers/USB_HOST/*.*"