DJI introduced a new class, Pipeline in MSDK 4.12. According to Pipeline's introduction this class, "establishes a pipeline connected with Onboard device or Payload device to transmit data.  Only supported by Matrice 300 RTK with firmware version v01.00.01.01 and above"  

To understand why pipeline was introduced it's good to go over how communication between MSDK and PSDK used to happen. Originally, it was required to use a Payload Class to communicate between PSDK and MSDK by using the sendDataToPayload function. The M200 series can send up to 32 Bytes data at a time and the M200V2 series can reach 128 Bytes data but the code stream using the old function getUpstreamBandwidth, the data transmission rate was generally only 0.5kB/s. Now using Pipeline it is more convenient, since you only need to call the writeData function and it can send 1kB of data at a time. It is 10 times larger than before, and the transmission code rate can be as high as 5kB/s. The case is the same for OSDK communication as well - more convenient and faster.

At present, there are not many functions in the Pipeline class yet. But I'd like to briefly introduce the two enumerated types: PipelineDeviceType and TransmissionControlType. PipelineDeviceType, as the name implies, distinguishes the device type for Onboard SDK Device and Payload SDK Device. TransmissionControlType has two transmission methods: stable and push. Stable ensures the integrity of data transmission, guarantees the order of data but real-time performance can sometimes be sacrificed because, when the data is lost, in order to ensure that the transmitted data is complete, the packet will be re-sent. Whereas the method of push is ensures the real-time transmission of the data but sacrifices the integrity of the data. So as a tip, if you want to transmit control signals, it is recommended to use the push method. If you want to transfer a large amount of data, such as flight configuration data, camera settings data, you can choose to use the stable method.

DJI introduced a new class, Pipeline in MSDK 4.12. According to Pipeline's introduction this class, "establishes a pipeline connected with Onboard device or Payload device to transmit data.  Only supported by Matrice 300 RTK with firmware version v01.00.01.01 and above"  

To understand why pipeline was introduced it's good to go over how communication between MSDK and PSDK used to happen. Originally, it was required to use a Payload Class to communicate between PSDK and MSDK by using the sendDataToPayload function. The M200 series can send up to 32 Bytes data at a time and the M200V2 series can reach 128 Bytes data but the code stream using the old function getUpstreamBandwidth, the data transmission rate was generally only 0.5kB/s. Now using Pipeline it is more convenient, since you only need to call the writeData function and it can send 1kB of data at a time. It is 10 times larger than before, and the transmission code rate can be as high as 5kB/s. The case is the same for OSDK communication as well - more convenient and faster.

At present, there are not many functions in the Pipeline class yet. But I'd like to briefly introduce the two enumerated types: PipelineDeviceType and TransmissionControlType. PipelineDeviceType, as the name implies, distinguishes the device type for Onboard SDK Device and Payload SDK Device. TransmissionControlType has two transmission methods: stable and push. Stable ensures the integrity of data transmission, guarantees the order of data but real-time performance can sometimes be sacrificed because, when the data is lost, in order to ensure that the transmitted data is complete, the packet will be re-sent. Whereas the method of push is ensures the real-time transmission of the data but sacrifices the integrity of the data. So as a tip, if you want to transmit control signals, it is recommended to use the push method. If you want to transfer a large amount of data, such as flight configuration data, camera settings data, you can choose to use the stable method.