diff --git a/psdk_lib/include/dji_version.h b/psdk_lib/include/dji_version.h
index 7d3657ad..5a9f0b55 100644
--- a/psdk_lib/include/dji_version.h
+++ b/psdk_lib/include/dji_version.h
@@ -37,7 +37,7 @@ extern "C" {
 #define DJI_VERSION_MINOR     4 /*!< 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     1743 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1749 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 
diff --git a/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-himix100-linux-gcc/libpayloadsdk.a
index 55d59cfe..f327b4d7 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-gnu-gcc/libpayloadsdk.a b/psdk_lib/lib/aarch64-linux-gnu-gcc/libpayloadsdk.a
index badd9639..b94dfa10 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 67e0f122..d01dd602 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 00473b6b..8cae413f 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 ba05fcef..56e3941b 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 8994aa47..30b375cd 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 8efe1bb1..60f57e69 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 88cd1103..2315b6d4 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-gnueabi-gcc/libpayloadsdk.a b/psdk_lib/lib/arm-linux-gnueabi-gcc/libpayloadsdk.a
index 78a7e88e..066b990f 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 77e51687..d78a21a1 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 e8e6cade..8d0453e9 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 9d4034e3..929c8286 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 cd3c85a5..20ad10f1 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 452e346d..3bac0809 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/nvidia_jeston/CMakeLists.txt b/samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt
index 288e691d..eb20b21a 100644
--- a/samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt
+++ b/samples/sample_c++/platform/linux/nvidia_jeston/CMakeLists.txt
@@ -17,7 +17,7 @@ endif ()
 include_directories(../../../module_sample)
 include_directories(../../../../sample_c/module_sample)
 include_directories(../common)
-include_directories(../manifold2/application)
+include_directories(../nvidia_jeston/application)
 
 file(GLOB_RECURSE MODULE_SAMPLE_SRC
         ../../../module_sample/liveview/*.c*
@@ -36,8 +36,8 @@ add_definitions(-DSYSTEM_ARCH_LINUX=1)
 
 set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../common/3rdparty)
 
-link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME})
-link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME}/libpayloadsdk.a -lstdc++)
+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}
@@ -70,12 +70,13 @@ if (FFMPEG_FOUND)
     message(STATUS " - Includes: ${FFMPEG_INCLUDE_DIR}")
     message(STATUS " - Libraries: ${FFMPEG_LIBRARIES}")
     add_definitions(-DFFMPEG_INSTALLED)
+    include_directories(${FFMPEG_INCLUDE_DIR})
 
     EXECUTE_PROCESS(COMMAND ffmpeg -version
-            OUTPUT_VARIABLE ffmpeg_version_output
+            OUTPUT_VARIABLE ffmpeg_version_psdk_libput
             OUTPUT_STRIP_TRAILING_WHITESPACE
             )
-    string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_output})
+    string(REGEX MATCH "version.*Copyright" ffmpeg_version_line ${ffmpeg_version_psdk_libput})
     string(REGEX MATCH " .* " ffmpeg_version ${ffmpeg_version_line})
     string(REGEX MATCH "^ 5.*$" ffmpeg_major_version ${ffmpeg_version})
 
@@ -90,8 +91,7 @@ else ()
     message(STATUS "Cannot Find FFMPEG")
 endif (FFMPEG_FOUND)
 
-include_directories(${FFMPEG_INCLUDE_DIR})
-include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../out/include)
+include_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/include)
 
 
 find_package(OPUS REQUIRED)
diff --git a/samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt b/samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt
index c5011a6e..858192de 100644
--- a/samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt
+++ b/samples/sample_c/platform/linux/nvidia_jeston/CMakeLists.txt
@@ -3,39 +3,47 @@ project(dji_sdk_demo_on_jeston C)
 
 set(CMAKE_C_FLAGS "-pthread -std=gnu99")
 set(CMAKE_EXE_LINKER_FLAGS "-pthread")
-set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
-set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
+set(CMAKE_C_COMPILER "gcc")
+set(CMAKE_CXX_COMPILER "g++")
 add_definitions(-D_GNU_SOURCE)
 
-if (BUILD_TEST_CASES_ON MATCHES TRUE)
-    set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
-    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
-    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+if (NOT USE_SYSTEM_ARCH)
+    add_definitions(-DSYSTEM_ARCH_LINUX)
 endif ()
 
-include_directories(../../../module_sample)
-include_directories(../common)
-include_directories(../manifold2/application)
+set(COMMON_CXX_FLAGS "-std=c++11 -pthread")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fprofile-arcs -ftest-coverage -lgcov")
+
+set(PACKAGE_NAME payloadsdk)
 
-set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
-add_definitions(-DPLATFORM_ARCH_aarch64=1)
-add_definitions(-DSYSTEM_ARCH_LINUX=1)
+## "uname -m" to auto distinguish Manifold2-G or Manifold2-C
+execute_process(COMMAND uname -m
+        OUTPUT_VARIABLE DEVICE_SYSTEM_ID)
+
+if (DEVICE_SYSTEM_ID MATCHES x86_64)
+    set(TOOLCHAIN_NAME x86_64-linux-gnu-gcc)
+    add_definitions(-DPLATFORM_ARCH_x86_64=1)
+elseif (DEVICE_SYSTEM_ID MATCHES aarch64)
+    set(TOOLCHAIN_NAME aarch64-linux-gnu-gcc)
+    add_definitions(-DPLATFORM_ARCH_aarch64=1)
+else ()
+    message(FATAL_ERROR "FATAL: Please confirm your platform.")
+endif ()
 
 file(GLOB_RECURSE MODULE_COMMON_SRC ../common/*.c)
 file(GLOB_RECURSE MODULE_HAL_SRC hal/*.c)
 file(GLOB_RECURSE MODULE_APP_SRC application/*.c)
-message("-- Use payload sdk package")
-file(GLOB_RECURSE MODULE_SAMPLE_SRC
-        ../../../module_sample/*.c
-        )
+file(GLOB_RECURSE MODULE_SAMPLE_SRC ../../../module_sample/*.c)
 
-include_directories(../../../../../out/include)
+include_directories(../../../module_sample)
+include_directories(../common)
+include_directories(../manifold2/application)
 
-add_library(${PACKAGE_NAME} STATIC IMPORTED GLOBAL)
-set_target_properties(${PACKAGE_NAME} PROPERTIES
-        IMPORTED_LOCATION ${CMAKE_CURRENT_LIST_DIR}/../../../../../out/lib/${TOOLCHAIN_NAME}/lib${PACKAGE_NAME}.a
-        )
+include_directories(../../../../../psdk_lib/include)
+link_directories(../../../../../psdk_lib/lib/${TOOLCHAIN_NAME})
+link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../psdk_lib/lib/${TOOLCHAIN_NAME}/lib${PACKAGE_NAME}.a)
 
 if (NOT EXECUTABLE_OUTPUT_PATH)
     set(EXECUTABLE_OUTPUT_PATH ${CMAKE_BINARY_DIR}/bin)
@@ -47,17 +55,14 @@ add_executable(${PROJECT_NAME}
         ${MODULE_COMMON_SRC}
         ${MODULE_HAL_SRC})
 
-target_link_libraries(${PROJECT_NAME} m)
-target_link_libraries(${PROJECT_NAME} ${PACKAGE_NAME})
-
 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: ${OPUS_LIBRARY}")
+
     add_definitions(-DOPUS_INSTALLED)
-    target_include_directories(${PROJECT_NAME} PRIVATE /usr/local/include/opus)
     target_link_libraries(${PROJECT_NAME} /usr/local/lib/libopus.a)
 else ()
     message(STATUS "Cannot Find OPUS")
@@ -75,6 +80,8 @@ 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 ..
-        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
\ No newline at end of file
+        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})