diff --git a/osdk-core/modules/inc/firewall/osdk_policy.hpp b/osdk-core/modules/inc/firewall/osdk_policy.hpp
index 09ea66b29..376b85de7 100644
--- a/osdk-core/modules/inc/firewall/osdk_policy.hpp
+++ b/osdk-core/modules/inc/firewall/osdk_policy.hpp
@@ -38,21 +38,36 @@
  * Date     : 2020-05-07
  * OSDK Ver : OSDK 4.0
  * */
+
 static const uint8_t s_osdkPolicyFileBinaryArray[] = {
-    0x68, 0xC9, 0x82, 0xC8, 0x30, 0xE4, 0x1D, 0xE2, 0xD9, 0x4D, 0x0E, 0x60, 0xA5, 0xDA, 0x62, 0xC6, 0x76, 0xAB, 0x68, 0xDF, 0xC3, 0xE9, 0x29, 0xCE, 0xD1, 0x14,
-    0xA0, 0xC8, 0x11, 0x6A, 0xC4, 0xDC, 0x86, 0x02, 0x4C, 0xDE, 0xBB, 0x77, 0x04, 0x1B, 0x8A, 0x64, 0x54, 0xD1, 0x0C, 0x75, 0x30, 0x68, 0xFB, 0x26, 0x51, 0x0D,
-    0x82, 0x8C, 0xB1, 0x66, 0x1F, 0x77, 0xFA, 0xA0, 0x31, 0x3F, 0x34, 0xD8, 0x7E, 0x1A, 0xBE, 0x1C, 0xAB, 0x1F, 0x52, 0xF5, 0x10, 0x92, 0x04, 0x09, 0x42, 0xFD,
-    0x70, 0xB5, 0x6E, 0xE1, 0xB1, 0x62, 0xCB, 0xDB, 0x34, 0x16, 0x1C, 0x70, 0x74, 0xCF, 0xDE, 0xCE, 0x76, 0x68, 0xF8, 0xC7, 0x70, 0xFA, 0xFF, 0x54, 0xDE, 0x55,
-    0x81, 0x27, 0x54, 0x47, 0x15, 0xFE, 0xD8, 0xB0, 0xDE, 0x07, 0xE7, 0xB5, 0x7C, 0xC9, 0x50, 0xE1, 0xD9, 0x4C, 0xE9, 0xD2, 0x8A, 0x24, 0xF9, 0x43, 0x73, 0x3A,
-    0x91, 0xC2, 0xD0, 0x90, 0x39, 0x5F, 0x40, 0x5F, 0x57, 0x9A, 0x0A, 0x26, 0xA5, 0x6F, 0x8F, 0xA2, 0xEB, 0x35, 0x67, 0x13, 0xC6, 0x9B, 0xB0, 0x26, 0x7D, 0xD0,
-    0x94, 0x92, 0x7B, 0xFB, 0x32, 0x31, 0x0D, 0x8B, 0x32, 0xB9, 0x5F, 0x12, 0x6A, 0x67, 0xE8, 0xD9, 0x33, 0xBD, 0xE8, 0x25, 0x10, 0x35, 0x70, 0x01, 0x50, 0x60,
-    0x93, 0x58, 0x52, 0xD2, 0xFA, 0xF3, 0xAB, 0x4A, 0xF1, 0xB0, 0xA3, 0x69, 0xD2, 0xC8, 0x48, 0xE0, 0x23, 0xA9, 0x28, 0xC3, 0x64, 0x72, 0x5F, 0x33, 0x15, 0x14,
-    0xE7, 0xA9, 0xBD, 0x8F, 0xA3, 0x98, 0xE3, 0x94, 0x34, 0x24, 0xA4, 0xEF, 0x76, 0xC2, 0x3A, 0x66, 0x3C, 0xEC, 0x20, 0xD5, 0x89, 0x70, 0x5E, 0xF7, 0xBF, 0x82,
-    0x32, 0x1E, 0xD3, 0x90, 0x0F, 0xCB, 0x26, 0x5D, 0x50, 0xD7, 0x26, 0x37, 0xC0, 0xBF, 0x47, 0x11, 0x54, 0x5E, 0xF1, 0xE6, 0x45, 0x81, 0x00, 0x00, 0x63, 0x00,
-    0x01, 0x00, 0x5F, 0x00, 0x01, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x04, 0x00, 0x00, 0x01, 0x26, 0x27, 0x02, 0x02, 0x12, 0x00, 0x01, 0x02, 0x10, 0x11,
-    0x1E, 0x1F, 0x22, 0x2B, 0x2E, 0x2F, 0x30, 0x31, 0x34, 0x35, 0x6A, 0x6B, 0xC4, 0xC6, 0xB8, 0x80, 0x03, 0x01, 0x00, 0x00, 0x1B, 0x04, 0x02, 0x00, 0x00, 0x0A,
-    0x4C, 0x05, 0x01, 0x00, 0x00, 0x0B, 0x08, 0x01, 0x02, 0x00, 0x67, 0x68, 0x65, 0x21, 0x00, 0x02, 0x00, 0x05, 0x06, 0x22, 0x01, 0x04, 0x00, 0x01, 0x0E, 0x17,
-    0x1E, 0x27, 0x24, 0x01, 0x02, 0x00, 0x11, 0x12, 0x32, 0x3C, 0x02, 0x00, 0x00, 0x37, 0x40, 0x49, 0x02, 0x00, 0x00, 0x20, 0x30
+  0xA6, 0x5A, 0xB8, 0x20, 0xC0, 0x32, 0xB6, 0x52, 0x05, 0x20, 0xBC, 0x16, 0xF8,
+  0x62, 0x3A, 0xD6, 0xCE, 0x0F, 0xCD, 0x3C, 0x7A, 0xD9, 0xC0, 0x83, 0x9B, 0x17,
+  0x16, 0xFC, 0xDA, 0xB0, 0x9C, 0xDF, 0x94, 0x90, 0x9E, 0xDE, 0xDE, 0x41, 0x63,
+  0xD6, 0xBF, 0x0A, 0x3C, 0x92, 0x0B, 0x43, 0x4D, 0xC6, 0xFD, 0x40, 0xC8, 0x8D,
+  0xAD, 0x46, 0x4E, 0x87, 0x72, 0xBB, 0x8E, 0x01, 0xB9, 0x08, 0xA8, 0x00, 0x3A,
+  0x69, 0x11, 0x4C, 0x3F, 0x69, 0x56, 0xD5, 0x74, 0x96, 0x2E, 0x11, 0x73, 0xD7,
+  0x77, 0xEA, 0x01, 0x7C, 0xFB, 0x0E, 0x04, 0x25, 0xD2, 0x7D, 0xC3, 0xAB, 0x8B,
+  0x5E, 0x93, 0x59, 0x97, 0x6E, 0x86, 0x85, 0x78, 0x15, 0x3D, 0x0F, 0x17, 0xB4,
+  0x84, 0x72, 0x32, 0x0F, 0x4B, 0xC7, 0x8A, 0xCC, 0x72, 0x01, 0xB3, 0x06, 0x22,
+  0x18, 0xC7, 0x1F, 0x88, 0xE1, 0xD7, 0xC5, 0x67, 0xD3, 0xEE, 0x2C, 0xFB, 0xDD,
+  0xF7, 0x80, 0x17, 0x37, 0x45, 0xFD, 0x62, 0xE3, 0x9A, 0x96, 0xB6, 0x29, 0xDF,
+  0x0E, 0x3B, 0xE4, 0x66, 0x3B, 0x6A, 0x9A, 0xC5, 0xAB, 0xE3, 0x43, 0x75, 0xAB,
+  0x05, 0xD2, 0x30, 0xE1, 0x67, 0x6A, 0xCF, 0xFA, 0x04, 0xA2, 0x1A, 0xD5, 0x78,
+  0xF8, 0x02, 0xD9, 0x0B, 0x4E, 0x28, 0x97, 0xF2, 0x4E, 0x65, 0xD0, 0x7D, 0x1E,
+  0xD0, 0xDD, 0x72, 0x1B, 0xF7, 0x4D, 0xC1, 0xC5, 0x47, 0xAB, 0xC7, 0xFC, 0x77,
+  0xE8, 0xD2, 0x83, 0x9A, 0xDE, 0xD1, 0xD5, 0x68, 0xB6, 0xB8, 0x96, 0x48, 0xF0,
+  0x68, 0xA4, 0x4B, 0x2E, 0x85, 0xB4, 0x3E, 0xCE, 0xFD, 0xE7, 0xC4, 0x5C, 0xA0,
+  0x54, 0x14, 0xB7, 0x02, 0x0E, 0x68, 0xF5, 0x83, 0xD5, 0x6A, 0x35, 0xF0, 0x5F,
+  0x32, 0x00, 0x69, 0xC9, 0xD8, 0x6B, 0xFC, 0xE8, 0x66, 0x2A, 0xA0, 0xB2, 0x2B,
+  0x43, 0x2C, 0x40, 0xA8, 0x4D, 0xA1, 0xC8, 0xD0, 0x07, 0x00, 0x00, 0x65, 0x00,
+  0x01, 0x00, 0x61, 0x00, 0x01, 0x00, 0x02, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x04,
+  0x00, 0x00, 0x05, 0x26, 0x27, 0x02, 0x04, 0x12, 0x00, 0x01, 0x02, 0x10, 0x11,
+  0x1E, 0x1F, 0x22, 0x2B, 0x2E, 0x2F, 0x30, 0x31, 0x34, 0x35, 0x6A, 0x6B, 0xC4,
+  0xC6, 0xB8, 0x80, 0xEB, 0xEC, 0x03, 0x01, 0x00, 0x00, 0x1B, 0x04, 0x02, 0x00,
+  0x00, 0x0A, 0x4C, 0x05, 0x01, 0x00, 0x00, 0x0B, 0x08, 0x01, 0x02, 0x00, 0x67,
+  0x68, 0x65, 0x21, 0x00, 0x02, 0x00, 0x05, 0x06, 0x22, 0x01, 0x04, 0x00, 0x01,
+  0x0E, 0x17, 0x1E, 0x27, 0x24, 0x01, 0x02, 0x00, 0x11, 0x12, 0x32, 0x3C, 0x02,
+  0x00, 0x00, 0x37, 0x40, 0x49, 0x02, 0x00, 0x00, 0x20, 0x30
 };
 
 #endif    /* _OSDK_POLICY_H_ */
diff --git a/osdk-core/modules/src/mop/dji_mop_client.cpp b/osdk-core/modules/src/mop/dji_mop_client.cpp
index a02117c4d..ac2e79c2c 100644
--- a/osdk-core/modules/src/mop/dji_mop_client.cpp
+++ b/osdk-core/modules/src/mop/dji_mop_client.cpp
@@ -51,6 +51,8 @@ MopErrCode MopClient::connect(PipelineID id, PipelineType type,
     } else {
       pipelineMap[id] = p;
     }
+  } else {
+    p = pipelineMap[id];
   }
 
   /*! 2.Do creating */
diff --git a/sample/platform/STM32/OnBoardSDK_STM32/Linker/osal/osdkosal_stm32.c b/sample/platform/STM32/OnBoardSDK_STM32/Linker/osal/osdkosal_stm32.c
index ab24c826b..af70b41b2 100644
--- a/sample/platform/STM32/OnBoardSDK_STM32/Linker/osal/osdkosal_stm32.c
+++ b/sample/platform/STM32/OnBoardSDK_STM32/Linker/osal/osdkosal_stm32.c
@@ -47,6 +47,7 @@ E_OsdkStat OsdkSTM32_TaskCreate(T_OsdkTaskHandle *task, void *(*taskFunc)(void *
   char taskName[100] = {0};
   
   snprintf(taskName, sizeof(taskName), "Task_%d", taskCnt);
+  *task = malloc(sizeof(TaskHandle_t));
   result = xTaskCreate((TaskFunction_t)taskFunc, taskName, stackSize, arg, 0, *task);
   taskCnt++;
   if (result != pdTRUE) {
diff --git a/sample/platform/STM32/OnBoardSDK_STM32/User/FlightControlSample.cpp b/sample/platform/STM32/OnBoardSDK_STM32/User/FlightControlSample.cpp
index c91e8f1dc..bf05c48d0 100644
--- a/sample/platform/STM32/OnBoardSDK_STM32/User/FlightControlSample.cpp
+++ b/sample/platform/STM32/OnBoardSDK_STM32/User/FlightControlSample.cpp
@@ -689,23 +689,23 @@ moveByPositionOffset(float xOffsetDesired, float yOffsetDesired,
     zOffsetRemaining = zOffsetDesired - localOffset.z;
 
     //! See if we need to modify the setpoint
-    if (std::abs(xOffsetRemaining) < speedFactor)
+    if (abs(xOffsetRemaining) < speedFactor)
       xCmd = xOffsetRemaining;
-    if (std::abs(yOffsetRemaining) < speedFactor)
+    if (abs(yOffsetRemaining) < speedFactor)
       yCmd = yOffsetRemaining;
 
     if(v->getFwVersion() == Version::M100_31 &&
-       std::abs(xOffsetRemaining) < posThresholdInM &&
-       std::abs(yOffsetRemaining) < posThresholdInM &&
-       std::abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
+       abs(xOffsetRemaining) < posThresholdInM &&
+       abs(yOffsetRemaining) < posThresholdInM &&
+       abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
     {
       //! 1. We are within bounds; start incrementing our in-bound counter
       withinBoundsCounter += cycleTimeInMs;
     }
-    else if(std::abs(xOffsetRemaining) < posThresholdInM &&
-	   std::abs(yOffsetRemaining) < posThresholdInM &&
-	   std::abs(zOffsetRemaining) < posThresholdInM &&
-	   std::abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
+    else if(abs(xOffsetRemaining) < posThresholdInM &&
+	   abs(yOffsetRemaining) < posThresholdInM &&
+	   abs(zOffsetRemaining) < posThresholdInM &&
+	   abs(yawInRad - yawDesiredRad) < yawThresholdInRad)
     {
       //! 1. We are within bounds; start incrementing our in-bound counter
       withinBoundsCounter += cycleTimeInMs;