diff --git a/CMakeLists.txt b/CMakeLists.txt
index c4f0f0401..c0348434d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/libs)
 
 set(ADVANCED_SENSING 1)
+# set(ADVANCED_SENSING 0)
 set(WAYPT2_CORE 1)
 
 if (ADVANCED_SENSING)
diff --git a/UserConfig.txt b/UserConfig.txt
new file mode 100644
index 000000000..ff66f7501
--- /dev/null
+++ b/UserConfig.txt
@@ -0,0 +1,5 @@
+app_id : 1117356
+app_key : b5e83f46d3819a2e96746c17c0dfdfb52b48619c81ca9b7b80cf7e8e00bef01f
+device : /dev/ttyUSB0
+baudrate : 1000000
+acm_port : /dev/ttyACM0
\ No newline at end of file
diff --git a/logs/1697602029_log.txt b/logs/1697602029_log.txt
new file mode 100644
index 000000000..8e392a50d
--- /dev/null
+++ b/logs/1697602029_log.txt
@@ -0,0 +1,2758 @@
+velocity_data_x,velocity_data_y,velocity_data_z,acceleration_data_x,acceleration_data_y,acceleration_data_z,euler_data_r,euler_data_p,euler_data_y,angular_rate_data_vr,angular_rate_data_vp,angular_rate_data_vy,rc_with_flag_data_roll,rc_with_flag_data_pitch,rc_with_flag_data_yaw,rc_with_flag_data_throttle,position_vo_x,position_vo_y,position_vo_z,altitude_fusioned,altitude_barometer,height_homepoint,height_fusion,gps_fused_latitude,gps_fused_longitude,gps_fused_altitude,gps_longitude,gps_latitude,gps_altitude,velocity_x,velocity_y,velocity_z,status_displaymode,status_flight,rtk_connect_status_rtkConnected
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diff --git a/logs/1697605742_log.txt b/logs/1697605742_log.txt
new file mode 100644
index 000000000..a7f9c6a23
--- /dev/null
+++ b/logs/1697605742_log.txt
@@ -0,0 +1,13342 @@
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diff --git a/logs/anomaly.txt b/logs/anomaly.txt
new file mode 100644
index 000000000..5ea5f4413
--- /dev/null
+++ b/logs/anomaly.txt
@@ -0,0 +1,14515 @@
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diff --git a/logs/baseline.txt b/logs/baseline.txt
new file mode 100644
index 000000000..4550c094e
--- /dev/null
+++ b/logs/baseline.txt
@@ -0,0 +1,9098 @@
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diff --git a/osdk-core/CMakeLists.txt b/osdk-core/CMakeLists.txt
index 2ae21b130..492332762 100755
--- a/osdk-core/CMakeLists.txt
+++ b/osdk-core/CMakeLists.txt
@@ -317,16 +317,16 @@ install(TARGETS ${PROJECT_NAME}
         )
 ]]
 
-install(FILES
-        ${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a
-        DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
-        )
-
-install(TARGETS ${PROJECT_NAME}
-        EXPORT djiosdkTargets
-        ARCHIVE DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
-        PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include" COMPONENT dev
-        )
+# install(FILES
+#         ${CMAKE_CURRENT_SOURCE_DIR}/linker/${ARCH}/lib/libdji-linker.a
+#         DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
+#         )
+
+# install(TARGETS ${PROJECT_NAME}
+#         EXPORT djiosdkTargets
+#         ARCHIVE DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" COMPONENT shlib
+#         PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_PREFIX}/include" COMPONENT dev
+#         )
 
 #install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/advanced-sensing-2.0.3
 #        DESTINATION ${OSDK_LIB_ARCH_DIR} )
diff --git a/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp b/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp
index 698c7b35d..6c2c7118d 100644
--- a/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp
+++ b/osdk-core/advanced-sensing/platform/inc/linux_usb_device.hpp
@@ -16,7 +16,8 @@
 #include <fcntl.h>
 #include <termios.h>
 #include <unistd.h>
-#include <libusb.h>
+// #include <libusb.h>
+#include <libusb-1.0/libusb.h>
 
 #include "dji_hard_driver.hpp"
 
diff --git a/osdk-core/api/inc/dji_flight_controller.hpp b/osdk-core/api/inc/dji_flight_controller.hpp
index 83e61f9d1..485cc89b9 100644
--- a/osdk-core/api/inc/dji_flight_controller.hpp
+++ b/osdk-core/api/inc/dji_flight_controller.hpp
@@ -65,7 +65,7 @@ class FlightController {
     YawLogic yawLogic;
     HorizontalCoordinate horizontalCoordinate;
     StableMode stableMode;
-  } JoystickMode;
+  }  JoystickMode;
 
   /*! @brief
   *
diff --git a/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp b/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp
index 21ce9b739..c8b787903 100644
--- a/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp
+++ b/osdk-core/modules/inc/filemgr/impl/mmap_file_buffer.hpp
@@ -12,6 +12,7 @@
 #include <unistd.h>
 #include <memory>
 #include <atomic>
+#include <string>
 
 namespace DJI {
 namespace OSDK {
diff --git a/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp b/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp
index ca8b8095f..caa19e896 100644
--- a/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp
+++ b/osdk-core/modules/src/filemgr/impl/mmap_file_buffer.cpp
@@ -4,6 +4,7 @@
 #include "mmap_file_buffer.hpp"
 #include "dji_log.hpp"
 #include <string.h>
+#include <cstdio>
 
 namespace DJI {
 namespace OSDK {
diff --git a/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp b/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp
index 7465f25f0..6f819a461 100644
--- a/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp
+++ b/osdk-core/modules/src/flight/dji_flight_joystick_module.cpp
@@ -261,7 +261,8 @@ void FlightJoystick::getControlMode(ControlMode &controlMode) {
 void FlightJoystick::joystickAction() {
  if(flightLink)
   flightLink->sendDirectly(OpenProtocolCMD::CMDSet::Control::control,
-                           (void *)(&this->ctrlData), sizeof(CtrlData));
+                          //  (void *)(&this->ctrlData), sizeof(CtrlData));
+                           &this->ctrlData, sizeof(CtrlData));
  else
    DERROR(" flight Link is NULL");
 
diff --git a/sample/core/inc/flight_sample.hpp b/sample/core/inc/flight_sample.hpp
index 929b9b8a5..6dc8df006 100644
--- a/sample/core/inc/flight_sample.hpp
+++ b/sample/core/inc/flight_sample.hpp
@@ -34,6 +34,7 @@
 
 #include <dji_linux_helpers.hpp>
 #include <dji_vehicle.hpp>
+#include "fuzzer.hpp"
 
 class FlightSample {
  public:
@@ -157,6 +158,9 @@ class FlightSample {
   void velocityAndYawRateCtrl(const Vector3f &offsetDesired, float yawRate, uint32_t timeMs);
 
   void emergencyBrake(void);
+  static Vector3f quaternionToEulerAngle(const Telemetry::Quaternion &quat);
+
+  void fuzz(Fuzzer &fuzzer, uint32_t timeMs);
 
  private:
   Vehicle *vehicle;
@@ -168,7 +172,6 @@ class FlightSample {
                                                          const Telemetry::GPSFused& origin,
                                                          const float32_t& targetHeight, 
                                                          const float32_t& originHeight);
-  static Vector3f quaternionToEulerAngle(const Telemetry::Quaternion &quat);
   static void  horizCommandLimit(float speedFactor, float& commandX, float& commandY);
 
   bool motorStartedCheck();
diff --git a/sample/core/src/flight_sample.cpp b/sample/core/src/flight_sample.cpp
index 0167fd6e2..59be4f441 100644
--- a/sample/core/src/flight_sample.cpp
+++ b/sample/core/src/flight_sample.cpp
@@ -30,6 +30,7 @@
  */
 
 #include "flight_sample.hpp"
+#include "fuzzer.hpp"
 #include <cmath>
 
 using namespace DJI::OSDK;
@@ -142,6 +143,8 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   OsdkOsal_GetTimeMs(&currentTime);
   elapsedTimeInMs = currentTime - originTime;
 
+  ///////////////////////////////////////// Original Mode ////////////////////////////////////////////////////////////////////
+
   FlightController::JoystickMode joystickMode = {
     FlightController::HorizontalLogic::HORIZONTAL_VELOCITY,
     FlightController::VerticalLogic::VERTICAL_VELOCITY,
@@ -151,7 +154,26 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   };
 
   vehicle->flightController->setJoystickMode(joystickMode);
+
+  ///////////////////////////////////////// Fuzzed Mode ////////////////////////////////////////////////////////////////////
+
+  // Fuzzer fuzzer = Fuzzer();
+  // fuzzer.initializeModeGrammar();  
+  // FlightController::JoystickMode joystickMode = fuzzer.generateModeWithGrammar();
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  ///////////////////////////////////////// Original Cmd ////////////////////////////////////////////////////////////////////
+  
   FlightController::JoystickCommand joystickCommand = {offsetDesired.x, offsetDesired.y, offsetDesired.z,yawRate};
+  
+  ///////////////////////////////////////// Fuzzed Cmd ////////////////////////////////////////////////////////////////////
+
+  // FlightController::JoystickCommand joystickCommand = fuzzer.generateCommandWithGrammar(joystickMode);  
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+  
+  vehicle->flightController->setJoystickMode(joystickMode);
   vehicle->flightController->setJoystickCommand(joystickCommand);
 
   while(elapsedTimeInMs <= timeMs)
@@ -163,10 +185,61 @@ void FlightSample::velocityAndYawRateCtrl(const Vector3f &offsetDesired,
   }
 }
 
- void FlightSample::emergencyBrake()
- {
-   vehicle->flightController->emergencyBrakeAction();
- }
+void FlightSample::fuzz(Fuzzer &fuzzer, uint32_t timeMs) {
+  uint32_t originTime  = 0;
+  uint32_t currentTime = 0;
+  uint32_t elapsedTimeInMs = 0;
+  OsdkOsal_GetTimeMs(&originTime);
+  OsdkOsal_GetTimeMs(&currentTime);
+  elapsedTimeInMs = currentTime - originTime;
+
+  ///////////////////////////////////////// Original Mode ////////////////////////////////////////////////////////////////////
+
+  FlightController::JoystickMode joystickMode = {
+    FlightController::HorizontalLogic::HORIZONTAL_VELOCITY,
+    FlightController::VerticalLogic::VERTICAL_VELOCITY,
+    FlightController::YawLogic::YAW_RATE,
+    FlightController::HorizontalCoordinate::HORIZONTAL_GROUND,
+    FlightController::StableMode::STABLE_ENABLE,
+  };
+
+  // vehicle->flightController->setJoystickMode(joystickMode);
+
+  ///////////////////////////////////////// Fuzzed Mode ////////////////////////////////////////////////////////////////////
+
+  // FlightController::JoystickMode joystickMode = fuzzer.generateModeWithGrammar();
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+  ///////////////////////////////////////// Original Cmd ////////////////////////////////////////////////////////////////////
+  
+  // FlightController::JoystickCommand joystickCommand = {-5000, -5000, 50, 0};
+  
+  ///////////////////////////////////////// Fuzzed Cmd ////////////////////////////////////////////////////////////////////
+
+  FlightController::JoystickCommand joystickCommand = fuzzer.generateCommandWithGrammar(joystickMode);  
+  // joystickCommand.yaw = 0;
+  // joystickCommand.y = 0;
+
+  /////////////////////////////////////////////////////////////////////////////////////////////////////////////
+  
+  vehicle->flightController->setJoystickMode(joystickMode);
+  vehicle->flightController->setJoystickCommand(joystickCommand);
+
+  while(elapsedTimeInMs <= timeMs)
+  {
+    vehicle->flightController->joystickAction();
+    usleep(20000);
+    OsdkOsal_GetTimeMs(&currentTime);
+    elapsedTimeInMs = currentTime - originTime;
+  }
+
+}
+
+void FlightSample::emergencyBrake()
+{
+  vehicle->flightController->emergencyBrakeAction();
+}
 
 bool FlightSample::moveByPositionOffset(const Vector3f& offsetDesired,
                                         float yawDesiredInDeg,
diff --git a/sample/platform/linux/CMakeLists.txt b/sample/platform/linux/CMakeLists.txt
index 629df7ce2..3553a2ce9 100644
--- a/sample/platform/linux/CMakeLists.txt
+++ b/sample/platform/linux/CMakeLists.txt
@@ -142,18 +142,18 @@ else()
 endif()
 
 #add_subdirectory(camera-gimbal)
-add_subdirectory(flight-control)
-add_subdirectory(mfio)
-add_subdirectory(missions)
-add_subdirectory(mobile)
-add_subdirectory(telemetry)
-add_subdirectory(logging)
-add_subdirectory(time-sync)
-add_subdirectory(payload-3rd-party)
-add_subdirectory(payloads)
-add_subdirectory(advanced-sensing)
-add_subdirectory(hms)
-add_subdirectory(battery)
-add_subdirectory(mop)
-
-
+# add_subdirectory(flight-control)
+add_subdirectory(fuzzer)
+# add_subdirectory(mfio)
+# add_subdirectory(missions)
+# add_subdirectory(mobile)
+# add_subdirectory(logging)
+# add_subdirectory(time-sync)
+# add_subdirectory(payload-3rd-party)
+# add_subdirectory(payloads)
+# add_subdirectory(advanced-sensing)
+# add_subdirectory(hms)
+# add_subdirectory(battery)
+# add_subdirectory(mop)
+# add_subdirectory(telemetry)
+add_subdirectory(testing)
\ No newline at end of file
diff --git a/sample/platform/linux/common/UserConfig.txt b/sample/platform/linux/common/UserConfig.txt
deleted file mode 100644
index 5eb67fcf1..000000000
--- a/sample/platform/linux/common/UserConfig.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-app_id : your_app_id_here
-app_key : your_key_here
-device : /dev/ttyUSB0
-baudrate : 230400
-acm_port : /dev/ttyACM0
\ No newline at end of file
diff --git a/sample/platform/linux/flight-control/CMakeLists.txt b/sample/platform/linux/flight-control/CMakeLists.txt
index 2b986e78c..b977162fd 100644
--- a/sample/platform/linux/flight-control/CMakeLists.txt
+++ b/sample/platform/linux/flight-control/CMakeLists.txt
@@ -25,14 +25,12 @@ project(djiosdk-flightcontrol-sample)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
 
-include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc)
-
 FILE(GLOB SOURCE_FILES *.hpp *.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
         ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
         ${LINKER_HEADER_SRC}
         )
 
@@ -40,4 +38,20 @@ if (OSDK_HOTPLUG)
     FILE(GLOB SOURCE_FILES ${SOURCE_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/../hal/hotplug/*.c)
 endif ()
 
-add_executable(${PROJECT_NAME} ${SOURCE_FILES})
\ No newline at end of file
+# add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+add_library(${PROJECT_NAME} STATIC ${SOURCE_FILES})
+
+# for flight functions
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc
+    ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    PUBLIC
+    djiosdk-core
+    djiosdk-fuzzer
+)
\ No newline at end of file
diff --git a/sample/platform/linux/fuzzer/CMakeLists.txt b/sample/platform/linux/fuzzer/CMakeLists.txt
new file mode 100644
index 000000000..20c4b44dc
--- /dev/null
+++ b/sample/platform/linux/fuzzer/CMakeLists.txt
@@ -0,0 +1,35 @@
+# cd ~/Documents/Onboard-SDK/build/ &&  make clean && cmake .. && make && cd ~/Documents/Onboard-SDK/build/bin/ && ./djiosdk-testing
+
+cmake_minimum_required(VERSION 2.8)
+project(djiosdk-fuzzer)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
+set(BOOST_INCLUDEDIR /usr/include)
+
+find_package(Boost)
+
+FILE(GLOB SOURCE_FILES 
+    *.hpp 
+    *.cpp
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/api/src/dji_flight_controller.cpp
+)
+
+add_library(${PROJECT_NAME} ${SOURCE_FILES})
+
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+
+    # the apis are already part of djiosdk-core which is already been added by upper CMake
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/api/inc # mode struct
+    # ${CMAKE_CURRENT_SOURCE_DIR}/../../../../osdk-core/modules/inc/flight # enums
+)
+
+target_link_libraries(
+    ${PROJECT_NAME}
+    PUBLIC
+    djiosdk-core
+    # djiosdk-flightcontrol-sample  
+    # boost
+)
\ No newline at end of file
diff --git a/sample/platform/linux/fuzzer/fuzzer.cpp b/sample/platform/linux/fuzzer/fuzzer.cpp
new file mode 100644
index 000000000..d6ede8207
--- /dev/null
+++ b/sample/platform/linux/fuzzer/fuzzer.cpp
@@ -0,0 +1,191 @@
+#include <cstdlib>
+#include <iostream>
+#include <map>
+#include <list>
+#include <string>
+#include <vector>
+#include <random>
+#include "fuzzer.hpp"
+#include <boost/math/special_functions/round.hpp>
+
+#include "dji_flight_joystick_module.hpp" // for enum values
+#include "dji_flight_controller.hpp" // for mode struct
+
+using namespace std;
+using namespace DJI::OSDK;
+
+Fuzzer::Fuzzer(){
+  srand(time(NULL));
+}
+
+void Fuzzer::initializeModeGrammar(){
+  Fuzzer::modeGrammar["horizFrame"] = {
+    FlightJoystick::HorizontalCoordinate::HORIZONTAL_BODY,
+    FlightJoystick::HorizontalCoordinate::HORIZONTAL_GROUND
+  };
+  Fuzzer::modeGrammar["horizMode"] = {
+    FlightJoystick::HorizontalLogic::HORIZONTAL_ANGLE,
+    FlightJoystick::HorizontalLogic::HORIZONTAL_ANGULAR_RATE,
+    FlightJoystick::HorizontalLogic::HORIZONTAL_POSITION,
+    FlightJoystick::HorizontalLogic::HORIZONTAL_VELOCITY
+  };
+  Fuzzer::modeGrammar["stableMode"] = {
+    FlightJoystick::StableMode::STABLE_DISABLE,
+    FlightJoystick::StableMode::STABLE_ENABLE
+  };
+  Fuzzer::modeGrammar["vertiMode"] = {
+    FlightJoystick::VerticalLogic::VERTICAL_POSITION,
+    FlightJoystick::VerticalLogic::VERTICAL_THRUST,
+    FlightJoystick::VerticalLogic::VERTICAL_VELOCITY
+  };
+  Fuzzer::modeGrammar["yawMode"] = {
+    FlightJoystick::YawLogic::YAW_ANGLE,
+    FlightJoystick::YawLogic::YAW_RATE
+  };
+}
+
+void Fuzzer::initializeCommandGrammar(){
+
+  // for x and y
+  vector<float> horizAngle = {0, 35.0};// degree
+  vector<float> horizVelocity = {-2.0, 2.0};// m/s original is 30 m/s
+  vector<float> horizPosition = {-10, 10}; // arbitrary
+  vector<float> horizAngularRate = {-150, 150.0};// degree/s original is 150 deg/s
+
+  map<int, vector<float>> horizontalGrammar;
+  horizontalGrammar[FlightJoystick::HorizontalLogic::HORIZONTAL_ANGLE] = horizAngle;  
+  horizontalGrammar[FlightJoystick::HorizontalLogic::HORIZONTAL_VELOCITY] = horizVelocity; 
+  horizontalGrammar[FlightJoystick::HorizontalLogic::HORIZONTAL_POSITION] = horizPosition;
+  horizontalGrammar[FlightJoystick::HorizontalLogic::HORIZONTAL_ANGULAR_RATE] = horizAngularRate; 
+  Fuzzer::cmdGrammar["horizontalGrammar"] = horizontalGrammar;
+
+  // z
+  vector<float> vertiVelocity = {-1.0, 1.0};// m/s
+  vector<float> vertiPosition = {0, 120.0};// m
+  vector<float> vertiThrust = {0, 100.0}; // %
+
+  map<int, vector<float>> vertiLogic;
+  vertiLogic[FlightJoystick::VerticalLogic::VERTICAL_VELOCITY] = vertiVelocity; // m/s 
+  vertiLogic[FlightJoystick::VerticalLogic::VERTICAL_POSITION] = vertiPosition; // m
+  vertiLogic[FlightJoystick::VerticalLogic::VERTICAL_THRUST] = vertiThrust; // %
+  Fuzzer::cmdGrammar["verticalGrammar"] = vertiLogic;
+
+  // yaw
+  vector<float> yawAngle = {0, 360.0};// self-infered
+  vector<float> yawRate = {0, 150.0};// deg/s
+  
+  map<int, vector<float>> yawLogic;
+  yawLogic[FlightJoystick::YawLogic::YAW_ANGLE] = yawAngle;
+  yawLogic[FlightJoystick::YawLogic::YAW_RATE] = yawRate;
+  Fuzzer::cmdGrammar["yawGrammar"] = yawLogic; 
+  
+  // for (auto const& [dir, grammar]: Fuzzer::cmdGrammar) {
+  //   std::cout << "Direction: " << dir << std::endl;        // string (key)
+  //   for (auto const& [key, val] : grammar) {
+  //     std::cout << key        // string (key)
+  //               << ':'  
+  //               << val[0]        // string's value
+  //               << ','  
+  //               << val[1]        // string's value
+  //               << std::endl;
+  //   }
+  // }
+}
+
+FlightController::JoystickMode Fuzzer::generateModeWithGrammar() {
+
+  random_device dev;
+  default_random_engine generator(dev());
+
+  // std::cout << "Vector sizes: " << 
+  // Fuzzer::modeGrammar["horizMode"].size() << ", " <<
+  // Fuzzer::modeGrammar["vertiMode"].size() << ", " <<
+  // Fuzzer::modeGrammar["yawMode"].size() << ", " <<
+  // Fuzzer::modeGrammar["horizFrame"].size() << ", " <<
+  // Fuzzer::modeGrammar["stableMode"].size() << endl;
+
+  // std::cout << "Generated Random Mode positions: " << 
+  // std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["horizMode"].size()-1)(generator) << ", " <<
+  // std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["vertiMode"].size()-1)(generator) << ", " <<
+  // std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["yawMode"].size()-1)(generator) << ", " <<
+  // std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["horizFrame"].size()-1)(generator) << ", " <<
+  // std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["stableMode"].size()-1)(generator) << endl;
+
+  FlightController::JoystickMode joystickMode = {
+    // enums are stored as integers, so need to recast them before composing the new instance
+    (FlightJoystick::HorizontalLogic) Fuzzer::modeGrammar["horizMode"][
+      std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["horizMode"].size()-1)(generator)],
+      
+    (FlightJoystick::VerticalLogic) Fuzzer::modeGrammar["vertiMode"][
+      std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["vertiMode"].size()-1)(generator)],
+
+    (FlightJoystick::YawLogic) Fuzzer::modeGrammar["yawMode"][
+      std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["yawMode"].size()-1)(generator)],
+
+    (FlightJoystick::HorizontalCoordinate) Fuzzer::modeGrammar["horizFrame"][
+      std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["horizFrame"].size()-1)(generator)],
+
+    (FlightJoystick::StableMode) Fuzzer::modeGrammar["stableMode"][
+      std::uniform_int_distribution<int>(0, Fuzzer::modeGrammar["stableMode"].size()-1)(generator)]
+  };
+
+  return joystickMode;
+}
+
+// randomize command grammar-based
+FlightController::JoystickCommand Fuzzer::generateCommandWithGrammar(FlightController::JoystickMode mode) {
+
+  random_device dev;
+  default_random_engine generator(dev());
+
+  FlightController::JoystickCommand joystickCommand = {
+    // x
+    std::uniform_real_distribution<double>(
+      Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][0], 
+      Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][1]
+      )(generator),
+
+    // y
+    std::uniform_real_distribution<double>(
+      Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][0], 
+      Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][1]
+      )(generator),
+
+    // z
+    std::uniform_real_distribution<double>(
+      Fuzzer::cmdGrammar["verticalGrammar"][mode.verticalLogic][0], 
+      Fuzzer::cmdGrammar["verticalGrammar"][mode.verticalLogic][1]
+      )(generator),
+
+    // yawRate
+    std::uniform_real_distribution<double>(
+      Fuzzer::cmdGrammar["yawGrammar"][mode.yawLogic][0], 
+      Fuzzer::cmdGrammar["yawGrammar"][mode.yawLogic][1]
+      )(generator),
+  };
+
+  std::cout << 
+    "X: " << joystickCommand.x << " ∈ [" <<
+    Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][0] << ", " << 
+    Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][1] << "]" << endl;
+
+  std::cout << 
+    "Y: " << joystickCommand.y << " ∈ [" << 
+    Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][0] << ", " << 
+    Fuzzer::cmdGrammar["horizontalGrammar"][mode.horizontalLogic][1] << "]" << endl;
+
+  std::cout << 
+    "Z: " << joystickCommand.z << " ∈ [" <<
+    Fuzzer::cmdGrammar["verticalGrammar"][mode.verticalLogic][0] << ", " << 
+    Fuzzer::cmdGrammar["verticalGrammar"][mode.verticalLogic][1] << "]" << endl;
+
+  std::cout << 
+    "Yaw: " << joystickCommand.yaw << " ∈ [" << 
+    Fuzzer::cmdGrammar["yawGrammar"][mode.yawLogic][0] << ", " << 
+    Fuzzer::cmdGrammar["yawGrammar"][mode.yawLogic][1] << "]" << endl;
+
+  return joystickCommand;
+}
+
+
+// randomize command bit-level
\ No newline at end of file
diff --git a/sample/platform/linux/fuzzer/fuzzer.hpp b/sample/platform/linux/fuzzer/fuzzer.hpp
new file mode 100644
index 000000000..9fbea46fa
--- /dev/null
+++ b/sample/platform/linux/fuzzer/fuzzer.hpp
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cstdlib>
+#include <iostream>
+#include <map>
+#include <vector>
+#include <string>
+#include "dji_flight_controller.hpp"
+#include "dji_flight_joystick_module.hpp" // for enum values
+
+using namespace std;
+using namespace DJI::OSDK;
+
+class Fuzzer
+{
+    private:
+        map<string, vector<int>> modeGrammar;
+
+        // map<string, map<int, vector<float>*>*> cmdGrammar; //the vector values somehow go missing if pointers are used
+        map<string, map<int, vector<float>>> cmdGrammar; 
+
+    public:
+        Fuzzer();
+
+        // randomize mode grammer-based
+        void initializeModeGrammar();
+        FlightController::JoystickMode generateModeWithGrammar();
+        
+        // randomize command grammar-based
+        void initializeCommandGrammar();
+        FlightController::JoystickCommand generateCommandWithGrammar(FlightController::JoystickMode mode);
+        
+        // randomize joystick action bit-level
+};
\ No newline at end of file
diff --git a/sample/platform/linux/telemetry/CMakeLists.txt b/sample/platform/linux/telemetry/CMakeLists.txt
index 4df119615..e56a103dd 100644
--- a/sample/platform/linux/telemetry/CMakeLists.txt
+++ b/sample/platform/linux/telemetry/CMakeLists.txt
@@ -20,6 +20,7 @@
 # *
 # *
 
+# cd ~/Documents/Onboard-SDK/build/ &&  make clean && cmake .. && make && cd ~/Documents/Onboard-SDK/build/bin/ && ./djiosdk-telemetry
 
 cmake_minimum_required(VERSION 2.8)
 project(djiosdk-telemetry-sample)
@@ -31,10 +32,31 @@ FILE(GLOB SOURCE_FILES *.hpp *.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
         ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c
+
+        # for euler angle function, no need to compile here cos it's already compiled in the previous project as a library and linked below
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
         )
 
 if (OSDK_HOTPLUG)
     FILE(GLOB SOURCE_FILES ${SOURCE_FILES} ${CMAKE_CURRENT_SOURCE_DIR}/../hal/hotplug/*.c)
 endif ()
 
-add_executable(${PROJECT_NAME} ${SOURCE_FILES})
\ No newline at end of file
+add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+
+# for euler angle function
+target_include_directories(${PROJECT_NAME} 
+    PRIVATE
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc
+)
+
+# Linking to RPC Client
+target_link_libraries(${PROJECT_NAME} 
+xmlrpc++
+xmlrpc_client++ 
+xmlrpc_util
+boost_filesystem
+boost_system
+
+# djiosdk-flightcontrol-sample
+djiosdk-fuzzer
+)
\ No newline at end of file
diff --git a/sample/platform/linux/telemetry/main.cpp b/sample/platform/linux/telemetry/main.cpp
index 1a6f7572b..805db545a 100644
--- a/sample/platform/linux/telemetry/main.cpp
+++ b/sample/platform/linux/telemetry/main.cpp
@@ -46,39 +46,42 @@ main(int argc, char** argv)
     return -1;
   }
 
-  // Display interactive prompt
-  std::cout
-    << "| Available commands:                                            |"
-    << std::endl;
-  std::cout
-    << "| [a] Get telemetry data and print                               |\n"
-    << "| [b] Select some subscription topics to print                   |\n"
-    << "| [c] Get telemetry data and save to file                        |"
-    << std::endl;
-  char inputChar;
-  std::cin >> inputChar;
+  // // Display interactive prompt
+  // std::cout
+  //   << "| Available commands:                                            |"
+  //   << std::endl;
+  // std::cout
+  //   << "| [a] Get telemetry data and print                               |\n"
+  //   << "| [b] Select some subscription topics to print                   |\n"
+  //   << "| [c] Get telemetry data and save to file                        |"
+  //   << std::endl;
+  // char inputChar;
+  // std::cin >> inputChar;
 
-  switch (inputChar)
-  {
-    case 'a':
-      if (vehicle->getFwVersion() == Version::M100_31)
-      {
-        getBroadcastData(vehicle);
-      }
-      else
-      {
-        subscribeToData(vehicle);
-      }
-      break;
-    case 'b':
-      subscribeToDataForInteractivePrint(vehicle);
-      break;
-    case 'c':
-      subscribeToDataAndSaveLogToFile(vehicle);
-      break;
-    default:
-      break;
-  }
+  // switch (inputChar)
+  // {
+  //   case 'a':
+  //     if (vehicle->getFwVersion() == Version::M100_31)
+  //     {
+  //       getBroadcastData(vehicle);
+  //     }
+  //     else
+  //     {
+  //       subscribeToData(vehicle);
+  //     }
+  //     break;
+  //   case 'b':
+  //     subscribeToDataForInteractivePrint(vehicle);
+  //     break;
+  //   case 'c':
+  //     subscribeToDataAndSaveLogToFile(vehicle);
+  //     break;
+  //   default:
+  //     break;
+  // }
+
+  // subscribeToData(vehicle);
 
+  subscribeToDataAndSaveLogToFile(vehicle);
   return 0;
 }
diff --git a/sample/platform/linux/telemetry/telemetry_sample.cpp b/sample/platform/linux/telemetry/telemetry_sample.cpp
index 819945294..128a994b7 100644
--- a/sample/platform/linux/telemetry/telemetry_sample.cpp
+++ b/sample/platform/linux/telemetry/telemetry_sample.cpp
@@ -32,16 +32,29 @@
 #include "telemetry_sample.hpp"
 #include  <signal.h>
 #include  <stdlib.h>
+#include "flight_sample.hpp"
+#include <time.h>
+#include <boost/filesystem.hpp>
 
 using namespace DJI::OSDK;
 using namespace DJI::OSDK::Telemetry;
 
+// RPC Client imports
+#include <cstdlib>
+#include <string>
+#include <iostream>
+#include <cassert>
+#include <xmlrpc-c/girerr.hpp>
+#include <xmlrpc-c/base.hpp>
+#include <xmlrpc-c/client_simple.hpp>
+using namespace std;
+
 bool
 getBroadcastData(DJI::OSDK::Vehicle* vehicle, int responseTimeout)
 {
   // Counters
   int elapsedTimeInMs = 0;
-  int timeToPrintInMs = 2000;
+  int timeToPrintInMs = 200000;
 
   // We will listen to five broadcast data sets:
   // 1. Flight Status
@@ -118,6 +131,7 @@ subscribeToData(Vehicle* vehicle, int responseTimeout)
   // Counters
   int elapsedTimeInMs = 0;
   int timeToPrintInMs = 20000;
+  int sendEvery = 1000;
 
   // We will subscribe to six kinds of data:
   // 1. Flight Status at 1 Hz
@@ -272,13 +286,9 @@ subscribeToData(Vehicle* vehicle, int responseTimeout)
   TypeMap<TOPIC_RC>::type                rc;
   TypeMap<TOPIC_VELOCITY>::type          velocity;
   TypeMap<TOPIC_QUATERNION>::type        quaternion;
-  TypeMap<TOPIC_RTK_POSITION>::type      rtk;
-  TypeMap<TOPIC_RTK_POSITION_INFO>::type rtk_pos_info;
-  TypeMap<TOPIC_RTK_VELOCITY>::type      rtk_velocity;
-  TypeMap<TOPIC_RTK_YAW>::type           rtk_yaw;
-  TypeMap<TOPIC_RTK_YAW_INFO>::type      rtk_yaw_info;
+  TypeMap<TOPIC_ACCELERATION_GROUND>::type        acceleration;
 
-  // Print in a loop for 2 sec
+  // Print in a loop for defined sec
   while (elapsedTimeInMs < timeToPrintInMs)
   {
     flightStatus = vehicle->subscribe->getValue<TOPIC_STATUS_FLIGHT>();
@@ -287,13 +297,8 @@ subscribeToData(Vehicle* vehicle, int responseTimeout)
     rc           = vehicle->subscribe->getValue<TOPIC_RC>();
     velocity     = vehicle->subscribe->getValue<TOPIC_VELOCITY>();
     quaternion   = vehicle->subscribe->getValue<TOPIC_QUATERNION>();
-    if(rtkAvailable) {
-      rtk = vehicle->subscribe->getValue<TOPIC_RTK_POSITION>();
-      rtk_pos_info = vehicle->subscribe->getValue<TOPIC_RTK_POSITION_INFO>();
-      rtk_velocity = vehicle->subscribe->getValue<TOPIC_RTK_VELOCITY>();
-      rtk_yaw = vehicle->subscribe->getValue<TOPIC_RTK_YAW>();
-      rtk_yaw_info = vehicle->subscribe->getValue<TOPIC_RTK_YAW_INFO>();
-    }
+    acceleration   = vehicle->subscribe->getValue<TOPIC_ACCELERATION_GROUND>();
+    
     std::cout << "Counter = " << elapsedTimeInMs << ":\n";
     std::cout << "-------\n";
     std::cout << "Flight Status                         = " << (int)flightStatus
@@ -307,12 +312,9 @@ subscribeToData(Vehicle* vehicle, int responseTimeout)
     std::cout << "Attitude Quaternion   (w,x,y,z)       = " << quaternion.q0
               << ", " << quaternion.q1 << ", " << quaternion.q2 << ", "
               << quaternion.q3 << "\n";
-    if(rtkAvailable) {
-      std::cout << "RTK if available   (lat/long/alt/velocity_x/velocity_y/velocity_z/yaw/yaw_info/pos_info) ="
-                << rtk.latitude << "," << rtk.longitude << "," << rtk.HFSL << ","
-                << rtk_velocity.x << ","<< rtk_velocity.y<< "," << rtk_velocity.z
-                << "," << rtk_yaw << "," << (uint16_t)rtk_yaw_info <<","<< (uint16_t)rtk_pos_info<< "\n";
-    }
+    std::cout << "Acceleration   (x,y,z)       = " << acceleration.x
+              << ", " << acceleration.y << ", " << acceleration.z << "\n";
+
     std::cout << "-------\n\n";
     usleep(5000);
     elapsedTimeInMs += 5;
@@ -559,8 +561,19 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
         return false;
     }
 
+    // RPC Client Init
+    xmlrpc_c::clientXmlTransport_curl myTransport(
+            xmlrpc_c::clientXmlTransport_curl::constrOpt()
+            .timeout(10000)
+            .user_agent("test/1.0")
+    );
+    xmlrpc_c::client_xml myClient(&myTransport);
+    string const methodName("test");
+    string const serverUrl("http://localhost:8000/RPC2");
+    xmlrpc_c::carriageParm_curl0 myCarriageParm(serverUrl);
+
     int       pkgIndex        = 0;
-    int       freq            = 50;
+    int       freq            = 10;
     TopicName topicList50Hz[]  = {
              TOPIC_VELOCITY
             ,TOPIC_RC_WITH_FLAG_DATA
@@ -571,6 +584,11 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
             ,TOPIC_HEIGHT_FUSION
             ,TOPIC_GPS_FUSED
             ,TOPIC_STATUS_DISPLAYMODE
+
+            // additional topics
+            ,TOPIC_ACCELERATION_GROUND // need to converted euler: x,y,z
+            ,TOPIC_QUATERNION
+            ,TOPIC_ANGULAR_RATE_FUSIONED
     };
 
     int       numTopic        = sizeof(topicList50Hz) / sizeof(topicList50Hz[0]);
@@ -642,19 +660,43 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
     TypeMap<TOPIC_GPS_POSITION>::type       gpsPostion;
     TypeMap<TOPIC_GPS_VELOCITY>::type       gpsVelocity;
 
+    // additional topics
+    TypeMap<TOPIC_ACCELERATION_GROUND>::type           acceleration;
+    TypeMap<TOPIC_QUATERNION>::type        quaternion;
+    TypeMap<TOPIC_ANGULAR_RATE_FUSIONED>::type        angular_rate;
+
+    std::string logPath = "/home/weiminn/Documents/Onboard-SDK/logs/";
+    boost::filesystem::create_directories(logPath);
+    std::string fileName = logPath + std::to_string((int)time(NULL)) + "_log.txt";
+
   // Counters
-    int printFrequency          = 50; //Hz
+    int printFrequency          = 10; //Hz
     int printIntervalInMicroSec = 1e6/printFrequency;
-    int totalPrintTimeInSec     = 1000;  // 1000 : 16min
+    int totalPrintTimeInSec     = 2500;  // 1000 : 16min
     int totalSample             = totalPrintTimeInSec * printFrequency;
     int notifyInterval          = 50;
     int notifyCount             = notifyInterval;
     FILE * pFile;
-    pFile = fopen ("telemetryLogFile.txt","w");
+    pFile = fopen (fileName.c_str(),"w");
     fprintf ( pFile,
             "velocity_data_x,"
             "velocity_data_y,"
             "velocity_data_z,"
+
+            // additional 
+            "acceleration_data_x,"
+            "acceleration_data_y,"
+            "acceleration_data_z,"
+
+            "euler_data_r,"
+            "euler_data_p,"
+            "euler_data_y,"
+
+            "angular_rate_data_vr,"
+            "angular_rate_data_vp,"
+            "angular_rate_data_vy,"
+            // addtional end
+
             "rc_with_flag_data_roll,"
             "rc_with_flag_data_pitch,"
             "rc_with_flag_data_yaw,"
@@ -679,7 +721,7 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
             "status_flight,"
             "rtk_connect_status_rtkConnected\n"
     );
-    // Print in a loop for 2 sec
+    // Print in a loop for defined sec
     while(totalSample--)
     {
         velocity           = vehicle->subscribe->getValue<TOPIC_VELOCITY>();
@@ -694,11 +736,44 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
         gpsPostion         = vehicle->subscribe->getValue<TOPIC_GPS_POSITION>();
         gpsVelocity        = vehicle->subscribe->getValue<TOPIC_GPS_VELOCITY>();
         status_displaymode = vehicle->subscribe->getValue<TOPIC_STATUS_DISPLAYMODE>();
+
+        acceleration            = vehicle->subscribe->getValue<TOPIC_ACCELERATION_GROUND>();
+        quaternion              = vehicle->subscribe->getValue<TOPIC_QUATERNION>();
+        angular_rate            = vehicle->subscribe->getValue<TOPIC_ANGULAR_RATE_FUSIONED>();
+        Telemetry::Vector3f euler = FlightSample::quaternionToEulerAngle(quaternion);
+
+
+        std::cout << "-------\n";
+        std::cout << "Velocity              (vx,vy,vz)      = " << velocity.data.x
+                  << ", " << velocity.data.y << ", " << velocity.data.z << "\n";
+        std::cout << "Acceleration   (x,y,z)       = " << acceleration.x
+                  << ", " << acceleration.y << ", " << acceleration.z << "\n";
+        std::cout << "Euler   (r,p,y)       = " << euler.x
+                  << ", " << euler.y << ", " << euler.z << "\n";
+        std::cout << "Angular Rate   (vr,vp,vy)       = " << angular_rate.x
+                  << ", " << angular_rate.y << ", " << angular_rate.z << "\n";
+
+
         DSTATUS("height_homepoint%f\n",height_homepoint);
-        fprintf ( pFile, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%lf,%lf,%f,%d,%d,%d,%f,%f,%f,%d,%d,%d\n"
+        fprintf ( pFile, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%lf,%lf,%f,%d,%d,%d,%f,%f,%f,%d,%d,%d\n"
                  ,velocity.data.x
                  ,velocity.data.y
                  ,velocity.data.z
+
+                  // additional 
+                  ,acceleration.x
+                  ,acceleration.y
+                  ,acceleration.z
+
+                  ,euler.x
+                  ,euler.y
+                  ,euler.z
+
+                  ,angular_rate.x
+                  ,angular_rate.y
+                  ,angular_rate.z
+                  // addtional end
+            
                  ,rc_with_flag_data.roll
                  ,rc_with_flag_data.pitch
                  ,rc_with_flag_data.yaw
@@ -723,6 +798,26 @@ subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
                  ,status_flight
                  ,rtk_connect_status.rtkConnected
         );
+      
+        // Send to RPC Server
+      
+        xmlrpc_c::paramList sampleAddParms;
+        sampleAddParms.add(xmlrpc_c::value_double(velocity.data.x));
+        sampleAddParms.add(xmlrpc_c::value_double(velocity.data.y));
+        sampleAddParms.add(xmlrpc_c::value_double(velocity.data.z));
+        sampleAddParms.add(xmlrpc_c::value_double(acceleration.x));
+        sampleAddParms.add(xmlrpc_c::value_double(acceleration.y));
+        sampleAddParms.add(xmlrpc_c::value_double(acceleration.z));
+        sampleAddParms.add(xmlrpc_c::value_double(euler.x));
+        sampleAddParms.add(xmlrpc_c::value_double(euler.y));
+        sampleAddParms.add(xmlrpc_c::value_double(euler.z));
+        sampleAddParms.add(xmlrpc_c::value_double(angular_rate.x));
+        sampleAddParms.add(xmlrpc_c::value_double(angular_rate.y));
+        sampleAddParms.add(xmlrpc_c::value_double(angular_rate.z));
+        xmlrpc_c::rpcPtr myRpcP(methodName, sampleAddParms);
+
+        myRpcP-> call(&myClient, &myCarriageParm);
+        assert(myRpcP->isFinished());
 
         if(!keepRunning)
         {
diff --git a/sample/platform/linux/testing/CMakeLists.txt b/sample/platform/linux/testing/CMakeLists.txt
new file mode 100644
index 000000000..33c652d5f
--- /dev/null
+++ b/sample/platform/linux/testing/CMakeLists.txt
@@ -0,0 +1,34 @@
+# cd ~/Documents/Onboard-SDK/build/ &&  make clean && cmake .. && make && cd ~/Documents/Onboard-SDK/build/bin/ && ./djiosdk-testing
+
+cmake_minimum_required(VERSION 2.8)
+project(djiosdk-testing)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread -g -O0")
+
+FILE(GLOB SOURCE_FILES 
+        # *.hpp 
+        *.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_environment.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../common/dji_linux_helpers.cpp
+        ${CMAKE_CURRENT_SOURCE_DIR}/../hal/*.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/../osal/*.c
+
+        # for flight control, no need to supply source cos alr compiled in the previous package before this
+        # ${CMAKE_CURRENT_SOURCE_DIR}/../flight-control/flight_control_sample.cpp
+
+        # for flight procedure functions; they are not library but source!
+        ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/src/flight_sample.cpp
+)
+
+add_executable(${PROJECT_NAME} ${SOURCE_FILES})
+
+target_include_directories(
+    ${PROJECT_NAME}
+    PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../../core/inc
+)
+
+target_link_libraries(${PROJECT_NAME}
+    PRIVATE
+    djiosdk-fuzzer
+)
\ No newline at end of file
diff --git a/sample/platform/linux/testing/main.cpp b/sample/platform/linux/testing/main.cpp
new file mode 100644
index 000000000..2207df79b
--- /dev/null
+++ b/sample/platform/linux/testing/main.cpp
@@ -0,0 +1,160 @@
+#include "testing.hpp"
+
+// import flight control sample codes
+#include "flight_sample.hpp"
+#include "dji_linux_helpers.hpp"
+#include "fuzzer.hpp"
+#include <random>
+#include <typeinfo>
+#include <chrono>
+#include <iostream>
+
+using namespace DJI::OSDK;
+using namespace DJI::OSDK::Telemetry;
+
+// callback functions for asynchronously obtaining authority
+void ObtainJoystickCtrlAuthorityCB(ErrorCode::ErrorCodeType errorCode, UserData userData)
+{
+  if (errorCode == ErrorCode::FlightControllerErr::SetControlParam::ObtainJoystickCtrlAuthoritySuccess)
+  {
+    DSTATUS("ObtainJoystickCtrlAuthoritySuccess");
+  }
+}
+void ReleaseJoystickCtrlAuthorityCB(ErrorCode::ErrorCodeType errorCode, UserData userData)
+{
+  if (errorCode == ErrorCode::FlightControllerErr::SetControlParam::ReleaseJoystickCtrlAuthoritySuccess)
+  {
+    DSTATUS("ReleaseJoystickCtrlAuthoritySuccess");
+  }
+}
+
+void flyOffset(FlightSample* flightSample){
+
+  flightSample->monitoredTakeoff();
+
+  DSTATUS("Take off over!\n");
+  flightSample->moveByPositionOffset((FlightSample::Vector3f){0, 6, 6}, 30, 0.8, 1);
+  DSTATUS("Step 1 over!\n");
+  flightSample->moveByPositionOffset((FlightSample::Vector3f){6, 0, -3}, -30, 0.8, 1);
+  DSTATUS("Step 2 over!\n");
+  flightSample->moveByPositionOffset((FlightSample::Vector3f){-6, -6, 0}, 0, 0.8, 1);
+  DSTATUS("Step 3 over!\n");
+  flightSample->monitoredLanding();
+
+}
+
+void flyVelocity(FlightSample* flightSample){
+    flightSample->monitoredTakeoff();
+    DSTATUS("Take off over!\n");
+
+    for (int i = 1; i <= 10; i++){
+      
+      std::cout << "Iter :" << i << std::endl;
+
+      flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){0, 0, 5.0}, 0, 2000);
+      // DSTATUS("Step 1 over!EmergencyBrake for 2s\n");
+      // flightSample->emergencyBrake();
+      // sleep(2);
+      flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){-1.5, 2, 0}, 0, 2000);
+      // DSTATUS("Step 2 over!EmergencyBrakefor 2s\n");
+      // flightSample->emergencyBrake();
+      // sleep(2);
+      flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){3, 0, 0}, 0, 2000);
+      // DSTATUS("Step 3 over!EmergencyBrake for 2s\n");
+      // flightSample->emergencyBrake();
+      // sleep(2);
+      flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){-1.6, -2, 0}, 0, 2000);
+      // DSTATUS("Step 4 over!EmergencyBrake for 2s\n");
+      // flightSample->emergencyBrake();
+      // sleep(2);
+
+    }
+
+    flightSample->monitoredLanding();
+
+}
+
+void startFuzzing(int fuzzSecs, FlightSample *flightSample) {
+  flightSample->monitoredLanding();
+
+  Fuzzer fuzzer = Fuzzer();
+  fuzzer.initializeModeGrammar();  
+  fuzzer.initializeCommandGrammar();
+  int count = 1;
+  chrono::milliseconds fuzzMs = chrono::milliseconds(fuzzSecs * 1000);
+
+  flightSample->monitoredTakeoff();
+  DSTATUS("Take off over!\n");
+  flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){0, 0, 3.0}, 0, 2000);
+
+  chrono::milliseconds start = chrono::duration_cast< chrono::milliseconds >(chrono::system_clock::now().time_since_epoch());
+  chrono::milliseconds now = chrono::duration_cast< chrono::milliseconds >(chrono::system_clock::now().time_since_epoch());
+  while (now - start < fuzzMs) {
+    std::cout << "======================================================"<< endl;
+    std::cout << "#" << count++ << ", Elapsed: " << (now - start).count()/1000 << " seconds."<< endl;
+    // flightSample->fuzz(fuzzer, 2000);
+
+    double x, y, t;
+    cout << "X-velocity:";
+    cin >> x;
+    cout << endl;
+    cout << "Y-velocity:";
+    cin >> y;
+    cout << endl;
+    cout << "Time:";
+    cin >> t;
+    flightSample->velocityAndYawRateCtrl((FlightSample::Vector3f){x, y, 0}, 0, t);
+
+    // flightSample->emergencyBrake();
+    // sleep(2);
+    now = chrono::duration_cast< chrono::milliseconds>(chrono::system_clock::now().time_since_epoch());
+
+    // check if not responding anymore
+    // land and restart fuzz
+  }
+
+ 
+  flightSample->monitoredLanding();
+}
+
+
+int main(int argc, char** argv)
+{
+  // 1. Setup OSDK.
+  LinuxSetup linuxEnvironment(argc, argv);
+
+  // 2. Setup Environment, 3. Initialize Communication, 4. Activate Vehicle
+  Vehicle* vehicle = linuxEnvironment.getVehicle();
+  if (vehicle == NULL)
+  {
+    std::cout << "Vehicle not initialized, exiting.\n";
+    return -1;
+  }
+
+  // Obtain Authority
+  vehicle->flightController->obtainJoystickCtrlAuthorityAsync(ObtainJoystickCtrlAuthorityCB, nullptr ,1, 2);
+
+  // Import flight functions
+  FlightSample* flightSample = new FlightSample(vehicle);
+  
+  // Scenario A:
+  // flyOffset(flightSample);
+
+  // Scenario B:
+  // flyVelocity(flightSample);
+
+  // Fuzz
+  startFuzzing(600, flightSample);
+  
+  flightSample->monitoredLanding();
+
+  // Fuzzer fuzzer = Fuzzer();
+  // fuzzer.initializeModeGrammar();  
+  // fuzzer.initializeCommandGrammar();
+  
+  // FlightController::JoystickMode mode = fuzzer.generateModeWithGrammar();
+  // fuzzer.generateCommandWithGrammar(mode);
+  
+  
+  return 0;
+}
diff --git a/sample/platform/linux/testing/testing.cpp b/sample/platform/linux/testing/testing.cpp
new file mode 100644
index 000000000..fdbc69cb6
--- /dev/null
+++ b/sample/platform/linux/testing/testing.cpp
@@ -0,0 +1,184 @@
+#include <dji_telemetry.hpp>
+#include "testing.hpp"
+#include <signal.h>
+#include <stdlib.h>
+#include <time.h>
+
+// Copied from flight-control module code
+// #include "flight_control_sample.hpp"
+
+// #include "grammar.cpp"
+
+using namespace DJI::OSDK;
+using namespace DJI::OSDK::Telemetry;
+using namespace std;
+
+void     INThandler(int);
+static bool keepRunning = true;
+
+bool
+subscribeToDataAndSaveLogToFile(Vehicle* vehicle, int responseTimeout)
+{
+    signal(SIGINT, INThandler);
+    // Telemetry: Verify the subscription
+    ACK::ErrorCode subscribeStatus;
+    subscribeStatus = vehicle->subscribe->verify(responseTimeout);
+    if (ACK::getError(subscribeStatus) != ACK::SUCCESS)
+    {
+        ACK::getErrorCodeMessage(subscribeStatus, __func__);
+        return false;
+    }
+
+    int       pkgIndex        = 0;
+    int       freq            = 10;
+    TopicName topicList50Hz[]  = {
+             TOPIC_VELOCITY
+            ,TOPIC_RC_WITH_FLAG_DATA
+            ,TOPIC_RTK_CONNECT_STATUS
+            ,TOPIC_POSITION_VO
+            ,TOPIC_ALTITUDE_FUSIONED
+            ,TOPIC_ALTITUDE_BAROMETER
+            ,TOPIC_HEIGHT_FUSION
+            ,TOPIC_GPS_FUSED
+            ,TOPIC_STATUS_DISPLAYMODE
+
+            // additional topics
+            ,TOPIC_ACCELERATION_GROUND // need to converted euler: x,y,z
+            ,TOPIC_QUATERNION
+            ,TOPIC_ANGULAR_RATE_FUSIONED
+    };
+
+    int       numTopic        = sizeof(topicList50Hz) / sizeof(topicList50Hz[0]);
+    bool      enableTimestamp = false;
+
+    bool pkgStatus = vehicle->subscribe->initPackageFromTopicList(
+            pkgIndex, numTopic, topicList50Hz, enableTimestamp, freq);
+    std::cout <<"\n1. InitPackageFromTopicList" <<std::endl;
+
+    if (!(pkgStatus))
+    {
+      std::cout <<"1. InitPackageFromTopicList failed" <<std::endl;
+      return pkgStatus;
+    }
+    std::cout <<"1. StartPackage" <<std::endl;
+
+    subscribeStatus = vehicle->subscribe->startPackage(pkgIndex, responseTimeout);
+    if (ACK::getError(subscribeStatus) != ACK::SUCCESS)
+    {
+        ACK::getErrorCodeMessage(subscribeStatus, __func__);
+        // Cleanup before return
+        vehicle->subscribe->removePackage(pkgIndex, responseTimeout);
+        return false;
+    }
+
+///////////////////////////////////////////
+    pkgIndex                   = 1;
+    freq                       = 1;
+    TopicName topicList1Hz[] = { TOPIC_ALTITUDE_OF_HOMEPOINT
+                                 ,TOPIC_GPS_POSITION
+                                 ,TOPIC_GPS_VELOCITY};
+    numTopic        = sizeof(topicList1Hz) / sizeof(topicList1Hz[0]);
+    enableTimestamp = false;
+
+    std::cout <<"2. initPackageFromTopicList" <<std::endl;
+
+    pkgStatus = vehicle->subscribe->initPackageFromTopicList(
+            pkgIndex, numTopic, topicList1Hz, enableTimestamp, freq);
+    if (!(pkgStatus))
+    {
+      std::cout <<"2.1 initPackageFromTopicList" <<std::endl;
+      return pkgStatus;
+    }
+    std::cout <<"2.startPackage" <<std::endl;
+    subscribeStatus = vehicle->subscribe->startPackage(pkgIndex, responseTimeout);
+    if (ACK::getError(subscribeStatus) != ACK::SUCCESS)
+    {
+        ACK::getErrorCodeMessage(subscribeStatus, __func__);
+        // Cleanup before return
+        vehicle->subscribe->removePackage(pkgIndex, responseTimeout);
+        return false;
+    }
+
+    // Wait for the data to start coming in.
+    sleep(1);
+
+    // Get all the data once before the loop to initialize vars
+    TypeMap<TOPIC_VELOCITY>::type           velocity;
+    TypeMap<TOPIC_RC_WITH_FLAG_DATA>::type  rc_with_flag_data;
+    TypeMap<TOPIC_RTK_CONNECT_STATUS>::type rtk_connect_status;
+    TypeMap<TOPIC_POSITION_VO>::type        position_vo;
+    TypeMap<TOPIC_ALTITUDE_FUSIONED>::type  altitude_fusioned;
+    TypeMap<TOPIC_ALTITUDE_BAROMETER>::type altitude_barometer;
+    TypeMap<TOPIC_ALTITUDE_OF_HOMEPOINT>::type   height_homepoint;
+    TypeMap<TOPIC_HEIGHT_FUSION>::type      height_fusion;
+    TypeMap<TOPIC_GPS_FUSED>::type          gps_fused;
+    TypeMap<TOPIC_STATUS_DISPLAYMODE>::type status_displaymode;
+    TypeMap<TOPIC_STATUS_FLIGHT>::type      status_flight;
+    TypeMap<TOPIC_GPS_POSITION>::type       gpsPostion;
+    TypeMap<TOPIC_GPS_VELOCITY>::type       gpsVelocity;
+
+    // additional topics
+    TypeMap<TOPIC_ACCELERATION_GROUND>::type           acceleration;
+    TypeMap<TOPIC_QUATERNION>::type        quaternion;
+    TypeMap<TOPIC_ANGULAR_RATE_FUSIONED>::type        angular_rate;
+
+  // Counters
+    int printFrequency          = 10; //Hz
+    int printIntervalInMicroSec = 1e6/printFrequency;
+    int totalPrintTimeInSec     = 2500;  // 1000 : 16min
+    int totalSample             = totalPrintTimeInSec * printFrequency;
+    int notifyInterval          = 50;
+    int notifyCount             = notifyInterval;
+
+    // Print in a loop for defined sec
+    while(totalSample--)
+    {
+        velocity           = vehicle->subscribe->getValue<TOPIC_VELOCITY>();
+        rc_with_flag_data  = vehicle->subscribe->getValue<TOPIC_RC_WITH_FLAG_DATA>();
+        rtk_connect_status = vehicle->subscribe->getValue<TOPIC_RTK_CONNECT_STATUS>();
+        position_vo        = vehicle->subscribe->getValue<TOPIC_POSITION_VO>();
+        altitude_fusioned  = vehicle->subscribe->getValue<TOPIC_ALTITUDE_FUSIONED>();
+        altitude_barometer = vehicle->subscribe->getValue<TOPIC_ALTITUDE_BAROMETER>();
+        height_homepoint   = vehicle->subscribe->getValue<TOPIC_ALTITUDE_OF_HOMEPOINT>();
+        height_fusion      = vehicle->subscribe->getValue<TOPIC_HEIGHT_FUSION>();
+        gps_fused          = vehicle->subscribe->getValue<TOPIC_GPS_FUSED>();
+        gpsPostion         = vehicle->subscribe->getValue<TOPIC_GPS_POSITION>();
+        gpsVelocity        = vehicle->subscribe->getValue<TOPIC_GPS_VELOCITY>();
+        status_displaymode = vehicle->subscribe->getValue<TOPIC_STATUS_DISPLAYMODE>();
+
+        std::cout << "-------\n";
+        std::cout << "Velocity              (vx,vy,vz)      = " << velocity.data.x
+                  << ", " << velocity.data.y << ", " << velocity.data.z << "\n";
+        std::cout << "Acceleration   (x,y,z)       = " << acceleration.x
+                  << ", " << acceleration.y << ", " << acceleration.z << "\n";
+        std::cout << "Angular Rate   (vr,vp,vy)       = " << angular_rate.x
+                  << ", " << angular_rate.y << ", " << angular_rate.z << "\n";
+
+
+        DSTATUS("height_homepoint%f\n",height_homepoint);
+
+        if(!keepRunning)
+        {
+            std::cout << "Ctrl-C pressed, quit loop" << std::endl;
+            break;
+        }
+
+        if( (--notifyCount) == 0 )
+        {
+            std::cout << "Printing to file ...\n";
+            notifyCount = notifyInterval;
+        }
+        usleep(printIntervalInMicroSec);
+    }
+
+    std::cout << "Done printing!\n";
+    vehicle->subscribe->removePackage(0, responseTimeout);
+    vehicle->subscribe->removePackage(1, responseTimeout);
+    
+    return true;
+}
+
+void  INThandler(int sig)
+{
+    keepRunning = false;
+}
\ No newline at end of file
diff --git a/sample/platform/linux/testing/testing.hpp b/sample/platform/linux/testing/testing.hpp
new file mode 100644
index 000000000..7f41c43ff
--- /dev/null
+++ b/sample/platform/linux/testing/testing.hpp
@@ -0,0 +1,19 @@
+#ifndef DJIOSDK_TELEMETRYSAMPLE_HPP
+#define DJIOSDK_TELEMETRYSAMPLE_HPP
+
+// System Includes
+#include <iostream>
+
+// DJI OSDK includes
+#include <dji_vehicle.hpp>
+
+// Helpers
+#include <dji_linux_helpers.hpp>
+
+bool subscribeToData(DJI::OSDK::Vehicle* vehiclePtr, int responseTimeout = 1);
+bool subscribeToDataForInteractivePrint(DJI::OSDK::Vehicle* vehiclePtr, int responseTimeout = 1);
+bool subscribeToDataAndSaveLogToFile(DJI::OSDK::Vehicle* vehiclePtr, int responseTimeout = 1);
+
+// Broadcast data implementation for Matrice 100
+bool getBroadcastData(DJI::OSDK::Vehicle* vehicle, int responseTimeout = 1);
+#endif // DJIOSDK_TELEMETRYSAMPLE_HPP