psdk程序无法二次启动（每次启动psdk程序都需要启动无人机才行）

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kwin

这是我首次启动的日志：

[0.003][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.2-beta.0-build.2125 
Reconnecting to MQTT broker...
[0.047][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Mavic 3 Series 
[0.047][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
[0.052][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps 
Reconnected to MQTT broker!
Subscribing to topic: thing/edge/xxx/services with QoS: 1
Subscribed to topic: thing/edge/xxx/services
start listen to mqtt
[2.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[3.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[4.084][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file... 
[5.084][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully 
[5.094][core]-[Info]-[DjiCore_Init:174) Identify AircraftType = Mavic 3 Thermal, MountPosition = Extension Port, SdkAdapterType = None 
[5.101][core]-[Info]-[DjiCore_ApplicationStart:238) Start dji sdk application 
[5.101][user]-[Info]-[DjiUser_ApplicationStart:259) Application start. 
[6.752][linker]-[Warn]-[DjiProtocol_v1Unpack:187) protocol frame crc16 error, exp:0x4085 cur:0x3600 
application start
CameraManager::instance().init()
GimbalManager::instance().init()
WaypointManager::instance().init()
[9.198][flight]-[Info]-[DjiFlightController_RegisterLinkerObj_M3:117) Init mavic3 enterprise series flight controller linker successfully. 
[9.224][user]-[Info]-[init:746) FlightControllerManager init ok 
FlightControllerManager::instance().init()

可以看到 “Init mavic3 enterprise series flight controller linker successfully.”

当我关闭程序，再次启动时：

$ ./build/bin/aib
[0.003][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.2-beta.0-build.2125 
Reconnecting to MQTT broker...
[0.046][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Mavic 3 Series 
[0.046][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
[0.049][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps 
Reconnected to MQTT broker!
Subscribing to topic: thing/edge/xxx/services with QoS: 1
Subscribed to topic: thing/edge/xxx/services
start listen to mqtt
[2.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[2.217][linker]-[Warn]-[DjiProtocol_v1Unpack:187) protocol frame crc16 error, exp:0xCD18 cur:0x552A 
[3.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[3.718][linker]-[Warn]-[DjiProtocol_v1Unpack:187) protocol frame crc16 error, exp:0x572A cur:0x040F 
[4.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[5.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[6.066][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish. 
[7.066][adapter]-[Error]-[DjiAccessAdapter_Init:381) Payload negotiate error, returnCode = 225 
[7.066][core]-[Error]-[DjiCore_Init:126) Access adapter init error, stat:225 
Runtime error occurred: Core init error.

报错：“Payload negotiate error, returnCode = 225  ”。无论尝试多少次都是如此。此时我必须重启无人机才可以连接上。（没有尝试过单独重启板子，因为我板子用的无人机的电源，所以两个是一起启动的，但我觉得大概是不行的。）

板子信息：

我的机器时m3t：

网卡信息：

$ ifconfig
enP8p1s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.90.2  netmask 255.255.0.0  broadcast 192.168.255.255
        ether 3c:6d:66:16:12:62  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 18  bytes 1746 (1.7 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 41  base 0x5000

enxf6502561e376: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.100.30  netmask 255.255.255.0  broadcast 192.168.100.255
        inet6 fe80::54e6:aede:913e:38b3  prefixlen 64  scopeid 0x20<link>
        inet6 2408:8441:b419:3b0c:be44:34ee:58a2:d2fb  prefixlen 64  scopeid 0x0<global>
        inet6 2408:8441:b419:3b0c:2752:47b0:bfbd:2ab3  prefixlen 64  scopeid 0x0<global>
        ether f6:50:25:61:e3:76  txqueuelen 1000  (Ethernet)
        RX packets 337  bytes 34093 (34.0 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 397  bytes 39472 (39.4 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 8988  bytes 4284507 (4.2 MB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 8988  bytes 4284507 (4.2 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

usb0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether fa:61:b6:88:1e:99  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

usb1: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether fa:61:b6:88:1e:9b  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

wlP1p1s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 192.168.2.53  netmask 255.255.255.0  broadcast 192.168.2.255
        inet6 fe80::73ad:4fec:53d:760f  prefixlen 64  scopeid 0x20<link>
        ether 70:a6:cc:0c:c0:dd  txqueuelen 1000  (Ethernet)
        RX packets 13021  bytes 2451066 (2.4 MB)
        RX errors 0  dropped 178  overruns 0  frame 0
        TX packets 5279  bytes 4128860 (4.1 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

设备信息

$ ls /dev/tty*

/dev/tty    /dev/tty15  /dev/tty22  /dev/tty3   /dev/tty37  /dev/tty44  /dev/tty51  /dev/tty59  /dev/tty9     /dev/ttyp5  /dev/ttypd    /dev/ttyTHS1
/dev/tty0   /dev/tty16  /dev/tty23  /dev/tty30  /dev/tty38  /dev/tty45  /dev/tty52  /dev/tty6   /dev/ttyAMA0  /dev/ttyp6  /dev/ttype    /dev/ttyTHS2
/dev/tty1   /dev/tty17  /dev/tty24  /dev/tty31  /dev/tty39  /dev/tty46  /dev/tty53  /dev/tty60  /dev/ttyGS0   /dev/ttyp7  /dev/ttypf    /dev/ttyUSB0
/dev/tty10  /dev/tty18  /dev/tty25  /dev/tty32  /dev/tty4   /dev/tty47  /dev/tty54  /dev/tty61  /dev/ttyp0    /dev/ttyp8  /dev/ttyS0    /dev/ttyUSB1
/dev/tty11  /dev/tty19  /dev/tty26  /dev/tty33  /dev/tty40  /dev/tty48  /dev/tty55  /dev/tty62  /dev/ttyp1    /dev/ttyp9  /dev/ttyS1    /dev/ttyUSB2
/dev/tty12  /dev/tty2   /dev/tty27  /dev/tty34  /dev/tty41  /dev/tty49  /dev/tty56  /dev/tty63  /dev/ttyp2    /dev/ttypa  /dev/ttyS2    /dev/ttyUSB3
/dev/tty13  /dev/tty20  /dev/tty28  /dev/tty35  /dev/tty42  /dev/tty5   /dev/tty57  /dev/tty7   /dev/ttyp3    /dev/ttypb  /dev/ttyS3
/dev/tty14  /dev/tty21  /dev/tty29  /dev/tty36  /dev/tty43  /dev/tty50  /dev/tty58  /dev/tty8   /dev/ttyp4    /dev/ttypc  /dev/ttyTCU0

配置信息

#ifdef __cplusplus

extern "C" {

#endif

/* Exported constants --------------------------------------------------------*/

#define DJI_USE_ONLY_UART (0)

#define DJI_USE_UART_AND_USB_BULK_DEVICE (1)

#define DJI_USE_UART_AND_NETWORK_DEVICE (2)

/*!< Attention: Select your hardware connection mode here.

* */

#define CONFIG_HARDWARE_CONNECTION DJI_USE_UART_AND_NETWORK_DEVICE

/* Exported types ------------------------------------------------------------*/

/* Exported functions --------------------------------------------------------*/

#ifdef __cplusplus

}

#endif

#endif // DJI_SDK_CONFIG_H

/************************ (C) COPYRIGHT DJI Innovations *******END OF FILE******/

 hal_network.h:

#ifdef PLATFORM_ARCH_x86_64

#define LINUX_NETWORK_DEV "enxf8e43b7bbc2c"

#else

#define LINUX_NETWORK_DEV "enP8p1s0"

#endif

/**

* @attention

*/

#ifdef PLATFORM_ARCH_x86_64

#define USB_NET_ADAPTER_VID (0x0B95)

#define USB_NET_ADAPTER_PID (0x1790)

#else

// #define USB_NET_ADAPTER_VID (0x0955)

// #define USB_NET_ADAPTER_PID (0x7020)

#define USB_NET_ADAPTER_VID (0x0BDA)

#define USB_NET_ADAPTER_PID (0x8152)

#endif

#define LINUX_CMD_STR_MAX_SIZE (128)

 hal_uart.h

#define LINUX_UART_DEV1 "/dev/ttyTHS1"

#define LINUX_UART_DEV2 "/dev/ttyACM0"

hal_usb_bulk.h

#define LINUX_USB_BULK1_EP_OUT_FD "/dev/usb-ffs/bulk1/ep1"

#define LINUX_USB_BULK1_EP_IN_FD "/dev/usb-ffs/bulk1/ep2"

#define LINUX_USB_BULK1_INTERFACE_NUM (2)

#define LINUX_USB_BULK1_END_POINT_IN (0x83)

#define LINUX_USB_BULK1_END_POINT_OUT (2)

#define LINUX_USB_BULK2_EP_OUT_FD "/dev/usb-ffs/bulk2/ep1"

#define LINUX_USB_BULK2_EP_IN_FD "/dev/usb-ffs/bulk2/ep2"

#define LINUX_USB_BULK2_INTERFACE_NUM (3)

#define LINUX_USB_BULK2_END_POINT_IN (0x84)

#define LINUX_USB_BULK2_END_POINT_OUT (3)

#ifdef PLATFORM_ARCH_x86_64

#define LINUX_USB_VID (0x0B95)

#define LINUX_USB_PID (0x1790)

#else

#define LINUX_USB_VID (0x0955)

#define LINUX_USB_PID (0x7020)

 

0

Comments

3 comments

Date Votes
  • DJI Developer Support
    您好，请问下您使用的是8152的USB网卡吗？您退出程序的步骤具体是通过Ctrl+C退出还是其他的方式？二次初始化报错，原因是链路异常，我们怀疑PSDK端有相关的资源没有正常释放。如果您再次遇到失败的情况，您尝试下重新插拔USB网卡，或者重新down和up一下enP8p1s0
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  • kwin

    1. 是8152的usb网卡
    2. 我是通过ctrl+c的方式触发信号量，然后关闭并释放资源。下面是我的代码和日志
    代码,可以看到是成功释放资源的。


    DjiFlightController_DeInit();
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "DjiFlightController_DeInit()" << std::endl;
    DjiCameraManager_DeInit();
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "DjiCameraManager_DeInit()" << std::endl;
    DjiGimbalManager_Deinit();
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "DjiGimbalManager_DeInit()" << std::endl;
    DjiWaypointV3_DeInit();
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "DjiWaypointV3_DeInit()" << std::endl;
    DjiCore_DeInit();
    std::this_thread::sleep_for(std::chrono::seconds(3));
    std::cout << "DjiCore_DeInit()" << std::endl;


    日志：


    $ ./build/bin/aib
    [0.003][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.2-beta.0-build.2125
    Reconnecting to MQTT broker...
    [0.042][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Mavic 3 Series
    [0.042][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type
    [0.046][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps
    Reconnected to MQTT broker!
    Subscribing to topic: thing/edge/xxx/services with QoS: 1
    Subscribed to topic: thing/edge/xxx/services
    start listen to mqtt
    [2.062][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [3.062][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [4.080][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file...
    [5.080][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully
    [5.094][core]-[Info]-[DjiCore_Init:174) Identify AircraftType = Mavic 3 Thermal, MountPosition = Extension Port, SdkAdapterType = None
    [5.101][core]-[Info]-[DjiCore_ApplicationStart:238) Start dji sdk application
    [5.101][user]-[Info]-[DjiUser_ApplicationStart:259) Application start.
    application start
    CameraManager::instance().init()
    GimbalManager::instance().init()
    WaypointManager::instance().init()
    [9.198][flight]-[Info]-[DjiFlightController_RegisterLinkerObj_M3:117) Init mavic3 enterprise series flight controller linker successfully.
    FlightControllerManager::instance().init()
    [9.219][user]-[Info]-[init:746) FlightControllerManager init ok
    ^C
    Signal received: 2. Initiating shutdown...
    DjiFlightController_DeInit()
    DjiCameraManager_DeInit()
    DjiGimbalManager_DeInit()
    DjiWaypointV3_DeInit()
    DjiCore_DeInit()
    Exiting successfully.

    3. 这是我up和down 网卡的操作，不行。

    网卡操作：


    # root @ box-001 in ~ [18:10:45] C:130
    $ sudo ip link set enP8p1s0 down

    # root @ box-001 in ~ [18:10:52]
    $ ip link show enP8p1s0
    4: enP8p1s0: <BROADCAST,MULTICAST> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
    link/ether 3c:6d:66:16:12:62 brd ff:ff:ff:ff:ff:ff

    # root @ box-001 in ~ [18:10:57]
    $ sudo ip link set enP8p1s0 up

    # root @ box-001 in ~ [18:11:14]
    $ ip link show enP8p1s0
    4: enP8p1s0: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP mode DEFAULT group default qlen 1000
    link/ether 3c:6d:66:16:12:62 brd ff:ff:ff:ff:ff:ff

     

    重新启动日志：


    $ ./build/bin/aib
    [0.003][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.2-beta.0-build.2125
    Reconnecting to MQTT broker...
    [0.043][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Mavic 3 Series
    [0.043][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type
    [0.047][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps
    Reconnected to MQTT broker!
    Subscribing to topic: thing/edge/xxx/services with QoS: 1
    Subscribed to topic: thing/edge/xxx/services
    start listen to mqtt
    [2.062][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [3.062][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [4.063][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [5.063][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    [6.063][adapter]-[Info]-[DjiPayloadNegotiate_Init:228) Waiting payload negotiate finish.
    Runtime error occurred: Core init error.
    [7.063][adapter]-[Error]-[DjiAccessAdapter_Init:381) Payload negotiate error, returnCode = 225
    [7.063][core]-[Error]-[DjiCore_Init:126) Access adapter init error, stat:225

     

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  • DJI Developer Support
    您好，感谢您补充的信息，您那边麻烦使用最新的PSDK和最新的飞机固件再尝试下，如果仍然不行，您可以把相关的日志提供给我们，我们为您与内部团队确认下，建议您均使用最新的版本，我们基于最新版本去分析，避免已知问题的影响。 如何导出PSDK Debug日志 如何导出飞机日志/调参日志
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