Mobile SDK UDP通道未收到显示PSDK发送的高速数据流，串口通道收到数据正常

通过PSDK中的test_data_transmission例程，向Mobile-sdk的APP界面发送命令数据和高速数据，接口分别为

PsdkDataTransmission_SendDataToMobile

和

PsdkDataTransmission_SendDataStream

在APP端能看到UART/CAN Channel上有PSDK发送的数据，在UDP Channel上为空白，看不到相关数据，APP也未进入UDP接收数据的回调函数。

PSDK 发送端，PsdkDataTransmission_GetDataStreamState 返回的状态正常，网络有连接，PSDK端能ping通无人机的ip（192.168.110.2），通过iftop也能看到负载端和无人机之间的网络数据，但是为何在Mobile的APP未显示未收到？请问问题该如何定位在哪个环节？该如何调试诊断是否是无人机--遥控器之间的高速数据是否正常？

以下是PSDK端的日志，以及APP界面显示

et current log index: 85

[3753977.843][module_core]-[Info]-[PsdkCore_Init:76]Payload SDK Version : V2.2.1-beta.0-build.315

[3753977.854][module_core]-[Info]-[PsdkCore_WaitAdapterConnection:234]Connect to Skyport V2 or X-Port success

[3753977.865][module_core]-[Info]-[PsdkCore_PrintAdapterSerialNumber:278]Get serial number of Skyport V2 or X-Port is 39CDH690010135

[3753977.865][module_core]-[Info]-[PsdkCore_Init:130]Updating PSDK policy file.

[3753977.885][module_aircraftinfo]-[Info]-[PsdkAircraftInfo_GetAircraftTypeAsyncCallback:402]aircraft type is Matrice 300 RTK.

[3753977.885][module_aircraftinfo]-[Info]-[PsdkAircraftInfo_GetDevelopmentKitTypeAsyncCallback:483]PSDK adapter type is Skyport V2.

[3753978.865][module_core]-[Info]-[PsdkCore_Init:133]PSDK policy file update success.

[3753979.365][module_core]-[Info]-[PsdkCore_Init:146]PSDK is connecting aircraft.

[3753979.865][module_core]-[Info]-[PsdkCore_Init:146]PSDK is connecting aircraft.

[3753979.922][module_aircraftinfo]-[Info]-[PsdkAircraftInfo_GetPayloadMountPositionAsyncCallback:582]This payload is mounted on NO.1 gimbal connector.

[3753980.366][module_core]-[Info]-[PsdkCore_Init:146]PSDK is connecting aircraft.

[3753980.366][module_core]-[Info]-[PsdkCore_Init:156]Aircraft is Matrice 300 RTK, PSDK adapter is Skyport V2, this payload is mounted on NO.1 gimbal connector.

[3753980.366][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753981.366][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753982.366][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753983.367][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753984.367][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753985.367][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753986.367][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753987.368][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753988.368][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753989.368][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753990.368][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753991.369][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:138]Waiting payload negotiate finish.

[3753992.409][module_nego]-[Info]-[PsdkPayloadNegotiate_RemoveDeviceSync:252]waiting payload negotiate finish.

[3753993.410][module_nego]-[Info]-[PsdkPayloadNegotiate_RemoveDeviceSync:252]waiting payload negotiate finish.

[3753993.525][module_nego]-[Info]-[PsdkPayloadNegotiate_VersionHandle:293]Payload negotiate use dynamic ip config

[3753993.799][module_nego]-[Info]-[PsdkPayloadNegotiate_NotifyHandle:564]uav ip addr:192.168.110.1

[3753994.410][module_nego]-[Info]-[PsdkPayloadNegotiate_Init:155]Payload negotiate has finished.

eth0 Link encap:Ethernet HWaddr 00:0a:35:00:01:22

[594.801][module_nego]-[Info]-[PsdkPayloadNegotiate_RemoveDeviceSync:252]waiting payload negotiate finish.

[595.803][module_nego]-[Info]-[PsdkPayloadNegotiate_RemoveDeviceSync:252]waiting payload negotiate finish.

[595.921][module_nego]-[Info]-[PsdkPayloadNegotiate_VersionHandle:293]Payload negotiate use dynamic ip config

[596.207][module_nego]-[Info]-[PsdkPayloadNegotiate_NotifyHandle:564]uav ip addr:192.168.110.1

[596.805][module_user]-[Info]- get video stream remote address:192.168.110.1_23003

~~~~ Enter UserDataTransmission_Task ~~~~

get data stream remote address: 192.168.110.1_23002[598.841][module_subscription]-[Info]-[PsdkDataSubscription_ResetPublisherDb2AsyncCallback:1616]reset publisher success.

[599.076][module_subscription]-[Info]-[PsdkDataSubscription_RegTopicSync:603]Subscribe topic success.

[599.615][module_subscription]-[Info]-[PsdkDataSubscription_RegTopicSync:603]Subscribe topic success.

aircraftType=[60]

~~~~ Run DataTransmission_Task Tick=[0] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 0, realtimeBandwidthAfterFlowController: 0, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 0, realtimeBandwidthAfterFlowController: 0, busyState: 0.

cribe topic success.

[600.207][module_upgrade]-[Info]-[PsdkUpgrade_Init:109]Upgrade transfer type is ftp, ftp port = 0

[600.207][module_upgrade]-[Info]-[PsdkUpgrade_EnableLocalUpgrade:118]Enable local upgrade

[600.208][module_core]-[Info]-[PsdkCore_ApplicationStart:199]Start application now.

[600.618][module_user]-[Info]- timestamp: millisecond 600602 microsecond 600602841.

[600.618][module_user]-[Info]- quaternion: 0.655606 -0.010189 0.011925 0.754940.

[600.618][module_user]-[Info]- velocity: x 0.000000 y 0.000000 z 0.000000, healthFlag 0.

[600.618][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[1] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

:621]Set mobile app info, language is Chinese, screen type is Big Screen

[601.618][module_user]-[Info]- timestamp: millisecond 601602 microsecond 601602866.

[601.618][module_user]-[Info]- quaternion: 0.655723 -0.010049 0.011822 0.754842.

[601.618][module_user]-[Info]- velocity: x -0.000547 y -0.000860 z -0.000488, healthFlag 1.

[601.618][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[2] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

854.

[602.615][module_user]-[Info]- quaternion: 0.655716 -0.009999 0.011824 0.754849.

[602.615][module_user]-[Info]- velocity: x -0.000547 y -0.000860 z -0.000488, healthFlag 1.

[602.615][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[3] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

845.

[603.616][module_user]-[Info]- quaternion: 0.655582 -0.010148 0.011732 0.754965.

[603.616][module_user]-[Info]- velocity: x 0.000246 y 0.000145 z 0.000711, healthFlag 1.

[603.616][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000[603.691][module_downloader]-[Warn]-[PsdkDataDownloader_SendDataUpdate:569]Psdk Camera Get App File Send Ack TimeOut

~~~~ Run DataTransmission_Task Tick=[4] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

me: 2021.11.3 9:42 57.

[604.621][module_user]-[Info]- timestamp: millisecond 604622 microsecond 604622865.

[604.621][module_user]-[Info]- quaternion: 0.655642 -0.009906 0.011807 0.754915.

[604.621][module_user]-[Info]- velocity: x -0.000952 y -0.000131 z -0.000942, healthFlag 1.

[604.621][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[5] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

845.

[605.624][module_user]-[Info]- quaternion: 0.655702 -0.010028 0.011758 0.754861.

[605.624][module_user]-[Info]- velocity: x -0.000952 y -0.000131 z -0.000942, healthFlag 1.

[605.624][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[6] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlOwController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

842.

[606.620][module_user]-[Info]- quaternion: 0.655823 -0.010061 0.011540 0.754759.

[606.620][module_user]-[Info]- velocity: x 0.001922 y 0.001065 z 0.000101, healthFlag 1.

[606.620][module_user]-[Info]- gps position: x 0 y 0 z 0.

gps=0.000000

~~~~ Run DataTransmission_Task Tick=[7] ~~~~Send Data [120] bytes

send to mobile state: realtimeBandwidthBeforeFlowController: 120, realtimeBandwidthAfterFlowController: 120, busyState: 0.

send to onboard computer state: realtimeBandwidthBeforeFlowController: 255, realtimeBandwidthAfterFlowController: 255, busyState: 0.

root@zynq:~#

root@zynq:~# ifconfig

eth0 Link encap:Ethernet HWaddr 00:0a:35:00:01:22

inet addr:192.168.120.2 Bcast:192.168.255.255 Mask:255.255.0.0

inet6 addr: fe80::20a:35ff:fe00:122/64 Scope:Link

UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1

RX packets:258 errors:0 dropped:0 overruns:0 frame:0

TX packets:287 errors:0 dropped:0 overruns:0 carrier:0

collisions:0 txqueuelen:1000

RX bytes:50378 (49.1 KiB) TX bytes:61956 (60.5 KiB)

Interrupt:32 Base address:0xb000

lo Link encap:Local Loopback

inet addr:127.0.0.1 Mask:255.0.0.0

inet6 addr: ::1/128 Scope:Host

UP LOOPBACK RUNNING MTU:65536 Metric:1

RX packets:4 errors:0 dropped:0 overruns:0 frame:0

TX packets:4 errors:0 dropped:0 overruns:0 carrier:0

collisions:0 txqueuelen:1

RX bytes:240 (240.0 B) TX bytes:240 (240.0 B)

root@zynq:~# ping 192.168.110.1

PING 192.168.110.1 (192.168.110.1) 56(84) bytes of data.

64 bytes from 192.168.110.1: icmp_seq=1 ttl=64 time=0.591 ms

64 bytes from 192.168.110.1: icmp_seq=2 ttl=64 time=0.654 ms

64 bytes from 192.168.110.1: icmp_seq=3 ttl=64 time=0.564 ms

64 bytes from 192.168.110.1: icmp_seq=4 ttl=64 time=0.491 ms

64 bytes from 192.168.110.1: icmp_seq=5 ttl=64 time=0.468 ms

--- 192.168.110.1 ping statistics ---

5 packets transmitted, 5 received, 0% packet loss, time 4163ms

rtt min/avg/max/mdev = 0.468/0.553/0.654/0.072 ms

caluova

November 03, 2021 01:58

下图为PSDK端网络监控信息，负载IP为192.168.120.2，无人机IP为192.168.110.1

November 03, 2021 02:15

补充：用TCPDUMP工具，发现无人机端的端口不可达，但无人机IP能通

16:21:00.437561 IP 192.168.120.2.39633 > 192.168.110.1.23002: UDP, length 255
16:21:00.440206 IP 192.168.110.1 > 192.168.120.2: ICMP 192.168.110.1 udp port 23002 unreachable, length 291
16:21:01.187306 IP 192.168.110.1 > 192.168.120.2: ICMP echo request, id 34327, seq 0, length 64
16:21:01.189398 IP 192.168.120.2 > 192.168.110.1: ICMP echo reply, id 34327, seq 0, length 64

November 03, 2021 03:08

看起来，像是无人机UDP未打开，下图是抓包分析工具，110.1为无人机，120.2为负载PSDK

DJI Developer Support

November 03, 2021 08:16

您可以在test_payload_cam_emu.c文件中将StreamType设成Custom格式，这边测试可以正常显示。 ![](https://djisdksupport.zendesk.com/attachments/token/NSy3Dn1vBhsj8tE91SCKqEfPS/?name=inline935104749.png)

Mobile SDK UDP通道未收到显示PSDK发送的高速数据流，串口通道收到数据正常

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