PSDK移植到ESP32平台，连接不稳定。PSDK ：V3.1.0-beta0-1509， 飞机： M300RTK...

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PSDK移植到ESP32平台，连接不稳定。PSDK ：V3.1.0-beta0-1509， 飞机： M300RTK [8.159][adapter]-[Info]-[DjiPayloadNegotiate_Start:203) No need wait negotiate finished [8.160][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. [9.161][adapter]-[Info]-[DjiPayloadNegotiate_Start:203) No need wait negotiate finished [9.162][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... [10.163][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:418) Update dji sdk policy file successfully [11.709][linker]-[Warn]-[DjiProtocol_v1Unpack:167) protocol frame crc16 error, exp:0xE7EC cur:0x6210 [12.320][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 25, cmdId = 50 [13.323][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 25, cmdId = 50 [13.931][linker]-[Warn]-[DjiProtocol_v1Unpack:167) protocol frame crc16 error, exp:0x6952 cur:0x6600 [14.326][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 1, cmdSet = 25, cmdId = 50 [15.329][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0 [15.330][linker]-[Error]-[DjiCommand_SendSync:475) sendSync callback timeout [15.330][infor]-[Error]-[DjiMountPosition_GetOnPayloadPort:89) get payload mount position error: 0x000000E1. [15.330][infor]-[Error]-[DjiAircraftInfo_Init:239) Get sdk mount position error. Probably the DJI SDK Adpater has not binded. Please check the bind state of the DJI SDK Adpater and bind it. [16.024][linker]-[Warn]-[DjiProtocol_v1Unpack:167) protocol frame crc16 error, exp:0x337D cur:0xF004 [17.334][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 3, cmdSet = 25, cmdId = 50 [18.337][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860) Command async send retry: index = 0, retryTimes = 2, cmdSet = 25, cmdId = 50 [19.339][linker]-[Warn]-[DjiCommand_SendAsyncHandle:860
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  • 王立军

    补充问题日志截图，方便查看

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  • 王立军

    问题补充， 怀疑串口波特率高传输错误，降低波特率至460800， 现象如下。upload policy file failed.

    日志文本如下：

    I (19460) Drv/Uart: UART_Init(2, 460800)
    [1.944][adapter]-[Info]-[DjiAccessAdapter_Init:154) Identify aircraft series is Matrice 300 Series 
    [1.944][adapter]-[Info]-[DjiAccessAdapter_Init:171) Identify mount position type is Payload Port Type 
    [1.944][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    I (29480) Drv/Uart: UART_Init(2, 460800)
    [2.945][adapter]-[Info]-[DjiPayloadNegotiate_Start:203) No need wait negotiate finished 
    [2.946][adapter]-[Info]-[DjiPayloadNegotiate_Start:199) Waiting payload negotiate finished. 
    [3.947][adapter]-[Info]-[DjiPayloadNegotiate_Start:203) No need wait negotiate finished 
    [3.947][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [4.912][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [4.948][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [4.970][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [5.062][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [5.688][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [5.852][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [5.949][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [6.037][linker]-[Warn]-[DjiProtocol_v1Unpack:167) protocol frame crc16 error, exp:0xAF9C cur:0x373C 
    [6.380][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [6.622][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [6.950][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [7.201][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [7.253][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [7.536][linker]-[Warn]-[DjiProtocol_v1Unpack:167) protocol frame crc16 error, exp:0x7ED8 cur:0x363C 
    [7.951][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 
    [7.988][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [8.048][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [8.100][auth]-[Error]-[DjiIdentityVerify_RequestUploadPolicyFileHandle:309) request upload policy file failed 
    [8.953][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:415) Updating dji sdk policy file... 

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  • DJI Developer Support
    1、报错有提示转接环没有绑定，先在DJI Assistant2上检查确认转接环已经绑定。 ![](https://djisdksupport.zendesk.com/attachments/token/PNIzlExjkehmVgluSxMDMtboV/?name=image.png) 2、PSDK 3.x在M300 PSDK端口开发，可以将此UART_NUM_1设置为false。 ![](https://djisdksupport.zendesk.com/attachments/token/aGrZnLmI9tLeT49ORSEfUt57j/?name=image.png)
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  • 王立军

    1、确认环已经正确绑定。

    波特率921600配置时，在遥控器出现负载图标。通讯错误Warn很多, 控件反复丢失再出现，同时反复打印log

    70.515][infor]-[Info]-[DjiAircraftInfo_NotifyMobileAppInfoHandle:477) Set mobile app info, language is Chinese, screen type is Big Screen

    [80.333][linker]-[Error]-[DjiCommand_SendAsyncHandle:872) Command async send error 0
    [80.333][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:191) connect status async timeout

    2、已按指导将UART_NUM_1 设置为false。

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  • DJI Developer Support
    试试115200或230400波特率，是否可正常通信？
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  • 王立军

    115200,230400可以通讯， 稳定的卡在update policy failed

    【更新到psdk320-1540,现象一样】

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  • DJI Developer Support
    报错就是跟串口通信有关，PSDK端向飞机端发送数据没有发过去。与PSDK版本关系看起来不大，再检查确认一下串口通信的读写实现部分（hal_uart.c），读写是否正常。
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