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9 条评论

  • Hao Tang

    打印日志如下:

    ~ # ./dji_sdk_demo_linux
    [0.006][core]-[Info]-[DjiCore_Init:101) Payload SDK Version : V3.5.0-beta.0-build.1764 
    [0.521][adapter]-[Info]-[DjiAccessAdapter_Init:186) Identify aircraft series is Matrice 300 Series 
    [0.521][adapter]-[Info]-[DjiAccessAdapter_Init:206) Identify mount position type is Payload Port Type 
    Run command: echo "4" >> /proc/irq/16/smp_affinity
    Child pid: 1651
    Child exited with status 0
    [0.524][adapter]-[Info]-[DjiAccessAdapter_Init:301) Identity uart0 baudrate is 460800 bps 
    [0.541][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [1.550][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [2.560][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [3.570][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [4.580][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [5.590][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [6.600][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [7.610][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [8.620][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [9.630][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [10.640][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    Run command: echo "4" >> /proc/irq/16/smp_affinity
    Child pid: 1659
    Child exited with status 0
    [12.731][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    random: crng init done
    [13.740][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [14.750][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [15.760][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [16.770][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [17.780][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [18.790][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [19.800][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [20.810][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [21.820][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [22.830][adapter]-[Info]-[DjiPayloadNegotiate_Init:212) Waiting payload negotiate finished. 
    [25.445][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [26.450][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [27.460][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [28.470][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [29.480][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [30.490][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:470) Updating dji sdk policy file... 
    [31.500][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:473) Update dji sdk policy file successfully 
    [31.710][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 253 
    [33.690][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 0, cmdId = 81 
    [33.890][infor]-[Info]-[DjiAircraftInfo_GetAdapterSerialNumber:680) Get serial number of Skyport V2 or X-Port is 34DDJC7001H3RS 
    [33.896][core]-[Info]-[DjiCore_Init:169) Identify AircraftType = Matrice 300 RTK, MountPosition = Payload Port NO1, SdkAdapterType = X-Port 
    [34.100][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
    [34.310][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
    [34.560][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 5, cmdId = 11 
    [34.770][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 5, cmdId = 11 
    [35.901][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 21 
    [36.500][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 3, cmdId = 22 
    [37.010][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 3, cmdId = 22 
    [37.730][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
    [38.040][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
    [38.250][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
    [38.520][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
    [38.730][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
    [38.940][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 15 
    [39.280][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 15 
    [39.490][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 15 
    [39.691][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 15 
    [39.900][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
    [39.901][linker]-[Error]-[DjiCommand_SendSync:488) sendSync callback timeout 
    [39.901][xport]-[Error]-[DjiXPort_SetUserParameterSync:875) set parameter error: 0x000000E1. 
    [39.901][xport]-[Error]-[DjiXPort_SetLimitAngleSync:621) set lower limit of limit angle of category 3 error: 0x000000E1. 
    [39.901][user]-[Error]-[DjiTest_XPortStartService:109) set pitch extension euler angle limit angle for XPort error: 0x000000E1. 
    [39.901][user]-[Error]-[main:236) psdk xport init error 
    [39.901][core]-[Info]-[DjiCore_ApplicationStart:239) Start dji sdk application 
    [44.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
    [44.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
    [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [47.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [47.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [47.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [47.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [47.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 1 
    [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 2 
    [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 3 
    [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [48.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 4 
    [48.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [57.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [57.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [57.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [57.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [57.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [64.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
    [64.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
    [67.411][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [67.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [67.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [67.620][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [67.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [67.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [67.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [67.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [67.830][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [67.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [67.840][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [67.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [67.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [68.040][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
    [68.040][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 1 
    [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 2 
    [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 3 
    [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [68.051][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 4 
    [68.051][xport]-[Warn]-[DjiXPort_GetUserParameterAsyncCallback:1031) get user parameter timeout. 
    [77.420][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [77.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 3, cmdSet = 4, cmdId = 16 
    [77.630][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [77.631][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 2, cmdSet = 4, cmdId = 16 
    [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 1, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 2, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 3, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [77.841][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 4, retryTimes = 1, cmdSet = 4, cmdId = 16 
    [84.910][linker]-[Error]-[DjiCommand_SendAsyncHandle:887) Command async send error 0 
    [84.910][infor]-[Warn]-[DjiAircraftInfo_CheckPingStatusAsyncCallback:265) connect status async timeout 
    [87.421][linker]-[Warn]-[DjiCommand_SendAsyncHandle:875) Command async send retry: index = 0, retryTimes = 3, cmdSet = 4, cmdId = 16 

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  • DJI Developer Support
    这个是使用的哪个平台的库?另外DJI_HAL_UART_NUM1这里是不是也有修改?
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  • Hao Tang

    使用的aarch64-himix100-linux-gcc平台, DJI_HAL_UART_NUM1这里也置为false了(如下图所示)

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  • DJI Developer Support
    把这个设置成true试试,PSDK口不要修改这个。
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  • Hao Tang

    没修改之前也是一样的,就是因为有问题我才试着修改为false的,我打印调试过,PSDK接口不会使用DJI_HAL_UART_NUM1。

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  • DJI Developer Support
    这个也是海思的芯片吗?具体是哪一颗芯片,我们这边已经收到相关的反馈了,但是PSDK研发那边目前还没有给结论。
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  • Hao Tang

    是海思的芯片,型号为Hi3559AV100

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  • YUAN

    我也是海思。目前还没解决,大疆研发回复说的是下个版本会解决

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  • Hao Tang

    好的,谢谢!

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