PSDK uart write data error while flying

similar to https://sdk-forum.dji.net/hc/zh-cn/community/posts/9755910281881-PSDK-USB%E9%80%9A%E8%AE%AF%E6%96%AD%E5%BC%80

While flying, those error pop up, then we can not send data to RC:

Dbg [17:05:00.358]: [31m[67.359][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error [0m

Dbg [17:05:00.358]: [31m[67.359][linker]-[Error]-[DjiLinker_SendMsg:191) write data error [0m

Dbg [17:05:00.359]: [31m[67.359][core]-[Error]-[DjiSdkStatePush_Work:169) Send sdk push state error [0m

Dbg [17:05:00.359]: [31m[67.359][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error [0m

Dbg [17:05:00.359]: [31m[67.359][linker]-[Error]-[DjiLinker_SendMsg:191) write data error [0m

Dbg [17:05:00.359]: [31m[67.359][core]-[Error]-[DjiSdkStatePush_Work:169) Send sdk push state error [0m

Dbg [17:05:00.359]: [31m[67.359][linker]-[Error]-[DjiChannel_uartWrite:102) uart write data error [0m

Dbg [17:05:00.359]: [31m[67.359][linker]-[Error]-[DjiLinker_SendMsg:191) write data error [0m

Dbg [17:05:00.359]: [31m[67.359][core]-[Error]-[DjiSdkStatePush_Work:169) Send sdk push state error [0m

 

This is the log of dmesg:

[ 0.000000] Kernel command line: console=ttyTCU0,115200 video=tegrafb earlycon=tegra_comb_uart,mmio32,0x0c168000 gpt rootfs.slot_suffix= usbcore.old_scheme_first=1 tegraid=19.1.2.0.0 maxcpus=6 boot.slot_suffix= boot.ratchetvalues=0.4.2 vpr_resize sdhci_tegra.en_boot_part_access=1 quiet root=PARTUUID=806a08aa-4923-4e30-8f28-2535ba333242 rw rootwait rootfstype=ext4 console=ttyTCU0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0

[ 0.837500] usbcore: registered new interface driver usbfs

[ 0.837553] usbcore: registered new interface driver hub

[ 0.837640] usbcore: registered new device driver usb

[ 0.938527] vdd-usb-3v3: at 3300 mV

[ 1.897836] usbcore: registered new interface driver r8152

[ 1.897893] usbcore: registered new interface driver asix

[ 1.897928] usbcore: registered new interface driver ax88179_178a

[ 1.897976] usbcore: registered new interface driver cdc_ether

[ 1.898002] usbcore: registered new interface driver net1080

[ 1.898028] usbcore: registered new interface driver cdc_subset

[ 1.898055] usbcore: registered new interface driver zaurus

[ 1.898093] usbcore: registered new interface driver cdc_ncm

[ 1.899747] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver

[ 1.899799] ohci_hcd: USB 1.1 'Open' Host Controller (OHCI) Driver

[ 1.904532] tegra-xusb 3610000.xhci: USB2 port 0 has OTG_CAP

[ 1.906393] tegra-xusb 3610000.xhci: extcon 0: ffffffc1f4d44000 id

[ 1.906921] usbcore: registered new interface driver uas

[ 1.906975] usbcore: registered new interface driver usb-storage

[ 1.907040] usbcore: registered new interface driver usbserial

[ 1.909115] tegra-xusb 3610000.xhci: Firmware timestamp: 2020-09-11 16:55:03 UTC, Version: 60.09 release

[ 1.909213] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 1.909239] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 1

[ 1.909986] tegra-xusb 3610000.xhci: hcc params 0x0184ff25 hci version 0x110 quirks 0x00050810

[ 1.910027] tegra-xusb 3610000.xhci: irq 464, io mem 0x03610000

[ 1.910381] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002

[ 1.910408] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 1.910415] usb usb1: Product: xHCI Host Controller

[ 1.910450] usb usb1: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 1.910456] usb usb1: SerialNumber: 3610000.xhci

[ 1.911129] hub 1-0:1.0: USB hub found

[ 1.911821] tegra-xusb 3610000.xhci: xHCI Host Controller

[ 1.911834] tegra-xusb 3610000.xhci: new USB bus registered, assigned bus number 2

[ 1.911844] tegra-xusb 3610000.xhci: Host supports USB 3.1 Enhanced SuperSpeed

[ 1.912172] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003

[ 1.912180] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1

[ 1.912187] usb usb2: Product: xHCI Host Controller

[ 1.912193] usb usb2: Manufacturer: Linux 4.9.253-tegra xhci-hcd

[ 1.912200] usb usb2: SerialNumber: 3610000.xhci

[ 1.912415] usbcore: registered new interface driver xpad

[ 1.912655] hub 2-0:1.0: USB hub found

[ 1.913680] tegra-xusb 3610000.xhci: Upgrade port 0 to USB3.0

[ 1.913688] tegra-xusb 3610000.xhci: Upgrade port 1 to USB3.0

[ 2.015568] usb usb2: usb_suspend_both: status 0

[ 2.137108] usbcore: registered new interface driver usbhid

[ 2.137112] usbhid: USB HID core driver

[ 2.151858] usbcore: registered new interface driver snd-usb-audio

[ 2.238959] usb 1-2: new full-speed USB device number 2 using tegra-xusb

[ 2.260807] usb 1-2: New USB device found, idVendor=10c4, idProduct=ea60

[ 2.260814] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 2.260819] usb 1-2: Product: CP2102 USB to UART Bridge Controller

[ 2.260823] usb 1-2: Manufacturer: Silicon Labs

[ 2.260827] usb 1-2: SerialNumber: 0001

[ 2.379273] usb 2-3: new SuperSpeed USB device number 2 using tegra-xusb

[ 2.404102] usb 2-3: New USB device found, idVendor=05e3, idProduct=0620

[ 2.404109] usb 2-3: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 2.404114] usb 2-3: Product: USB3.2 Hub

[ 2.404118] usb 2-3: Manufacturer: GenesysLogic

[ 2.406755] hub 2-3:1.0: USB hub found

[ 2.518943] usb 1-3: new high-speed USB device number 3 using tegra-xusb

[ 2.541733] usb 1-3: New USB device found, idVendor=05e3, idProduct=0610

[ 2.541761] usb 1-3: New USB device strings: Mfr=1, Product=2, SerialNumber=0

[ 2.541766] usb 1-3: Product: USB2.1 Hub

[ 2.541770] usb 1-3: Manufacturer: GenesysLogic

[ 2.542632] hub 1-3:1.0: USB hub found

[ 2.562950] usb 2-3: usb_suspend_both: status 0

[ 2.563177] usb usb2: usb_suspend_both: status 0

[ 2.858934] usb 1-3.2: new high-speed USB device number 4 using tegra-xusb

[ 2.880028] usb 1-3.2: New USB device found, idVendor=2ca3, idProduct=001f

[ 2.880035] usb 1-3.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 2.880039] usb 1-3.2: Product: e1e

[ 2.880043] usb 1-3.2: Manufacturer: DJI

[ 2.880047] usb 1-3.2: SerialNumber: 123456789ABCDEF

[ 2.883875] usb-storage 1-3.2:1.2: USB Mass Storage device detected

[ 2.884224] scsi host0: usb-storage 1-3.2:1.2

[ 3.671310] usb 2-3.3: new SuperSpeed USB device number 3 using tegra-xusb

[ 3.705696] usb 2-3.3: New USB device found, idVendor=054c, idProduct=0e90

[ 3.705703] usb 2-3.3: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 3.705726] usb 2-3.3: Product: ILX-LR1

[ 3.705730] usb 2-3.3: Manufacturer: Sony

[ 3.705735] usb 2-3.3: SerialNumber: D519202DC767

[ 6.016409] rndis_host 1-3.2:1.0 usb0: register 'rndis_host' at usb-3610000.xhci-3.2, RNDIS device, aa:67:89:a5:70:ca

[ 6.016547] usbcore: registered new interface driver rndis_host

[ 6.018817] usbcore: registered new interface driver cp210x

[ 6.018927] usbserial: USB Serial support registered for cp210x

[ 6.021531] usb 1-2: cp210x converter now attached to ttyUSB0

[ 6.032159] cdc_acm 1-3.2:1.4: ttyACM0: USB ACM device

[ 6.032677] usbcore: registered new interface driver cdc_acm

[ 6.032682] cdc_acm: USB Abstract Control Model driver for USB modems and ISDN adapters

[ 6.562795] usb1: HOST MAC 06:65:eb:56:43:9e

[ 6.562829] usb1: MAC 06:65:eb:56:43:9f

[ 6.601013] l4tbr0: port 2(usb1) entered blocking state

[ 6.601021] l4tbr0: port 2(usb1) entered disabled state

[ 6.601370] device usb1 entered promiscuous mode

[ 6.617414] IPv6: ADDRCONF(NETDEV_UP): usb1: link is not ready

[ 8.421247] IPv6: ADDRCONF(NETDEV_UP): usb0: link is not ready

[ 120.028266] rndis_host 1-3.2:1.0 usb0: unregister 'rndis_host' usb-3610000.xhci-3.2, RNDIS device

[ 120.768447] usb 1-3.2: USB disconnect, device number 4

[ 121.111053] usb 1-3: usb_suspend_both: status 0

[ 121.278986] usb 1-3: usb_suspend_both: status 0

[ 121.438949] usb 1-3: usb_suspend_both: status 0

[ 121.606989] usb 1-3: usb_suspend_both: status 0

[ 121.770971] usb 1-3: usb_suspend_both: status 0

[ 121.934950] usb 1-3: usb_suspend_both: status 0

[ 122.098975] usb 1-3: usb_suspend_both: status 0

[ 122.263008] usb 1-3: usb_suspend_both: status 0

[ 122.422994] usb 1-3: usb_suspend_both: status 0

[ 122.583020] usb 1-3: usb_suspend_both: status 0

[ 122.743000] usb 1-3: usb_suspend_both: status 0

[ 122.907001] usb 1-3: usb_suspend_both: status 0

[ 123.554989] usb 1-3: usb_suspend_both: status 0

[ 123.719004] usb 1-3: usb_suspend_both: status 0

[ 123.883261] usb 1-3: usb_suspend_both: status 0

[ 124.046971] usb 1-3: usb_suspend_both: status 0

[ 124.207114] usb 1-3: usb_suspend_both: status 0

[ 124.386966] usb 1-3: usb_suspend_both: status 0

[ 124.547004] usb 1-3: usb_suspend_both: status 0

[ 124.707124] usb 1-3: usb_suspend_both: status 0

[ 124.886979] usb 1-3: usb_suspend_both: status 0

[ 125.050987] usb 1-3: usb_suspend_both: status 0

[ 125.214954] usb 1-3: usb_suspend_both: status 0

[ 125.375045] usb 1-3: usb_suspend_both: status 0

[ 126.535104] usb 1-3: usb_suspend_both: status 0

[ 127.267108] usb 1-3: usb_suspend_both: status 0

[ 127.430997] usb 1-3: usb_suspend_both: status 0

[ 127.591004] usb 1-3: usb_suspend_both: status 0

[ 127.755018] usb 1-3: usb_suspend_both: status 0

[ 128.086972] usb 1-3.2: new high-speed USB device number 6 using tegra-xusb

[ 128.108338] usb 1-3.2: New USB device found, idVendor=2ca3, idProduct=001f

[ 128.108349] usb 1-3.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3

[ 128.108355] usb 1-3.2: Product: e1e

[ 128.108359] usb 1-3.2: Manufacturer: DJI

[ 128.108364] usb 1-3.2: SerialNumber: 123456789ABCDEF

[ 128.114246] rndis_host 1-3.2:1.0 usb0: register 'rndis_host' at usb-3610000.xhci-3.2, RNDIS device, 32:17:2d:2d:5c:de

[ 128.115147] usb-storage 1-3.2:1.2: USB Mass Storage device detected

[ 128.119190] scsi host0: usb-storage 1-3.2:1.2

[ 128.123212] cdc_acm 1-3.2:1.4: ttyACM1: USB ACM device

[ 128.396705] IPv6: ADDRCONF(NETDEV_UP): usb0: link is not ready

You can see, at 120.028266, there is a unregister