PSDK 3.9 在M300上订阅到的所有数据（姿态 位置 DeviceStatus）都是0

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CloboticsOperators
  • 已编辑于

在M300上都是0， 但是M350上就有数值

使用函数如下：

djiStat = DjiFcSubscription_GetLatestValueOfTopic(DJI_FC_SUBSCRIPTION_TOPIC_CONTROL_DEVICE,
                                                  (uint8_t *) &controlDevice,
                                                  sizeof(T_DjiFcSubscriptionControlDevice),
                                                  &timestamp);
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  • CloboticsOperators
    • 已编辑于

    实际上，对于M300其他所有数据都是0, 同样在M350的OSDK口上运行，就能获得数据

     

    ➜  build sudo ./bin/dji_sdk_demo_linux_cxx
    'Logs/latest.log' -> 'DJI_0004_20240617_17-04-19.log'
    [0.008][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.0-beta.0-build.2044 
    [2.138][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBK4N00C00A6, Firmware = 3.4.18.42 
    [2.148][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Matrice 300 Series 
    [2.148][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
    [2.176][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps 
    [2.176][adapter]-[Info]-[DjiPayloadNegotiate_Init:147) No need negotiate device info 
    [3.337][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file... 
    [4.338][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully 
    [4.344][core]-[Info]-[DjiCore_Init:174) Identify AircraftType = Matrice 300 RTK, MountPosition = Extension Port, SdkAdapterType = None 
    [9.880][core]-[Info]-[DjiCore_ApplicationStart:238) Start dji sdk application 
    [9.880][user]-[Info]-[DjiUser_ApplicationStart:364) Application start. 

    | Available commands:                                                                              |
    | [0] Fc subscribe sample - subscribe quaternion and gps data                                      |
    | [1] Flight controller sample - you can control flying by PSDK                                    |
    | [2] Hms info manager sample - get health manger system info by language                          |
    | [a] Gimbal manager sample - you can control gimbal by PSDK                                       |
    | [c] Camera stream view sample - display the camera video stream                                  |
    | [d] Stereo vision view sample - display the stereo image                                         |
    | [e] Run camera manager sample - you can test camera's functions interactively                    |
    | [f] Start rtk positioning sample - you can receive rtk rtcm data when rtk signal is ok           |

    0
    [16.260][user]-[Info]-[DjiTest_FcSubscriptionRunSample:118) Fc subscription sample start 
    [16.260][user]-[Info]-[DjiTest_FcSubscriptionRunSample:121) --> Step 1: Init fc subscription module 
    [16.260][user]-[Info]-[DjiTest_FcSubscriptionRunSample:128) --> Step 2: Subscribe the topics of quaternion, velocity and gps position 
    [16.418][user]-[Info]-[DjiTest_FcSubscriptionRunSample:158) --> Step 3: Get latest value of the subscribed topics in the next 10 seconds
     
    [17.418][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [17.418][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [17.418][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.0 y = 0.0 z = 0.0 w = 0.0. 
    [17.418][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [17.438][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 46% voltage = 44V temperature = 29.80 degree. 
    [17.457][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 46% voltage = 44V temperature = 29.50 degree.
     
    [18.458][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [18.458][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [18.458][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.0 y = 0.0 z = 0.0 w = 0.0. 
    [18.458][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [18.478][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 46% voltage = 44V temperature = 29.90 degree. 
    [18.498][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 46% voltage = 44V temperature = 29.50 degree.
     
    [19.498][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [19.498][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [19.498][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.0 y = 0.0 z = 0.0 w = 0.0. 
    [19.498][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [19.517][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 46% voltage = 44V temperature = 29.90 degree. 
    [19.538][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 46% voltage = 44V temperature = 29.50 degree.
     
    [20.538][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [20.538][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [20.538][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.0 y = 0.0 z = 0.0 w = 0.0. 
    [20.538][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [20.558][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 46% voltage = 44V temperature = 29.90 degree. 
    [20.578][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 46% voltage = 44V temperature = 29.50 degree.
     
    [21.578][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [21.578][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [21.578][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.0 y = 0.0 z = 0.0 w = 0.0. 
    [21.578][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [21.597][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 46% voltage = 44V temperature = 29.90 degree. 
    [21.618][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 46% voltage = 44V temperature = 29.50 degree.
     

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  • CloboticsOperators
    • 已编辑于

    同样的代码在M350上运行的结果，很明显quaternion不是0：

     


    ➜  build sudo ./bin/dji_sdk_demo_linux_cxx 
    'Logs/latest.log' -> 'DJI_0001_20240617_17-17-27.log'
    [0.008][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.0-beta.0-build.2044 
    [0.873][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Matrice 350 Series 
    [0.873][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type 
    [0.882][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 230400 bps 
    [2.535][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file... 
    [3.535][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully 
    [3.556][core]-[Info]-[DjiCore_Init:174) Identify AircraftType = Matrice 350 RTK, MountPosition = Extension Port, SdkAdapterType = None 
    [9.094][core]-[Info]-[DjiCore_ApplicationStart:238) Start dji sdk application 
    [9.094][user]-[Info]-[DjiUser_ApplicationStart:364) Application start. 

    | Available commands:                                                                              |
    | [0] Fc subscribe sample - subscribe quaternion and gps data                                      |
    | [1] Flight controller sample - you can control flying by PSDK                                    |
    | [2] Hms info manager sample - get health manger system info by language                          |
    | [a] Gimbal manager sample - you can control gimbal by PSDK                                       |
    | [c] Camera stream view sample - display the camera video stream                                  |
    | [d] Stereo vision view sample - display the stereo image                                         |
    | [e] Run camera manager sample - you can test camera's functions interactively                    |
    | [f] Start rtk positioning sample - you can receive rtk rtcm data when rtk signal is ok           |

    0
    [14.239][user]-[Info]-[DjiTest_FcSubscriptionRunSample:118) Fc subscription sample start 
    [14.239][user]-[Info]-[DjiTest_FcSubscriptionRunSample:121) --> Step 1: Init fc subscription module 
    [14.239][user]-[Info]-[DjiTest_FcSubscriptionRunSample:128) --> Step 2: Subscribe the topics of quaternion, velocity and gps position 
    [14.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [14.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 244786 microsecond 244786757. 
    [14.293][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505444 -0.044412 -0.021309 -0.861452. 
    [14.293][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.63 roll = -0.47 yaw = -119.18.
     
    [14.395][user]-[Info]-[DjiTest_FcSubscriptionRunSample:158) --> Step 3: Get latest value of the subscribed topics in the next 10 seconds
     
    [15.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [15.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 245786 microsecond 245786770. 
    [15.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505510 -0.044324 -0.021333 -0.861417. 
    [15.293][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.46 yaw = -119.17.
     
    [15.395][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.000000 y = 0.000000 z = 0.000000 healthFlag = 0, timestamp ms = 0 us = 0. 
    [15.395][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [15.395][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [15.395][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 0. 
    [15.439][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.80 degree. 
    [15.479][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [16.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [16.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 246786 microsecond 246786758. 
    [16.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505525 -0.044351 -0.021354 -0.861407. 
    [16.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.46 yaw = -119.17.
     
    [16.479][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.005091 y = -0.004453 z = 0.002769 healthFlag = 1, timestamp ms = 246886 us = 246886772. 
    [16.479][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [16.479][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [16.479][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [16.514][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.80 degree. 
    [16.557][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [17.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [17.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 247786 microsecond 247786760. 
    [17.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505637 -0.044288 -0.021411 -0.861343. 
    [17.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.46 yaw = -119.16.
     
    [17.557][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.005693 y = -0.003787 z = 0.002705 healthFlag = 1, timestamp ms = 247886 us = 247886782. 
    [17.557][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [17.557][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [17.557][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [17.596][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.80 degree. 
    [17.634][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [18.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [18.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 248786 microsecond 248786757. 
    [18.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505691 -0.044293 -0.021373 -0.861312. 
    [18.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.46 yaw = -119.15.
     
    [18.634][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.005966 y = -0.003651 z = 0.002767 healthFlag = 1, timestamp ms = 248886 us = 248886781. 
    [18.634][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [18.634][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [18.634][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [18.679][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.80 degree. 
    [18.715][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [19.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [19.291][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 249786 microsecond 249786757. 
    [19.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505811 -0.044303 -0.021371 -0.861241. 
    [19.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.46 yaw = -119.13.
     
    [19.715][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.005221 y = -0.003273 z = 0.002840 healthFlag = 1, timestamp ms = 249886 us = 249886792. 
    [19.715][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [19.715][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [19.715][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [19.753][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.80 degree. 
    [19.795][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [20.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [20.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 250786 microsecond 250786757. 
    [20.293][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505846 -0.044292 -0.021309 -0.861222. 
    [20.293][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.62 roll = -0.47 yaw = -119.13.
     
    [20.795][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.004948 y = -0.002954 z = 0.002228 healthFlag = 1, timestamp ms = 250886 us = 250886772. 
    [20.795][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [20.795][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [20.795][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [20.837][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.70 degree. 
    [20.877][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.80 degree.
     
    [21.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:372) receive quaternion data. 
    [21.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:374) timestamp: millisecond 251786 microsecond 251786757. 
    [21.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:376) quaternion: 0.505906 -0.044278 -0.021309 -0.861188. 
    [21.292][user]-[Info]-[DjiTest_FcSubscriptionReceiveQuaternionCallback:378) euler angles: pitch = -5.61 roll = -0.47 yaw = -119.12.
     
    [21.877][user]-[Info]-[DjiTest_FcSubscriptionRunSample:171) velocity: x = 0.005490 y = -0.002872 z = 0.002941 healthFlag = 1, timestamp ms = 251886 us = 251886772. 
    [21.877][user]-[Info]-[DjiTest_FcSubscriptionRunSample:181) gps position: x = 0 y = 0 z = 0. 
    [21.877][user]-[Info]-[DjiTest_FcSubscriptionRunSample:192) quaternion: x = 0.5 y = -0.0 z = -0.0 w = -0.9. 
    [21.877][user]-[Info]-[DjiTest_FcSubscriptionRunSample:204) control device: control device = 4. 
    [21.914][user]-[Info]-[DjiTest_FcSubscriptionRunSample:220) battery single info index1: capacity percent = 48% voltage = 44V temperature = 25.70 degree. 
    [21.955][user]-[Info]-[DjiTest_FcSubscriptionRunSample:234) battery single info index2: capacity percent = 49% voltage = 44V temperature = 25.70 degree.

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  • maoxiang1991

    https://sdk-forum.dji.net/hc/zh-cn/community/posts/33409960923417-M300RTK-psdk-3-9-%E8%BF%90%E8%A1%8C%E7%A4%BA%E4%BE%8B%E7%A8%8B%E5%BA%8F%E6%8A%A5%E9%94%99

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  • CloboticsOperators

    @maoxiang1991 谢谢！

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  • CloboticsOperators

    https://sdk-forum.dji.net/hc/zh-cn/community/posts/33409960923417-M300RTK-psdk-3-9-%E8%BF%90%E8%A1%8C%E7%A4%BA%E4%BE%8B%E7%A8%8B%E5%BA%8F%E6%8A%A5%E9%94%99

     

    这个版本虽然能获取订阅数据 但是依然报错，导致无法和MSDK进行通信，报错如下

    [47.959][linker]-[Error]-[DjiCommand_SendAsyncHandle:975) Command async send error 0 
    [47.959][infor]-[Error]-[DjiAircraftInfo_CheckOSDKHeartBeatStatusAsyncCallback:316) Check heartbeat status async timeout 

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  • DJI Developer Support
    您好，麻烦您上传下完整的PSDK Debug日志，需要完整的日志才能为您更好定位此问题。
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  • CloboticsOperators
    'Logs/latest.log' -> 'DJI_0073_20240619_15-57-30.log'
    ln -sfrv 0
    [0.017][user]-[Info]-opsdk [DjiUser_FillInUserInfo:514) userInfo->baudRate: 921600
    [0.017][user]-[Info]-opsdk [DjiUser_FillInUserInfo:515) userInfo->appName: OPSDK_IBIS_V4.8
    [0.017][core]-[Info]-[DjiCore_Init:106) Payload SDK Version : V3.9.0-beta.0-build.999
    [2.743][adapter]-[Info]-[DjiAccessAdapter_Init:215) Try identify UART0 connection failed. Probably because SDK adapter or aircraft not finish init or UART connect error.
    [5.306][utils]-[Info]-[DjiSdkVersionAck_Parse:183) Identify aircraft serial number = 1ZNBJ4D00C00MB, Firmware = 3.4.18.29
    [5.307][adapter]-[Info]-[DjiAccessAdapter_Init:231) Identify aircraft series is Matrice 300 Series
    [5.308][adapter]-[Info]-[DjiAccessAdapter_Init:264) Identify mount position type is Extension Port Type
    [5.308][user]-[Info]-opsdk [HalUart_Init:123) DJI_HAL_UART_NUM_1: /dev/ttyACM0
    [5.369][user]-[Info]-opsdk [HalUart_Init:123) DJI_HAL_UART_NUM_1: /dev/ttyACM0
    [5.396][adapter]-[Info]-[DjiAccessAdapter_Init:365) Identity uart0 baudrate is 921600 bps
    [5.396][adapter]-[Info]-[DjiPayloadNegotiate_Init:147) No need negotiate device info
    [5.397][user]-[Info]-opsdk [HalUart_Init:123) DJI_HAL_UART_NUM_1: /dev/ttyACM0
    [5.455][user]-[Info]-opsdk [HalUart_Init:123) DJI_HAL_UART_NUM_1: /dev/ttyACM0
    [6.626][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:474) Updating dji sdk policy file...
    [7.626][core]-[Info]-[DjiIdentityVerify_UpdatePolicy:482) Update dji sdk policy file successfully
    [7.631][core]-[Info]-[DjiCore_Init:174) Identify AircraftType = Matrice 300 RTK, MountPosition = Extension Port, SdkAdapterType = None
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:347) DjiAircraftInfo_GetBaseInfo.
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:361) DjiCore_SetAlias.
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:368) DjiCore_SetFirmwareVersion.
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:375) DjiCore_SetSerialNumber.
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:444) DjiCore_ApplicationStart.
    [7.666][core]-[Info]-[DjiCore_ApplicationStart:238) Start dji sdk application
    [7.666][user]-[Info]-opsdk [DjiUser_ApplicationStart:451) Application start.
    [11.343][flight]-[Warn]-[DjiFlightController_RegJoystickCtrlAuthorityEventCallback:694) Not support on this aircraft type.
    [11.343][user]-[Info]-opsdk [onInit:280) aircraftType = 60
    [11.343][user]-[Info]-opsdk [onInit:282) --> Step 2: DjiTest_DataTransmissionStartService.
    [16.344][user]-[Info]-opsdk [onInit:318) --> Step 1: Obtain joystick control authority.

    [91.772][linker]-[Error]-[DjiCommand_SendAsyncHandle:975) Command async send error 0
    [91.772][infor]-[Error]-[DjiAircraftInfo_CheckOSDKHeartBeatStatusAsyncCallback:316) Check heartbeat status async timeout
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  • CloboticsOperators

    另外请问 received unsupport request cmd that need ack 是什么意思？

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  • DJI Developer Support
    您好，很抱歉为您带来不好的体验，我们已经能够复现您的问题了，这个问题主要是M300无法识别到PSDK设备接入，目前我们已反馈给研发团队紧急修复中，调试的话还请您先回退到3.8.1版本，新的PSDK版本也准备要发布了，预计是7月份，到时候您再切换。 received unsupport request cmd that need ack是指收到的信息不支持该机型解析，有些信息是因机型而异的，这个信息您可以不需要关注，不会影响。
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  • CloboticsOperators

    好的

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  • 刘京宇

    解决了吗

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  • CloboticsOperators

    3.9.1已解决

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