Mobile SDK 未收到显示PSDK发送的高速数据流

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caluova

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.
^C
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
^C
--- 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

 

 

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评论

5 条评论

日期 投票数
  • caluova

    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

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  • caluova

    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

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  • DJI Developer Support
    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)
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  • caluova

    非常感谢，是这里的设置问题，这里建议更新一下指南文档。

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  • DJI Developer Support
    不用客气，感谢您的反馈，这边将会增加此知识库。
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