psdk core初始化失败

[Wyf1223]

[H30相机] 初始化PSDK Core...
0.003 core [Info] dji_core.c:110 Payload SDK Version : V3.12.1-beta.0-build.2262 Aug 18 2025 16:15:22
10-07 16:03:08.531 core [Info] dji_core.c:138 Identify device : manifold3
10-07 16:03:09.033 core [Info] dji_core.c:196 Identify AircraftType = Matrice 400, MountPosition = Payload Port NO3, SdkAdapterType = None
10-07 16:03:09.033 linker [Error] dji_channel_bulk.c:69 Init usb bulk channel failed, ret:000000EC.
10-07 16:03:09.033 linker [Error] dji_linker.c:109 init channel handle error
10-07 16:03:09.033 linker [Error] dji_command.c:305 init linker error:0x000000EC
10-07 16:03:09.033 adapter [Error] dji_access_adapter.c:279 DjiCommand_Init error, returnCode = 236
10-07 16:03:09.033 core [Error] dji_core.c:202 Access adapter init error on manifold3, stat:236
这上面是什么原因

[Wyf1223]

我是m400无人机，使用的妙算三开发

[dji-dev]

Agent comment from LIPING.ZHOU in Zendesk ticket #158633:

尊敬的开发者，

您好，感谢您联系DJI 大疆创新。

您无人机是什么固件版本的?建议对齐无人机和psdk版本，psdk用3.13.1这个版，应是没问题的

希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！

Best Regards,
DJI 大疆创新SDK技术支持

°°°

[Wyf1223]

来自立平的代理商评论。周 in Zendesk ticket #158633：尊敬的开发者，

您好，感谢您联系DJI 大疆创新。

您无人机是什么固件版本的？建议对齐无人机和psdk版本，psdk用3.13.1这个版，应是没问题的

希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！

此致，DJI 大疆创新SDK技术支持

°°°

我这个使用的3.12的psdk，固件都是最新的

[Wyf1223]

0.004 core [Info] dji_core.c:110 Payload SDK Version : V3.12.1-beta.0-build.2262 Aug 18 2025 16:15:22
0.004 core [Info] dji_core.c:110 Payload SDK Version : V3.12.1-beta.0-build.2262 Aug 18 2025 16:15:22
0.004 linker [Debug] dji_linker.c:129 init linker success, protocol:2, channelId:3
0.004 linker [Debug] dji_protocol_v1.c:189 <0000>V1-Send: 0x0503->0x0801 0x0000
0.005 linker [Debug] dji_protocol_v1.c:309 <0000>V1-Recv: 0x0801->0x0503 0x0000
0.005 utils [Debug] dji_root_task.c:131 work execution time:
0.005 utils [Debug] dji_root_task.c:132 name execution time (ms) max execution time (ms)
0.005 utils [Debug] dji_root_task.c:134 recorderWork 0 0
0.005 utils [Debug] dji_root_task.c:134 flowControllerTask 0 0
10-07 18:46:18.649 linker [Debug] dji_linker.c:171 deinit linker success, protocol:2, channelId:3
10-07 18:46:18.649 core [Info] dji_core.c:138 Identify device : manifold3
10-07 18:46:18.649 core [Info] dji_core.c:138 Identify device : manifold3
10-07 18:46:18.649 linker [Debug] dji_linker.c:129 init linker success, protocol:2, channelId:3
10-07 18:46:18.649 linker [Debug] dji_protocol_v1.c:189 <0000>V1-Send: 0x0503->0x0300 0x03FD
10-07 18:46:18.984 linker [Debug] dji_protocol_v1.c:309 <0x2037>V1-Recv: 0x0A06->0x0503 0x0866
10-07 18:46:19.149 linker [Debug] dji_linker.c:171 deinit linker success, protocol:2, channelId:3
10-07 18:46:19.149 linker [Debug] dji_command.c:170 config list channel id:2
10-07 18:46:19.150 linker [Debug] dji_linker.c:129 init linker success, protocol:2, channelId:3
10-07 18:46:19.150 linker [Debug] dji_command.c:179 add linker node count:1
10-07 18:46:19.150 linker [Debug] dji_protocol_v1.c:189 <0x3abe>V1-Send: 0x0503->0x0801 0x0088
10-07 18:46:19.150 linker [Debug] dji_command.c:553 Max wait ack item count is 32.
10-07 18:46:19.150 linker [Debug] dji_protocol_v1.c:309 <0x3abe>V1-Recv: 0x0801->0x0503 0x0088
10-07 18:46:19.150 linker [Debug] dji_command.c:1126 <0x3abe>Receive msg from linker, 0x0801(0x0028)->0x0503(0x0065) 0x0088 len:399
10-07 18:46:19.150 linker [Debug] dji_command.c:1074 PsdkCommand_SendSyncCallback success
10-07 18:46:19.150 linker [Debug] dji_command.c:888 callback function (cmdset: 0x00 cmdid: 0x88) deal time: 0 ms
10-07 18:46:19.150 linker [Debug] dji_command.c:610 sendSync callback success
10-07 18:46:19.150 linker [Debug] dji_command.c:618 The ack data length is not equal with expect length, actual:399 exp:71. Probably because ack struct definition has changed. Please check command ack struct definition if changed.
10-07 18:46:19.150 linker [Debug] dji_command.c:731 Reg command handle list success, index:0
10-07 18:46:19.150 linker [Debug] dji_command.c:731 Reg command handle list success, index:1
10-07 18:46:19.150 infor [Debug] dji_aircraft_info.c:296 Device mounting on pos 3
10-07 18:46:19.150 linker [Debug] dji_command.c:731 Reg command handle list success, index:2
10-07 18:46:19.150 core [Info] dji_core.c:196 Identify AircraftType = Matrice 400, MountPosition = Payload Port NO3, SdkAdapterType = None
10-07 18:46:19.150 core [Info] dji_core.c:196 Identify AircraftType = Matrice 400, MountPosition = Payload Port NO3, SdkAdapterType = None
10-07 18:46:19.151 linker [Debug] dji_linker.c:171 deinit linker success, protocol:2, channelId:3
10-07 18:46:19.151 linker [Debug] dji_command.c:302 config list channel id:3
10-07 18:46:19.151 linker [Error] dji_channel_bulk.c:69 Init usb bulk channel failed, ret:000000EC.
10-07 18:46:19.151 linker [Error] dji_channel_bulk.c:69 Init usb bulk channel failed, ret:000000EC.
10-07 18:46:19.151 linker [Error] dji_linker.c:109 init channel handle error
10-07 18:46:19.151 linker [Error] dji_linker.c:109 init channel handle error
10-07 18:46:19.151 linker [Error] dji_command.c:305 init linker error:0x000000EC
10-07 18:46:19.151 linker [Error] dji_command.c:305 init linker error:0x000000EC
10-07 18:46:19.151 adapter [Error] dji_access_adapter.c:279 DjiCommand_Init error, returnCode = 236
10-07 18:46:19.151 adapter [Error] dji_access_adapter.c:279 DjiCommand_Init error, returnCode = 236
10-07 18:46:19.151 core [Error] dji_core.c:202 Access adapter init error on manifold3, stat:236
10-07 18:46:19.151 core [Error] dji_core.c:202 Access adapter init error on manifold3, stat:236
10-07 18:46:19.151 linker [Error] dji_command.c:240 mutex destroy error
10-07 18:46:19.151 linker [Error] dji_command.c:240 mutex destroy error
10-07 18:46:19.151 adapter [Error] dji_access_adapter.c:291 DjiCommand_DeInit error, returnCode = 255
10-07 18:46:19.151 adapter [Error] dji_access_adapter.c:291 DjiCommand_DeInit error, returnCode = 255
[H30相机] DjiCore_Init调用完成，返回码: 0x000000EC
[H30相机] PSDK Core init failed: 0x000000EC
[H30相机] 这可能是正常的，因为可能没有硬件连接
[H30相机] 尝试继续初始化X-Port服务...
[H30相机] 尝试初始化X-Port服务...
10-07 18:46:19.151 xport [Error] dji_xport.c:1465 Current DJI adapter is None. Do not support X-Port function module. Please use X-Port to enable X-Port function module.
10-07 18:46:19.151 xport [Error] dji_xport.c:1465 Current DJI adapter is None. Do not support X-Port function module. Please use X-Port to enable X-Port function module.
[H30相机] X-Port init failed: 0x00000104
[H30相机] H30相机服务初始化完成
初始化结果: 0x00000000
✓ H30相机服务初始化成功

--- 获取H30相机信息 ---
[H30相机] 开始执行DjiTest_H30CameraGetInfo函数...
[H30相机] 使用官方Camera Manager检测H30相机...
[H30相机] 注意：即使适配器类型为None，也尝试检测相机
10-07 18:46:19.151 xport [Error] dji_xport.c:170 PSDK adapter do not meet requirements. Suggestion : Please try again after replacing PSDK adapter. (Details:) Only X-Port support X-Port function module.
10-07 18:46:19.151 xport [Error] dji_xport.c:170 PSDK adapter do not meet requirements. Suggestion : Please try again after replacing PSDK adapter. (Details:) Only X-Port support X-Port function module.

[dji-dev]

Agent comment from LIPING.ZHOU in Zendesk ticket #158633:

尊敬的开发者，

您好，感谢您联系DJI 大疆创新。

您用3.13.1这个版本，另外，这个报错是无法初始化BULK链路，是BULK环境异常导致的。
您可以参考此处的配置先检查下BULK是否有正常配置，代码中是否有成功对应：
Linux平台配置BULK
PSDK代码中的BULK节点配置
树莓派4B配置USB device RNDIS 和 BULK

M400的机型链接可以参考此处：PSDK 各机型硬件连接介绍

希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！

Best Regards,
DJI 大疆创新SDK技术支持

°°°

[Wyf1223]

Agent comment from LIPING.ZHOU in Zendesk ticket #158633:尊敬的开发者，

您好，感谢您联系DJI 大疆创新。

您用3.13.1这个版本，另外，这个报错是无法初始化BULK链路，是BULK环境异常导致的。 您可以参考此处的配置先检查下BULK是否有正常配置，代码中是否有成功对应： Linux平台配置BULK PSDK代码中的BULK节点配置 树莓派4B配置USB device RNDIS 和 BULK

M400的机型链接可以参考此处：PSDK 各机型硬件连接介绍

希望我们的解决方案能够帮到您，感谢您的邮件，祝您生活愉快！

Best Regards, DJI 大疆创新SDK技术支持

°°°
我不知道怎么配置这个链路啊，有具体网址吗

[Wyf1223]

我现在使用3.13的版本出现的日志： 0.007 core [Info] dji_core.c:110 Payload SDK Version : V3.13.1-beta.0-build.2277 Sep 16 2025 16:29:14
0.007 core [Info] dji_core.c:110 Payload SDK Version : V3.13.1-beta.0-build.2277 Sep 16 2025 16:29:14
0.007 linker [Debug] dji_linker.c:129 init linker success, protocol:2, channelId:3
0.007 linker [Debug] dji_protocol_v1.c:189 <0000>V1-Send: 0x0503->0x0801 0x0000
0.008 linker [Debug] dji_protocol_v1.c:309 <0000>V1-Recv: 0x0801->0x0503 0x0000
0.008 utils [Debug] dji_root_task.c:131 work execution time:
0.008 utils [Debug] dji_root_task.c:132 name execution time (ms) max execution time (ms)
0.008 utils [Debug] dji_root_task.c:134 recorderWork 0 0
0.008 utils [Debug] dji_root_task.c:134 flowControllerTask 0 0
10-07 19:52:44.611 linker [Debug] dji_linker.c:171 deinit linker success, protocol:2, channelId:3
10-07 19:52:44.611 core [Info] dji_core.c:138 Identify device : manifold3
[H30相机] DjiCore_Init调用完成，返回码: 0x00000000
[H30相机] PSDK Core初始化成功！
[H30相机] 设置应用别名...
10-07 19:52:44.611 core [Info] dji_core.c:138 Identify device : manifold3
[H30相机] 设置别名失败: 0x000000E3
[H30相机] 设置固件版本...
[H30相机] 设置序列号...
[H30相机] 启动PSDK应用...
10-07 19:52:44.611 linker [Error] dji_channel_bulk.c:69 Init usb bulk channel failed, ret:000000EC.
10-07 19:52:44.611 linker [Error] dji_channel_bulk.c:69 Init usb bulk channel failed, ret:000000EC.
[H30相机] 启动应用失败: 0x000000E3
[H30相机] 检查飞机信息和适配器类型...
10-07 19:52:44.611 linker [Error] dji_linker.c:109 init channel handle error
10-07 19:52:44.611 linker [Error] dji_linker.c:109 init channel handle error
10-07 19:52:44.611 adapter [Error] dji_access_adapter.c:1946 DjiLinker_Init, stat:236
10-07 19:52:44.611 adapter [Error] dji_access_adapter.c:1946 DjiLinker_Init, stat:236
10-07 19:52:44.611 core [Error] dji_core.c:144 Access adapter identify aircraft series error on manifold3, stat:0
10-07 19:52:44.611 core [Error] dji_core.c:144 Access adapter identify aircraft series error on manifold3, stat:0
10-07 19:52:44.611 core [Error] dji_product_info.c:173 lock mutex error: 0x000000E3.
10-07 19:52:44.611 core [Error] dji_product_info.c:173 lock mutex error: 0x000000E3.
10-07 19:52:44.611 core [Info] dji_core.c:340 Start dji sdk application
10-07 19:52:44.611 core [Info] dji_core.c:340 Start dji sdk application
10-07 19:52:44.611 core [Error] dji_application_ready_state.c:197 lock mutex error: 0x000000E3.
10-07 19:52:44.611 core [Error] dji_application_ready_state.c:197 lock mutex error: 0x000000E3.
[H30相机] 无法获取飞机信息，错误码: 0x000000EE
[H30相机] 尝试直接初始化X-Port服务...
10-07 19:52:44.611 xport [Error] dji_xport.c:1457 get aircraft information error: 0x000000EE.
10-07 19:52:44.611 xport [Error] dji_xport.c:1457 get aircraft information error: 0x000000EE.
10-07 19:52:44.611 xport [Error] dji_xport.c:170 PSDK adapter do not meet requirements. Suggestion : Please try again after replacing PSDK adapter. (Details:) Only X-Port support X-Port function module.
[H30相机] X-Port init failed: 0x00000104
[H30相机] H30相机服务初始化完成
10-07 19:52:44.611 xport [Error] dji_xport.c:170 PSDK adapter do not meet requirements. Suggestion : Please try again after replacing PSDK adapter. (Details:) Only X-Port support X-Port function module.
初始化结果: 0x00000000
PSDK和相机管理器初始化成功！
4. 获取H30相机信息...
[H30相机] 开始执行DjiTest_H30CameraGetInfo函数...
[H30相机] 使用官方Camera Manager检测H30相机...
[H30相机] 注意：即使适配器类型为None，也尝试检测相机
10-07 19:52:44.612 utils [Error] dji_core_param_config.c:300 Can't find module param config item on aircraftSeries = 0, mountPositionType = 5
10-07 19:52:44.612 utils [Error] dji_core_param_config.c:300 Can't find module param config item on aircraftSeries = 0, mountPositionType = 5
10-07 19:52:44.612 core [Error] dji_identity_verify.c:265 Can't get core param config
10-07 19:52:44.612 core [Error] dji_identity_verify.c:265 Can't get core param config
[H30相机] Camera Manager初始化失败: 0x000000E3
[H30相机] 这可能是正常的，因为PSDK Core初始化失败
10-07 19:52:44.612 utils [Error] dji_camera_manager_param_config.c:211 Can't find module param config item on aircraftSeries = 0, mountPositionType = 5
10-07 19:52:44.612 utils [Error] dji_camera_manager_param_config.c:211 Can't find module param config item on aircraftSeries = 0, mountPositionType = 5
相机信息获取成功:
10-07 19:52:44.612 cmu [Error] dji_camera_manager.c:212 Can't get camera manager info param config
{"success":false,"error":"Camera Manager初始化失败","error_code":"0x000000E3","note":"PSDK Core初始化失败，无法使用Camera Manager"}
10-07 19:52:44.612 cmu [Error] dji_camera_manager.c:212 Can't get camera manager info param config
错误: Camera Manager初始化失败

[dji-dev]

Agent comment from LIPING.ZHOU in Zendesk ticket #158633:

尊敬的开发者，

您好，感谢您联系DJI 大疆创新。

您这个是BULK节点不可用，可以参考下此处，您检查下是否有配置了3个节点，M400上需要3个bulk节点才能通信。https://developer.dji.com/doc/payload-sdk-tutorial/cn/payload-quick-start/quick-guide/raspberry-pi.html

另外您看下配置的是否为DJI_USE_ONLY_USB_BULK_DEVICE，以下是相关文档：PSDK 各机型硬件连接介绍（https://sdk-forum.dji.net/hc/zh-cn/articles/50341690206105）

感谢您对大疆产品的支持！祝您一切顺利！

Best Regards,
DJI 大疆创新SDK技术支持

°°°