Dear all,

I am currently trying to set up the PSDK on a Raspberry Pi 3B.

I saw many threads regarding the "[Error]-[PsdkCommand_SendASyncHandle:866]Command async send error 0" error, that are solved either by updating the drone and the skyport or by going in DJI assistant V2 and binding the already connected payload. But none of those solutions are working.

Apparently the drone actually sends data to the raspberry pi, because I can monitor the the UART connection (e.g. with minicom), and the raspberry pi manage to send data when trying to launch the PSDK because when I connect it to a computer instead of the drone I see the raspberry pi trying to send data.

Here is my config :

• The drone is a M300 RTK
  
• Its firmware version is V02.02.0301
  
• Is mounted underneath a skyport V2
  
• The firmware version of the skyport is V01.03.0200
  
• If it is not the skyport that is mounted underneath it is the X-Port
  
• The firmware version of the xport is as well V01.03.0200
  
• The PSDK version is V2.2.1-beta.0-build.315
  

Here are the logs:

[928367.368][module_core]-[Info]-[PsdkCore_Init:76]Payload SDK Version : V2.2.1-beta.0-build.315
[928367.877][module_command]-[Error]-[PsdkCommand_SendASyncHandle:866]Command async send error 0
[928367.877][module_command]-[Error]-[PsdkCommand_SendSync:338]sendSync callback timeout
[928367.877][module_core]-[Error]-[PsdkCore_WaitAdapterConnection:241]Can't connect to Skyport V2 or X-Port. Probably because PSDK Adapter not power on, PSDK Adapter not finish init or UART connect error. Please check PSDK Adapter connection, UART configuration and UART connection
[928368.200][module_command]-[Warn]-[PsdkCommand_ProtParse:568]protocol frame length error
[928368.879][module_command]-[Error]-[PsdkCommand_SendASyncHandle:866]Command async send error 0
[928368.880][module_command]-[Error]-[PsdkCommand_SendSync:338]sendSync callback timeout
[928368.880][module_core]-[Error]-[PsdkCore_WaitAdapterConnection:241]Can't connect to Skyport V2 or X-Port. Probably because PSDK Adapter not power on, PSDK Adapter not finish init or UART connect error. Please check PSDK Adapter connection, UART configuration and UART connection
[928369.204][module_command]-[Warn]-[PsdkCommand_ProtParse:568]protocol frame length error

And so on...

The difference between this logs and the ones from the forum threads that are solved by binding the payload in dji assistant is that I am missing the following lines:

[module_core]-[Info]-[PsdkCore_WaitAdapterConnection:234]Connect to Skyport V2 or X-Port success
[module_core]-[Info]-[PsdkCore_PrintAdapterSerialNumber:278]Get  serial number of Skyport V2 or X-Port is XXXXXXXXXXX
[module_core]-[Info]-[PsdkCore_Init:130]Updating PSDK policy file.
[module_aircraftinfo]-[Info]-[PsdkAircraftInfo_GetDevelopmentKitTypeAsyncCallback:483]PSDK  adapter type is Skyport V2.

I triple checked every cable and connection, everything seems healthy. I saw some posts that used successlully the raspberrypi 4B for the same application. So I tried as well with a rpi 4B, with no more success.

Any help, suggestion or idea would be welcomed! I have already tried anything that I had in mind to fix that, so I'm a bit lost now..

Best.

So... I managed to make it work

Even if it was not clearly written in the doc, one shall modify the hal/hal_uart.c, lines 77 and 78 accordingly:

If you are connecting to the Sky port V2:
cfsetispeed(&options, B921600);
cfsetospeed(&options, B921600);

If using the X-Port:
cfsetispeed(&options, B115200);
cfsetospeed(&options, B115200);

djiuser_qU73fSbXYZeq Posted at 2021-5-5 04:42
So... I managed to make it work

Even if it was not clearly written in the doc, one shall modify the hal/hal_uart.c, lines 77 and 78 accordingly:

How did you find out about that?