Error DJI core could not be initiated

[bitcurious]

Tell us about your environment

• Ubuntu version: 20.04
• Docker Version:24.0.5
• ROS/ROS2 version:Humble
• Commit hash:

Steps to reproduce issue

Set as per instruction
launch wrapper.launch.py file

Expected behavior

Should start the node, publisher, subscribers and services.

Actual behavior

Getting error initializing error is [psdk_wrapper_node-1] [ERROR] [1711735486.367322347] [wrapper.psdk_wrapper_node]: DJI core could not be initiated. Error code is: 225. Retrying for 0 time.

Additional information

Are you willing to make a PR? If yes, add the PR link here.

[biancabnd]

Hi @bitcurious, I see that you are trying to connect to a DJI M30 drone. Is that correct? This error usually appears when either you are not connecting correctly to the hardware or if you have not configured properly the psdk_wrapper (specially the configs regarding the hardware connection). If indeed you are trying to connec to a DJI M30 drone, check also the info from this issue https://github.com/umdlife/psdk_ros2/issues/21. If that is not the case, please provide here more details about you current set-up.

[bitcurious]

Hi @biancabnd,

I've been working with the DJI Matrice 300 (M300) drone and I mistakenly referred to it as the M30 in to the Payload SDK (PSDK) app.

Initially, I used the M300 with the OSDK extension module and then I switched to the E-port development module with the M300 drone. However, I encountered the same issue with both setups. Interestingly, in M300 with Eport setup after power cycling the drone once, it initiated successfully and was running without any issues.

The current problem I'm facing is that I'm unable to call any service or API. When I try to run the start takeoff command, it throws the following error: "could not start takeoff: Error code is: 124554051784". Additionally When do any small change into code I need to do power cycle of drone otherwise It shows the error "DJI core could not be initialized" please let me know any solution for this. I've attached a screenshot of the error.

One doubt do we need to make any changes in Payload-SDK of DJI as per instructions given here jetson nano quick start or we just need to git clone it and do the setup as per psdk_ros2 wrapper getting started

If possible can you share your setup workspace or docker container so I can test the whether it is because of my setup or any other issue,

Thank you for your assistance.

[biancabnd]

Hi @bitcurious,

When using a DJI M300, we usually connect to it via the OSDK extension module. If you use it as well, then you need to make sure that you configure properly the link_config file. The one that we give as an example should already work. You only need to modify the two uart device names uart1_device_name and uart2_device_name to your actual ports. For this connection setup, you need to use link_select = use_uart_and_usb_bulk_device.

When using the Eport, the communication is slightly different, and then you need to use link_select = use_uart_and_network_device as also specified in the DJI documentation. In this case, then yes, you might need to do some additional steps on your board to make sure that this new network interface that DJI is using to communicate to your board is indeed enabled.

The easier setup is using the OSDK connection, then you shouldn't need to do anything.

From the screenshots you sent me I cannot see if the psdk application is actually running correctly. Can you please attach the entire log from the beginning?

[bitcurious]

@biancabnd The PSDK wrapper is functioning properly for telemetry and the flight control module. The issue I encountered was due to the drone being located in a No Fly Zone (NFZ), which I was unaware of while conducting remote development. After bypassing the NFZ, I am now able to control the drone.

This was tested using the OSDK extension module with the use_uart_and_usb_bulk_device configuration. The same configuration was also tested on the E-port development kit. I believe that for the E-port development board, using use_only_uart should also be effective. Despite being able to receive all data and send commands to the drone, I could not execute takeoff and flight-related commands due to the drone's location being in an NFZ.

I have not attempted to integrate the camera, gimbal and liveview module yet. I have some questions regarding this integration. Do we need to specify the camera's name or model in the wrapper? or Do we only need to make it true in psdk_params.yaml file ?

I'm curious about the purpose of the "uart2_device_name": "/dev/dji_advanced_sensing"setting. Could you explain what type of device needs to be connected to this and what functionalities it offers?

Here is screenshot where service call get successful for take off command.

[bitcurious]

Hi @biancabnd, Currently, I am using the DJI Matrice 300 (M300) drone with the Onboard SDK (OSDK) extension module and the H20T camera. However, I am facing issues with initializing the camera module when setting it to true, which prevents the wrapper from running successfully.

Additionally, I have configured the system to use 'use_uart_and_usb_bulk_device'.

In regards to additional information, when I ran the command ps -aux | grep startup_bulk, I received the following output: root 401 0.0 0.0 9236 748 pts/6 S+ 01:53 0:00 grep --color=auto startup_bulk.

Furthermore, when I ran the command lsusb, I obtained the following output: Bus 001 Device 004: ID 0403:6001 Future Technology Devices International, Ltd FT232 Serial (UART) IC.

Based on the provided VID and PID, the VID is 0403 and the PID is 6001 is used in usb_bulk_config.

Please advise on the required configuration to successfully obtain the camera stream.

[biancabnd]

@bitcurious based on your comment on other issues, can we close this one now?

[bitcurious]

Yes we can close this. Thank you so much @biancabnd for your support.