Unsupported major.minor version

这是DronCAN的初始化函数，哪个是设置节点的函数void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters) { if (driver_index != _driver_index) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: init called with wrong driver_index"); return; } if (_initialized) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: init called more than once\n\r"); return; } uint8_t node = _dronecan_node; if (node < 1 || node > 125) { // reset to default if invalid _dronecan_node.set(AP_DRONECAN_DEFAULT_NODE); node = AP_DRONECAN_DEFAULT_NODE; } node_info_rsp.name.len = hal.util->snprintf((char*)node_info_rsp.name.data, sizeof(node_info_rsp.name.data), "org.ardupilot:%u", driver_index); node_info_rsp.software_version.major = AP_DRONECAN_SW_VERS_MAJOR; node_info_rsp.software_version.minor = AP_DRONECAN_SW_VERS_MINOR; node_info_rsp.hardware_version.major = AP_DRONECAN_HW_VERS_MAJOR; node_info_rsp.hardware_version.minor = AP_DRONECAN_HW_VERS_MINOR; #if HAL_CANFD_SUPPORTED if (option_is_set(Options::CANFD_ENABLED)) { canard_iface.set_canfd(true); } #endif uint8_t uid_len = sizeof(uavcan_protocol_HardwareVersion::unique_id); uint8_t unique_id[sizeof(uavcan_protocol_HardwareVersion::unique_id)]; mem_pool = NEW_NOTHROW uint32_t[_pool_size/sizeof(uint32_t)]; if (mem_pool == nullptr) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r"); return; } canard_iface.init(mem_pool, (_pool_size/sizeof(uint32_t))*sizeof(uint32_t), node); if (!hal.util->get_system_id_unformatted(unique_id, uid_len)) { return; } unique_id[uid_len - 1] += node; memcpy(node_info_rsp.hardware_version.unique_id, unique_id, uid_len); //Start Servers if (!_dna_server.init(unique_id, uid_len, node)) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to start DNA Server\n\r"); return; }

这是飞控中DronCAN的初始化函数，哪个是给其他设备设置节点语句void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters) { if (driver_index != _driver_index) { debug_dronecan(AP_CANManager::LOG_ERROR, “DroneCAN: init called with wrong driver_index”); return; } if (_initialized) { debug_dronecan(AP_CANManager::LOG_ERROR, “DroneCAN: init called more than once\n\r”); return; } uint8_t node = _dronecan_node; if (node < 1 || node > 125) { // reset to default if invalid _dronecan_node.set(AP_DRONECAN_DEFAULT_NODE); node = AP_DRONECAN_DEFAULT_NODE; } node_info_rsp.name.len = hal.util->snprintf((char*)node_info_rsp.name.data, sizeof(node_info_rsp.name.data), "org.ardupilot:%u", driver_index); node_info_rsp.software_version.major = AP_DRONECAN_SW_VERS_MAJOR; node_info_rsp.software_version.minor = AP_DRONECAN_SW_VERS_MINOR; node_info_rsp.hardware_version.major = AP_DRONECAN_HW_VERS_MAJOR; node_info_rsp.hardware_version.minor = AP_DRONECAN_HW_VERS_MINOR; #if HAL_CANFD_SUPPORTED if (option_is_set(Options::CANFD_ENABLED)) { canard_iface.set_canfd(true); } #endif uint8_t uid_len = sizeof(uavcan_protocol_HardwareVersion::unique_id); uint8_t unique_id[sizeof(uavcan_protocol_HardwareVersion::unique_id)]; mem_pool = NEW_NOTHROW uint32_t[_pool_size/sizeof(uint32_t)]; if (mem_pool == nullptr) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r"); return; } canard_iface.init(mem_pool, (_pool_size/sizeof(uint32_t))*sizeof(uint32_t), node); if (!hal.util->get_system_id_unformatted(unique_id, uid_len)) { return; } unique_id[uid_len - 1] += node; memcpy(node_info_rsp.hardware_version.unique_id, unique_id, uid_len); //Start Servers if (!_dna_server.init(unique_id, uid_len, node)) { debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to start DNA Server\n\r"); return; }

dji@manifold2:~$ rviz [ INFO] [1717044303.706363304]: rviz version 1.12.17 [ INFO] [1717044303.706520168]: compiled against Qt version 5.5.1 [ INFO] [1717044303.706567336]: compiled against OGRE version 1.9.0 (Ghadamon) QXcbConnection: XCB error: 148 (Unknown), sequence: 165, resource id: 0, major code: 140 (Unknown), minor code: 20 [ INFO] [1717044305.243428744]: Stereo is NOT SUPPORTED [ INFO] [1717044305.243708968]: OpenGl version: 4.6 (GLSL 4.6).