Create Gstreamer pipeline send audio Mulaw encode via UDP host and port

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I have to send audio to the camera via the Android app, the camera uses Mulaw Encode, so I created a JNI C function Gstreamer to send the audio to the camera. The sample pipeline I created:

autoaudiosrc ! audioconvert ! audio/x-raw,channels=1,rate=8000,format=S16LE ! mulawenc ! udpsink host=xxxx port=xxxx

But it got a problem

Internal data stream error. and streaming stopped, reason not-negotiated (-4)

And cannot send audio to the camera. Could you guys show me what is the problem here? My goal is to capture audio and convert it to "audio/x-raw,channels=1,rate=8000,format=S16LE" then encode by Mulaw and send via UDP with host and port. It makes me stuck here too long.

Thank you very much for read.

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