Operations after modifying the DHCP client through the network in the company web interface

Today, to verify the feasibility of remotely operating ROV through a router, the DHCP client option was selected in After restarting, the campanion IP was obtained and the image was obtained by modifying the gstreamer option. But I am unable to operate ROV through QGC. I would like to ask what further modifications are needed to operate ROV normally. Thank you so much!
2023-04-24 18-39-06屏幕截图