When connecting to RTSP with TLS enabled, rtspsrc posts CRITICAL errors related to the keymgmt header. 

The gst_mikey_message_new_from_caps() function in gstmikey.c expects "srtp-cipher" and "srtp-auth" to be set and they are not. In gstrtspsrc.c, the default_srtcp_param() function creates the caps:

  caps = gst_caps_new_simple ("application/x-srtp",
      "srtp-key", GST_TYPE_BUFFER, buf,
      "srtcp-cipher", G_TYPE_STRING, "aes-128-icm",
      "srtcp-auth", G_TYPE_STRING, "hmac-sha1-80", NULL);

Should this be changed to:

  caps = gst_caps_new_simple ("application/x-srtp",
      "srtp-key", GST_TYPE_BUFFER, buf,
      "srtcp-cipher", G_TYPE_STRING, "aes-128-icm",
      "srtcp-auth", G_TYPE_STRING, "hmac-sha1-80",
      "srtp-cipher", G_TYPE_STRING, "aes-128-icm",
      "srtp-auth", G_TYPE_STRING, "hmac-sha1-80", NULL);

Also, it appears the gst_mikey_message_new_from_caps() function requires "srtcp-cipher" and "srtcp-auth" to be set, but these values are never used.