-
Notifications
You must be signed in to change notification settings - Fork 13.3k
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
New board: AIRLink board configuration added #19529
Conversation
At the moment we have some CI duplication between Jenkins and Github actions, can you also add the board here? PX4-Autopilot/.github/workflows/compile_nuttx.yml Lines 63 to 65 in 680fe86
|
Overall the change looks good. Do you have any schematic or basic pin out that's available? If you have any flight log (even from bench testing) please share and I'll verify that everything is running as expected with no errors. |
Minor whitespace error failure in CI. https://github.com/PX4/PX4-Autopilot/runs/6141267293?check_suite_focus=true |
Sorry for forgetting to add this, now added.
Thanks! Fixed now.
Yes, I'll send the pinout on your email shortly. Please see the bench testing flight log attached - log_3_2022-4-23-18-24-20.ulg.zip |
Log looks ok, but you apparently have very little free memory and I'm not yet sure why. https://logs.px4.io/plot_app?log=b65ec398-780d-4b7e-89f9-9fb7c99d149f Until we figure it out you could lower the logger buffer a bit, maybe add
Your log has 4 mavlink instances running, what do you actually need/want by default? Run |
For reference on a Holybro v5x configured with the same airframe (4015) I'm seeing 110-120 kB of free RAM (~25%) |
I just noticed the eeprom driver failed to start. Is this part physically present? PX4-Autopilot/boards/sky-drones/smartap-airlink/src/mtd.cpp Lines 45 to 48 in b5386ca
|
board_adc start | ||
|
||
# Internal SPI bus MPU-9250 / SPI 2 [FPC] | ||
mpu9250 -s -b 2 -M -R 6 start |
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
mpu9250 -s -b 2 -M -R 6 start | |
mpu9250 -s -b 2 -R 6 start |
I would skip the mpu9250 mag if you have another internal magnetometer working. Long story, but when the mpu9250 ak8963 is enabled it disrupts the FIFO output and you don't get clean 8 kHz raw data.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
If you plot vehicle_imu_status.gyro_raw_rate_hz
or look at sensors status
you'll be able to see the difference.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
Thanks! Then it makes sense indeed. I would still prefer to have magnetometer enabled on one mpu9250 but not on both for redundancy in addition to onboard bmm150.
Yes, this is strange, trying to figure out why..
Yes, done.
Three if them are - USB, Telemetry 1 external UART port and UART to mission computer. The fourth looks like duplicated USB probably due to explicitly started in rc.board_mavlink.. |
How does it look now? Holybro px4_fmu-v5x for comparison. nsh> free
total used free largest nused nfree
Umem: 431488 320272 111216 110144 1387 68
Prog: 2097152 2097152 0 0 13 0
nsh> listener cpuload
TOPIC: cpuload
cpuload
timestamp: 1075749214 (0.470215 seconds ago)
load: 0.6990
ram_usage: 0.7408 |
This is with logger buffer set to 32: |
Ok, that looks tolerable now, that mavlink USB instance is quite heavy. You shouldn't have been able to start duplicate instances on the same device, so I'll see why that was able to slip through. Multi-EKF is also quite expensive, if you need more resources for whatever reason in the future an easy change will be EKF2_MULTI_IMU 3->2 or disabling it entirely (SENS_IMU_MODE). |
Thanks for pointing to this! There is only one EEPROM (base), the second one was initialised in the code, but not present. Now fixed. |
Thanks! Yes, that worked out for some reason but it showed zero rate data going through..
Good, thanks! Will keep this in mind! |
Unfortunately, the build is failing here: However, builds fine on my laptop. @dagar could you suggest what's wrong please? |
The build artifacts are probably caught in some bad intermediate state from previous partial builds. For now I would just clean ( EDIT: It's failing on GitHub actions, I'll take a look. |
Thanks Daniel! |
Added AIRLink board configuration.