Backports to release/1.15 #23110

davids5 · 2024-05-08T15:40:04Z

dk7xe · 2024-05-13T14:07:37Z

i'm getting hardfaults on a new "Generic Octo-X" airframe test setup:
fault_1970_01_01_00_17_00.log
fault_2024_05_13_13_46_05.log
px4_fmu-v6xrt_default_elf.zip

i'm in the configuration process. Hardfault occured after Actuator setup.
Currrent state of parameter settings (downloaded after crashdump file removed):
ID20_Octo-X_20240513.zip
Radio and Flightmodes are not yet setup.

nsh: sysinit: fopen failed: No such file or directory

NuttShell (NSH) NuttX-11.0.0
nsh> ver all
HW arch: PX4_FMU_V6XRT
HW type: V6XRT
HW FMUM ID: 0x000
HW BASE ID: 0x003
PX4 git-hash: 0928731
PX4 version: 1.15.0 80 (17760384)
PX4 git-branch: pr-bp-release/1.15
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 4be592dd2114d2c07505b143493a3cfa6dc9c239
Build datetime: May 10 2024 11:34:47
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000900000000000000008292807c2c2a800e
MCU: i.MX RT1170 rB0, rev. 0
nsh>

FMUM-RT7 on new NXP baseboard without IO prozessor.

PetervdPerk-NXP · 2024-05-13T14:31:08Z

peter@NXL04520:~/src/Firmware$ arm-none-eabi-addr2line -e build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf 0x00002411
/home/peter/src/Firmware/src/lib/matrix/matrix/Matrix.hpp:110
peter@NXL04520:~/src/Firmware$ arm-none-eabi-addr2line -e build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf 0x0000244d
/home/peter/src/Firmware/src/modules/control_allocator/ControlAllocator.cpp:439
peter@NXL04520:~/src/Firmware$ # 1970 crash
peter@NXL04520:~/src/Firmware$ arm-none-eabi-addr2line -e build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf 0x00002421
/home/peter/src/Firmware/src/modules/control_allocator/ControlAllocator.cpp:438
peter@NXL04520:~/src/Firmware$ arm-none-eabi-addr2line -e build/px4_fmu-v6xrt_default/px4_fmu-v6xrt_default.elf 0x0000245d
/home/peter/src/Firmware/src/modules/control_allocator/ControlAllocator.cpp:442
peter@NXL04520:~/src/Firmware$ # 2024 crash

Looks to be ControlAllocator writing into wrong memory.
@dk7xe you sure you've got a clean parameter config?

dk7xe · 2024-05-13T14:47:54Z

Did a reset to FW default

dk7xe · 2024-05-14T09:15:31Z

Flighttesting today
GPD10 testdrone
Holybro S500 frame with Pixhawk6X-RT (NXP baseboard eval batch) and PX4 build based on
0928731 From #23110 .
Pixhawk4 GPS on GPS1, DroneCAN M8N GPS and BMS772 connected to CAN2, ESC60Apro connected to CAN1 and PWM1-4 (Dshot600), uAvionics ADSB RX connected to Telemetry2, UWB board connected to GPS2, Tflite connected to Telemetry3 but not enabled in SW.

Test1 - first takeoff manual mode with CAN and PWM connected, BMS not connected. Mission until low battery
https://logs.px4.io/plot_app?log=936a2894-882a-4cb8-92ee-aafb75dfe1ea
Navigator task low on stack (180 bytes left)

Test2 - mission mode
https://logs.px4.io/plot_app?log=5cac4d62-c1ce-482f-be3d-edbb5de36e6b

Test3 - mission mode
https://logs.px4.io/plot_app?log=a487acda-35f2-4f8e-9226-646355876038

Test4 - mission mode
https://logs.px4.io/plot_app?log=e581b04e-8a91-4eca-a121-2a7bfc512d3c
mission termination due to helicopter approaching

Test 5 - mission mode (continuation of Test4)
https://logs.px4.io/plot_app?log=7aebcecc-2d5b-4b9d-a0b9-52143fa025fd
Successful test of RC loss failsave.

Test6 - BMS and GPS connected to CAN2
https://logs.px4.io/plot_app?log=cae4442c-79ba-44a6-85ef-ead59ae9b3ab
Very wobbly. BMS disconnected afterwards

Test7 - mission mode, BMS disconnected again
https://logs.px4.io/plot_app?log=15540362-a5f2-4b8d-aaf5-67f08c655f25

NXD20 testdrone
NXD20 testdrone Holybro S500 frame in Octo-X configuration with Pixhawk6X-RT (NXP baseboard release batch) and PX4 build based on 0928731 From #23110 .
Pixhawk4 GPS on GPS1, ESC60Apro connected to CAN1, CAN2 and PWM1-8 (Dshot600), Holybro 433MHz telemetry on Telem1

Test1 - first takeoff manual mode with PWM ESC control active only. Position hold.
https://logs.px4.io/plot_app?log=9cd3c383-b87f-4a2b-bd1d-dd14ed69d812
While being in position hold for ~1min hardfault midair.

fault_2024_05_14_09_07_45.log

dk7xe · 2024-05-14T13:03:45Z

With GPD10 i had at Test8 at 1:06 a "Failsave:" ??? that resulted in crash. No further tests possible
https://logs.px4.io/plot_app?log=eda13eee-29b0-49dc-ac9d-b41502eb8323
@PetervdPerk-NXP @davids5

dk7xe · 2024-05-14T15:11:30Z

Further thests with NXD20 testdrone Holybro S500 frame in Octo-X configuration with Pixhawk6X-RT (NXP baseboard release batch) and PX4 build based on 0928731 From #23110 .
Pixhawk4 GPS on GPS1, ESC60Apro connected to CAN1, CAN2 and PWM1-8 (Dshot600), Holybro 433MHz telemetry on Telem1

Test2 - takeoff manual mode, position hold, mission
https://logs.px4.io/plot_app?log=5876f700-1994-4dae-ad64-11e0568aee04
Crash while in mission mode. Battery fell off. No hardfault logging.

Test3 - flying around in poshold
https://logs.px4.io/plot_app?log=78cc06d8-07ea-43b6-9cf7-b0748bb8efa4
No issues

Test4 - flying around in poshold
https://logs.px4.io/plot_app?log=d236f150-2ad4-4a62-bb46-a8f795fa096c
No issues

Afterwards hardfault occurred see
fault_2024_05_14_14_52_45.log
@davids5 @PetervdPerk-NXP

dk7xe · 2024-05-14T17:39:28Z

Further thest with NXD20 testdrone Holybro S500 frame in Octo-X configuration with Pixhawk6X-RT (NXP baseboard release batch) and PX4 build based on 0928731 From #23110 .
Pixhawk4 GPS on GPS1, ESC60Apro connected to CAN1, CAN2 and PWM1-8 (Dshot600), Holybro 433MHz telemetry on Telem1

Test5 - mission mode, dronecan enabled
https://logs.px4.io/plot_app?log=0c94f603-e5b0-49c1-96cc-8138e100dcff
Hardfault occurred.

See
fault_2024_05_14_17_24_14.log
fault_2024_05_14_17_24_21.log
@PetervdPerk-NXP @davids5

dk7xe · 2024-05-17T05:53:57Z

@davids5 @PetervdPerk-NXP another finding is that several attempts are needed to get actuator signal changed to Dshot600.

davids5 · 2024-05-17T07:16:42Z

Looking at faults:

Further thest with NXD20 testdrone Holybro S500 frame in Octo-X configuration with Pixhawk6X-RT (NXP baseboard release batch) and PX4 build based on 0928731 From #23110 . Pixhawk4 GPS on GPS1, ESC60Apro connected to CAN1, CAN2 and PWM1-8 (Dshot600), Holybro 433MHz telemetry on Telem1

Test5 - mission mode, dronecan enabled https://logs.px4.io/plot_app?log=0c94f603-e5b0-49c1-96cc-8138e100dcff Hardfault occurred.

fault_2024_05_14_17_24_14.log
in /imxrt_flexcan.c:539 R0 is invalid

 538                        mb = flexcan_get_mb(priv, mbi);
3019e4ae: 21 46         mov     r1, r4
3019e4b0: 28 46         mov     r0, r5
3019e4b2: ff f7 ef ff   bl      0x3019e494 <flexcan_get_mb>
 539                        if (mb->cs.code != CAN_TXMB_DATAORREMOTE)
PC - 3019e4b6: 03 68         ldr     r3, [r0, #0]
3019e4b8: c3 f3 03 63   ubfx    r3, r3, #24, #4
3019e4bc: 0c 2b         cmp     r3, #12

fault_2024_05_14_17_24_21.log

Call from (LR) __ZN4uORB12Subscription4copyEPv_veneer> in SubscriptionInterval.hpp to garbage (PC)

fault_2024_05_14_14_52_45.log
Called from

MavlinkStreamAttitudeQuaternion::send() at ATTITUDE_QUATERNION.hpp:77 0x30fc0	

bool send() override
	{
		vehicle_attitude_s att;

		if (_att_sub.update(&att)) {
			vehicle_angular_velocity_s angular_velocity{};
			_angular_velocity_sub.copy(&angular_velocity);

			vehicle_status_s status{};
			_status_sub.copy(&status);

			mavlink_attitude_quaternion_t msg{};

LR:			msg.time_boot_ms = att.timestamp / 1000;
			msg.q1 = att.q[0];
			msg.q2 = att.q[1];
			msg.q3 = att.q[2];
			msg.q4 = att.q[3];
			msg.rollspeed = angular_velocity.xyz[0];
			msg.pitchspeed = angular_velocity.xyz[1];
			msg.yawspeed = angular_velocity.xyz[2];

PC 0x30022512 is constant manipulation

but looing back in memory the dissassembly looks odd: Note the odd addresses

fault_2024_05_14_09_07_45.log
LR is 0x00001e98 in orb
and Odd PC is 0x300d6bbe which is loading constant.

dk7xe · 2024-05-17T10:41:44Z

I agreed with @PetervdPerk-NXP on the following steps on the NXD20 testdrone Holybro S500 frame in Octo-X configuration:

do an mtd erase
reboot
do param reset_all
start configuration from scratch
I hope i can manage testing today still

dk7xe · 2024-05-17T15:16:05Z

nsh: sysinit: fopen failed: No such file or directory

NuttShell (NSH) NuttX-11.0.0
nsh> mtd erase
Erasing /fs/mtd_params
Erased 4096 bytes
Erasing /fs/mtd_waypoints
Erased 4096 bytes
nsh> reboot

All settings were gone after the reboot. connect again

nsh: sysinit: fopen failed: No such file or directory

NuttShell (NSH) NuttX-11.0.0
nsh> ver all
HW arch: PX4_FMU_V6XRT
HW type: V6XRT
HW FMUM ID: 0x000
HW BASE ID: 0x003
PX4 git-hash: 0928731
PX4 version: 1.15.0 80 (17760384)
PX4 git-branch: pr-bp-release/1.15
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 4be592dd2114d2c07505b143493a3cfa6dc9c239
Build datetime: May 10 2024 11:34:47
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000900000000000000008292807c2c2a800e
MCU: i.MX RT1170 rB0, rev. 0
nsh> param reset_all
nsh>

start configuring drone from scratch
Airframe set to Generec Octo X

Compass calibrated

reboot
Gyro calibrated

Accelerometer calibrated

Level Horizon calibrated

Radio calibrated

FlightModes set

Power - Number of cells set to 6 (no further changes)

reboot and reconnect again

dk7xe · 2024-05-17T15:53:47Z

Actuators - AUX1 set to DShot600

reboot

continued with the same process for AUX2 - AUX8
after last reboot..

setting AUX1 - AUX8 Function to Motor 1 - Motor 8

reboot and reconnect
setting DSHOT_MIN to 0.10% since FETtec ESC need a Min Command value of ~1070

connecting 5S battery (who will find the error made before?)
Actuator Testing

RESULT: MOTORS do spin!

@PetervdPerk-NXP @davids5 i don't know if it is the mtd erase or the sequence i had set the Actuator Outputs.
But at least DShot is working now on 8 Motors.

dk7xe · 2024-05-17T15:59:13Z

Will give it a try with DShot only first and afterwards enable CAN bus.

dk7xe · 2024-05-17T16:33:55Z

Result of first indoor test with DShot600 only
Motors did not spin when arming - https://logs.px4.io/plot_app?log=427cd051-cc32-45df-a528-dc0f8cf572a5
Motors started - https://logs.px4.io/plot_app?log=3e145339-9409-4789-ab45-4e3c4377857a
6min hovering - https://logs.px4.io/plot_app?log=7c418c77-2b4f-49f3-a0d6-f7ccadb74dd1
Short hovering - https://logs.px4.io/plot_app?log=810e51a2-4be0-4a63-9e74-5098b69b29b3

Again i had it at least once at the beginning that there was no output signal and motors did not arm. After reconnecting battery everything was ok.

dk7xe · 2024-05-17T16:42:14Z

Enabling CANbus, besides DShot600 (ESC's do fasilover if CAN signal is lost)

reboot
connecting battery, connecting via USB
setting Actuators: hardfault occured at that stage after assigning Motor 3

fault_2024_05_17_16_37_39.log

@davids5 @PetervdPerk-NXP

dk7xe · 2024-05-17T16:53:33Z

deleted fault log, reconnected via USB, not Battery connected, continuing with CAN motor assignment

reboot
connecting via USB, afterwards connecting battery
motortest successful

disconnecting battery, disconnecting USB

dk7xe · 2024-05-17T17:04:22Z

Successful testfligt until battery empty indoors. ESC's controlled via droneCAN with DShot failover enabled
https://logs.px4.io/plot_app?log=373c4ae0-4a46-48e8-a649-d32d77c46cdb

dk7xe · 2024-05-17T17:07:57Z

Hardfault occured 10sec after connecting battery for 2nd testflight ESC's controlled via droneCAN with DShot failover enabled
fault_2024_05_17_17_05_51.log
It's again LPWORK. Thats what i have seen already previosly that LPWORK stack needs to be increased for preventig from hardfault when droneCAN is enabled.

After erasing the fault log file from SD i did the 2nd successful testflight after DShot signal was not issued on all motors at first arming attempt emptied the 2nd battery without issues. Unfortunately stupid me has forgotten to insert SDcard before flight ;(

For reference my parameter settings of NXD20 testdrone Holybro S500 frame in Octo-X configuration with Pixhawk6X-RT (NXP baseboard release batch) and PX4 build based on 0928731 From #23110 . Pixhawk4 GPS on GPS1, ESC60Apro connected to CAN1, CAN2 and PWM1-8 (Dshot600), Holybro 433MHz telemetry on Telem1
ID20_Octo-X_20240517.zip

davids5 · 2024-05-21T15:42:56Z

Enabling CANbus, besides DShot600 (ESC's do fasilover if CAN signal is lost)

reboot
connecting battery, connecting via USB
setting Actuators: hardfault occured at that stage after assigning Motor 3

fault_2024_05_17_16_37_39.log

@davids5 @PetervdPerk-NXP

This is faulting in Ekf::fuseDrag

Can you swap the FMUM and see if the issue persist?

mrpollo · 2024-05-22T15:27:34Z

Is this ready to come in @davids5 ? otherwise let's mark it as a DRAFT please

…t output

Avoids memory corruption if we get packets to big

[BACKPORT] imxrt: lpuart singlewire transfer support These correctly enables mpu_rest on MPU init if CONFIG_ARM_MPU_RESET is defined. [BACKPORT] imxrt: 1170 MPU config ensure no lockups can occur [BACKPORT] armv{7|8}-{m|r}:MPU fix CONFIG naming to include ARM

davids5 · 2024-05-28T12:58:06Z

~~Waiting on https://github.com/PX4/PX4-Autopilot/tree/pr-fix-px4_fmu-v6xrt-bootloader~~

…nly effects imxrt

…mory is writable before jump to APP

davids5 · 2024-05-29T15:44:15Z

All the commits needed from https://github.com/PX4/PX4-Autopilot/tree/pr-fix-px4_fmu-v6xrt-bootloader are in.

dk7xe · 2024-06-01T15:54:59Z

Did update my GPD10 testdrone (Tarot720 quad) to 482d590
Did NOT run through 'mtd erase' and 'parameter reset' this time.

nsh: sysinit: fopen failed: No such file or directory

NuttShell (NSH) NuttX-11.0.0
nsh> ver all
HW arch: PX4_FMU_V6XRT
HW type: V6XRT
HW FMUM ID: 0x000
HW BASE ID: 0x003
PX4 git-hash: 482d590
PX4 version: 1.15.0 80 (17760384)
PX4 git-branch: pr-bp-release/1.15
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 6fbb26eb521999844f099ac93974fdc7ccca6016
Build datetime: May 31 2024 16:26:51
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 9.3.1 20200408 (release)
PX4GUID: 000900000000000000008292807c2929800e
MCU: i.MX RT1170 rB0, rev. 0
nsh>

Observation: Voltage sensor reading stops when armed and regains when being disarmed.
Log file of hovering in the garden 1m above ground - https://logs.px4.io/plot_app?log=0d4d6820-9907-4bdc-8bdd-6d6feaabf5fc

dk7xe · 2024-06-01T16:25:21Z

With having the ina226 power module on Power2 no issue - https://logs.px4.io/plot_app?log=435834b4-8d6a-43a9-85cc-c1c2d8cd99c1

dk7xe · 2024-06-01T17:34:43Z

Hovering around in the garden without issues (ina226 on Power2 still), FETtec ESC60Apro controlled from droneCAN - https://logs.px4.io/plot_app?log=771291aa-d689-456a-8461-b38d405b0a68
Vibrations are higher than before due to an issue with one propeller.

Fixes correct dummy cycle count of 20

dk7xe · 2024-06-03T21:28:16Z

@davids5 should we wait with testing until #23210 is in?

davids5 · 2024-06-04T08:03:37Z

@davids5 should we wait with testing until #23210 is in?

No there is a critical fix in this PR that needs to be tested.

dk7xe · 2024-06-04T11:03:49Z

Tested on my Octo-X setup on the bench (#23110 (comment)). After ~1.5hr a hardfault occured.
fault_1970_01_01_01_50_32.log
ID20_minicom.txt
ID20_Octo-X_20240604_param.zip
DroneCAN ESC control enabled besides Dshot600.

davids5 · 2024-06-04T13:27:01Z

Tested on my Octo-X setup on the bench (#23110 (comment)). After ~1.5hr a hardfault occured. fault_1970_01_01_01_50_32.log ID20_minicom.txt ID20_Octo-X_20240604_param.zip DroneCAN ESC control enabled besides Dshot600.

The for the fault , looks odd

LR suggest this came from up_dshot_trigger

@PetervdPerk Can you see any memory overrun issues in that driver?

dk7xe · 2024-06-05T19:59:04Z

Thanx Daniel!
.. btw we got a bit further with testing on the OctoX.
The FMU is running since 7hr now. DroneCAN has been disabled at the moment.
When 8hrs are reached DroneCAN will be enabled again (requires reboot).

FMURT7 with NXP baseboard (latest version), Pixhawk4 GPS connected to GPS1. 8x FETtec ESC PWM control port connected to PWM OUT 1-8 (set to Dshot600 in SW). FMU CAN1 daisy chained to FETtec ESC 1-8 CAN1 and terminated by CANterm. FMU CAN2 daisy chained to FETtec ESC 8-1 CAN2 and accidently not terminated (just now connected to FMU CAN3 to have termination). CAN bus connection is just CAN H, CAN L and GND on all connections.
FrSKY R-XSR SBUS RC Rx connected to RC IN. No other components.
FMU has been powered from Dell Laptop yesterday. Today it's powered from USB powerbank.

davids5 mentioned this pull request May 9, 2024

WIP NXP Backports to release/1.14 #23071

Closed

davids5 requested a review from dagar May 10, 2024 09:12

davids5 marked this pull request as draft May 23, 2024 07:29

davids5 and others added 6 commits May 28, 2024 05:50

[BACKPORT] px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight

9250a3d

NuttX with imxrt_sd-preflight backport

f20bd05

[BACKPORT] fmu-v6xrt: Enable debug features for more verbose hardfaul…

53a0041

…t output

[BACKPORT] fmu-v6xrt: Add I2C driver launcher

3a4b362

[BACKPORT] dronecan: SocketCAN driver check size before copying

cacb5ff

Avoids memory corruption if we get packets to big

davids5 force-pushed the pr-bp-release/1.15 branch from 0928731 to 3c9cd93 Compare May 28, 2024 12:56

davids5 mentioned this pull request May 29, 2024

nxp/imxrt_common/main:Fix Breakage from a9962dc #23174

Merged

davids5 added 3 commits May 29, 2024 08:35

[BACKPORT] bootloader/common/bl.c:Fixed Wrong vec_base caculation - o…

2f5092e

…nly effects imxrt

[BACKPORT] px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM me…

3599efe

…mory is writable before jump to APP

[BACKPORT] Update px4_fmu-v6xrt Bootloader

482d590

davids5 marked this pull request as ready for review May 29, 2024 15:42

PetervdPerk and others added 2 commits June 3, 2024 05:52

[BACKPORT] fmu-v6xrt: Fix flash configuration

c62d480

Fixes correct dummy cycle count of 20

[BACKPORT] fmu-v6xrt: Support RC telemetry

aa88a1f

davids5 mentioned this pull request Jun 3, 2024

[BACKPORT release/1.15] tools/bootloader: add force-erase option and add bootloader version #23210

Merged

dagar approved these changes Jun 5, 2024

View reviewed changes

dagar merged commit d8655fd into release/1.15 Jun 5, 2024
5 checks passed

dagar deleted the pr-bp-release/1.15 branch June 5, 2024 15:15

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Backports to release/1.15 #23110

Backports to release/1.15 #23110

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Backports to release/1.15 #23110

Backports to release/1.15 #23110

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