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Backports to release/1.15 #23110
Backports to release/1.15 #23110
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i'm getting hardfaults on a new "Generic Octo-X" airframe test setup: i'm in the configuration process. Hardfault occured after Actuator setup. nsh: sysinit: fopen failed: No such file or directory NuttShell (NSH) NuttX-11.0.0 FMUM-RT7 on new NXP baseboard without IO prozessor. |
Looks to be ControlAllocator writing into wrong memory. |
Did a reset to FW default |
Flighttesting today Test1 - first takeoff manual mode with CAN and PWM connected, BMS not connected. Mission until low battery Test2 - mission mode Test3 - mission mode Test4 - mission mode Test 5 - mission mode (continuation of Test4) Test6 - BMS and GPS connected to CAN2 Test7 - mission mode, BMS disconnected again NXD20 testdrone Test1 - first takeoff manual mode with PWM ESC control active only. Position hold. |
With GPD10 i had at Test8 at 1:06 a "Failsave:" ??? that resulted in crash. No further tests possible |
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 . Test2 - takeoff manual mode, position hold, mission Test3 - flying around in poshold Test4 - flying around in poshold Afterwards hardfault occurred see |
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 . Test5 - mission mode, dronecan enabled See |
@davids5 @PetervdPerk-NXP another finding is that several attempts are needed to get actuator signal changed to Dshot600. |
Looking at faults:
fault_2024_05_14_17_24_14.log
fault_2024_05_14_14_52_45.log
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 |
I agreed with @PetervdPerk-NXP on the following steps on the NXD20 testdrone Holybro S500 frame in Octo-X configuration:
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nsh: sysinit: fopen failed: No such file or directory NuttShell (NSH) NuttX-11.0.0
nsh: sysinit: fopen failed: No such file or directory NuttShell (NSH) NuttX-11.0.0
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@PetervdPerk-NXP @davids5 i don't know if it is the mtd erase or the sequence i had set the Actuator Outputs. |
Result of first indoor test with DShot600 only 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. |
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Hardfault occured 10sec after connecting battery for 2nd testflight ESC's controlled via droneCAN with DShot failover 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 |
Is this ready to come in @davids5 ? otherwise let's mark it as a DRAFT please |
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
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…nly effects imxrt
…mory is writable before jump to APP
All the commits needed from https://github.com/PX4/PX4-Autopilot/tree/pr-fix-px4_fmu-v6xrt-bootloader are in. |
Did update my GPD10 testdrone (Tarot720 quad) to 482d590 nsh: sysinit: fopen failed: No such file or directory NuttShell (NSH) NuttX-11.0.0 Observation: Voltage sensor reading stops when armed and regains when being disarmed. |
With having the ina226 power module on Power2 no issue - https://logs.px4.io/plot_app?log=435834b4-8d6a-43a9-85cc-c1c2d8cd99c1 |
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 |
Fixes correct dummy cycle count of 20
Tested on my Octo-X setup on the bench (#23110 (comment)). After ~1.5hr a hardfault occured. |
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? |
Thanx Daniel! 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. |
Brings in [BACKPORT] fmu-v6xrt: Add I2C driver launcher
[BACKPORT] fmu-v6xrt: Enable debug features for more verbose hardfault output
[BACKPORT] px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight
42e2e0c
NuttX with imxrt_sd-preflight backport