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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
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iomcu reset with bdshot on 6X #27171

Closed tridge closed 3 months ago

tridge commented 3 months ago

With a CUAV 6X with Pixhawk6X-bdshot firmware, with 6 blheli32 ESCs connected on a hexacopter (4 ESCs on main, 2 on aux) I get a reproducible internal error 0x1000 for IOMCU reset after arming. The copter still flies fine, but we need to find the cause of this. Logs here: https://drive.google.com/drive/folders/1fveumuzs7zw7zCqw7jKLHqiaXxx3k5nC?usp=drive_link ping @andyp1per

burgeruser commented 3 months ago

I encountered a similar issue earlier, and my solution was either to exclusively use D-shot outputs from the IOMCU or have the MAINMCU handle all D-shot outputs. I frequently ran into error code 0x1000 back then.

The interface resources tested for Ardupilot hardware controllers – 16 D-SHOT ports, and 2 CAN buses – are ample to cater to consumer-grade drones, vehicles, boats, and even underwater vehicles. If ever faced with insufficient connectivity, expansion would likely rely on CAN interfaces as a modular solution.