FlavioTonelli
commented
5 years ago I'm back on this issue with some more details: I checked the system console during the system boot on a Pixhawk3 board where I have a direct access to the debug ports (the behavior is the same of the Pixhawk 4 one):
MCU: STM32F???, rev. A [hardfault_log] Fault Log is Armed INFO [tune_control] Publishing standard tune 1 INFO [param] selected parameter default file /fs/mtd_params Board defaults: /etc/init.d/rc.board_defaults rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz) WARN [rgbled_ncp5623c] no RGB led on bus #1 nsh: rgbled_pwm: command not found WARN [blinkm] I2C init failed WARN [blinkm] init failed Board sensors: /etc/init.d/rc.board_sensors WARN [mpu6000] no device on bus #3 (SPI1) MPU6000 on SPI bus 1 at 14 (1000 KHz) INFO [mpu9250] Bus probed: 3 MPU9250 on SPI bus 1 at 4 (1000 KHz) INFO [mpu9250] accel cutoff set to 30.00 Hz INFO [mpu9250] gyro cutoff set to 30.00 Hz WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 1 LIS3MDL_SPI on SPI bus 1 at 7 (11000 KHz) INFO [lis3mdl] Poll rate set to max (80hz) WARN [hmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 1 RM3100_SPI on SPI bus 5 at 1 (1000 KHz) WARN [rm3100] no device on bus 4 MS5611_SPI on SPI bus 1 at 3 (20000 KHz) WARN [bst] no devices found INFO [uavcan] Node ID 20, bitrate 1000000 INFO [uavcan] sensor bridge 'gnss' init ok INFO [uavcan] sensor bridge 'mag' init ok INFO [uavcan] sensor bridge 'baro' init ok WARN [uavcan] CentralizedServer init: -13 WARN [uavcan] Node init failed: -13 ERROR [uavcan] Firmware Server Failed to Start -13 INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B uavcan_mag adding channel 20... uavcan_mag channel 20 class instance 2 ok WARN [uavcan] GNSS ORB fd 8 Starting Main GPS on /dev/ttyS3 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/hexa_x.main.mix on /dev/pwm_output0 px4flow [438:100] INFO [px4flow] scanning I2C buses for device.. INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> WARN [uavcan] GNSS receiver node ID: 20 WARN [uavcan] GNSS ORB->UAVCAN bridge stopped, because there are other GNSS publishers INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
I report the output of UAVCAN status too, hope it can help:
nsh> uavcan status Pool allocator status: Capacity hard/soft: 500/250 blocks Reserved: 8 blocks Allocated: 5 blocks UAVCAN node status: Internal failures: 0 Transfer errors: 0 RX transfers: 2535 TX transfers: 313 CAN1 status: HW errors: 16089 IO errors: 16089 RX frames: 4336 TX frames: 209 CAN2 status: HW errors: 28919 IO errors: 28919 RX frames: 0 TX frames: 209 ESC actuators control groups: sub: 0 / req: 0 / fds: 2 ESC mixer: NONE Sensor 'gnss': RX errors: 0, using old Fix: 1, receiver node id: 20 Sensor 'mag': devname: /dev/mag channel 0: node id 20 --> class instance 2 channel 1: empty channel 2: empty channel 3: empty channel 4: empty Sensor 'baro': devname: /dev/baro channel 0: empty channel 1: empty channel 2: empty channel 3: empty channel 4: empty Online nodes (Node ID, Health, Mode): 20 OK OPERAT
stale[bot]
I'm testing an Here2 Module in UAVCAN mode on a Pixhawk4 Board. The PX4 version I'm running is the stable 1.9.2 and I have the UAVCAN_ENABLE parameter set to 2. PX4 can successful recognize the Gps Antenna and the Here2 Magnetometer. I'm instead not able to let the Here2 Barometer MS5611 show as a new barometer.Seems like PX4 is not recognizing it. Here is my /dev/ folder ls output: