Open blazczak opened 4 years ago
If you just let it run without calibration do the accels continue working with no timeout? You can check with listener sensor_accel
or sensors status
. What's the cpu load like with px4 running?
Still present in v1.11.1 and master.
@dagar Yes, I just let it sit there and got "ERROR [sensors] Accel #0 fail: TIMEOUT!" out of the blue. Restarted, got the same error again.
In terms of cpu load, it's comparable to the load v1.10.1 generates and that deployment works and flies. It's the same clean Ubuntu 20 install, same uSD card, v1.10.1 and v1.11.1 checked out side-by-side, nothing else running on that instance - no offboard processes anything like that that would cause delays in sensor processing.
I've only ever used the navio2 will the raspbian build from Emlid. With Ubuntu 20.04 are you using PREEMPT_RT? Are you running px4 as root?
When either 1.10.1 or 1.11.1 was selected it was run as root. No PREEMPT_RT, no ROS, just good ol' arm Ubuntu 20.04 LTS from https://ubuntu.com/download/raspberry-pi.
PX4 1.10.1 flies lively and issue-free in the same environment and on the same hardware: https://logs.px4.io/plot_app?log=4523b1b6-a0eb-41f1-9216-5c23d129a96b
One notable difference for Navio2 since v1.11 is the switch to the unified drivers that are shared across Nuttx, Linux, Qurt. This applies to the mpu9250, lsm9ds1, ms5611, etc. In the case of the IMU drivers they actually transfer significantly more data now using the FIFOs (8 kHz vs 1 kHz). I'm wondering if that combined with no real time threads could be the problem.
What do you see in uorb top
? While px4 is running can you share the output of top
or htop
(set to show all threads within px4)?
Then try stopping one of the lsm9ds1
or mpu9250
.
Posted in #16006
Describe the bug A lot of small (debug) crud in the log and QGC warning flashes
To Reproduce Steps to reproduce the behavior: Build 1.11.0 PX4 on Ubuntu 20, use instructions in https://community.emlid.com/t/navio2-support-for-ubuntu-20-04/19956 to create the spidev stuff if needed. Perform activity with the drone, like calibration, arming, etc. See lots of extraneous messages in the logs and in the QGC warning flashes (the more annoying part) - possibly in-flight debug logging that was not cleaned up.
Expected behavior Level of log sanitation seen in 1.10.1 for navio2 and fmu-v5
Log Files and Screenshots
Drone Quadcopter, DJI F450 airframe with DJI motors/ESCs Navio2 on Ubuntu 20