px4_fmu_v5x uavcan Unable to start self startup

[zhnliuliu]

Describe the bug param uavcan_Enable has been set to 3, but the uavcan service will not start automatically

To Reproduce Steps to reproduce the behavior:

1. Power pixhawk FMU v5x through USB
2. start uavcan error by checking the debug serial port information

Expected behavior Prompt that the uavcan fails to start. Use the mavlink console command: uavcan status

Log Files and Screenshots

[zhnliuliu]

This problem occurs on boards that do not use px4io

[zhnliuliu]

I don't know if px4io will appear again after it is enabled

[dagar]

Do you have an SD card in?

[zhnliuliu]

SD card, of course

[zhnliuliu]

Manual start cannot be started, and the uavcan start command must be run twice in a row

[dagar]

Manual start cannot be started, and the uavcan start command must be run twice in a row

I'm not sure what you mean, can you share the full output? Which version of PX4 is this?

[zhnliuliu]

master branch

[zhnliuliu]

http://px4-travis.s3.amazonaws.com/Firmware/master/px4_fmu-v5x_default.px4

[zhnliuliu]

HW arch: PX4_FMU_V5X HW type: V5X02 HW version: 0x00000000 HW revision: 0x00000002 FW git-hash: 091fca701e964de228ea077e11053119104d94fc FW version: 1.13.0 40 (17629248) OS: NuttX OS version: Release 10.2.0 (167903487) OS git-hash: c5c7d2b4f26f52f1dfb425ebde83328606b65d4f Build datetime: Apr 9 2022 19:52:40 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 00020000000020333537594250100031001c MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' WARN [parameters] ignoring unrecognised parameter 'CAL_GYRO0_TEMP' WARN [parameters] ignoring unrecognised parameter 'CAL_GYRO1_TEMP' WARN [parameters] ignoring unrecognised parameter 'CAL_GYRO2_TEMP' INFO [parameters] BSON document size 2306 bytes, decoded 2306 bytes (INT32:28, FLOAT:87) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [uavcan] Node ID 1, bitrate 1000000 ERROR [uavcan] CAN driver init failed -1006 WARN [px4io] check CRC failed: -1, CRC: 1043691576 WARN [px4io] IO refused to re-enable safety WARN [px4io] IO refused to reboot WARN [px4io] reboot failed - -1, still attempting upgrade [PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin [PX4IO] bootloader not responding WARN [px4io] IO refused to re-enable safety WARN [px4io] IO refused to reboot WARN [px4io] reboot failed - -1, still attempting upgrade [PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin [PX4IO] bootloader not responding ERROR [px4io] error updating PX4IO - check that bootloader mode is enabled INFO [tune_control] Stopping playback... PX4IO not found Board sensors: /etc/init.d/rc.board_sensors INFO [ina226] Failed to init INA226 on bus 1, but will try again periodically. ina226 #0 on I2C bus 1 (external) address 0x41 INFO [ina226] Failed to init INA226 on bus 2, but will try again periodically. ina226 #1 on I2C bus 2 (external) address 0x41 icm20649 #0 on SPI bus 3 rotation 6 icm42688p #0 on SPI bus 2 rotation 6 icm20602 #0 on SPI bus 1 rotation 10 bmm150 #0 on I2C bus 4 address 0x10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) bmp388 #0 on I2C bus 4 address 0x77 bmp388 #1 on I2C bus 2 (external) address 0x76 ERROR [mixer] can't open /dev/pwm_output0

ERROR [mixer] failed to load mixer ERROR [init] Failed loading mixer: /etc/mixers/quad_x.main.mix INFO [init] setting PWM_AUX_OUT none ekf2 [1083:237] Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS6 WARN [mavlink] offboard mission init failed (-1) INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B Starting MAVLink on ethernet INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [logger] logger started (mode=all)

NuttShell (NSH) NuttX-10.2.0 nsh> WARN [mavlink] no broadcasting address found INFO [commander] Failsafe mode activated
INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-10/09_06_45.ulg ERROR [logger] Can't open log file /fs/microsd/log/2022-04-10/09_06_45.ulg, errno: 20 INFO [mavlink] using network interface eth0, IP: 192.168.0.3 INFO [mavlink] with netmask: 255.255.255.0 INFO [mavlink] and broadcast IP: 192.168.0.255

[zhnliuliu]

The full log is here：https://logs.px4.io/plot_app?log=87e7b778-eb3e-4e59-a394-5fa088be64d1

[zhnliuliu]

UAVCAN_ENABLE, 2 but uavcan not started

[zhnliuliu]

Manual start cannot be started, and the uavcan start command must be run twice in a row

I'm not sure what you mean, can you share the full output? Which version of PX4 is this?

hi，dagar The problem has been solved！！ The problem is caused by my replacement of IO board，Replace with the official IO board to start normally

[zhnliuliu]

However, this problem should be solved. There is only one can interface on the unofficial IO board, which leads to initialization failure

[zhnliuliu]

In addition, the SD card must be replaced before it can be started normally. The original SD card cannot start the service