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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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[Bug] EKF2 outputs Nan with height source #23246

Closed w2016561536 closed 4 months ago

w2016561536 commented 4 months ago

Describe the bug

Hi, I am trying to port PX4 to a new platform. vehicle_attitude will output Nan in a while after booting. Just like this: mainpage From mavlink message, quat is nan either mavlink_att

And something strange, more height source, faster reproduce. If all height soucres are disabled. This problem gone.

By the way, this problem could be related to Nuttx, but I have no idea how to solve it. And this problem seems difficult to reproduce on PIXHAWK 2.4.8. If it is certain that this has no relation to EKF2, just close this issue.

To Reproduce

Just boot with height sensor, such as range finder or baro

Expected behavior

N/A

Screenshot / Media

Console ouput after Nan: console

Cpu and process info: cpuinfo process

imu and attitude topic msg after Nan: listener

Flight Log

Sorry, due to the poor performance. This platform do not have a sdcard.

Software Version

System Info: HW arch: PX4_ESP32S3 PX4 git-hash: 7f7a32498ef97bb8e28759af15723d0367e3f7ce PX4 version: 1.14.3 0 (17695488) PX4 git-branch: px4_esp32s3 OS: NuttX OS version: Release 12.4.0 (201588991) OS git-hash: 6abb5ddfc1f7938a091c0b1a04fdce851f43ae02 Build datetime: Jun 10 2024 02:33:38 Build uri: localhost Build variant: default Toolchain: GNU GCC, 13.2.0 PX4GUID: 000102030405060708090a0b0c0d0e0f1011 MCU: ESP32S3, rev. A INFO [param] selected parameter default file /fs/mtd_params

Flight controller

N/A

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response

w2016561536 commented 4 months ago

This bug has been confirmed caused by chip, closed.