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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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pixhack v5 RC is not detected on master #9989

Closed dannyfpv closed 5 years ago

dannyfpv commented 6 years ago

On the pr and master, the copter does not detect the radio, only on stable works well first, send to manual mode and later to hold mode

https://review.px4.io/plot_app?log=bf71d883-0596-4723-95cc-ed70f2412ce6

**Drone f450, pixhack, 20ams hobbywing esc and iris motors

on the firmware master 3293fe still work good @dagar

dagar commented 6 years ago

Is this pixhack v5? If so what about pixhawk 4?

Tony3dr commented 6 years ago

@dagar correct this is for the Pixhack v5 works fine with Pixhawk 4.

dagar commented 6 years ago

FYI @davids5

davids5 commented 6 years ago

@dannyfpv I can see the FMU was a V511 but I need to know exact HW did you use for the RC and how and where was it connected (what connector?)? A Picture is always helpful.

davids5 commented 6 years ago

I had a look at the schematic it has some pop option and depending on what is populated the RC in is not compatible with FMUv5.

Tony3dr commented 6 years ago

38071397_1755962144439222_5667714229067579392_n 38208442_2192603380811922_7148970139319271424_n @davids5 We are having issues with the new master . With master 3293fe, it works fine. Attached are the Images.

davids5 commented 6 years ago

@Tony3dr , @dannyfpv Because the HW is not compatible with the FMUv5 spec and design fixing FMUv5 on master made this board not work. I need to do a full review the schematic and identify all the issues so that it will work. I am hoping to do that next week.

jinger26 commented 5 years ago

The developer version of Pixhack v5 does not further support. We can close this issue.

tops4u commented 5 years ago

The developer version of Pixhack v5 does not further support. We can close this issue.

Hi @jinger26 could you elaborate?? I have exactly the same Problem! RC is detected on 1.8.1 but not on 1.9.0 Alpha / Master. Is my v5 now a brick for PX4 Community?

jinger26 commented 5 years ago

Hi @tops4u , Pixhack v5 that has a "developer version" marked on the hardware was a release candidate for evaluation purpose only and not in production anymore. Do you have that version of the hardware or do you have a "V5" version of the hardware?

tops4u commented 5 years ago

@jinger26 I have not seen such a marking on my HW. On the console it shows up as HW Ver V551.

davids5 commented 5 years ago

@tops4u It is marked on the top of the cube. In white lettering. Based on the value I would assume you have V5.

See https://github.com/PX4/Firmware/blob/master/boards/px4/fmu-v5/src/manifest.c#L88-L91

Master supports the FMUv5 Spec. 1.8.1 did not have the full RC (PPM, SBUS) support for FMUv5. The board you have is not wired to the FMUv5 Spec for RC. But as I say above it is unclear to me which chips, resistors are populated and what the we could get working 100% reliably

tops4u commented 5 years ago

Thanks @davids5 I don't know that either. What I can say is:

  1. SBUS RC-In worked for me with 1.8.2 (at least I think it was 1.8.2 having a 1.8.1 tag). However it stopped booting with the Config I have used (Boot prozess froze).
  2. SBUS RC-In does not work at all with current Master (1.9.0 Alpha) with my Device.

Shall I open a new Issue for my non working RC? Should I have a look inside? Why does Boot stop only due to Config change? Should I open an Issue for this?

davids5 commented 5 years ago

@tops4u

Shall I open a new Issue for my non working RC?

It is a know issue.

Should I have a look inside?

I do not think it will add value. We do not have a way to ID the components back to the schematic. The vendor has not given me a list of the pop option and how they are installed. So I can not tell you what has to be removed/fixed.

The change that is most likely affecting the circuit is initializing the F7's USART 6 and not getting it it to "Single wire" mode. You could test this By removing USART 6 from the boar/nuttx config on the FMU and ensuring those GPIOs are left as inputs.

Why does Boot stop only due to Config change?

I am not sure what you mean.

Should I open an Issue for this?

Yes and give full details

tops4u commented 5 years ago

@davids5 could you tell me where the known Issue is tracked? I could not find an issue for this.

I've opened Issue #11223 for the Boot issue.

Regarding the RCIN Problem I have, could this be a Problem with Communication to the IO? This is what I get when I send px4io Status to the v5:

> px4io status 
WARN  [px4io] loaded
protocol 2147483648 hardware 2147483648 bootloader 2147483648 buffer 2147483648B crc 0x8000000080000000
2147483648 controls 2147483648 actuators 2147483648 R/C inputs 2147483648 analog inputs 2147483648 relays
2147483648 bytes free
status 0x0000 SAFETY_SAFE RC_FAIL FMU_FAIL MIXER_FAIL ARM_NO_SYNC INIT_FAIL
alarms 0x0000
vservo 2147483648 mV vservo scale 2147483648
vrssi 2147483648
actuators 0 0 0 0 0 0 0 0
servos 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648
reversed outputs: [________] trims: r:   0.0000 p:   0.0000 y:   0.0000
0 raw R/C inputs
R/C flags: 0x0000
mapped R/C inputs 0x0000
ADC inputs
features 0x0000
arming 0x0000 FMU_DISARMED IO_ARM_DENIED
rates 0x80000000 default 2147483648 alt 2147483648 sbus 2147483648
debuglevel 2147483648
controls 0: 0 0 0 0 0 0 0 0
controls 1: 0 0 0 0 0 0 0 0
controls 2: 0 0 0 0 0 0 0 0
controls 3: 0 0 0 0 0 0 0 0
input 0 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 1 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 2 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 3 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 4 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 5 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 6 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 7 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 8 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 9 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 10 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 11 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 12 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 13 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 14 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 15 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 16 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
input 17 min 2147483648 center 2147483648 max 2147483648 deadzone 2147483648 assigned 2147483648 options 0x0000
failsafe 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648
disarmed values 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648 2147483648
IMU heater off

Using Version:

HW arch: PX4_FMU_V5
HW type: V515
HW version: 0x00000001
HW revision: 0x00000005
FW git-hash: d8ab059ff3dcd50e0b8953da4de4150dffc2b75e
FW version: 1.9.0 40 (17367104)
OS: NuttX
OS version: Release 7.22.0 (118882559)
OS git-hash: c225d4a691ef4572839b19635a84f2d9bf07ea74
Build datetime: Jan 15 2019 08:25:45
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 0002000000003833393330385108001b0024
MCU: STM32F76xxx, rev. Z

When I reverted back to 1.8.1 and cleared all Params, the IO was reachable and gave me proper results as follows:

WARN  [px4io] loaded
protocol 4 hardware 2 bootloader 3 buffer 64B crc 0x547c7d2a
8 controls 8 actuators 18 R/C inputs 2 analog inputs 0 relays
1656 bytes free
status 0x0e24 SAFETY_SAFE RC_OK SBUS FMU_FAIL MIXER_FAIL ARM_SYNC INIT_OK FAILSAFE
alarms 0x0010 FMU_LOST
vservo 9718 mV vservo scale 10000
vrssi 3252
actuators -25000 -25000 -25000 -25000 -25000 -25000 -25000 -25000
servos 0 0 0 0 0 0 0 0
reversed outputs: [________] trims: r:   0.0000 p:   0.0000 y:   0.0000
18 raw R/C inputs 1511 1514 1094 1512 1017 1000 2102 1934 1094 1006 1514 1514 1514 1514 1514 1514 1998 1998
R/C flags: 0x0010
mapped R/C inputs 0x0000
ADC inputs 4021 4042
features 0x0008 RSSI_ADC
arming 0x0411 FMU_DISARMED IO_ARM_OK INAIR_RESTART_OK OVERRIDE_IMMEDIATE
rates 0x0000 default 50 alt 200 sbus 72
debuglevel 0
controls 0: 0 0 0 0 0 0 0 0
controls 1: 0 0 0 0 0 0 0 0
controls 2: 0 0 0 0 0 0 0 0
controls 3: 0 0 0 0 0 0 0 0
input 0 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 1 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 2 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 3 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 4 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 5 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 6 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 7 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 8 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 9 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 10 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 11 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 12 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 13 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 14 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 15 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 16 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 17 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
failsafe 0 0 0 0 0 0 0 0
disarmed values 0 0 0 0 0 0 0 0
Version is:
HW arch: PX4FMU_V5
HW type: V551
HW version: 0x00000001
HW revision: 0x00000005
FW git-hash: f13bbacd5277123d6af2cb5ed21587c220031353
FW version: Release 1.8.2 (17302271)
OS: NuttX
OS version: Release 7.22.0 (118882559)
OS git-hash: 63775322bf25adb406594f8e610122fe0cef2f7a
Build datetime: Jan 14 2019 12:41:43
Build uri: BUILD_URI
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
MFGUID: 3833393330385108001b0024
MCU: STM32F76xxx, rev. Z
UID: 1B0024:30385108:38333933
davids5 commented 5 years ago

@tops4u

Todays master tested on 2 units. Works on my HW. I have a XSR using the SBUS pins connected to the RC inputs TOP Ground Power Signal

[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V5
HW type: V515
HW version: 0x00000001
HW revision: 0x00000005
FW git-hash: d8ab059ff3dcd50e0b8953da4de4150dffc2b75e
FW version: 1.9.0 40 (17367104)
FW git-branch: master
OS: NuttX
OS version: Release 7.22.0 (118882559)
OS git-hash: c225d4a691ef4572839b19635a84f2d9bf07ea74
Build datetime: Jan 15 2019 14:53:32
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 000200000000363539373137510100290018
MCU: STM32F76xxx, rev. Z
[hardfault_log] Fault Log is Armed
INFO  [tune_control] Publishing standard tune 1
INFO  [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 350216 bytes
INFO  [param] selected parameter default file /fs/mtd_params
rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
WARN  [rgbled_ncp5623c] no RGB led on bus #1
Board init: /etc/init.d/rc.board
MPU6000 on SPI bus 1 at 1 (1000 KHz)
WARN  [mpu6000] unexpected ID 0x00 accepted
MPU6000 on SPI bus 1 at 0 (1000 KHz)
WARN  [mpu6000] unexpected ID 0x00 accepted
BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz)
BMI055_GYRO on SPI bus 1 at 2 (10000 KHz)
WARN  [hmc5883] no device on bus 1 (type: 2)
WARN  [hmc5883] no device on bus 2 (type: 2)
WARN  [hmc5883] no device on bus 4 (type: 2)
INFO  [ist8310] no device on bus 1
INFO  [ist8310] no device on bus 2
IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz)
ERROR [pmw3901] driver start failed
MS5611_SPI on SPI bus 4 at 0 (20000 KHz)
WARN  [bst] no devices found
INFO  [mpu9250] Bus probed: 2
WARN  [mpu9250] no device on bus 2
px4flow [141:100]
INFO  [px4flow] scanning I2C buses for device..
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS0
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/octo_x.main.mix on /dev/pwm_output0
INFO  [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1
INFO  [logger] logger started (mode=all)

NuttShell (NSH)
nsh> INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)

nsh> px4io status
WARN  [px4io] loaded
protocol 4 hardware 2 bootloader 3 buffer 64B crc 0xb19cbe0d
8 controls 8 actuators 18 R/C inputs 2 analog inputs 0 relays
1544 bytes free
status 0x0e24 SAFETY_SAFE RC_OK SBUS FMU_FAIL MIXER_FAIL ARM_SYNC INIT_OK FAILSAFE
alarms 0x0010 FMU_LOST
vservo 2 mV vservo scale 10000
vrssi 1007
actuators -25000 -25000 -25000 -25000 -25000 -25000 -25000 -25000
servos 0 0 0 0 0 0 0 0
reversed outputs: [________] trims: r:   0.0000 p:   0.0000 y:   0.0000
18 raw R/C inputs 1498 1496 1212 1490 1674 1499 982 982 1494 1494 1494 1494 1494 1494 1494 1494 998 998
R/C flags: 0x0010
mapped R/C inputs 0x0000
ADC inputs 4 1754
features 0x0008 RSSI_ADC
arming 0x0401 FMU_DISARMED IO_ARM_OK OVERRIDE_IMMEDIATE
rates 0x0000 default 50 alt 200 sbus 72
debuglevel 0
controls 0: 0 0 0 0 0 0 0 0
controls 1: 0 0 0 0 0 0 0 0
controls 2: 0 0 0 0 0 0 0 0
controls 3: 0 0 0 0 0 0 0 0
input 0 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 1 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 2 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 3 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 4 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 5 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 6 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 7 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 8 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 9 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 10 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 11 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 12 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 13 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 14 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 15 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 16 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 17 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
failsafe 0 0 0 0 0 0 0 0
disarmed values 0 0 0 0 0 0 0 0
davids5 commented 5 years ago

All I did was set the SYS_AUTOSTART to 4011

davids5 commented 5 years ago

I grabbed your params from the boot issue. I loaded them and power cycled. RC is still working fine.

tops4u commented 5 years ago

So my Unit is just different then - or I'm handling it wrong :-/

Those are two different Problems. With 1.8.1/1.8.2 and the mentioned Parameters the Unit will just not finish the boot process but RC works and the IO is reachable.

I have not checked wether I get RC on the newly initialized Device on Master. I'll check this today.

davids5 commented 5 years ago

@tops4u - It is hard to say. As I said I did load your params. I had only USB, JTAG and and the XSR connected.

To debug it, You and I can get to a common minimal state with mtd erase and param set SYS_AUTOSTART 4011

Please ask @dagar to help you find the serial port mappings that had been in the rcS. Then see if you have something using USART6 in you params.

tops4u commented 5 years ago

@davids5 & @dagar

Found it! Sorry it was stupid. I was using the same SD I had in the mRo X2.1 before. For the OSD I have put the following line in extras.txt: mavlink start -d /dev/ttyS6 -b 57600 -m osd -r 10000

This caused all the havoc with RC In and also with the communication with the IO. Strange still, that it did not happen with 1.8.2

So a big sorry for the inconvenience, and thanks a lot for the help!