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zs6buj / mav2pt

Mavlink to FrSky Passthrough protocol telemetry
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Warning, sensor table exceeded. Push ignored #23

Closed Seeelefant closed 4 years ago

Seeelefant commented 4 years ago

Trying to set up version 2.45 on Wemos Lolin32 Board I get: "Warning, sensor table exceeded. Push ignored.", no telemetry data ESP32.txt

zs6buj commented 4 years ago

Rather use v2.46. Sensor table overflow simply means messages are queued for SPort but S Port is not being read.

Seeelefant commented 4 years ago

Hey Eric, this time I get: 22:25:20.611 -> Period ms=63 Frsky out Attitude 0x5006: fr_roll=897 fr_pitch=315 fr_range=0 Frs_Attitude Payload=646017 22:26:12.979 -> Starting .... D:\Users\Wolfgang\Documents\Arduino\Sketch\MavlinkToPassthru-master\Mav2PT_v2.46\Mav2PT_v2.46 22:26:12.979 -> Target Board is ESP32 / Variant is Dev Module 22:26:12.979 -> Air Mode 22:26:12.979 -> Battery_mAh_Source = 3 - Define battery capacities in the LUA script 22:26:12.979 -> Using Serial_1 for S.Port 22:26:12.979 -> RSSI Automatic Select 22:26:12.979 -> Mavlink Serial In 22:26:13.013 -> Mavlink WiFi Out - Protocol is UDP 22:26:13.013 -> Waiting for telemetry 22:26:13.047 -> ESP32 S.Port pins NOT inverted for Air or Relay Modes. Must use a converter 22:26:13.047 -> AutoBaud - Sensing FC_Mav_rxPin 16 22:26:13.047 -> Trying to connect to OmegaOffice.......... 22:26:19.143 -> Failed to connect in STA mode 22:26:19.143 -> Starting AP instead. 22:26:19.143 -> WiFi-Reset ... 22:26:19.654 -> AP IP address: 192.168.4.1 SSID: Mav2Passthru 22:26:19.688 -> UDP started, listening on IP 192.168.4.1, UDP port 14555 22:26:19.824 -> Telem found at 57600 b/s 22:26:20.583 -> hb_count=1 22:26:21.648 -> hb_count=2 22:26:22.605 -> hb_count=3 22:26:22.605 -> mavgood=true 22:27:01.638 -> Sensor buffer full. Check S.Port link 22:27:36.782 -> Sensor buffer full. Check S.Port link 22:28:11.960 -> Sensor buffer full. Check S.Port link 22:28:47.475 -> Sensor buffer full. Check S.Port link

I am not able to read S.Port data neither I am able to connect via QGroundcontrol via WiFi.

Please advice.

zs6buj commented 4 years ago
  1. The data indicates that you are in Air Mode, so you must have a bi-directional inverter converter from the FC to single wire S Port. Could you provide more details please. Px4 or APM and version? Did you connect to "Mav2PT" hotspot, or you must change to your ssid in the code.
Seeelefant commented 4 years ago

Well, currently I have PX4 version 1.10 running-do you think I should try ArduCopter? Concerning WiFi: I was able to connect to the "Mav2PT" hotspot, but seemely there was no Mavlink connection. Concerning the In-/Converter; I built one of these: https://discuss.ardupilot.org/t/some-soldering-required/27613 , which are working on PixHawks. Best --Seeelefant

zs6buj commented 4 years ago

Px4 works fin, and all the status messages look correct. To me it looks like you have an electrical problem with the sport side. With wifi make sure you setup like it shows in the wiki for AP Mode UDP and it should connect. Unfortunately I am not at home and working off my phone.

Seeelefant commented 4 years ago

Thank you Eric, well I have some Chinese ESP32 board....should I attach an oscilloscope to the pins? Sometimes there are problems with ESP32 serial ports: https://hackaday.com/2017/08/17/secret-serial-port-for-arduinoesp32/

zs6buj commented 4 years ago

Yes if you have a scope take a look at the s.port pin. Disconnect from the esp32 sport pins and you should see signals from the frsky receiver on the tx wire that goes to esp32 rx pin. You should also see infrequent inverted pulses on the tx pin. Then connect and you should see fairly frequent traffic as mav2pt responds to packets from frsky receiver. If you know wireshark ie similar tool in serial mode you could look at the packets.

zs6buj commented 4 years ago

Could I ask why you want to use an esp32 with wifi on the aircraft in air mode?

Seeelefant commented 4 years ago

Well, my idea was to have FrSky telemetry on my Taranis radio and also a Wifi connection to the groundstation. Would you recommend another setup?

zs6buj commented 4 years ago

Wifi from the plane to the ground will have limited range, and possibly interfere with your rc control signal.

Seeelefant commented 4 years ago

Well, I tested the other setup with ESP8266 already. So far, I did not have any problems with interference, neither with range. Currently I am also looking at https://github.com/HD-Fpv/Open.HD , In certain situations they reported ranges above 10 kms--even with (modified) WiFi.

zs6buj commented 4 years ago

Very interesting

Seeelefant commented 4 years ago

Well, the problem with the S.Port is fixed now . It was a problem with a homebrewn inverter.

Now trying to connect via WiFi the ESP32 reboots: 00:47:12.735 -> Air Mode 00:47:12.769 -> Battery_mAh_Source = 3 - Define battery capacities in the LUA script 00:47:12.769 -> Using Serial_1 for S.Port 00:47:12.769 -> RSSI Automatic Select 00:47:12.769 -> Mavlink Serial In 00:47:12.769 -> Mavlink WiFi Out - Protocol is UDP 00:47:12.769 -> Waiting for telemetry 00:47:12.803 -> ESP32 S.Port pins NOT inverted for Air or Relay Modes. Must use a converter 00:47:12.803 -> AutoBaud - Sensing FC_Mav_rxPin 16 00:47:12.904 -> AP IP address: 192.168.4.1 SSID: Mav2Passthru 00:47:12.938 -> UDP started, listening on IP 192.168.4.1, UDP port 14555 00:47:13.145 -> Telem found at 57600 b/s 00:47:13.249 -> hb_count=1 00:47:14.246 -> hb_count=2 00:47:15.272 -> hb_count=3 00:47:15.272 -> mavgood=true 00:47:28.885 -> E (21427) wifi: pp.c 3470 00:47:28.885 -> 00:47:33.916 -> E (26425) task_wdt: Task watchdog got triggered. The following tasks did not reset the watchdog in time: 00:47:33.916 -> E (26425) task_wdt: - IDLE0 (CPU 0) 00:47:33.916 -> E (26425) task_wdt: Tasks currently running: 00:47:33.916 -> E (26425) task_wdt: CPU 0: wifi 00:47:33.916 -> E (26425) task_wdt: CPU 1: IDLE1 00:47:33.916 -> E (26425) task_wdt: Aborting. 00:47:33.916 -> abort() was called at PC 0x400dcaeb on core 0 00:47:33.916 -> 00:47:33.916 -> Backtrace: 0x4008cbf8:0x3ffbe170 0x4008ce29:0x3ffbe190 0x400dcaeb:0x3ffbe1b0 0x40084f01:0x3ffbe1d0 0x4008ed2e:0x3ffb5de0 0x4008ff15:0x3ffb5e10 0x4008dcef:0x3ffb5e40 0x4008fd65:0x3ffb5ee0 0x4008930d:0x3ffb5f20 00:47:33.949 -> 00:47:33.949 -> Rebooting... 00:47:33.949 -> ets Jun 8 2016 00:22:57 00:47:33.949 -> 00:47:33.949 -> rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) 00:47:33.949 -> configsip: 0, SPIWP:0xee 00:47:33.949 -> clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 00:47:33.949 -> mode:DIO, clock div:1 00:47:33.949 -> load:0x3fff0018,len:4 00:47:33.949 -> load:0x3fff001c,len:1044 00:47:33.949 -> load:0x40078000,len:8896 00:47:33.949 -> load:0x40080400,len:5816 00:47:33.949 -> entry 0x400806ac 00:47:36.793 -> Starting .... D:\Users\Wolfgang\Documents\Arduino\Sketch\MavlinkToPassthru-master\Mav2PT_v2.46\Mav2PT_v2.46 00:47:36.793 -> Target Board is ESP32 / Variant is Dev Module 00:47:36.793 -> Air Mode 00:47:36.827 -> Battery_mAh_Source = 3 - Define battery capacities in the LUA script 00:47:36.827 -> Using Serial_1 for S.Port 00:47:36.827 -> RSSI Automatic Select 00:47:36.827 -> Mavlink Serial In 00:47:36.827 -> Mavlink WiFi Out - Protocol is UDP 00:47:36.861 -> Waiting for telemetry 00:47:36.861 -> ESP32 S.Port pins NOT inverted for Air or Relay Modes. Must use a converter 00:47:36.861 -> AutoBaud - Sensing FC_Mav_rxPin 16 00:47:36.999 -> AP IP address: 192.168.4.1 SSID: Mav2Passthru 00:47:36.999 -> UDP started, listening on IP 192.168.4.1, UDP port 14555 00:47:37.205 -> Telem found at 57600 b/s 00:47:37.239 -> hb_count=1 00:47:38.267 -> hb_count=2 00:47:39.257 -> hb_count=3 00:47:39.257 -> mavgood=true

zs6buj commented 4 years ago

Hi Seeelefant

I am happy to see we are making progress. :)

It's strange that cpu1 is idle when the watchdog steps in, Can you check your clock speed setting,. Are you running at 80MHz, 160 MHz or 240 MHz? I believe that 240 is regarded as overclocking, and lucky if it can run reliably.

Does it crash every time, or only sometimes, and does it crash immediately when you connect, or after a few moments. Does QGC or MP connect first?

Seeelefant commented 4 years ago

Hi Eric,

same problem again, even on another board. It happens immediately I connect to the WLAN, no Groundstation involved: 15:42:29.755 -> rst:0x10 (RTCWDT_RTC_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) 15:42:29.755 -> configsip: 0, SPIWP:0xee 15:42:29.755 -> clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 15:42:29.755 -> mode:DIO, clock div:1 15:42:29.755 -> load:0x3fff0018,len:4 15:42:29.755 -> load:0x3fff001c,len:1044 15:42:29.755 -> load:0x40078000,len:8896 15:42:29.755 -> load:0x40080400,len:5816 15:42:29.755 -> entry 0x400806ac 15:42:32.588 -> Starting .... D:\Users\Wolfgang\Documents\Arduino\Sketch\MavlinkToPassthru-master\Mav2PT_v2.46\Mav2PT_v2.46 15:42:32.588 -> Target Board is ESP32 / Variant is Dev Module 15:42:32.588 -> Air Mode 15:42:32.623 -> Battery_mAh_Source = 3 - Define battery capacities in the LUA script 15:42:32.623 -> Using Serial_1 for S.Port 15:42:32.623 -> RSSI Automatic Select 15:42:32.623 -> Mavlink Serial In 15:42:32.623 -> Mavlink WiFi Out - Protocol is UDP 15:42:32.657 -> Waiting for telemetry 15:42:32.657 -> ESP32 S.Port pins NOT inverted for Air or Relay Modes. Must use a converter 15:42:32.657 -> AutoBaud - Sensing FC_Mav_rxPin 16 15:42:32.760 -> AP IP address: 192.168.4.1 SSID: Mav2Passthru 15:42:32.760 -> UDP started, listening on IP 192.168.4.1, UDP port 14555 15:42:33.138 -> Telem found at 57600 b/s 15:42:33.171 -> hb_count=1 15:42:34.198 -> hb_count=2 15:42:35.194 -> hb_count=3 15:42:35.194 -> mavgood=true 15:43:38.322 -> E (70986) wifi: pp.c 3470 15:43:38.322 -> 15:43:43.385 -> E (75985) task_wdt: Task watchdog got triggered. The following tasks did not reset the watchdog in time: 15:43:43.385 -> E (75985) task_wdt: - IDLE0 (CPU 0) 15:43:43.385 -> E (75985) task_wdt: Tasks currently running: 15:43:43.385 -> E (75985) task_wdt: CPU 0: wifi 15:43:43.385 -> E (75985) task_wdt: CPU 1: IDLE1 15:43:43.385 -> E (75985) task_wdt: Aborting. 15:43:43.385 -> abort() was called at PC 0x400dcaeb on core 0 15:43:43.385 -> 15:43:43.385 -> Backtrace: 0x4008cbf8:0x3ffbe170 0x4008ce29:0x3ffbe190 0x400dcaeb:0x3ffbe1b0 0x40084f01:0x3ffbe1d0 0x4008ed2e:0x3ffb5cf0 0x4008ff15:0x3ffb5d20 0x4008dcef:0x3ffb5d50 0x4008f6a7:0x3ffb5df0 0x4008e033:0x3ffb5e10 0x4008e5df:0x3ffb5e40 0x4015b72d:0x3ffb5e80 0x4015b882:0x3ffb5eb0 0x4008fda3:0x3ffb5ee0 0x4008930d:0x3ffb5f20 15:43:43.385 -> 15:43:43.385 -> Rebooting... 15:43:43.418 -> ets Jun 8 2016 00:22:57 15:43:43.418 -> 15:43:43.418 -> rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) 15:43:43.418 -> configsip: 0, SPIWP:0xee 15:43:43.418 -> clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 15:43:43.418 -> mode:DIO, clock div:1 15:43:43.418 -> load:0x3fff0018,len:4 15:43:43.418 -> load:0x3fff001c,len:1044 15:43:43.418 -> load:0x40078000,len:8896 15:43:43.418 -> load:0x40080400,len:5816 15:43:43.418 -> entry 0x400806ac 15:43:46.115 -> Starting .... D:\Users\Wolfgang\Documents\Arduino\Sketch\MavlinkToPassthru-master\Mav2PT_v2.46\Mav2PT_v2.46 15:43:46.115 -> Target Board is ESP32 / Variant is Dev Module 15:43:46.115 -> Air Mode 15:43:46.115 -> Battery_mAh_Source = 3 - Define battery capacities in the LUA script 15:43:46.115 -> Using Serial_1 for S.Port 15:43:46.115 -> RSSI Automatic Select 15:43:46.115 -> Mavlink Serial In 15:43:46.115 -> Mavlink WiFi Out - Protocol is UDP 15:43:46.149 -> Waiting for telemetry 15:43:46.149 -> ESP32 S.Port pins NOT inverted for Air or Relay Modes. Must use a converter 15:43:46.149 -> AutoBaud - Sensing FC_Mav_rxPin 16 15:43:46.251 -> AP IP address: 192.168.4.1 SSID: Mav2Passthru 15:43:46.285 -> UDP started, listening on IP 192.168.4.1, UDP port 14555 15:43:46.628 -> Telem found at 57600 b/s 15:43:47.180 -> hb_count=1 15:43:48.174 -> hb_count=2 15:43:49.167 -> hb_count=3 15:43:49.167 -> mavgood=true

zs6buj commented 4 years ago

Hi Wolfgang

I just ran through an identical test here, and I get:

Starting .... C:\Users\Richard\Documents\GitHub\-esp32_wip\Mav2PT_TwoWay_v2.46g\Mav2PT_TwoWay_v2.46g
Target Board is ESP32 / Variant is Wemos® LOLIN ESP32-WROOM-32
Ground Mode
Battery_mAh_Source = 3 - Define battery capacities in the LUA script
Using Serial_1 for S.Port
RSSI Automatic Select
Mavlink Serial In
Mavlink WiFi Out - Protocol is UDP
Waiting for telemetry
ESP32 S.Port pins inverted for Ground Mode
AutoBaud - Sensing FC_Mav_rxPin 25 
AP IP address: 192.168.4.1  SSID: Mav2Passthru
UDP started, listening on IP 192.168.4.1, UDP port 14555
Telem found at 57600 b/s
hb_count=1
hb_count=2
hb_count=3
mavgood=true
dhcps: send_offer>>udp_sendto result 0
Client connected: Remote UDP IP: 192.168.4.2  Remote  UDP port: 14550

So, I'm wondering what you mean by

It happens immediately I connect to the WLAN

Do you mean when you connect to the Mav2Passthrough access point? So instead of this 

 dhcps: send_offer>>udp_sendto result 0
Client connected: Remote UDP IP: 192.168.4.2  Remote  UDP port: 14550

you get this 

15:43:38.322 -> E (70986) wifi: pp.c 3470
15:43:38.322 ->
15:43:43.385 -> E (75985) task_wdt: Task watchdog got triggered. The following tasks did not reset the watchdog in time:
15:43:43.385 -> E (75985) task_wdt: - IDLE0 (CPU 0)
15:43:43.385 -> E (75985) task_wdt: Tasks currently running:
15:43:43.385 -> E (75985) task_wdt: CPU 0: wifi
15:43:43.385 -> E (75985) task_wdt: CPU 1: IDLE1
15:43:43.385 -> E (75985) task_wdt: Aborting.

Remember, the ESP32 is running RTOS in the background. I looks like one of the multi-threaded tasks is problematic. I have not seen this before. I'll do some Googling later on

Seeelefant commented 4 years ago

Hi Eric,

thank you for your effort. With "It happens immediately I connect to the WLAN" I mean I am trying to connect my Windows laptop WLAN to "your" hotspot image. I was also Googling a little for the watchdog problem--seems quite common actually-and found things like https://github.com/espressif/esp-idf/issues/1646 . For the inverter problem this link https://quadmeup.com/smartport-inverter-for-f4-flight-controllers/ helped me. You can add this reference for the guys who do not want to wait for the delivery from Ali.

zs6buj commented 4 years ago

Wolfgang, thank you for the information.

This issue of crashing has been on my mind and I'm wondering if you have a power supply problem. The board seems to crash when it fires up the wifi RF module. USB 2 ports are rated at 500mA max, and judging from the discussion below, the ESP32 sees peak current draw of 700mA or more for short durations. Many USB ports do not supply the requisite full 5v, and current capability is well less than 500 mA. USB 3 (and 4) standards are higher. Also, I have seen some very poor USB cables with very thin wires and large volt drops.

I suggest you try to power the board from a proper 2A or great BEC and see what happens.

image

Seeelefant commented 4 years ago

Hi Eric, I attached a big capacitor to it and now it is working on with non-Windows systems the first time. After disconnecting and trying to connect again there are still some problems. I have still crashes when I try to connect with Windows.

zs6buj commented 4 years ago

Ok, progress !

Try a second, smaller capacitor across the power supply. In the 1nF to 100nF range. This will filter higher frequencies and help prevent stray RF noise getting into the works. Mount them near the board if you can, and keep the wiring as short as possible. Switch mode PSUs can be very noisy, especially when the vendor tries to cut costs.

When you connect to a PC, remember that you are also completing a circuit into the power mains via your usb cable ground. If your power supply is then plugged in elsewhere you could have an earth loop and lots of common mode AC noise and even floating AC voltages. A good quality shielded usb cable could help with the noise problem.

zs6buj commented 4 years ago

Wolfgang, since I haven't heard from you for a while I'll take that as a good sign and close this issue :)