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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL Flight with Hardcrash Error
Warning
Software Crash
This log contains hardfault data from a software crash
(see
here how to debug).
The hardfault data is shown below.
Hardfault #1:
[hardfault_log] -- 2023-03-03-10:14:27 Begin Fault Log --
System fault Occurred on: 2023-03-03-10:14:27
Type:Hard Fault in file:armv7-m/arm_hardfault.c at line: 135 running task: mavlink
FW git-hash: 7c42fdb01f96d7c60c8f3fcc7983132acc567253
Build datetime: Mar 1 2023 13:58:10
Build url: localhost
Processor registers: from 0x300417cc
r0:0x00000000 r1:0x20014f58 r2:0x20015388 r3:0x00000016 r4:0x20014f58 r5:0x2400aef0 r6:0x2400af6c r7:0x00000000
r8:0x00000000 r9:0x00000000 r10:0x00000000 r11:0x00000000 r12:0x00000000 sp:0x300418a0 lr:0x0802b0a9 pc:0x0802b0e2
xpsr:0x21000000 basepri:0x000000f0 control:0x00000004
exe return:0xffffffe9
Fault status registers: from NVIC
cfsr:0x00000400 hfsr:0x40000000 dfsr:0x00000000 mmfsr:0x00000000 bfsr:0x00000000 afsr:0x00000000 abfsr:0x00000308
IRQ stack:
top: 0x240010c0
sp: 0x24001030 Valid
bottom: 0x24000ec0
size: 0x00000200
Invalid Stack! (Corrupted TCB) Stack base: 0x24000ec0 Stack size: 0x00000200
User stack:
top: 0x30041918
sp: 0x300418a0 Valid
bottom: 0x30041150
size: 0x000007c8
Invalid Stack! (Corrupted TCB) Stack base: 0x30041150 Stack size: 0x000007c8
Interrupt sp memory region, stack pointer lies within stack
0x240010df 0x08021379
0x240010de 0x00000000
0x240010dd 0x08021379
0x240010dc 0x00000000
0x240010db 0x08021379
0x240010da 0x00000000
0x240010d9 0x08020cad
0x240010d8 0x00000000
0x240010d7 0x08020be9
0x240010d6 0x00000000
0x240010d5 0x08021379
0x240010d4 0x00000000
0x240010d3 0x08021379
0x240010d2 0x00000000
0x240010d1 0x08021379
0x240010d0 0x00000002
0x240010cf 0x24009888
0x240010ce 0x24009888
0x240010cd 0x00000001
0x240010cc 0x00000000
0x240010cb 0x00000000
0x240010ca 0x30011710
0x240010c9 0x380001a0
0x240010c8 0x38005850
0x240010c7 0x380031c0
0x240010c6 0x00000000
0x240010c5 0x00000000
0x240010c4 0x00000000
0x240010c3 0x00000000
0x240010c2 0x00000000
0x240010c1 0x00000000
0x240010c0 0x3003c2a0<-- Interrupt sp top
0x240010bf 0x240010d0
0x240010be 0x3003c2a0
0x240010bd 0x2000d420
0x240010bc 0x00000000
0x240010bb 0x00000000
0x240010ba 0x00000005
0x240010b9 0x00000020
0x240010b8 0x0000041e
0x240010b7 0x00000000
0x240010b6 0x00000000
0x240010b5 0x240010c8
0x240010b4 0x00000000
0x240010b3 0x00000000
0x240010b2 0x00000000
0x240010b1 0x00000000
0x240010b0 0x0000006b
0x240010af 0x73615420
0x240010ae 0x656c6449
0x240010ad 0x0802123b
0x240010ac 0x00000000
0x240010ab 0x00000000
0x240010aa 0x00000000
0x240010a9 0x00000000
0x240010a8 0x00000000
0x240010a7 0x00000000
0x240010a6 0x00000000
0x240010a5 0x0800382d
0x240010a4 0x00000000
0x240010a3 0x00000000
0x240010a2 0x00000000
0x240010a1 0x00000000
0x240010a0 0x00000000
0x2400109f 0x00000000
0x2400109e 0x00000000
0x2400109d 0x00000000
0x2400109c 0x00000000
0x2400109b 0x41000000
0x2400109a 0x080296dc
0x24001099 0x0802123f
0x24001098 0x00000000
0x24001097 0x38001b40
0x24001096 0x38000224
0x24001095 0x24001154
0x24001094 0x00000000
0x24001093 0xffffffff
0x24001092 0x00000000
0x24001091 0x00000000
0x24001090 0x00000000
0x2400108f 0x00000000
0x2400108e 0x00000000
0x2400108d 0x00000000
0x2400108c 0x00000000
0x2400108b 0x00000000
0x2400108a 0x00000000
0x24001089 0x00000000
0x24001088 0x00000000
0x24001087 0x00000000
0x24001086 0x00000000
0x24001085 0x00000000
0x24001084 0x00000000
0x24001083 0xffffffed
0x24001082 0x00000000
0x24001081 0x00000000
0x24001080 0x00000000
0x2400107f 0x24001228
0x2400107e 0x00000000
0x2400107d 0x24001258
0x2400107c 0x240010d0
0x2400107b 0x00000000
0x2400107a 0x000000f0
0x24001079 0x2400aed0
0x24001078 0x00000000
0x24001077 0x00000000
0x24001076 0x00000000
0x24001075 0x00000000
0x24001074 0x00000000
0x24001073 0x00000000
0x24001072 0x00000000
0x24001071 0x00000000
0x24001070 0x00000000
0x2400106f 0x00000000
0x2400106e 0x00000000
0x2400106d 0x00000000
0x2400106c 0x00000000
0x2400106b 0x00000000
0x2400106a 0x00000000
0x24001069 0x2400ac14
0x24001068 0x2400abfc
0x24001067 0x000002d6
0x24001066 0x00000000
0x24001065 0x00000000
0x24001064 0x00000000
0x24001063 0x00000000
0x24001062 0x00000000
0x24001061 0x00060002
0x24001060 0x00000000
0x2400105f 0x00000000
0x2400105e 0x00000000
0x2400105d 0x080210e5
0x2400105c 0x080210e5
0x2400105b 0x00000000
0x2400105a 0x2400b0b0
0x24001059 0x3003c2a0
0x24001058 0x00000000
0x24001057 0x00000000
0x24001056 0x24001228
0x24001055 0x300417cc
0x24001054 0x00010000
0x24001053 0x080202d7
0x24001052 0x00000000
0x24001051 0x2400af6c
0x24001050 0x2400aef0
0x2400104f 0x300417cc
0x2400104e 0x000000f0
0x2400104d 0x08020749
0x2400104c 0x000000f0
0x2400104b 0x08021353
0x2400104a 0x00000003
0x24001049 0x00000003
0x24001048 0x240010c4
0x24001047 0x00000000
0x24001046 0x00000000
0x24001045 0x00000000
0x24001044 0x40000000
0x24001043 0x08020c7b
0x24001042 0x08021045
0x24001041 0x08020f77
0x24001040 0x00000000
0x2400103f 0x00000000
0x2400103e 0x00000000
0x2400103d 0x00000000
0x2400103c 0x00000000
0x2400103b 0x00000000
0x2400103a 0x00000000
0x24001039 0xe000ed2c
0x24001038 0xe000ed2c
0x24001037 0x0000002d
0x24001036 0x0802b0e2
0x24001035 0x0802b0a9
0x24001034 0x300418a0
0x24001033 0x00000000
0x24001032 0x00000000
0x24001031 0x00000000
0x24001030 0x000000f0<-- Interrupt sp
0x2400102f 0x080291ab
0x2400102e 0x00000087
0x2400102d 0x081765cf
0x2400102c 0x240010c4
0x2400102b 0x300418a0
0x2400102a 0x24001030
0x24001029 0x08168a83
0x24001028 0x24000010
0x24001027 0x08020d69
0x24001026 0x24000c54
0x24001025 0x24000ec0
0x24001024 0x3003c2a0
0x24001023 0x30041150
0x24001022 0x0000041e
0x24001021 0x24001030
0x24001020 0x240010c4
0x2400101f 0x3003c2a0
0x2400101e 0x24000000
0x2400101d 0x081773db
0x2400101c 0x08028ff1
0x2400101b 0x24000fe8
0x2400101a 0x00000000
0x24001019 0x08020fb5
0x24001018 0x24000fe8
0x24001017 0x24000fe8
0x24001016 0x00000000
0x24001015 0x08020f99
0x24001014 0x38006890
0x24001013 0x0000003b
0x24001012 0x0802bcad
0x24001011 0x08021045
0x24001010 0x00000004
0x2400100f 0x081773db
0x2400100e 0x24000ec0
0x2400100d 0x08021041
0x2400100c 0x24000ec0
0x2400100b 0x3003c2a0
0x2400100a 0x00000000
0x24001009 0x24001264
0x24001008 0x24001254
0x24001007 0x08028fcd
0x24001006 0x0000003f
0x24001005 0x24000fcc
0x24001004 0x08021045
0x24001003 0x08021055
0x24001002 0x0000000a
0x24001001 0x33383032
0x24001000 0x36383230
0x24000fff 0x24000ff4
0x24000ffe 0x31393034
0x24000ffd 0x00000000
0x24000ffc 0x081773da
0x24000ffb 0x00000003
0x24000ffa 0x08177400
0x24000ff9 0x00000004
0x24000ff8 0x00000060
0x24000ff7 0x0802bcdf
0x24000ff6 0x0000003b
0x24000ff5 0x24000fb4
0x24000ff4 0x08021045
0x24000ff3 0x08021055
0x24000ff2 0x0000000a
0x24000ff1 0x24000fb4
0x24000ff0 0x08021045
0x24000fef 0x24000fb4
0x24000fee 0x0000000a
0x24000fed 0x00000000
0x24000fec 0x00000001
0x24000feb 0x0802c4ed
0x24000fea 0x24000f20
0x24000fe9 0x08038359
0x24000fe8 0x00000013
0x24000fe7 0x00000000
0x24000fe6 0x00000000
0x24000fe5 0x00000001
0x24000fe4 0x24000f6b
0x24000fe3 0x00000000
0x24000fe2 0x0000000a
0x24000fe1 0xdeadbeef
0x24000fe0 0xdeadbeef
0x24000fdf 0xdeadbeef
0x24000fde 0xdeadbeef
0x24000fdd 0xdeadbeef
0x24000fdc 0xdeadbeef
0x24000fdb 0xdeadbeef
0x24000fda 0xdeadbeef
0x24000fd9 0xdeadbeef
0x24000fd8 0xdeadbeef
0x24000fd7 0xdeadbeef
0x24000fd6 0xdeadbeef
0x24000fd5 0xdeadbeef
0x24000fd4 0xdeadbeef
0x24000fd3 0x1a5f1d96
0x24000fd2 0xffffffff
0x24000fd1 0x00000000
0x24000fd0 0x00000000
0x24000fcf 0x00000000
0x24000fce 0x00000000
0x24000fcd 0x00000001
0x24000fcc 0x24000ea0
0x24000fcb 0x00000000
0x24000fca 0x00000000
0x24000fc9 0x00000000
0x24000fc8 0x00000000
0x24000fc7 0x00000000
0x24000fc6 0x00000000
0x24000fc5 0x00000000
0x24000fc4 0x00000000
0x24000fc3 0x00000000
0x24000fc2 0x00000000
0x24000fc1 0x00000000
0x24000fc0 0x00000000
0x24000fbf 0x00000000
0x24000fbe 0x00000000
0x24000fbd 0x00000000
0x24000fbc 0x00000000
0x24000fbb 0x00000000
0x24000fba 0x00000000
0x24000fb9 0x00000000
0x24000fb8 0x00000000
0x24000fb7 0x00000000
0x24000fb6 0x00000000
0x24000fb5 0x00000000
0x24000fb4 0x00000000
0x24000fb3 0x00000200
0x24000fb2 0x00000200
0x24000fb1 0x00000001
0x24000fb0 0x00000000
0x24000faf 0x00000000
0x24000fae 0x24006e40
0x24000fad 0x00000000
0x24000fac 0x00000000
0x24000fab 0x00000000
0x24000faa 0x00000000
0x24000fa9 0x00000000
0x24000fa8 0x00000000
0x24000fa7 0x380044e0
0x24000fa6 0x0816f83b
0x24000fa5 0x00000001
0x24000fa4 0x24000d60
0x24000fa3 0x0000003e
0x24000fa2 0x00000000
0x24000fa1 0x00000000
0x24000fa0 0x00000000
0x24000f9f 0x00000000
0x24000f9e 0x00000000
0x24000f9d 0x00000000
0x24000f9c 0x00000000
0x24000f9b 0x00000000
0x24000f9a 0x00000000
0x24000f99 0x00010000
0x24000f98 0x0009c828
0x24000f97 0x00000041
0x24000f96 0x52007000
0x24000f95 0x0816b9e1
0x24000f94 0x0816b96d
0x24000f93 0x0816b7b1
0x24000f92 0x0816b615
0x24000f91 0x0816b853
0x24000f90 0x0816b6f9
0x24000f8f 0x0816b85d
0x24000f8e 0x0816b5f1
0x24000f8d 0x0816b585
0x24000f8c 0x0816b585
0x24000f8b 0x0816b5f1
0x24000f8a 0x0816b5f1
0x24000f89 0x0816b5b1
0x24000f88 0x0816b585
0x24000f87 0x0816b519
0x24000f86 0x0816b779
0x24000f85 0x0816b9e1
0x24000f84 0x0816b96d
0x24000f83 0x0816b511
0x24000f82 0x0816b47b
0x24000f81 0x0816b8d5
0x24000f80 0x0c9fb8a1
User sp memory region, stack pointer lies within stack
0x3004194f 0x0c9fb8a1
0x3004194e 0x31606df0
0x3004194d 0xcb95ba5a
0x3004194c 0xf458d713
0x3004194b 0x4f9d0f8c
0x3004194a 0xe0c8fb22
0x30041949 0x22a64486
0x30041948 0x21c2bffa
0x30041947 0xac20857c
0x30041946 0x6b8affc6
0x30041945 0xb0b774a0
0x30041944 0x7b5b367a
0x30041943 0xf7d9a7b9
0x30041942 0xe78c3331
0x30041941 0xe0b0c883
0x30041940 0x8ab9f776
0x3004193f 0x118bb9d2
0x3004193e 0x115467d9
0x3004193d 0xffbce844
0x3004193c 0xc136f35b
0x3004193b 0x0b28a7a2
0x3004193a 0x81b3b151
0x30041939 0xf310da1c
0x30041938 0x7710f1fe
0x30041937 0x02a8ec56
0x30041936 0xde62274f
0x30041935 0x8f22c8a4
0x30041934 0x1a74e335
0x30041933 0x17c2107e
0x30041932 0x3b48c30e
0x30041931 0xecbe061c
0x30041930 0x850d594e
0x3004192f 0x5229fdec
0x3004192e 0x50599144
0x3004192d 0x8a42402f
0x3004192c 0xfbc2459f
0x3004192b 0x1d43bd60
0x3004192a 0xb9a661f5
0x30041929 0x5a160b62
0x30041928 0x95fd14d8
0x30041927 0x925c0e34
0x30041926 0x0eb6ca6a
0x30041925 0x0d37ea9e
0x30041924 0x3b69abf1
0x30041923 0xcdcabda0
0x30041922 0xf47e08ff
0x30041921 0x34ee3d44
0x30041920 0xa2708594
0x3004191f 0x0e190601
0x3004191e 0xe9076388
0x3004191d 0xda30bc66
0x3004191c 0xdf649b3c
0x3004191b 0x01f97060
0x3004191a 0xb58b6686
0x30041919 0xb22fdcb9
0x30041918 0x1b35bb0d<-- User sp top
0x30041917 0xae486e26
0x30041916 0xb53098fa
0x30041915 0x80039d00
0x30041914 0xd01f924b
0x30041913 0x7dc71055
0x30041912 0xd341ed56
0x30041911 0x7a4d0010
0x30041910 0x8d2bc806
0x3004190f 0x007840db
0x3004190e 0xc7e9c1e7
0x3004190d 0xbfc1805a
0x3004190c 0x442e270b
0x3004190b 0x74476ecb
0x3004190a 0xfc66cf72
0x30041909 0x4433e09d
0x30041908 0xfb202a78
0x30041907 0x74761509
0x30041906 0x2c25fb7f
0x30041905 0x3a06758a
0x30041904 0xd4cb169e
0x30041903 0x1bf4a229
0x30041902 0xac49fe20
0x30041901 0x543cc54c
0x30041900 0xd11aebbc
0x300418ff 0x985b9d38
0x300418fe 0x2572734d
0x300418fd 0x08107cbb
0x300418fc 0x79a5df87
0x300418fb 0x43a49b74
0x300418fa 0xdb886761
0x300418f9 0x85178d52
0x300418f8 0x4f1f8354
0x300418f7 0x1ab3b663
0x300418f6 0xb20af2f8
0x300418f5 0x94a8aede
0x300418f4 0xfab967dc
0x300418f3 0x563c9cc6
0x300418f2 0x386c4feb
0x300418f1 0x513f41c0
0x300418f0 0x979b6f0f
0x300418ef 0xc09e8e1e
0x300418ee 0x6a34db54
0x300418ed 0x396c6d3c
0x300418ec 0xb5f1c7fe
0x300418eb 0x75236834
0x300418ea 0x2afc6aac
0x300418e9 0x09d60ba2
0x300418e8 0x0f1a9a3c
0x300418e7 0x76285303
0x300418e6 0x2cbb243b
0x300418e5 0xf6560f41
0x300418e4 0xb505cc46
0x300418e3 0x4e610e79
0x300418e2 0x3815def9
0x300418e1 0x6b395208
0x300418e0 0xbbff7caf
0x300418df 0x0de95a5f
0x300418de 0x4174fe27
0x300418dd 0x8397c294
0x300418dc 0xdc952f37
0x300418db 0x0cb2b38c
0x300418da 0x96db9eca
0x300418d9 0x68c6f329
0x300418d8 0x2f95cfac
0x300418d7 0xe3cc383d
0x300418d6 0xf37ad139
0x300418d5 0x46994312
0x300418d4 0x218a792a
0x300418d3 0x329be584
0x300418d2 0xc591b7ce
0x300418d1 0x3c05cae9
0x300418d0 0x67f11a94
0x300418cf 0x2e08e8b9
0x300418ce 0x916abc3f
0x300418cd 0x4b379bcd
0x300418cc 0x88da6b48
0x300418cb 0xa5b28de8
0x300418ca 0xb7f1de98
0x300418c9 0x8b495d05
0x300418c8 0x0c394e4f
0x300418c7 0xa6334981
0x300418c6 0x5c991453
0x300418c5 0x1f45132b
0x300418c4 0xbb522334
0x300418c3 0x9000dd1c
0x300418c2 0xf9f0c30d
0x300418c1 0x2400afcc
0x300418c0 0x2400afdc
0x300418bf 0x00000820
0x300418be 0x000066e0
0x300418bd 0x00000000
0x300418bc 0x00000000
0x300418bb 0x00000000
0x300418ba 0x00000000
0x300418b9 0x08022353
0x300418b8 0x00000000
0x300418b7 0x00000004
0x300418b6 0x080fb3d5
0x300418b5 0x0802b9f5
0x300418b4 0x00000080
0x300418b3 0x3003c2a0
0x300418b2 0x00000000
0x300418b1 0x0802243f
0x300418b0 0x00000000
0x300418af 0x080fb3d5
0x300418ae 0x00000000
0x300418ad 0x08022399
0x300418ac 0x3003c420
0x300418ab 0x3003c2a0
0x300418aa 0x00000000
0x300418a9 0x08022705
0x300418a8 0x3003c420
0x300418a7 0x08022631
0x300418a6 0x3003c430
0x300418a5 0x3003c2a0
0x300418a4 0x3003c420
0x300418a3 0x0802b19b
0x300418a2 0x2400aef0
0x300418a1 0x20015230
0x300418a0 0x20014f58<-- User sp
0x3004189f 0x080216bb
0x3004189e 0x00000000
0x3004189d 0x00000000
0x3004189c 0x00000000
0x3004189b 0x00000000
0x3004189a 0x00000000
0x30041899 0x00000000
0x30041898 0x00000000
0x30041897 0x00000000
0x30041896 0x00000000
0x30041895 0x00000000
0x30041894 0x00000000
0x30041893 0x00000000
0x30041892 0x00000000
0x30041891 0x00000000
0x30041890 0x00000000
0x3004188f 0x00000000
0x3004188e 0x00000000
0x3004188d 0x21000000
0x3004188c 0x0802b0e2
0x3004188b 0x0802b0a9
0x3004188a 0x00000000
0x30041889 0x00000016
0x30041888 0x20015388
0x30041887 0x20014f58
0x30041886 0x00000000
0x30041885 0x00000000
0x30041884 0x00000000
0x30041883 0x00000000
0x30041882 0x00000000
0x30041881 0x00000000
0x30041880 0x00000000
0x3004187f 0x00000000
0x3004187e 0x00000000
0x3004187d 0x00000000
0x3004187c 0x00000000
0x3004187b 0x00000000
0x3004187a 0x00000000
0x30041879 0x00000000
0x30041878 0x00000000
0x30041877 0x00000000
0x30041876 0x00000000
0x30041875 0xffffffe9
0x30041874 0x00000000
0x30041873 0x00000000
0x30041872 0x00000000
0x30041871 0x00000000
0x30041870 0x00000000
0x3004186f 0x2400af6c
0x3004186e 0x2400aef0
0x3004186d 0x20014f58
0x3004186c 0x000000f0
0x3004186b 0x300418a0
0x3004186a 0x00000000
0x30041869 0x00000000
0x30041868 0x00000001
0x30041867 0x08032f8b
0x30041866 0x30041811
0x30041865 0x08199fa8
0x30041864 0x00000002
0x30041863 0x00000002
0x30041862 0x08199fb2
0x30041861 0x080324cb
0x30041860 0x00000018
0x3004185f 0x0000000b
0x3004185e 0x00000018
0x3004185d 0x380054b0
0x3004185c 0x00000000
0x3004185b 0x300417f0
0x3004185a 0x08199fb2
0x30041859 0x08031f99
0x30041858 0x00000040
0x30041857 0x300417f0
0x30041856 0x0000000f
0x30041855 0x0803302d
0x30041854 0x00008044
0x30041853 0x380054b0
0x30041852 0x00000001
0x30041851 0x08032f65
0x30041850 0x0000000b
0x3004184f 0x00000000
0x3004184e 0x380054b0
0x3004184d 0x30041811
0x3004184c 0x0000803f
0x3004184b 0x30041838
0x3004184a 0x0816f289
0x30041849 0x00000001
0x30041848 0x00000001
0x30041847 0x0816f2d1
0x30041846 0x00000001
0x30041845 0x380044e0
0x30041844 0x00000001
0x30041843 0x08021753
0x30041842 0x00000000
0x30041841 0x380044e8
0x30041840 0x00000000
0x3004183f 0x00000000
0x3004183e 0x00000000
0x3004183d 0x24000dd4
0x3004183c 0x000000f0
0x3004183b 0x00000004
0x3004183a 0x24000d60
0x30041839 0x00000000
0x30041838 0x24000d60
0x30041837 0x00000000
0x30041836 0x24009268
0x30041835 0x00000000
0x30041834 0x00000000
0x30041833 0x00000000
0x30041832 0x00000000
0x30041831 0x00000000
0x30041830 0x00000000
0x3004182f 0x00000000
0x3004182e 0x00000000
0x3004182d 0x00000000
0x3004182c 0x00000000
0x3004182b 0x00000000
0x3004182a 0x00000000
0x30041829 0x00000000
0x30041828 0x00000000
0x30041827 0x01000000
0x30041826 0x080297ac
0x30041825 0x0802168d
0x30041824 0x00000000
0x30041823 0x24009268
0x30041822 0x24001154
0x30041821 0x3003c324
0x30041820 0x00000002
0x3004181f 0x00000000
0x3004181e 0x00000000
0x3004181d 0x00000000
0x3004181c 0x00000000
0x3004181b 0x00000000
0x3004181a 0x00000000
0x30041819 0x00000000
0x30041818 0x00000000
0x30041817 0x00000000
0x30041816 0x00000000
0x30041815 0x00000000
0x30041814 0x00000000
0x30041813 0x00000000
0x30041812 0x00000000
0x30041811 0x00000000
0x30041810 0x00000000
0x3004180f 0xffffffe9
0x3004180e 0x380044e8
0x3004180d 0x00008044
0x3004180c 0x380054b0
0x3004180b 0x24006e40
0x3004180a 0x24000dd4
0x30041809 0x00000080
0x30041808 0x3003c2a0
0x30041807 0x24000dd4
0x30041806 0x00000080
0x30041805 0x30041708
0x30041804 0x00000080
0x30041803 0x30041700
0x30041802 0xdeadbeef
0x30041801 0xdeadbeef
0x30041800 0xdeadbeef
0x300417ff 0xdeadbeef
0x300417fe 0xdeadbeef
0x300417fd 0xdeadbeef
0x300417fc 0xdeadbeef
0x300417fb 0xdeadbeef
0x300417fa 0xdeadbeef
0x300417f9 0xdeadbeef
0x300417f8 0xdeadbeef
0x300417f7 0xdeadbeef
0x300417f6 0xdeadbeef
0x300417f5 0xdeadbeef
0x300417f4 0xdeadbeef
0x300417f3 0xdeadbeef
0x300417f2 0xdeadbeef
0x300417f1 0xdeadbeef
0x300417f0 0x00000000
[hardfault_log] -- 2023-03-03-10:14:27 END Fault Log --
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.0 (alpha) (7c42fdb0) branch: 1.13_alpha_vtol_neg_pitch_enable_dobar_firmware |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 03-03-2023 10:09 |
| Logging Duration: | 0:01:32 |
| Vehicle Life Flight Time: | 4 hours 10 minutes 40 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Distance: | 91.9 m |
| Max Altitude Difference: | 21 m |
| Average Speed MC: | 3.6 km/h |
| Max Speed: | 11.8 km/h |
| Max Speed Horizontal: | 11.6 km/h |
| Max Speed Up: | 6.8 km/h |
| Max Speed Down: | 4.8 km/h |
| Max Tilt Angle: | 28.7 deg |
Loading Plots...
Console Output
HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 7c42fdb01f96d7c60c8f3fcc7983132acc567253 FW version: 1.13.0 40 (17629248) FW git-branch: 1.13_alpha_vtol_neg_pitch_enable_dobar_firmware OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: c5c7d2b4f26f52f1dfb425ebde83328606b65d4f Build datetime: Mar 1 2023 13:58:13 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003735343732305103001e0021 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 4036 bytes, decoded 4036 bytes (INT32:52, FLOAT:132) 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/13006_vtol_standard_delta INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ll40ls #0 on I2C bus 2 (external) address 0x62 rotation 25 sdp3x_airspeed #0 on I2C bus 2 (external) address 0x21 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [646:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 5000 B/s on /dev/ttyS0 @ 115200B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [commander] Switching to Position is currently not available INFO [commander] Failsafe mode activated uavcan_mag adding channel for topic sensor_mag node 124... uavcan_mag channel 124 instance 1 ok INFO [uavcan:124:GPS] Registered Topic for 0x1 0x6 INFO [uavcan:124:GPS] Registered Topic for 0x5 0x1 INFO [uavcan:124:GPS] Registered Topic for 0x6 0x8 INFO [uavcan:124:GPS] Registered Topic for 0x6 0x1 INFO [uavcan:124:GPS] Registered Topic for 0x6 0x24 INFO [uavcan:124:GPS] Registered Topic for 0x6 0x70 INFO [uavcan:124:GPS] Registered Topic for 0x6 0x3E INFO [uavcan:124:GPS] Registered Topic for 0xA 0x4 INFO [uavcan:124:GPS] Registered Topic for 0x1 0x7 INFO [uavcan:124:GPS] Registered Topic for 0x1 0x61 INFO [uavcan:124:GPS] Registered Topic for 0x1 0x4 INFO [uavcan:124:GPS] try baud 115200 WARN [ekf2] 0 - mag sensor ID changed 589858 -> 8944643 WARN [ekf2] 1 - mag sensor ID changed 589858 -> 8944643 WARN [ekf2] 2 - mag sensor ID changed 589858 -> 8944643 INFO [uavcan:124:GPS] try baud 4800 INFO [uavcan:124:GPS] try baud 19200 INFO [uavcan:124:GPS] try baud 38400 INFO [uavcan:124:GPS] try baud 57600 INFO [uavcan:124:GPS] try baud 230400 INFO [uavcan:124:GPS] initialised INFO [uavcan:124:GPS] 0 raw flags = 16842753 sz 36 INFO [uavcan:124:GPS] 3 raw flags = 16842752 sz 36 INFO [uavcan:124:GPS] 5 raw flags = 16842753 sz 36 INFO [uavcan:124:GPS] 6 raw flags = 16842753 sz 36 uavcan_gnss adding channel for topic sensor_gps node 124... uavcan_gnss node 124 instance 0 ok uavcan_gnss node 124 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [commander] Failsafe mode deactivated INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-03-03/10_09_09.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-03-03/10_09_09.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 130114 55.604 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 1156/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 564/ 1256 255 (255) w:sem 1 63 wq:hp_default 44 4.486 1276/ 1904 237 (237) w:sem 1 78 dataman 0 0.011 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.032 1116/ 1920 205 (205) w:sem 1 363 wq:uavcan 14 1.441 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.860 1668/ 2336 250 (250) w:sem 1 396 wq:SPI1 22 2.218 1576/ 2336 253 (253) w:sem 1 424 wq:I2C2 4 0.489 856/ 2336 245 (245) w:sem 1 605 wq:nav_and_controllers 37 3.792 1352/ 2240 242 (242) w:sem 1 613 wq:rate_ctrl 48 4.876 1464/ 3152 255 (255) w:sem 1 617 wq:INS0 32 3.229 4292/ 6000 241 (241) w:sem 1 618 wq:INS1 29 2.975 4292/ 6000 240 (240) w:sem 1 621 wq:INS2 30 3.005 4292/ 6000 239 (239) w:sem 1 624 commander 4 0.494 1444/ 3224 140 (140) w:sig 5 1018 log_writer_file 10 1.031 596/ 1176 60 ( 60) READY 4 693 mavlink_if0 7 0.707 1852/ 2792 100 (100) w:sig 4 695 mavlink_rcv_if0 2 0.232 1468/ 4712 175 (175) w:sem 4 792 gps 0 0.026 1204/ 1680 205 (205) w:sem 4 879 mavlink_if1 37 3.728 1932/ 2728 100 (100) READY 4 881 mavlink_rcv_if1 9 0.958 1716/ 4712 175 (175) w:sem 4 923 navigator 0 0.084 1068/ 1920 105 (105) w:sem 6 1012 logger 44 4.405 2876/ 3648 230 (230) RUN 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 43.09% tasks, 1.31% sched, 55.60% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 216.079s total, 130.114s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 129163us elapsed, 129163.00us avg, min 129163us max 129163us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 10729 events, 19996.30 avg, min 59us max 21218us 237.023us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 40214 events, 7522188us elapsed, 187.05us avg, min 153us max 1053us 54.680us rms gyro_fft: cycle interval: 42906 events, 5004.57 avg, min 3250us max 8708us 259.793us rms gyro_fft: cycle: 42906 events, 8221813us elapsed, 191.62us avg, min 10us max 1065us 71.892us rms navigator: 4336 events, 361382us elapsed, 83.34us avg, min 12us max 127323us 1935.390us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 69764 events, 3078.14 avg, min 2108us max 28392us 790.041us rms mavlink: tx run elapsed: 69764 events, 10695529us elapsed, 153.31us avg, min 77us max 10551us 148.960us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 42170 events, 5093.59 avg, min 4034us max 29655us 975.160us rms mavlink: tx run elapsed: 42170 events, 1532230us elapsed, 36.33us avg, min 22us max 25027us 129.882us rms mag_bias_estimator: cycle: 10732 events, 267995us elapsed, 24.97us avg, min 3us max 1429us 49.442us rms land_detector: cycle: 21327 events, 306058us elapsed, 14.35us avg, min 11us max 175us 6.889us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 10657 events, 164825us elapsed, 15.47us avg, min 7us max 173us 7.655us rms fw_att_control: cycle: 42510 events, 923999us elapsed, 21.74us avg, min 17us max 167us 10.739us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 21293 events, 27404us elapsed, 1.29us avg, min 1us max 81us 1.820us rms mc_pos_control: cycle time: 21311 events, 624597us elapsed, 29.31us avg, min 1us max 337us 9.204us rms flight_mode_manager: cycle: 10657 events, 381121us elapsed, 35.76us avg, min 5us max 410us 11.294us rms mc_att_control: cycle: 42510 events, 447150us elapsed, 10.52us avg, min 8us max 232us 5.140us rms mc_rate_control: cycle: 85425 events, 824514us elapsed, 9.65us avg, min 8us max 67us 0.944us rms vtol_att_control: cycle: 85186 events, 1736182us elapsed, 20.38us avg, min 2us max 246us 2.296us rms airspeed_selector: elapsed: 2133 events, 42606us elapsed, 19.97us avg, min 16us max 178us 12.711us rms ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 44860 events, 79986us elapsed, 1.78us avg, min 1us max 731us 7.573us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 44570 events, 80619us elapsed, 1.81us avg, min 1us max 626us 8.574us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 42928 events, 87082us elapsed, 2.03us avg, min 1us max 121us 4.278us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 22264 events, 3165086us elapsed, 142.16us avg, min 83us max 1553us 111.133us rms ekf2: ECL update: 22596 events, 72480us elapsed, 3.21us avg, min 1us max 598us 8.406us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 22117 events, 2784850us elapsed, 125.91us avg, min 82us max 1233us 80.187us rms ekf2: ECL update: 22453 events, 68635us elapsed, 3.06us avg, min 1us max 54us 2.102us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21297 events, 3063989us elapsed, 143.87us avg, min 85us max 528us 54.477us rms ekf2: ECL update: 21633 events, 81604us elapsed, 3.77us avg, min 1us max 100us 4.949us rms pwm_out: interval: 21482 events, 10004.13 avg, min 20us max 26643us 1386.194us rms pwm_out: cycle: 21482 events, 362723us elapsed, 16.88us avg, min 2us max 174us 1.668us rms control latency: 21475 events, 17640278us elapsed, 821.43us avg, min 612us max 13132us 642.736us rms control latency: 84975 events, 51119121us elapsed, 601.58us avg, min 591us max 1602us 10.589us rms px4io: interface write: 85004 events, 19772835us elapsed, 232.61us avg, min 120us max 338us 6.882us rms px4io: interface read: 60944 events, 16648117us elapsed, 273.17us avg, min 135us max 701us 153.235us rms px4io: interval: 84980 events, 2528.95 avg, min 1806us max 39876us 529.492us rms px4io: cycle: 84980 events, 38844118us elapsed, 457.10us avg, min 4us max 10408us 627.090us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 145948 events px4io: uarterrs: 0 events px4io: protoerrs: 4 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 145948 events, 35754126us elapsed, 244.98us avg, min 117us max 697us 101.079us rms commander: preflight check: 432 events, 4283216us elapsed, 9914.85us avg, min 736us max 18411us 1084.453us rms commander: cycle: 19148 events, 5583465us elapsed, 291.60us avg, min 36us max 19723us 1494.452us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 14523 events, 440215us elapsed, 30.31us avg, min 4us max 576us 20.640us rms vehicle_gps_position: cycle: 1063 events, 10399us elapsed, 9.78us avg, min 2us max 134us 6.206us rms vehicle_air_data: cycle: 15918 events, 347832us elapsed, 21.85us avg, min 13us max 231us 8.752us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 4 events vehicle_angular_velocity: gyro filter: 85464 events, 2023515us elapsed, 23.68us avg, min 8us max 236us 2.001us rms sensors: 42945 events, 1934203us elapsed, 45.04us avg, min 19us max 3311us 44.607us rms battery_status: 21493 events, 405761us elapsed, 18.88us avg, min 13us max 1184us 37.853us rms aspd_com_err: 0 events aspd_read: 20080 events, 13460074us elapsed, 670.32us avg, min 662us max 842us 21.633us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 4155 events, 5661299us elapsed, 1362.53us avg, min 1324us max 1566us 46.704us rms ll40ls: comms errors: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 21385 events, 87827us elapsed, 4.11us avg, min 3us max 47us 1.215us rms ms5611: read: 21384 events, 294055us elapsed, 13.75us avg, min 11us max 78us 2.329us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 21231 events, 95757us elapsed, 4.51us avg, min 4us max 52us 1.748us rms ms5611: read: 21230 events, 362753us elapsed, 17.09us avg, min 12us max 83us 3.886us rms board_adc: sample: 150528 events, 1529111us elapsed, 10.16us avg, min 7us max 14778us 47.227us rms manual_control: interval: 1820 events, 118073.82 avg, min 1711us max 200388us 65860.469us rms manual_control: cycle: 1820 events, 23650us elapsed, 12.99us avg, min 6us max 297us 15.875us rms rc_update: valid data interval: 10149 events, 21160.97 avg, min 12963us max 38131us 1883.743us rms rc_update: cycle interval: 10154 events, 21163.07 avg, min 12963us max 41731us 1895.042us rms rc_update: cycle: 10154 events, 153270us elapsed, 15.09us avg, min 8us max 525us 17.193us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 94778 events, 2269.39 avg, min 16us max 20287us 1085.484us rms uavcan: cycle time: 94778 events, 3750798us elapsed, 39.57us avg, min 10us max 13079us 99.763us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 431 events, 55052us elapsed, 127.73us avg, min 2us max 1064us 135.415us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1064 events, 279376us elapsed, 262.57us avg, min 18us max 127287us 4018.674us rms dma_alloc: 28 events param: set: 187 events, 4518us elapsed, 24.16us avg, min 1us max 46us 12.750us rms param: get: 32876 events param: find: 28144 events param: export: 3 events, 143158us elapsed, 47719.33us avg, min 47315us max 48378us 575.367us rms