Matek M9N-f4-3100 as UAVCAN runing latest AP_PERIPH firmware, connected with CAN bus (with secondary DPS310 barometer) .
ESC : T-Motor F55A Pro II T-Motor - 3/6S -BLHeli_32 4in1 MCU F3
Xing2 2506 - 1650KV motor
Propeler : HQ Durable Prop 7 X 3.5 X 3V1S
External GPS & COMPASS : M9N-5883
External Lidar + Flow Sensor : Matek 3901-L0X
RC : TBS CrossFire Nano RX with Yaapu script telemetry running on TX16S
LIPO Battery Tattu 1800mha 100C
This setup allow Dual Compas, dual GPS ( internal + UAVCAN devices), but if BAROMETER is enabled in the AP_PERIPH / Matek M9N-f4-3100, the AC-4.1 (running on Matek H743 SLIM) raise a critical error : compass not healthy at boot time. Calibrating barometer doesn’t solve the issue.
BARO2_DEVID get a ID value, so the UAVCAN barometer is detected at boot time. Changing BARO_PRIMARY from 0 (default) to 1 doesn’t solve the issue.
Using the uavcan_gui_tool, i can dump the messages from the AP_PERIPH and there is valid BAROMETER PRESSURE + TEMPERATURE data.
static_pressure: 98273.320312 ( seems coherent with press_abs at 982.698 from mavlink from sensor from main barometer located on Matek H743 SLIM )
static_temperature: 304.7500 ( in kevlin so it means 30,85°C)
I have to disable BAROMETER on AP_PERIPH (BARO_ENABLE=0) to clear to error and being able to fly…
Does anyone have any idea ? it looks like a software issue in AC-4.10-beta5…
The Matek H743 SLIM runing AC4.1 alone works fine. But the barometer from AP_Periph via CAN has an issue at boot time.
Do you have any working Dual Barometer setup with AC 4.1 + AP_Periph ? if so what is your hardware ?
Just tested witth ArduCopter V4.1.0-beta8 (9ac9b21e) => Issue not solved, same behaviour.
Also tried to upgrade AP_Periph with latest binary (2021-09-01) => Unable to communicate with AP_Periph with uavcan_gui_tool, I had to rollback to release from 16th of july : GIT