Arducopter\Pixhawk hardfault on bootup (custom firmware)

ArduCopter
1

I uploaded a customized version of the ArduCopter 3.5.0 code and am getting a hard fault during boot-up that prevents me from connecting through the USB to flash a different firmware.

Here’s what I’m seeing

  1. Plug pixhawk into computer using USB
  2. FMU pwr - solid green, FMU B/E - flashing orange
  3. Windows device manager recognizes newly attached COM 3
  4. COM 3 disappears from windows device manager AND FMU B/E - SOLID orange

When I connect to the pixhawk using the FTDI cable to the Serial 4/5 interface I observe the same behavior and the PX4\PIXHAWK terminal in Mission Planner reports the following:

SeAssertion failed at file:armv7-m/up hardfault.c line: 184 task: init
…[additional error information]

How do I get the pixhawk reset so I can flash different software to it? (I’m under a bit of a time crunch on my contract so any help is GREATLY appreciated)

2

In mission planner try “force px4 bootloader”

3

I’ve tried that but the device disconnects and Mission Planner reports that it can’t connect. If I time it right Mission Planner will report a timeout instead.

n

4

Ok. Have you tried a different gcs or px4uploader.py? There are also a few other things to try, upload via uart for instance.
I’m not able to help today though: @peterbarker do you have a few minutes?

5

I’ve tried QGroundControl and another computer. I haven’t tried px4uploader.py

6

Flashing orange means the bootloader is running - which is good, because that means you don’t need to attach hardware to fix the problem!

px_uploader.py is definitely what you want to try here. You need to get the uploader talking to the PixHawk while those orange lights are flashing.

Note that if you’re on a recent version of Ubuntu then that script may fail. if so, APBootloader will work for you - but that’s a backup plan.

8

I think i’m getting px_uploader to work. I need to recompile the unmodified arducopter 3.5.0 release and see if i’m getting good communication.

thanks. I’ll report back what i find

9

ITS ALIVE!!!

so to fix issues with hard faults early on in the boot process using the px_uploader.py works MUCH better than trying to do it through MissionPlanner or QGroundControl

thanks all

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