Assertion failed at file:sched_removereadytorun.c line: 105

Hello, everyone!
I’m developing a driver for Pixhawk communicate with Arduino UNO via bus SPI externe. I write it according to the l3gd20’s driver. My driver Pixhawk send a “#” to UNO, and UNO send back 3 bytes data.
If I don’t use schedule function hrt_call_every(), I can start my driver in NSH and receive and print data from UNO.
But when I have hrt_call_every(&_call, 100000, _call_interval, (hrt_callout)&UNO::measure_trampoline, this);, NSH will show me Stack Dump like this :

nsh> uno start
[UNO] on SPI bus 4 at 1
nsh> Assertion failed at file:sched_removereadytorun.c line: 105 task: Idle Task
sp:     20017f2c
IRQ stack:
  base: 200180a0
  size: 00000ffc
20017f20: 00000dac 0808292b 08082919 20017f2c 200190d0 00000dac 0808292b 00000069
20017f40: 080ae62e 0808cbf7 20015050 00000006 08082a01 00000000 0808c2eb 20015050
20017f60: 20015050 0808cbf7 08082a43 20015050 20017fcc 20017fc0 00000000 20019138
20017f80: 0808cbf7 20015050 08055f99 00989680 00000000 1000c7b0 00000000 00002710
20017fa0: 0806eda3 1000c7b0 0806f229 08090875 00000000 00000000 0807aeeb 00000001
20017fc0: 00000000 00000000 00989680 0806ed75 1000c7b0 0806f229 0806f24b 0806ed75
20017fe0: 0806eda3 1000c7b0 08060023 1000c7b0 00000000 0806f2cb 0806f24b 00000000
20018000: 08079c91 2001e690 0807a0a5 0806d4e1 08079afb 2001efa4 0806d4e1 0806f2b5
20018020: 1000c7b0 1000c814 0806f2cb 01788955 00000000 0806d54d 0806d4e1 01788922
20018040: 00000000 00000c67 08094ba9 080908a1 20018fdc 08082b61 08090875 00000000
20018060: 0806d54d 0000003e 08094ba9 200153b4 0000003e 20018fdc 080908a1 00000000
20018080: 08094249 20015050 00000000 00000000 00000000 00000000 08082b61 20018fdc
sp:     200190b0
User stack:
  base: 200190d0
  size: 00000dac
200190a0: 00000000 00000000 00000000 0807933b 200190d4 00016f2c 0000012e 08004000
200190c0: 08004004 08082791 200190d0 08000251 fb64ffbe 6c96b198 c3ff3bfb 529a0d44
R0: 08080669 0807933b 20018fd4 100001f0 08094249 20015050 00000000 00000000
R8: 00000000 00000000 2001835c 00000000 00000001 200190b0 0807933b 08079336
xPSR: 21000000 BASEPRI: 00000000 CONTROL: 00000000
EXC_RETURN: ffffffe9

Can anyone help me with this? I don’t know how to debug it. Am I need to use JTAG or sth?
Thanks in advance