Servers by jDrones

Dead when armed:Assertion failed at file:armv7-m/up_hardfault.c line: 184 task: ArduPlane


(ranqingfa) #1

Arduplane dead when armed sometimes, not everytime!

Serial 5 console output(dead):

[init] looking for microSD…
[init] card mounted at /fs/microsd
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
[init] USB interface connected
Running rc.APM
Mounting binfs
binfs mounted OK
nsh: rm: unlink failed: No such file or directory
uorb started OK
Starting ArduPilot
Starting ArduPlane uartA=/dev/ttyACM0 uartC=/dev/ttyS1 uartD=/dev/ttyS2 uartE=/dev/ttyS6
initialised /dev/ttyS3 OK 1024 5ArduPilot started OK
12
rc.APM finished
initialised /dev/ttyS1 OK 1024 5
12
NuttShell (NSH)
initialised /dev/ttyS2 OK 1024 5nsh> 12
initialised /dev/ttyS6 OK 1024 512
Starting driver mtd start /fs/mtd
mtd: started OK
Starting driver mtd readtest /fs/mtd
reading /fs/mtd expecting 16384 bytes
readtest OK
mtd: readtest OK
Failed to load defaults from /etc/defaults.parm
Starting driver adc start
adc init done
ADC started OK
Starting driver px4io start norc
px4io default PWM output device
px4io started OK
Starting driver px4io checkcrc /etc/px4io/px4io.bin
px4io: CRCs match
PX4IO CRC OK
Starting driver fmu mode_pwm4
fmu mode_pwm4 started OK
SPI device mpu6000_ext on 4:1 at speed 500000 mode 3
mpu6000_ext: reg 75 68 ff
SPI device mpu6000_ext on 4:1 closed
SPI device mpu9250_ext on 4:1 at speed 1000000 mode 3
mpu9250_ext: reg 75 71 ff
SPI device mpu9250_ext on 4:1 closed
SPI device icm20608_ext on 4:1 at speed 1000000 mode 3
icm20608_ext: reg 75 af ff
SPI device icm20608_ext on 4:1 closed
SPI device icm20608_ext on 4:1 at speed 1000000 mode 3
icm20608_ext: reg 75 12 ff
SPI device icm20608_ext on 4:1 closed
SPI device icm20608-am on 1:2 at speed 500000 mode 3
icm20608-am: reg 75 af 00
SPI device icm20608-am on 1:2 closed
SPI device icm20608-am on 1:2 at speed 500000 mode 3
icm20608-am: reg 75 12 00
SPI device icm20608-am on 1:2 closed
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
lsm9ds0_am: reg 0f 49 49
SPI device lsm9ds0_am on 1:2 closed
SPI device mpu6000 on 1:4 at speed 500000 mode 3
mpu6000: reg 75 68 68
SPI device mpu6000 on 1:4 closed
AP_I2C_0 on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
SPI device ms5611 on 1:3 at speed 20000000 mode 3
MS5611 found on bus 1 address 0x03
AP_I2C_1 on I2C bus 1 at 0x28 (bus: 100 KHz, max: 100 KHz)
I2C device bus 1 address 0x28 closed
AP_I2C_2 on I2C bus 2 at 0x28 (bus: 100 KHz, max: 100 KHz)
MS4525: no sensor found
I2C device bus 0 address 0x28 closed
AP_I2C_3 on I2C bus 1 at 0x1e (bus: 100 KHz, max: 100 KHz)
I2C device bus 1 address 0x1e closed
AP_I2C_4 on I2C bus 2 at 0x1e (bus: 100 KHz, max: 100 KHz)
I2C device bus 0 address 0x1e closed
SPI device hmc5843 on 1:5 at speed 11000000 mode 3
SPI device hmc5843 on 1:5 closed
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
Failed to load defaults from /etc/defaults.parm
SPI device mpu6000 on 1:4 at speed 500000 mode 3
SPI device lsm9ds0_g on 1:1 at speed 11000000 mode 3
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
disabling flow control on /dev/ttyS1 _total_written=346
disabling flow control on /dev/ttyS2 _total_written=70
Assertion failed at file:armv7-m/up_hardfault.c line: 184 task: ArduPlane
sp: 2000e4b8
IRQ stack:
base: 2000e4fc
size: 000002e8
2000e4a0: 080e528c 000000b8 080e51c6 2000e4b8 1000aea8 080b6eb5 080e528c 000000b8
2000e4c0: 080b0391 00000010 2000ca00 00000003 00000000 080b7145 080b7131 080bfcd9
2000e4e0: 00000000 00000000 1000ad9c 000034a8 ecb3b411 080b70b5 1000aca4 00000000
sp: 1000ad78
User stack:
base: 1000aea8
size: 00001ffc
1000ad60: bff5f35c 42c80000 00001387 0000000c 20000010 080b4001 20002a10 00000013
1000ad80: 20000b50 20000b50 00000004 00000012 00000010 0809c231 200051a0 00000000
1000ada0: 00000001 0809c229 20002a10 00000013 20000b50 08038509 20002a10 00000000
1000adc0: 00000001 00000000 20002a10 0800a767 20002a10 00000004 00000000 0800a659
1000ade0: 20002a10 00000004 00000001 2000002c 00000168 08038d9f 00000000 20002a10
1000ae00: 20000b50 08009783 080096d1 20002918 00000001 08039985 20001050 00000012
1000ae20: 00004bb4 08045203 20001050 00004e20 00003728 00000001 200092c0 20009310
1000ae40: 20009844 00000000 20016ce0 20016c20 20009738 0809918f 080991e9 00000000
1000ae60: 20012338 00000000 00000000 00000000 00000000 00000000 080991e9 00000000
1000ae80: 00000000 00000000 00000000 00000000 00000000 00000000 00000000 080b171b
1000aea0: 00000000 00000000 ffffffff 62e4bd1e 0ac550d6 840ceaa7 00000410 80002010
R0: 00000000 2002fff8 ecb395a3 0cb4d3b9 00000000 1000ad9c 000034a8 ecb3b411
R8: ecb395a3 00000003 2000c87c 00000000 1000ada8 1000ad78 080b0f51 080b400c
xPSR: 81000000 BASEPRI: 00000000 CONTROL: 00000000
EXC_RETURN: ffffffe9

Serial 5 console output(not dead):

[init] looking for microSD…
[init] card mounted at /fs/microsd
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
[init] USB interface connected
Running rc.APM
Mounting binfs
binfs mounted OK
nsh: rm: unlink failed: No such file or directory
uorb started OK
Starting ArduPilot
Starting ArduPlane uartA=/dev/ttyACM0 uartC=/dev/ttyS1 uartD=/dev/ttyS2 uartE=/dev/ttyS6
initialised /dev/ttyS3 OK 1024 5ArduPilot started OK
12
rc.APM finished
initialised /dev/ttyS1 OK 1024 5
12
NuttShell (NSH)
initialised /dev/ttyS2 OK 1024 5nsh> 12
initialised /dev/ttyS6 OK 1024 512
Starting driver mtd start /fs/mtd
mtd: started OK
Starting driver mtd readtest /fs/mtd
reading /fs/mtd expecting 16384 bytes
readtest OK
mtd: readtest OK
Failed to load defaults from /etc/defaults.parm
Starting driver adc start
adc init done
ADC started OK
Starting driver px4io start norc
px4io default PWM output device
px4io started OK
Starting driver px4io checkcrc /etc/px4io/px4io.bin
px4io: CRCs match
PX4IO CRC OK
Starting driver fmu mode_pwm4
fmu mode_pwm4 started OK
SPI device mpu6000_ext on 4:1 at speed 500000 mode 3
mpu6000_ext: reg 75 68 ff
SPI device mpu6000_ext on 4:1 closed
SPI device mpu9250_ext on 4:1 at speed 1000000 mode 3
mpu9250_ext: reg 75 71 ff
SPI device mpu9250_ext on 4:1 closed
SPI device icm20608_ext on 4:1 at speed 1000000 mode 3
icm20608_ext: reg 75 af ff
SPI device icm20608_ext on 4:1 closed
SPI device icm20608_ext on 4:1 at speed 1000000 mode 3
icm20608_ext: reg 75 12 ff
SPI device icm20608_ext on 4:1 closed
SPI device icm20608-am on 1:2 at speed 500000 mode 3
icm20608-am: reg 75 af 00
SPI device icm20608-am on 1:2 closed
SPI device icm20608-am on 1:2 at speed 500000 mode 3
icm20608-am: reg 75 12 00
SPI device icm20608-am on 1:2 closed
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
lsm9ds0_am: reg 0f 49 49
SPI device lsm9ds0_am on 1:2 closed
SPI device mpu6000 on 1:4 at speed 500000 mode 3
mpu6000: reg 75 68 68
SPI device mpu6000 on 1:4 closed
AP_I2C_0 on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
SPI device ms5611 on 1:3 at speed 20000000 mode 3
MS5611 found on bus 1 address 0x03
AP_I2C_1 on I2C bus 1 at 0x28 (bus: 100 KHz, max: 100 KHz)
I2C device bus 1 address 0x28 closed
AP_I2C_2 on I2C bus 2 at 0x28 (bus: 100 KHz, max: 100 KHz)
MS4525: no sensor found
I2C device bus 0 address 0x28 closed
AP_I2C_3 on I2C bus 1 at 0x1e (bus: 100 KHz, max: 100 KHz)
I2C device bus 1 address 0x1e closed
AP_I2C_4 on I2C bus 2 at 0x1e (bus: 100 KHz, max: 100 KHz)
I2C device bus 0 address 0x1e closed
SPI device hmc5843 on 1:5 at speed 11000000 mode 3
SPI device hmc5843 on 1:5 closed
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
Failed to load defaults from /etc/defaults.parm
SPI device mpu6000 on 1:4 at speed 500000 mode 3
SPI device lsm9ds0_g on 1:1 at speed 11000000 mode 3
SPI device lsm9ds0_am on 1:2 at speed 11000000 mode 3
disabling flow control on /dev/ttyS1 _total_written=346
disabling flow control on /dev/ttyS2 _total_written=70
ArduPlane: fmu sent: "M: 2
O: 7000 7000 233 -20000 20000
S: 0 1 5000 5000 0 -1000>"
px4io mixer send error -1

Version 3.8.0/3.8.2
Plane / fixedwing / pixhawk