Hello everyone!
yesterday I had an EKF Failsafe immediately after takeoff and I can’t explain the cause or need a second opinion. Maybe someone can take a look at the log file?
Thank you very much!
2019-12-12 12-18-35.log.zip (238.0 KB)
Looks like your GPS module quite working. At the same time as the Sats go to zero the enabled compass flat-lines. Canbus issue maybe?
do you have any optical flow or proximity sensor (object avoidance) ?
if you have, try to detach them then do a test flight
i think there is a module conflict
Hmm, have two benewake tf mini, one downwards and one forward as proxymity sensor… thats not good… 
Ok just try to detach them for testing
It will help to finding problem
Those are either on a UART or I2C right? And your GPS/compass module is on CAN
Yes uart, that‘s right. Does this mean i can‘t use such a configuration together or is this a bug?
As @dkemxr says it looks like the UAVCAN GPS/compass stopped working for some reason. It looks like it’s constantly losing the GPS, reconnecting, etc.
I can see that SERIAL3_PROTOCOL and SERIAL4_PROTOCOL are “9” which is for lidar and RNGFND_TYPE and RNGFND2_TYPE have been set to “20” which is for serial TFmini lidar so I think this should work. The LOG_BITMASK has been modified from the default so we sadly can’t see the logging of the rangefinders to see if they are working correctly.
@hosein_gh’s advice to simplify the setup by disabling things is generally a good idea but so far I’m not aware of any issues using a UAVCAN GPS/compass together with serial rangefinders and i definitely wouldn’t jump to the conclusion that we have a bug.
Hello,
I reproduced the error with default logging today. In the next step I will deactivate the two TF minis. But the setup works perfectly in another copter…2019-12-17 11-48-39.bin (795.6 KB)
I had Copter 4.0 RC2 on the Cube before, is it possible that there are still parameters present that negatively affect Copter 3.6.12? The error message Err: Compass-4 makes me suspicious…
or maybe I have a hardware defect somewhere… after landing I noticed again that the I2C bus was offline, both LED and OLED were off. When I do a reboot with MissionPlanner the LED and OLED are off, only when I disconnect and reconnect the power supply I2C is working again…
I have disabled both LIDAR, RNG and PRX parameters. Now it comes to no EKF failsafe anymore, but I had toiletbowl as if the Compass was not calibrated at all, but it was.
An attempt to calibrate the compass failed after a few turns, then the I2C bus was down again…