EKF3 allocation failed - self build 4.4

ArduCopter Copter 4.4
1

Any idea about the message “EKF3 allocation failed”?

2023/11/15 20:53:31 : PreArm: AHRS: not using configured AHRS type
2023/11/15 20:53:31 : PreArm: EKF attitude is bad
2023/11/15 20:53:31 : PreArm: RC not found
2023/11/15 20:53:00 : PreArm: AHRS: not using configured AHRS type
2023/11/15 20:53:00 : PreArm: EKF attitude is bad
2023/11/15 20:53:00 : PreArm: RC not found
2023/11/15 20:52:30 : PreArm: AHRS: not using configured AHRS type
2023/11/15 20:52:30 : PreArm: EKF attitude is bad
2023/11/15 20:52:30 : PreArm: RC not found
2023/11/15 20:52:28 : u-blox 1 HW: 00080000 SW: EXT CORE 3.01 (d189ff)
2023/11/15 20:52:26 : GPS 1: u-blox saving config
2023/11/15 20:52:12 : GPS 1: detected as u-blox at 230400 baud
2023/11/15 20:52:07 : EKF3 allocation failed
2023/11/15 20:52:06 : RCOut: DS600:1-4 PWM:5-9
2023/11/15 20:52:06 : AHRS: DCM active
2023/11/15 20:52:06 : ArduPilot Ready
2023/11/15 20:52:05 : Barometer 1 calibration complete
2023/11/15 20:52:05 : Initialising ArduPilot
2023/11/15 20:52:04 : Frame: QUAD/BF_X
2023/11/15 20:52:04 : RCOut: Initialising
2023/11/15 20:52:04 : Aocoda-RC-F405V2 003E002B 32324713 32333535
2023/11/15 20:52:04 : ChibiOS: 17a50e3a
2023/11/15 20:52:04 : ArduCopter V4.4.2 (add4e1d8)
2023/11/15 20:52:04 : Frame: QUAD/BF_X
2023/11/15 20:52:04 : RCOut: Initialising
2023/11/15 20:52:04 : Aocoda-RC-F405V2 003E002B 32324713 32333535
2023/11/15 20:52:04 : ChibiOS: 17a50e3a
2023/11/15 20:52:04 : ArduCopter V4.4.2 (add4e1d8)
2023/11/15 20:52:04 : Frame: QUAD/BF_X
2023/11/15 20:52:04 : RCOut: Initialising
2023/11/15 20:52:04 : Aocoda-RC-F405V2 003E002B 32324713 32333535
2023/11/15 20:52:04 : ChibiOS: 17a50e3a
2023/11/15 20:52:04 : ArduCopter V4.4.2 (add4e1d8)
2023/11/15 20:52:03 : Calibrating barometer

test.param (18.9 KB)

2

Normally this happens when the flight controller runs out of memory. I didn’t see anything in your params that stood out. Did you build this yourself using the custom build server?

1 Like
3

Yes, I build it myself based on 4.4.2.
And I have found some thing wrong with config.This board has two replaceable IMUs (MPU6500/MPU6000), but the direction is different.

The most important thing is “MPU6500 is displayed as MPU6000 in MP”, which took me quite a long time for the IMU configuration of my Aocoda-RC F405V2 Mark4 7“ PNP

— Update
Mission planner doesn’t have DEVTYPE_ACC_MPU6500 type. If we add MPU6500 type 0x14 for distinguishing MPU6500, then it would be nice.

4

Hi. I also have an Aocoda-RC-F405V2 MPU6500 board, I would like to flash it to Ardupilot. Could you please share your results on firmware development. Maybe you found some third-party firmware or finalized your own. Maybe there are older firmware for this board. I would be very grateful for any answer. Thank you!

5

We don’t support F405V2 officially, but you can try: Support form my git, 4.4.4 is the latest, and links of video also supported Happy flying!

6

Thank you very much! I’ll give it a try. Maybe tell me about the bugs you found, so that I understand what to pay attention to.

7

ArduPilot开源代码之Aocoda-RC F405V2 Mark4 7“ PNP适配

Well, it’s configuration steps for F405V2, which you might wanna take a look, but it’s Chinese. The most important thing is to set INS_ENABLE_MASK properly, or CPU might be very high, which should be around 30~40%, i don’t remember exactly.

— Edit —
Aocoda-RC F405V2 APM CPU difference bewteen dshot600 and bdshot600

10

I’m sorry. I didn’t get the bdshot600 working on the board, did I? If so, how do I activate it? Thank you!

11

If you are using 4.4.4, it(F405V2) should support bdshot.

Check your configurations, section 3.6 ESC config for bdshot

12

Thank you. I am very grateful for your answers.