EKF3 imu force reset,WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF

ArduCopter Copter 4.5
,
1

Hi all,
I need you help due to the error:

2025/4/30 10:19:26 : PreArm: Motors: Check frame class and type
2025/4/30 10:18:55 : PreArm: Motors: Check frame class and type
2025/4/30 10:18:24 : PreArm: Motors: Check frame class and type
2025/4/30 10:18:05 : EKF3 IMU1 tilt alignment complete
2025/4/30 10:18:03 : EKF3 IMU1 initialised
2025/4/30 10:18:03 : EKF3 IMU1 forced reset
2025/4/30 10:17:53 : PreArm: Motors: Check frame class and type
2025/4/30 10:17:47 : EKF3 IMU0 tilt alignment complete
2025/4/30 10:17:46 : EKF3 IMU0 initialised
2025/4/30 10:17:46 : EKF3 IMU0 forced reset
2025/4/30 10:17:22 : PreArm: Motors: Check frame class and type
2025/4/30 10:16:51 : PreArm: Motors: Check frame class and type
2025/4/30 10:16:36 : EKF3 IMU1 tilt alignment complete
2025/4/30 10:16:36 : EKF3 IMU0 tilt alignment complete
2025/4/30 10:16:34 : AHRS: EKF3 active
2025/4/30 10:16:34 : EKF3 IMU1 initialised
2025/4/30 10:16:34 : EKF3 IMU0 initialised
2025/4/30 10:16:34 : Frame: UNSUPPORTED
2025/4/30 10:16:34 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : RCOut: PWM:1-16
2025/4/30 10:16:34 : IOMCU: 410 2003 411FC231
2025/4/30 10:16:34 : ChibiOS: 88b84600
2025/4/30 10:16:34 : ArduCopter V4.5.7 (2a3dc4b7)
2025/4/30 10:16:34 : Frame: UNSUPPORTED
2025/4/30 10:16:34 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:34 : RCOut: PWM:1-16
2025/4/30 10:16:34 : IOMCU: 410 2003 411FC231
2025/4/30 10:16:34 : ChibiOS: 88b84600
2025/4/30 10:16:34 : ArduCopter V4.5.7 (2a3dc4b7)
2025/4/30 10:16:33 : Frame: UNSUPPORTED
2025/4/30 10:16:33 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:33 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:33 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:16:33 : RCOut: PWM:1-16
2025/4/30 10:16:33 : IOMCU: 410 2003 411FC231
2025/4/30 10:16:33 : ChibiOS: 88b84600
2025/4/30 10:16:33 : ArduCopter V4.5.7 (2a3dc4b7)
2025/4/30 10:16:32 : RCOut: PWM:1-16
2025/4/30 10:16:32 : AHRS: DCM active
2025/4/30 10:16:32 : ArduPilot Ready
2025/4/30 10:16:32 : Initialising ArduPilot
2025/4/30 10:16:32 : Barometer 1 calibration complete

then, WatchDog reboot ，error log：

2025/4/30 10:34:50 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:50 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:34:48 : EKF3 IMU1 tilt alignment complete
2025/4/30 10:34:47 : EKF3 IMU1 initialised
2025/4/30 10:34:47 : EKF3 IMU1 forced reset
2025/4/30 10:34:43 : EKF3 IMU0 tilt alignment complete
2025/4/30 10:34:42 : EKF3 IMU0 initialised
2025/4/30 10:34:42 : EKF3 IMU0 forced reset
2025/4/30 10:34:40 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:40 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:34:37 : PreArm: Motors: Check frame class and type
2025/4/30 10:34:30 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:30 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:34:20 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:20 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:34:10 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:10 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:34:06 : PreArm: Motors: Check frame class and type
2025/4/30 10:34:00 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:34:00 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:50 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:50 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:40 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:40 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:35 : PreArm: Motors: Check frame class and type
2025/4/30 10:33:30 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:30 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:20 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:20 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:10 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:10 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:33:04 : PreArm: Motors: Check frame class and type
2025/4/30 10:33:00 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:33:00 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:32:56 : EKF3 IMU1 tilt alignment complete
2025/4/30 10:32:54 : EKF3 IMU1 initialised
2025/4/30 10:32:54 : EKF3 IMU1 forced reset
2025/4/30 10:32:50 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:32:50 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:32:40 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:32:40 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:32:33 : PreArm: Motors: Check frame class and type
2025/4/30 10:32:30 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:32:30 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:32:28 : EKF3 IMU0 tilt alignment complete
2025/4/30 10:32:27 : EKF3 IMU0 initialised
2025/4/30 10:32:27 : EKF3 IMU0 forced reset
2025/4/30 10:32:20 : C FICSR4196355 MM0 MC0 IE0 IEC0 TN:Ardu
2025/4/30 10:32:20 : WDG: T35 SL0 FL217 FT3 FA24002148 FTP180 FLR8195DF
2025/4/30 10:32:17 : Frame: UNSUPPORTED
2025/4/30 10:32:17 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : RCOut: PWM:1-16
2025/4/30 10:32:17 : IOMCU: 410 2003 411FC231
2025/4/30 10:32:17 : ChibiOS: 88b84600
2025/4/30 10:32:17 : ArduCopter V4.5.7 (2a3dc4b7)
2025/4/30 10:32:17 : Frame: UNSUPPORTED
2025/4/30 10:32:17 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : RCOut: PWM:1-16
2025/4/30 10:32:17 : IOMCU: 410 2003 411FC231
2025/4/30 10:32:17 : ChibiOS: 88b84600
2025/4/30 10:32:17 : ArduCopter V4.5.7 (2a3dc4b7)
2025/4/30 10:32:17 : Frame: UNSUPPORTED
2025/4/30 10:32:17 : IMU2: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU1: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : IMU0: fast, high-resolution sampling enabled 3.2k
2025/4/30 10:32:17 : RCOut: PWM:1-16
2025/4/30 10:32:17 : IOMCU: 410 2003 411FC231
2025/4/30 10:32:17 : ChibiOS: 88b84600
2025/4/30 10:32:17 : ArduCopter V4.5.7 (2a3dc4b7)

2

008fa6139328f0a7d6ab3acae149281c
008fa6139328f0a7d6ab3acae149281c607×907 188 KB

image
image665×996 188 KB

3

crash_dump.bin (49.9 KB)

here is crash dump file.

4

image
image646×934 166 KB

5 
enum class error_t : uint32_t {                           // Hex      Decimal
        logger_mapfailure           = (1U <<  0),  // 0x00001  1
        logger_missing_logstructure = (1U <<  1),  // 0x00002  2
        logger_logwrite_missingfmt  = (1U <<  2),  // 0x00004  4
        logger_too_many_deletions   = (1U <<  3),  // 0x00008  8
        logger_bad_getfilename      = (1U <<  4),  // 0x00010  16
        panic                       = (1U <<  5),  // 0x00020  32
        logger_flushing_without_sem = (1U <<  6),  // 0x00040  64
        logger_bad_current_block    = (1U <<  7),  // 0x00080  128
        logger_blockcount_mismatch  = (1U <<  8),  // 0x00100  256
        logger_dequeue_failure      = (1U <<  9),  // 0x00200  512
        constraining_nan            = (1U << 10),  // 0x00400  1024
        watchdog_reset              = (1U << 11),  // 0x00800  2048
        iomcu_reset                 = (1U << 12),  // 0x01000  4096
        iomcu_fail                  = (1U << 13),  // 0x02000  8192
        spi_fail                    = (1U << 14),  // 0x04000  16384
        main_loop_stuck             = (1U << 15),  // 0x08000  32768
        gcs_bad_missionprotocol_link= (1U << 16),  // 0x10000  65536
        bitmask_range               = (1U << 17),  // 0x20000  131072
        gcs_offset                  = (1U << 18),  // 0x40000  262144
        i2c_isr                     = (1U << 19),  // 0x80000  524288
        flow_of_control             = (1U << 20),  //0x100000  1048576 for generic we-should-never-get-here situations
        switch_full_sector_recursion= (1U << 21),  //0x200000  2097152
        bad_rotation                = (1U << 22),  //0x400000  4194304
        stack_overflow              = (1U << 23),  //0x800000  8388608
        imu_reset                   = (1U << 24),  //0x1000000 16777216
        gpio_isr                    = (1U << 25),  //0x2000000 33554432
        mem_guard                   = (1U << 26),  //0x4000000 67108864
        dma_fail                    = (1U << 27),  //0x8000000 134217728
        params_restored             = (1U << 28),  //0x10000000 268435456
        invalid_arg_or_result       = (1U << 29),  //0x20000000 536870912
        __LAST__                    = (1U << 30),  // used only for sanity check
    };