[2026-02-16 20:16:54.565] ESP-ROM:esp32s3-20210327 [2026-02-16 20:16:54.565] Build:Mar 27 2021 [2026-02-16 20:16:54.565] rst:0x1 (POWERON),boot:0x8 (SPI_FAST_FLASH_BOOT) [2026-02-16 20:16:54.565] SPIWP:0xee [2026-02-16 20:16:54.565] mode:DIO, clock div:1 [2026-02-16 20:16:54.565] load:0x3fce2820,len:0x12d4 [2026-02-16 20:16:54.581] load:0x403c8700,len:0x4 [2026-02-16 20:16:54.581] load:0x403c8704,len:0xb90 [2026-02-16 20:16:54.581] load:0x403cb700,len:0x2e34 [2026-02-16 20:16:54.581] entry 0x403c88a0 [2026-02-16 20:16:54.837] I (283) cpu_start: Multicore app [2026-02-16 20:16:54.853] I (291) cpu_start: Pro cpu start user code [2026-02-16 20:16:54.853] I (291) cpu_start: cpu freq: 240000000 Hz [2026-02-16 20:16:54.853] I (292) app_init: Application information: [2026-02-16 20:16:54.866] I (294) app_init: ELF file SHA256: 580d6f7ef8630430... [2026-02-16 20:16:54.868] I (300) app_init: ESP-IDF: v5.3.1-1-gcc3203dc4f [2026-02-16 20:16:54.868] I (306) efuse_init: Min chip rev: v0.0 [2026-02-16 20:16:54.868] I (311) efuse_init: Max chip rev: v0.99 [2026-02-16 20:16:54.884] I (316) efuse_init: Chip rev: v0.2 [2026-02-16 20:16:54.884] I (321) heap_init: Initializing. RAM available for dynamic allocation: [2026-02-16 20:16:54.900] I (328) heap_init: At 3FCB57D8 len 00033F38 (207 KiB): RAM [2026-02-16 20:16:54.900] I (334) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM [2026-02-16 20:16:54.900] I (340) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM [2026-02-16 20:16:54.916] I (346) heap_init: At 600FE100 len 00001EE8 (7 KiB): RTCRAM [2026-02-16 20:16:54.916] I (353) spi_flash: detected chip: boya [2026-02-16 20:16:54.916] I (357) spi_flash: flash io: qio [2026-02-16 20:16:54.932] W (361) spi_flash: Detected size(16384k) larger than the size in the binary image header(8192k). Using the size in the binary image header. [2026-02-16 20:16:54.948] W (374) rmt(legacy): legacy driver is deprecated, please migrate to `driver/rmt_tx.h` and/or `driver/rmt_rx.h` [2026-02-16 20:16:54.948] W (385) i2c: This driver is an old driver, please migrate your application code to adapt `driver/i2c_master.h` [2026-02-16 20:16:54.964] I (399) main_task: Started on CPU0 [2026-02-16 20:16:54.964] I (404) main_task: Calling app_main() [2026-02-16 20:16:54.964] virtual void ESP32::Scheduler::init():76 running with CONFIG_FREERTOS_HZ=1000 [2026-02-16 20:16:54.981] oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo [2026-02-16 20:16:54.981] RCOutput::init() - channels available: 6 [2026-02-16 20:16:54.981] oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo [2026-02-16 20:16:54.996] I (428) gpio: GPIO[4]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-16 20:16:54.996] I (437) gpio: GPIO[5]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-16 20:16:55.012] I (446) gpio: GPIO[6]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-16 20:16:55.027] I (455) gpio: GPIO[7]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-16 20:16:55.027] I (464) gpio: GPIO[8]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-16 20:16:55.044] I (4� [2026-02-16 20:16:55.047] [2026-02-16 20:16:55.047] Init ArduRover V4.7.0-dev (7f8d0d3e) [2026-02-16 20:16:55.047] [2026-02-16 20:16:55.047] Free RAM: 172032 [2026-02-16 20:16:55.078] OK created task _main_thread on FASTCPU [2026-02-16 20:16:55.078] I (515) pp: pp rom version: e7ae62f [2026-02-16 20:16:55.078] I (515) net80211: net80211 rom version: e7ae62f [2026-02-16 20:16:55.078] OK created task _timer_thread on FASTCPU [2026-02-16 20:16:55.078] I (518) wifi:wifi driver task: 3fcc4790, prio:23, stack:6656, core=1 [2026-02-16 20:16:55.094] OK created task _rcout_thread on SLOWCPU [2026-02-16 20:16:55.094] OK created task _rcin_thread on SLOWCPU [2026-02-16 20:16:55.094] I (531) wifi:OK created task _uart_thread on FASTCPU [2026-02-16 20:16:55.110] wifi firmware version: ccaebfaOK created task _io_thread on SLOWCPU [2026-02-16 20:16:55.110] [2026-02-16 20:16:55.110] I (545) wifi:OK created task _storage_thread on SLOWCPU [2026-02-16 20:16:55.110] wifi certification version: v7.0 [2026-02-16 20:16:55.110] I (550) main_task: Returned from app_main() [2026-02-16 20:16:55.126] I (552) wifi:config NVS flash: enabled [2026-02-16 20:16:55.126] I (561) wifi:config nano formating: disabled [2026-02-16 20:16:55.126] I (565) wifi:Init data frame dynamic rx buffer num: 32 [2026-02-16 20:16:55.126] I (570) wifi:Init static rx mgmt buffer num: 5 [2026-02-16 20:16:55.142] I (574) wifi:Init management short buffer num: 32 [2026-02-16 20:16:55.142] I (578) wifi:Init dynamic tx buffer num: 32 [2026-02-16 20:16:55.142] I (582) wifi:Init static tx FG buffer num: 2 [2026-02-16 20:16:55.142] I (586) wifi:Init static rx buffer size: 1600 [2026-02-16 20:16:55.158] I (590) wifi:Init static rx buffer num: 10 [2026-02-16 20:16:55.158] I (594) wifi:Init dynamic rx buffer num: 32 [2026-02-16 20:16:55.158] No sdcard setup. [2026-02-16 20:16:55.174] I (598) wifi_init: rx ba win: 6 [2026-02-16 20:16:55.174] I (603) wifi_init: accept mbox: 6 [2026-02-16 20:16:55.174] I (607) wifi_init: tcpip mbox: 32 [2026-02-16 20:16:55.174] I (611) wifi_init: udp mbox: 6 [2026-02-16 20:16:55.205] I (615) wifi_init: tcp mbox: 6 [2026-02-16 20:16:55.205] I (619) wifi_init: tcp tx win: 5744 [2026-02-16 20:16:55.205] I (623) wifi_init: tcp rx win: 5744 [2026-02-16 20:16:55.205] I (627) wifi_init: tcp mss: 1440 [2026-02-16 20:16:55.205] I (631) wifi_init: WiFi IRAM OP enabled [2026-02-16 20:16:55.205] I (636) wifi_init: WiFi RX IRAM OP enabled [2026-02-16 20:16:55.205] I (643) phy_init: phy_version 680,a6008b2,Jun 4 2024,16:41:10 [2026-02-16 20:16:55.237] I (681) wifi:mode : softAP (32:ed:a0:a8:b6:44) [2026-02-16 20:16:55.237] I (683) wifi:Total power save buffer number: 16 [2026-02-16 20:16:55.237] I (684) wifi:Init max length of beacon: 752/752 [2026-02-16 20:16:55.253] I (684) wifi:Init max length of beacon: 752/752 [2026-02-16 20:16:55.253] WiFi softAP init finished. SSID: ardupilot123 password: ardupilot123 channel: 1 [2026-02-16 20:16:55.253] OK created task _wifi_thread for TCP with PORT 5760 on SLOWCPU [2026-02-16 20:16:55.270] I (702) esp_netif_lwip: DHCP server started on interface WIFI_AP_DEF with IP: 192.168.4.1 [2026-02-16 20:17:02.542] Init Gyro** [2026-02-16 20:17:02.909] 0 0 0 �-�Baro: no sensors found, skipping calibrationٛ� [2026-02-16 20:17:02.909] A�v� [2026-02-16 20:17:02.909] A��� [2026-02-16 20:17:02.909] A�b� [2026-02-16 20:17:02.909] A��� [2026-02-16 20:17:02.909] A�^� [2026-02-16 20:17:02.909] A��� [2026-02-16 20:17:02.909] A�J� [2026-02-16 20:17:02.909] AQ�� �Initialising ArduPilot#O� [2026-02-16 20:17:02.909] [2026-02-16 20:17:02.909] A`�� [2026-02-16 20:17:02.909] [2026-02-16 20:17:02.909] Ap2� [2026-02-16 20:17:02.909] [2026-02-16 20:17:02.909] A3�� [2026-02-16 20:17:02.909] A#�/�Beginning INS calibration. 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