[2026-02-16 16:45:24.199] I (291) cpu_start: Multicore app [2026-02-16 16:45:24.213] I (300) cpu_start: Pro cpu start user code [2026-02-16 16:45:24.213] I (300) cpu_start: cpu freq: 240000000 Hz [2026-02-16 16:45:24.217] I (300) app_init: Application information: [2026-02-16 16:45:24.217] I (303) app_init: ELF file SHA256: c440ebd191543816... [2026-02-16 16:45:24.217] I (309) app_init: ESP-IDF: v5.3.1-1-gcc3203dc4f [2026-02-16 16:45:24.231] I (315) efuse_init: Min chip rev: v0.0 [2026-02-16 16:45:24.238] I (320) efuse_init: Max chip rev: v0.99 [2026-02-16 16:45:24.247] I (325) efuse_init: Chip rev: v0.2 [2026-02-16 16:45:24.247] I (329) heap_init: Initializing. RAM available for dynamic allocation: [2026-02-16 16:45:24.247] I (337) heap_init: At 3FCB4510 len 00035200 (212 KiB): RAM [2026-02-16 16:45:24.263] I (343) heap_init: At 3FCE9710 len 00005724 (21 KiB): RAM [2026-02-16 16:45:24.268] I (349) heap_init: At 3FCF0000 len 00008000 (32 KiB): DRAM [2026-02-16 16:45:24.280] I (355) heap_init: At 600FE100 len 00001EE8 (7 KiB): RTCRAM [2026-02-16 16:45:24.286] I (362) spi_flash: detected chip: boya [2026-02-16 16:45:24.286] I (366) spi_flash: flash io: qio [2026-02-16 16:45:24.286] W (370) 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 16:45:24.305] W (383) rmt(legacy): legacy driver is deprecated, please migrate to `driver/rmt_tx.h` and/or `driver/rmt_rx.h` [2026-02-16 16:45:24.309] W (393) i2c: This driver is an old driver, please migrate your application code to adapt `driver/i2c_master.h` [2026-02-16 16:45:24.325] i2c_init: scl=14 sda=13 speed=2 [2026-02-16 16:45:24.326] I (411) gpio: GPIO[14]| InputEn: 0| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 [2026-02-16 16:45:24.341] I (417) gpio: GPIO[13]| InputEn: 0| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:0 [2026-02-16 16:45:24.341] I (426) gpio: GPIO[13]| InputEn: 1| OutputEn: 1| OpenDrain: 1| Pullup: 1| Pulldown: 0| Intr:0 [2026-02-16 16:45:24.358] I (435) gpio: GPIO[14]| InputEn: 1| OutputEn: 1| OpenDrain: 1| Pullup: 1| Pulldown: 0| Intr:0 [2026-02-16 16:45:24.364] I (448) main_task: Started on CPU0 [2026-02-16 16:45:24.373] [2026-02-16 16:45:24.373] [2026-02-16 16:45:24.373] nit ArduRover V4.7.0-dev (7f8d0d3e) [2026-02-16 16:45:24.373] [2026-02-16 16:45:24.373] Free RAM: 172032 [2026-02-16 16:45:24.373] Firmware change: erasing EEPROM... [2026-02-16 16:45:24.378] done. [2026-02-16 16:45:24.378] OK created task _main_thread on FASTCPU [2026-02-16 16:45:24.378] OK created task _timer_thread on FASTCPU [2026-02-16 16:45:24.378] OK created task _rcout_thread on SLOWCPU [2026-02-16 16:45:24.389] OK created task _rcin_thread on SLOWCPU [2026-02-16 16:45:24.389] OK created task _uart_thread on FASTCPU [2026-02-16 16:45:24.389] OK created task _io_thread on SLOWCPU [2026-02-16 16:45:24.400] No sdcard setup. [2026-02-16 16:45:24.400] OK created task _storage_thread on SLOWCPU [2026-02-16 16:45:24.405] I (485) main_task: Returned from app_main() [2026-02-16 16:45:39.810] I (15893) pp: pp rom version: e7ae62f [2026-02-16 16:45:39.811] I (15893) net80211: net80211 rom version: e7ae62f [2026-02-16 16:45:39.813] I (15894) wifi:wifi driver task: 3fcc7b04, prio:23, stack:6656, core=1 [2026-02-16 16:45:39.817] I (15902) wifi:wifi firmware version: ccaebfa [2026-02-16 16:45:39.822] I (15902) wifi:wifi certification version: v7.0 [2026-02-16 16:45:39.828] I (15906) wifi:config NVS flash: enabled [2026-02-16 16:45:39.834] I (15910) wifi:config nano formating: disabled [2026-02-16 16:45:39.834] I (15914) wifi:Init data frame dynamic rx buffer num: 32 [2026-02-16 16:45:39.843] I (15919) wifi:Init static rx mgmt buffer num: 5 [2026-02-16 16:45:39.845] I (15923) wifi:Init management short buffer num: 32 [2026-02-16 16:45:39.850] I (15928) wifi:Init dynamic tx buffer num: 32 [2026-02-16 16:45:39.856] I (15932) wifi:Init static tx FG buffer num: 2 [2026-02-16 16:45:39.856] I (15936) wifi:Init static rx buffer size: 1600 [2026-02-16 16:45:39.861] I (15940) wifi:Init static rx buffer num: 10 [2026-02-16 16:45:39.867] I (15944) wifi:Init dynamic rx buffer num: 32 [2026-02-16 16:45:39.872] I (15949) wifi_init: rx ba win: 6 [2026-02-16 16:45:39.873] I (15952) wifi_init: accept mbox: 6 [2026-02-16 16:45:39.878] I (15957) wifi_init: tcpip mbox: 32 [2026-02-16 16:45:39.884] I (15961) wifi_init: udp mbox: 6 [2026-02-16 16:45:39.889] I (15965) wifi_init: tcp mbox: 6 [2026-02-16 16:45:39.890] I (15968) wifi_init: tcp tx win: 5744 [2026-02-16 16:45:39.895] I (15973) wifi_init: tcp rx win: 5744 [2026-02-16 16:45:39.901] I (15977) wifi_init: tcp mss: 1440 [2026-02-16 16:45:39.906] I (15981) wifi_init: WiFi IRAM OP enabled [2026-02-16 16:45:39.910] I (15986) wifi_init: WiFi RX IRAM OP enabled [2026-02-16 16:45:39.912] I (15993) phy_init: phy_version 680,a6008b2,Jun 4 2024,16:41:10 [2026-02-16 16:45:39.949] W (16033) phy_init: saving new calibration data because of checksum failure, mode(0) [2026-02-16 16:45:39.961] I (16047) wifi:mode : softAP (32:ed:a0:a8:b6:44) [2026-02-16 16:45:39.961] I (16049) wifi:Total power save buffer number: 16 [2026-02-16 16:45:39.966] I (16049) wifi:Init max length of beacon: 752/752 [2026-02-16 16:45:39.972] I (16050) wifi:Init max length of beacon: 752/752 [2026-02-16 16:45:39.977] WiFi softAP init finished. SSID: ardupilot123 password: ardupilot123 channel: 1 [2026-02-16 16:45:39.982] OK created task _wifi_thread2 for UDP on port 14550 on SLOWCPU [2026-02-16 16:45:39.988] I (16068) esp_netif_lwip: DHCP server started on interface WIFI_AP_DEF with IP: 192.168.4.1 [2026-02-16 16:45:48.680] Init Gyro** [2026-02-16 16:45:48.849] 0 0 0 ��Calibrating barometer���o�� [2026-02-16 16:45:48.851] ���� [2026-02-16 16:45:48.852] A��� [2026-02-16 16:45:48.852] A�b� [2026-02-16 16:45:48.852] A���!�Barometer 1 calibration complete2��!�BarHome: -35.363262 149.165237 alt=584.000000m hdg=353.000000 [2026-02-16 16:45:48.856] ometer 2 calibration complete6� [2026-02-16 16:45:48.861] A�J� [2026-02-16 16:45:48.862] AQ�� [2026-02-16 16:45:48.866] AA&� [2026-02-16 16:45:48.866] [2026-02-16 16:45:48.867] A`�� [2026-02-16 16:45:48.867] [2026-02-16 16:45:48.867] Ap2� [2026-02-16 16:45:48.871] [2026-02-16 16:45:48.871] A3���Initialising ArduPilot��� [2026-02-16 16:45:48.877] A�� [2026-02-16 16:45:48.877] A� [2026-02-16 16:45:48.878] AY� [2026-02-16 16:45:48.883] A�� [2026-02-16 16:45:48.883] A,M� [2026-02-16 16:45:48.883] A<��/�Beginning INS calibration. Do not move vehicle|�� [2026-02-16 16:45:48.894] Ao�� [2026-02-16 16:45:48.894] ANe� [2026-02-16 16:45:48.894] A����ArduPilot ReadyX9��AHRS: DCM active� [2026-02-16 16:45:49.021] � [2026-02-16 16:45:49.022] Ac� [2026-02-16 16:45:49.035] s�loop_rate: actual: 100.000000Hz, expected: 100Hz [2026-02-16 16:45:50.024] �o�ߥ���� [2026-02-16 16:45:50.026] A �����$?�?����d��<7>�>�T�7�S�7�48O��7x�� !�d"�+����!J�DvU�>���" [2026-02-16 16:45:50.041] � [2026-02-16 16:45:50.041] � [2026-02-16 16:45:50.041] �������#}�_�$���ƍ�%*��� [2026-02-16 16:45:50.047] &$�������*'A�d�J;�( ����� �)t�d����Z��*�d�BlD( [2026-02-16 16:45:50.064] ���+��d�BlD( [2026-02-16 16:45:50.064] ^��,�����I� [2026-02-16 16:45:50.070] -�d���."�d�a'�,/��5��澦Ki1 [2026-02-16 16:45:50.076] ��������X��0�_2�1�FW�!��@��3;�Obp