[2026-02-14 09:54:21.915] I (552) cpu_start: Multicore app [2026-02-14 09:54:21.925] I (560) cpu_start: Pro cpu start user code [2026-02-14 09:54:21.928] I (560) cpu_start: cpu freq: 240000000 Hz [2026-02-14 09:54:21.932] I (560) app_init: Application information: [2026-02-14 09:54:21.937] I (563) app_init: ELF file SHA256: 5c6303b3bfc8ede4... [2026-02-14 09:54:21.946] I (569) app_init: ESP-IDF: v5.3.1-1-gcc3203dc4f [2026-02-14 09:54:21.949] I (575) efuse_init: Min chip rev: v0.0 [2026-02-14 09:54:21.954] I (580) efuse_init: Max chip rev: v3.99 [2026-02-14 09:54:21.960] I (585) efuse_init: Chip rev: v3.1 [2026-02-14 09:54:21.962] I (590) heap_init: Initializing. RAM available for dynamic allocation: [2026-02-14 09:54:21.971] I (597) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM [2026-02-14 09:54:21.976] I (603) heap_init: At 3FFC5D00 len 0001A300 (104 KiB): DRAM [2026-02-14 09:54:21.982] I (609) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM [2026-02-14 09:54:21.991] I (616) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM [2026-02-14 09:54:22.004] I (622) heap_init: At 4009D0AC len 00002F54 (11 KiB): IRAM [2026-02-14 09:54:22.004] I (629) spi_flash: detected chip: generic [2026-02-14 09:54:22.007] I (633) spi_flash: flash io: qio [2026-02-14 09:54:22.010] W (637) rmt(legacy): legacy driver is deprecated, please migrate to `driver/rmt_tx.h` and/or `driver/rmt_rx.h` [2026-02-14 09:54:22.021] W (647) i2c: This driver is an old driver, please migrate your application code to adapt `driver/i2c_master.h` [2026-02-14 09:54:22.035] I (670) main_task: Started on CPU0 [2026-02-14 09:54:22.038] I (671) main_task: Calling app_main() [2026-02-14 09:54:22.043] virtual void ESP32::Scheduler::init():76 running with CONFIG_FREERTOS_HZ=1000 [2026-02-14 09:54:22.050] oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo [2026-02-14 09:54:22.054] RCOutput::init() - channels available: 6 [2026-02-14 09:54:22.060] oooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooooo [2026-02-14 09:54:22.070] I (692) gpio: GPIO[25]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.074] I (701) gpio: GPIO[27]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.085] I (710) gpio: GPIO[33]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.093] I (719) gpio: GPIO[32]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.101] I (729) gpio: GPIO[26]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.112] I (738) gpio: GPIO[0]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.481] [2026-02-14 09:54:22.481] [2026-02-14 09:54:22.481] Init ArduRover V4.7.0-dev (046fb7d5) [2026-02-14 09:54:22.485] [2026-02-14 09:54:22.485] Free RAM: 110592 [2026-02-14 09:54:22.535] OK created task _main_thread on FASTCPU [2026-02-14 09:54:22.538] OK created task _timer_thread on FASTCPU [2026-02-14 09:54:22.541] OK created task _rcout_thread on SLOWCPU [2026-02-14 09:54:22.544] OK created task _rcin_thread on SLOWCPU [2026-02-14 09:54:22.556] I (1173) wifi:wifi driver task: 3ffd304c, prio:23, stack:6656, core=1 [2026-02-14 09:54:22.556] OK created task _uart_thread on FASTCPU [2026-02-14 09:54:22.559] OK created task _io_thread on SLOWCPU [2026-02-14 09:54:22.561] I (1186) wifi:wifi firmware version: ccaebfaOK created task _storage_thread on SLOWCPU [2026-02-14 09:54:22.569] [2026-02-14 09:54:22.569] I (1196) wifi:I (1196) main_task: Returned from app_main() [2026-02-14 09:54:22.574] wifi certification version: v7.0 [2026-02-14 09:54:22.580] I (1205) wifi:config NVS flash: enabled [2026-02-14 09:54:22.582] I (1208) wifi:config nano formating: disabled [2026-02-14 09:54:22.585] I (1213) wifi:Init data frame dynamic rx buffer num: 16 [2026-02-14 09:54:22.593] I (1217) wifi:Init static rx mgmt buffer num: 5 [2026-02-14 09:54:22.599] I (1222) wifi:Init management short buffer num: 32 [2026-02-14 09:54:22.603] I (1226) wifi:Init dynamic tx buffer num: 16 [2026-02-14 09:54:22.610] I (1230) wifi:Init static rx buffer size: 1600 [2026-02-14 09:54:22.610] I (1234) wifi:Init static rx buffer num: 2 [2026-02-14 09:54:22.623] I (1238) wifi:Init dynamic rx buffer num: 16 [2026-02-14 09:54:22.623] Mounting sd [2026-02-14 09:54:22.623] I (1243) wifi_init: rx ba win: 4 [2026-02-14 09:54:22.623] I (1243) SD...: Initializing SD card as SDSPI [2026-02-14 09:54:22.633] I (1247) wifi_init: accept mbox: 6 [2026-02-14 09:54:22.633] I (1253) gpio: GPIO[5]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.643] I (1256) wifi_init: tcpip mbox: 32 [2026-02-14 09:54:22.649] I (1270) wifi_init: udp mbox: 6 [2026-02-14 09:54:22.653] I (1274) wifi_init: tcp mbox: 6 [2026-02-14 09:54:22.653] I (1277) wifi_init: tcp tx win: 5744 [2026-02-14 09:54:22.659] I (1282) wifi_init: tcp rx win: 5744 [2026-02-14 09:54:22.666] I (1286) wifi_init: tcp mss: 1436 [2026-02-14 09:54:22.666] I (1290) wifi_init: WiFi IRAM OP enabled [2026-02-14 09:54:22.671] I (1294) wifi_init: WiFi RX IRAM OP enabled [2026-02-14 09:54:22.714] I (1350) phy_init: phy_version 4830,54550f7,Jun 20 2024,14:22:08 [2026-02-14 09:54:22.832] E (1467) sdmmc_sd: sdmmc_init_sd_if_cond: send_if_cond (1) returned 0x108 [2026-02-14 09:54:22.839] E (1467) vfs_fat_sdmmc: sdmmc_card_init failed (0x108). [2026-02-14 09:54:22.855] I (1470) gpio: GPIO[5]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0 [2026-02-14 09:54:22.858] sdcard is not mounted [2026-02-14 09:54:22.877] W (1513) phy_init: saving new calibration data because of checksum failure, mode(0) [2026-02-14 09:54:22.891] I (1526) wifi:mode : softAP (fa:b3:b7:2a:ee:40) [2026-02-14 09:54:22.895] I (1528) wifi:Total power save buffer number: 8 [2026-02-14 09:54:22.903] I (1528) wifi:Init max length of beacon: 752/752 [2026-02-14 09:54:22.908] I (1529) wifi:Init max length of beacon: 752/752 [2026-02-14 09:54:22.913] WiFi softAP init finished. SSID: ardupilot123 password: ardupilot123 channel: 1 [2026-02-14 09:54:22.917] OK created task _wifi_thread for TCP with PORT 5760 on SLOWCPU [2026-02-14 09:54:22.922] I (1550) esp_netif_lwip: DHCP server started on interface WIFI_AP_DEF with IP: 192.168.4.1 [2026-02-14 09:54:22.932] AP_Logger_File: buffer size=16384 [2026-02-14 09:54:23.000] No Compass backends available [2026-02-14 09:54:30.051] Init Gyro** [2026-02-14 09:54:30.418] 0 0 0 § [2026-02-14 09:54:30.418] A•ј§-§Baro: no sensors found, skipping calibration;ф§ [2026-02-14 09:54:30.432] AЄь§ [2026-02-14 09:54:30.432] AДb§ [2026-02-14 09:54:30.432] Aїа§ [2026-02-14 09:54:30.432] Aч^§ [2026-02-14 09:54:30.432] AЦФ§ [2026-02-14 09:54:30.441] AжJ§ [2026-02-14 09:54:30.450] AQЈ§ §Initialising ArduPilot#O§ [2026-02-14 09:54:30.450] [2026-02-14 09:54:30.450] A`М§ [2026-02-14 09:54:30.450] [2026-02-14 09:54:30.450] Ap2§ [2026-02-14 09:54:30.450] [2026-02-14 09:54:30.450] A3€§ [2026-02-14 09:54:30.451] A#§ [2026-02-14 09:54:30.451] A”§/§Beginning INS calibration. Do not move vehicleИ‰§ [2026-02-14 09:54:30.465] AY§ [2026-02-14 09:54:30.465] Aз§ [2026-02-14 09:54:30.468] AЇI§§ArduPilot ReadyХ§§AHRS: DCM active�ÿ§ [2026-02-14 09:54:30.956] Aфћ§Ѓ€?€?熧#ч [2026-02-14 09:54:30.965] С=еДъ;оgЎ9š§г§˜ÿÿp2§*|•§ [2026-02-14 09:54:30.982] $�‰ммœa§*A#ÿ‡§ ‰мÿ!ќ’§!ÿÿÿÿќ™§ [2026-02-14 09:54:31.001] "+#9Q§#"+#ÿ9§$ёьa‰smH5@%Є4Нс„4Cx§ % [2026-02-14 09:54:31.936] šэ§&§Radio Failsafeа§ ' [2026-02-14 09:54:31.957] Ћљ§(Ѓ [2026-02-14 09:54:31.966] t?€?š§)ы&nМФ?’„›=iT–=1X:6Z\ [2026-02-14 09:54:31.966] 8~,Ж/Ф§*!ы&ЄK<§+JSќ§,м €lÿÿÿ„в§-}1#§.˜ÿÿ`§/*ЏЉ§ [2026-02-14 09:54:31.979] 0$рW˜ммђl§*1A'ÿ/l§2˜мÿ!ќйc§3oй”!е*Х@§?J//§@м €Јÿÿÿ\С§A}RЫ§B˜ÿÿ`ф§C*хк§ [2026-02-14 09:54:32.989] D$УŸЇммq§*EAщ*ÿž§F… Їмÿ!ќ §GÿÿÿÿNО§ [2026-02-14 09:54:33.001] H§*зM§I"§*ÿ}ш§JСS4‹sƒ=™ј§KёŸ:Ј€1€3€3ЗжMounting sd [2026-02-14 09:54:33.417] I (12053) SD...: Initializing SD card as SDSPI [2026-02-14 09:54:33.425] E (12053) spi: spi_bus_initialize(800): SPI bus already initialized. [2026-02-14 09:54:33.434] E (12055) SD...: Failed to initialize bus. [2026-02-14 09:54:33.958] § L [2026-02-14 09:54:33.959] Mю§MЃLЂI>€?�Љ§ [2026-02-14 09:54:33.967] NВі@Eвe=цj€6<#§OН.іЯ@LLf=œ)>Ъ“)8§,V6ш_ЧЖ’Э§P!Н.иBp§QJщf§Rм €ПÿÿÿЪё§S}E›§T˜ÿÿ`Ћ<§U*№Ш§ [2026-02-14 09:54:33.990] V$ўсЖмм!§*WAб.ÿ.§XПтЖмÿ!ќsb§Yÿÿÿÿž§ [2026-02-14 09:54:34.001] Zх.A§["х.ÿЃў§ [2026-02-14 09:54:34.014] \Сk;6Y.њ>оЊ§]ё}З€1€3€3�V§ ^ [2026-02-14 09:54:34.958] є[§_ЃН.І=€?Р§ [2026-02-14 09:54:34.966] `Вќє@šЫe=ИH7ˆ§aЅ2і@rЧe=O>ƒћ6ЅyoЗ†АЗЄ<§b!Ѕ2йЌЗ§cJO|§dм €Сÿÿÿ&Ъ§e}|k§f˜ÿÿ`В§g*#є§ [2026-02-14 09:54:34.983] h$›$ЦммыB§*iAЙ2ÿьШ§j%Цмÿ!ќRТ§kÿÿÿÿsЬ§ [2026-02-14 09:54:35.001] lЭ2жС§m"Э2ÿЛ§ [2026-02-14 09:54:35.010] nСв [2026-02-14 09:54:35.010] 7ІАp?Р“§oё5ПЦ€1€3€3Є§ p [2026-02-14 09:54:35.958] b|§qЃћ8F:ћ8F:Ќp3lк<€?n§ [2026-02-14 09:54:35.966] rВ№ѓ@gОe=ЯJ7яЙ§s6'љ@u{e=Лd>ˆКH:рN:^nЗйШ§t!6йбD§uJг3§vм €Сÿÿÿk§w}k;§x˜ÿÿ`Ю…§y*кь§ [2026-02-14 09:54:35.984] z$ШfеммA§*{AЁ6ÿЇш§|ƒемÿ!ќšh§}ÿÿÿÿeq§ [2026-02-14 09:54:36.001] ~Е6SШ§"Е6ÿЮ§ [2026-02-14 09:54:36.010] €Сљœ7œžЎ?™Л§ёPж€1€3€3ЅМMounting sd [2026-02-14 09:54:36.418] I (15054) SD...: Initializing SD card as SDSPI [2026-02-14 09:54:36.427] E (15054) spi: spi_bus_initialize(800): SPI bus already initialized. [2026-02-14 09:54:36.436] E (15056) SD...: Failed to initialize bus. [2026-02-14 09:54:36.958] § ‚ [2026-02-14 09:54:36.958] Э0§ƒЃћ8F:ћ8F:Ќp3Йv<€?Fє§ [2026-02-14 09:54:36.969] „Вoѓ@Сe=)йu7 Л§…u:cÿ@Жrd=Ю№>’!K:€БJ:УМЕю秆!u:мЈ”§‡Jя‰§ˆм €ЦÿÿÿHТ§‰}§H§Š˜ÿÿ`УЮ§‹*Љ)§ [2026-02-14 09:54:36.989] Œ$ЏЉфммЄ§*A‰:ÿ‘9§�Њфмÿ!ќHf§�ÿÿÿÿЩ§§ [2026-02-14 09:54:37.005] :1§‘":ÿх?§ [2026-02-14 09:54:37.011] ’СМx 7З@Ag§“ёКDхE“[7+]Ћ6ЏІі5™§ ” [2026-02-14 09:54:37.958] ­§•Ѓћ8F:ћ8F:Ќp3x „;€?пЗ§ [2026-02-14 09:54:37.969] –Вшђ@§Оe=K–Х6лЅ§—]>Œÿ@’rd=hv>•�I:�хH:P ‚Жь;§˜!]>пyс§™Jq [2026-02-14 09:54:37.980] §šм €ЧÿÿÿЕМ§›}ъ§œ˜ÿÿ`y§*М;§ [2026-02-14 09:54:37.991] ž$Xьѓммк§*ŸAq>ÿz№§ эѓмÿ!ќS [2026-02-14 09:54:38.003] §Ёÿÿÿÿ§ [2026-02-14 09:54:38.003] Ђ…>,§Ѓ"…>ÿєі§ [2026-02-14 09:54:38.013] ЄС}Qс7СЂ@1š§Ѕёп†є|№2J‚3œE€3Є§"І§EKF3 IMU0 tilt alignment complete [2026-02-14 09:54:38.282] Х§Ї§AHRS: EKF3 active…§ Ј [2026-02-14 09:54:38.958] 9?§ЉЃЅr4€Ёe Бѕп:€?ја§ [2026-02-14 09:54:38.967] ЊВÿ@Њqd=ќў>Ъ§ЋEB}ђ@1Оe=Яг7‘aЗ4§”7Cu7ъ§Ќ!EB% Я§­Jq9з—/Т”§Ўм €ЯÿÿÿС§Џ}Му§А˜ÿÿ`Џ§Б*–§ [2026-02-14 09:54:38.984] В$/мм)Њ§*ГAYBÿЊ;§ДЩ/мÿ!ќŠЯ§Еÿÿÿÿт2§ [2026-02-14 09:54:39.003] ЖmBЮђ§З"mBÿ›§ИСБ8ХAЇ.С§Йё•Эћ€1€3€3™QMounting sd [2026-02-14 09:54:39.419] I (18055) SD...: Initializing SD card as SDSPI [2026-02-14 09:54:39.431] E (18055) spi: spi_bus_initialize(800): SPI bus already initialized. [2026-02-14 09:54:39.442] E (18057) SD...: Failed to initialize bus.