I am using a snapdragon Flight board for development and I have been trying to build PX4 binaries into it. I installed the toolchain by following the instructions in http://dev.px4.io/starting-installing-linux.html, and updated the ADSP by following the instructions present in http://dev.px4.io/advanced-snapdragon.html. Everything ran perfectly without any error.
I ran “make eagle_default” followed by “make eagle_default upload” to load the software into the board.
Anyway, I managed to get rid of the krait update error by using an older commit. I did the following basically:
cd src/Firmware
git checkout d57e9f13d7b1c7a0639808baf7f5b47d16369df6
git submodule update --init --recursive
make eagle_default
make eagle_default update
So yes, that fixed the krait error. But my mini-dm output is still not convincing. Here’s what my mini-dm spits out now:
[08500/00] 29:22.105 HAP:61:In dspal_entry 0222 main.cpp
[08500/00] 29:22.126 HAP:61:attempting to open the ADSP command file: /dev/fs/px4.config 0186 main.cpp
[08500/00] 29:22.127 HAP:61:reading commands from /dev/fs/px4.config 0193 main.cpp
[08500/02] 29:22.131 HAP:61:Sleeping for 1, 1000000 0118 apps.h
[08500/00] 29:23.132 configuring UART for 4-wire mode, DAL id: 0x2001001 0852 DalUart.c
[08500/02] 29:23.138 HAP:61:Batch transfer failed: 0x110000c8 0524 i2c.c
[08500/00] 29:23.138 HAP:61:1033719 error: read register reports a read of -1 bytes, but attempted to set 1 bytes 0133 I2CDevObj.cpp
[08500/00] 29:23.138 HAP:61:1033761 error: unable to communicate with the hmc5883 mag sensor 0086 HMC5883.cpp
[08500/00] 29:23.138 HAP:61:1033794 error: mag sensor initialization failed, sensor read thread not started 0155 HMC5883.cpp
[08500/03] 29:23.138 HAP:61:HMC5883 start fail: -5 0165 df_hmc5883_wrapper.cpp
[08500/03] 29:23.138 HAP:61:DfHmc9250Wrapper start failed 0347 df_hmc5883_wrapper.cpp
[08500/00] 29:23.240 HAP:61:1136193 Reset MPU9250 0089 MPU9250.cpp
[08500/00] 29:24.341 HAP:61:2237171 I2C transfer to mag timed out 0464 MPU9250_mag.cpp
[08500/00] 29:24.341 HAP:61:2237212 MPU9250 soft reset failed. 0082 MPU9250_mag.cpp
[08500/00] 29:24.341 HAP:61:2237408 mag initialization failed 1 tries 0202 MPU9250_mag.cpp
[08500/00] 29:24.406 HAP:60:2301728 IMU temperature initialized to: 54.191135 0516 MPU9250.cpp
[08500/00] 29:24.408 HAP:61:2303720 additional sensor configuration succeeded 0187 BMP280.cpp
[08500/03] 29:24.410 HAP:61:start 0204 df_trone_wrapper.cpp
[08500/02] 29:24.411 HAP:61:I2C_Write failed: 285212872 num_bytes_written 0 0414 i2c.c
[08500/00] 29:24.411 HAP:61:2306663 Error: i2c write failed. Reported -1 bytes written 0216 I2CDevObj.cpp
[08500/00] 29:24.411 HAP:61:2306700 Nonzero result when writing to TRONE_WHO_AM_I_REG 0x1 0110 TROne.cpp
[08500/00] 29:24.411 HAP:61:2306735 probing not successful 0071 TROne.cpp
[08500/03] 29:24.411 HAP:61:TROne start fail: -1 0134 df_trone_wrapper.cpp
[08500/03] 29:24.411 HAP:61:DfTROneWrapper start failed 0215 df_trone_wrapper.cpp
[08500/02] 29:24.418 HAP:28712:Batch transfer failed: 0x110000c8 0524 i2c.c
[08500/00] 29:24.418 HAP:28712:2314126 error: read register reports a read of -1 bytes, but attempted to set 1 bytes 0133 I2CDevObj.cpp
[08500/00] 29:24.418 HAP:28712:2314170 error: unable to communicate with the hmc5883 mag sensor 0086 HMC5883.cpp
[08500/00] 29:24.418 HAP:28712:2314205 error: mag sensor initialization failed, sensor read thread not started 0155 HMC5883.cpp
[08500/03] 29:24.418 HAP:28712:HMC5883 start fail: -5 0165 df_hmc5883_wrapper.cpp
[08500/02] 29:24.420 HAP:28712:Batch transfer failed: 0x110000c8 0524 i2c.c
[08500/00] 29:24.420 HAP:28712:2315875 error: read register reports a read of -1 bytes, but attempted to set 1 bytes 0133 I2CDevObj.cpp
[08500/00] 29:24.420 HAP:28712:2315917 error: unable to communicate with the hmc5883 mag sensor 0086 HMC5883.cpp
[08500/00] 29:24.420 HAP:28712:2315949 error: mag sensor initialization failed, sensor read thread not started 0155 HMC5883.cpp
[08500/03] 29:24.420 HAP:28712:HMC5883 start fail: -5 0165 df_hmc5883_wrapper.cpp
[08500/02] 29:24.421 HAP:12327:LED: getHandle fail 0269 commander_helper.cpp
[08500/02] 29:24.421 HAP:12327:LED init failed 1298 commander.cpp
[08500/02] 29:24.421 HAP:12327:Buzzer: px4_open fail 0132 commander_helper.cpp
[08500/02] 29:24.421 HAP:12327:Buzzer init failed 1302 commander.cpp
[08500/02] 29:24.423 HAP:12327:Preflight checks always pass on Snapdragon. 0392 PreflightCheck.cpp
[08500/00] 29:24.488 configuring UART for 4-wire mode, DAL id: 0x2001005 0852 DalUart.c
[08500/00] 29:24.488 HAP:34:Trying to initialize mixer from config file /dev/fs/quad_x.main.mix 0145 pwm_out_rc_in.cpp
[08500/00] 29:24.490 HAP:34:Successfully initialized mixer from config file 0157 pwm_out_rc_in.cpp
[08500/02] 29:24.490 HAP:28712:Batch transfer failed: 0x110000c8 0524 i2c.c
[08500/00] 29:24.490 HAP:28712:2385605 error: read register reports a read of -1 bytes, but attempted to set 1 bytes 0133 I2CDevObj.cpp
[08500/00] 29:24.490 HAP:28712:2385649 error: unable to communicate with the hmc5883 mag sensor 0086 HMC5883.cpp
[08500/00] 29:24.490 HAP:28712:2385683 error: mag sensor initialization failed, sensor read thread not started 0155 HMC5883.cpp
[08500/03] 29:24.490 HAP:28712:HMC5883 start fail: -5 0165 df_hmc5883_wrapper.cpp
[08500/00] 29:26.061 HAP:37:EKF using pressure height - commencing alignment 0409 ekf.cpp
[08500/00] 29:30.801 HAP:37:EKF alignment complete 0064 control.cpp
Some people were having problems with old firmware on the Hexagon-side. It seems like your Hexagon proc is having trouble connecting to sensors, so that might be your issue as well. Try uploading new firmware to the hexagon. I believe there is a tutorial on the dev.px4.io website to do this.
