[NuttX trace][HITL] Enabling NuttX "trace" makes PX4 build fail to boot (HITL)

PX4 Autopilot
1

Hi all,

I’m trying to enable the NuttX “trace” command in PX4 to analyze task scheduling,but when I build PX4 with the trace feature enabled, the firmware fails to boot in HITL environment

Environment

  • Target board: FMUv6X (STM32H7) Pixhawk6x
  • PX4 version: v1.16.0
  • Simulator: Gazebo Classic 11.15.1

Enabling NuttX configs

  • CONFIG_SCHED_INSTRUMENTATION=y
  • CONFIG_SCHED_INSTRUMENTATION_FILTER=y
  • CONFIG_DRIVERS_NOTE=y
  • CONFIG_DRIVERS_NOTERAM=y
  • CONFIG_DRIVERS_NOTECTL=y
  • CONFIG_SYSTEM_TRACE=y
  • CONFIG_DRIVERS_NOTERAM_BUFSIZE=16384

Disabling NuttX config

  • CONFIG_SCHED_CPULOAD=n

The build succeeds, and after loading it onto the Pixhawk 6X, I confirmed that the “trace” command works correctly when connecting PX4 directly to QGC.However, when I try to start HITL, it shows the message “tx queue overflow.”This issue only occurs when the trace feature is enabled.

Question

Has anyone successfully enabled the NuttX “trace” command on PX4 builds? Are there any required configuration options or limitations for FMUv6X (STM32H7)?

Any hints or example configs would be appreciated.
Thanks in advance!