Dear developers
I made a flight control board by myself and ported the official PX4 code. The version is V1.15.4. During the testing process, I encountered an error. The error message is as follows:
My code repository connection is as follows:
amovlgf/PX4-Autopilot at icf6_v2_v1.15.4
I merely added the contents located in the directories of boards/amovlab/icf6.
The startup information recorded inside the SD card is as follows:
HW arch: AMOVLAB_ICF6
HW type: ICF6000000
HW version: 0x000
HW revision: 0x000
PX4 git-hash: b6457735fcc7c49cc806a6168f99d717911ff988
PX4 version: 1.15.4 0 (17761280)
PX4 git-branch: icf6_v2_v1.15.4
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc
Build datetime: Jul 22 2025 11:41:10
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.2.1 20201103 (release)
PX4GUID: 0006000000003335353732335103003a004f
MCU: STM32H7[4|5]xxx, rev. V
INFO [param] selected parameter default file /fs/mtd_params
INFO [param] importing from ‘/fs/mtd_params’
WARN [parameters] ignoring unrecognised parameter ‘CAL_ACC0_P?’
ERROR [tinybson] killed: unsupported node type
ERROR [parameters] param import failed (-1) attempt 1
ERROR [tinybson] killed: unsupported node type
ERROR [parameters] param import failed (-1) attempt 2
ERROR [tinybson] killed: unsupported node type
ERROR [parameters] param import failed (-1) attempt 3
ERROR [param] importing from ‘/fs/mtd_params’ failed (-1)
ERROR [init] param import failed
[bsondump] reading from /fs/mtd_params
BSON document size 5196114
ERROR [tinybson] killed: unsupported node type
ERROR [bsondump] failed (-1)
[init] importing from parameter backup
[bsondump] reading from /fs/microsd/parameters_backup.bson
BSON document size 719
BSON_INT32: CAL_ACC0_ID = 2490402
BSON_INT32: CAL_ACC0_PRIO = 50
BSON_DOUBLE: CAL_ACC0_XOFF = -0.052092
BSON_DOUBLE: CAL_ACC0_YOFF = -0.004663
BSON_DOUBLE: CAL_ACC0_ZOFF = -0.090211
BSON_INT32: CAL_BARO0_ID = 3997706
BSON_DOUBLE: CAL_BARO0_OFF = -46.968750
BSON_INT32: CAL_BARO0_PRIO = 50
BSON_INT32: CAL_BARO1_ID = 6780425
BSON_DOUBLE: CAL_BARO1_OFF = -38.742188
BSON_INT32: CAL_BARO1_PRIO = 75
BSON_INT32: CAL_GYRO0_ID = 6684682
BSON_INT32: CAL_GYRO0_PRIO = 50
BSON_DOUBLE: CAL_GYRO0_XOFF = 0.001257
BSON_DOUBLE: CAL_GYRO0_YOFF = 0.000843
BSON_DOUBLE: CAL_GYRO0_ZOFF = 0.002553
BSON_INT32: CAL_GYRO1_ID = 2490402
BSON_INT32: CAL_GYRO1_PRIO = 50
BSON_DOUBLE: CAL_GYRO1_XOFF = 0.010901
BSON_DOUBLE: CAL_GYRO1_YOFF = 0.000238
BSON_DOUBLE: CAL_GYRO1_ZOFF = -0.008806
BSON_INT32: PWM_MAIN_FUNC1 = 101
BSON_INT32: PWM_MAIN_FUNC2 = 102
BSON_INT32: PWM_MAIN_FUNC3 = 103
BSON_INT32: PWM_MAIN_FUNC4 = 104
BSON_INT32: PWM_MAIN_MAX1 = 1900
BSON_INT32: PWM_MAIN_MAX2 = 1900
BSON_INT32: PWM_MAIN_MAX3 = 1900
BSON_INT32: PWM_MAIN_MAX4 = 1900
BSON_INT32: PWM_MAIN_MIN1 = 1100
BSON_INT32: PWM_MAIN_MIN2 = 1100
BSON_INT32: PWM_MAIN_MIN3 = 1100
BSON_INT32: PWM_MAIN_MIN4 = 1100
BSON_INT32: PWM_MAIN_TIM0 = -3
BSON_INT32: SDLOG_MODE = 2
BSON_EOO
BSON decoded 719 bytes (double:11, string:0, bin:0, bool:0, int32:24, int64:0)
INFO [param] importing from ‘/fs/microsd/parameters_backup.bson’
INFO [parameters] BSON document size 719 bytes, decoded 719 bytes (INT32:24, FLOAT:11)
INFO [parameters] summary: 0/1640 (used/total)
INFO [parameters] file: /fs/mtd_params
INFO [parameters] storage array: 35/1640 elements (288 bytes total)
INFO [parameters] storage array (custom defaults): 0/1640 elements (256 bytes total)
INFO [parameters] auto save: on
param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
param: find: 37 events
param: get: 0 events
param: set: 36 events, 265us elapsed, 7.36us avg, min 1us max 13us 1.839us rms
dmesg [47:100]
INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson
Could someone please help me figure out the reason for this problem? Thank you very much.