Crazyflie 2.0: Self test acc X [FAIL] [SOLVED]

[wtse]

I have a Crazyflie 2.0 with the Loco Positioning Deck that was previously working fine, but now does not start up properly. The console in the Crazyflie Client gives this response when connecting:

Code: Select all

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SYS: Crazyflie 2.0 is up and running!
SYS: Build 258:ffefd74d9b9a (2016.09-258) CLEAN
SYS: I am 0x3134383531334703270025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
DECK_DRIVERS: Found 9 drivers
DECK_INFO: Found 1 deck memory.
DECK_CORE: 1 deck enumerated
EEPROM: I2C connection [OK].
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483<F>
MPU6500: Self test acc X [<F>
YS: Assert failed src/lib/FreePU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647

...

MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
MPU6500: Self test acc X [FAIL]. low: -14.0, high: 14.0, measured: -2147483647.2147483647
DECK_CORE: Deck 0 test [OK].

I have flashed the Crazyflie firmware with a clean copy, and the problem persists. Is this a hardware issue, and do I have to replace the accelerometer?

[tobias]

First thing you can try is to gently knock the PCB against a table corner. We have seen cases where the accelerometer gets "stuck" and knocking the board can get it loose. There are also cases with badly soldered MPU9250 sensor. If the above doesn't work please fill in this form and we will arrange a replacement board for you. If you have soldering skills and access to hot air station you could also try to reflow the MPU9250 as a quicker solution.

[wtse]

I tried knocking the board, which did not resolve the problem, so I reflowed the MPU9250 as you suggested and everything is back to working order. Thank you for your help!

[tobias]

Great that you got it working!