Bitcraze Forums

Hi
Probably connected with my post "brutal unsteadiness", my cf2 do not calibrate during starting process. Left red blink do not end slow beating.
With a new tab giving calibration infos, I can see that gyro and acc calibrations are corrects. In the console, I see the "SYS: Free heap" information, at the end of this step.
Looking at the STM firmware, the system looks blocked in the starting of system, mainly in:
"XTaskCreate(systemTask, SYSTEM_TASK_NAME,..."
instruction (in system.c). Hence, I do not reach "VtaskScheduler()" in main.c.
I am actually too lazy to enter Free RTOS lib.
Help ?
Jean-Claude
Firmware is Oe886c2, modified with one DEBUG_PRINT("JCM XXXX SYTÈME LANCÉ") added between systemLaunch and vTaskSchelduler in main.c. This print does not appear in console printing:
Console:
SYS: ----------------------------
SYS: Crazyflie 2.0 is up and running!
SYS: Build 20:0e886c2c3176 (2017.06-20) MODIFIED
SYS: I am 0x3131393135355116350037 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_DRIVERS: Found 10 drivers
DECK_INFO: Found 1 deck memory.
DECK_CORE: 1 deck enumerated
MPU9250 I2C connection [OK].
AK8963 I2C connection [OK].
LPS25H I2C connection [OK].
ESTIMATOR: Using estimator 1
EEPROM: I2C connection [OK].
AK8963: Self test [OK].
DECK_CORE: Deck 0 test [OK].
SYS: Free heap: 19296 bytes

I am not sure about the calibration and I have asked Tobias to come by this topic since he wrote the calibration code.
Just a note about the debug print: the console data are cached and the cache is flushed when a \n is sent. So if you want to make sure your debug print makes it you need to add a new line character: DEBUG_PRINT("JCM XXXX SYTÈME LANCÉ\n").

HI
Yes this is a mistake.
I added "\n" but still no print on console.

The sensors self test will run during startup and run it up to 300 times. The comment says 3 seconds but it will take much longer that that since the test takes a while and it sleeps for 10ms each try. This is probably where the code can get stuck but eventually it should report self test failed.