I fixed the greyed-out-button-problem by updating the cfclient, nevermind. I can now see that about 30% of the CPU are labeled as IDLE. Still, the assert fails. So as you said it's probably that things do not happen quickly enough, not that we have used up all the CPU already. Is there a possibility to increase the time an assert waits before failing? Or maybe you have another idea. Even if it does not happen in every case, this is still a bug that slows down development a bit.
Here's an excerpt of an exemplary console output (the "adding Nstate ..." lines are from our code in case u wonder):
Code: Select all
...
SYSLOAD: Task dump
SYSLOAD: Load Stack left Name
SYSLOAD: 3.62 174 Tmr Svc
SYSLOAD: 3.03 91 LEDSEQCMD
SYSLOAD: 32.88 128 IDLE
SYSLOAD: 1.13 108 CRTP-SRV
SYSLOAD: 0.05 133 USDLOG
SYSLOAD: 0.06 49 P2P-SWARM
SYSLOAD: 0.0 76 PWRMGNT
SYSLOAD: 0.56 73 MR
SYSLOAD: 1.77 213 CRTP-RX
SYSLOAD: 29.94 261 LPS
SYSLOAD: 0.05 161 app
SYSLOAD: 0.0 317 USDWRITE
SYSLOAD: 0.0 108 PLATFORM-
SYSLOAD: 0.0 252 LOG
SYSLOAD: 0.0 257 PARAM
SYSLOAD: 0.0 223 MEM
SYSLOAD: 0.12 156 SYSTEM
SYSLOAD: 0.10 61 CRTP-TX
SYSLOAD: 5.10 367 STABILIZE
SYSLOAD: 6.93 143 SENSORS
SYSLOAD: 2.53 175 SYSLINK
SYSLOAD: 12.05 326 KALMAN
SYSLOAD: 0.0 113 USBLINK
SYSLOAD: 0.0 255 CMDHL
adding Nstate 164 (f: 0, uwb: 1)
adding Nstate 164 (f: 0, uwb: 1)
adding Nstate 164 (f: 0, uwb: 1)
adding Nstate 164 (f: 0, uwb: 1)
adding Nstate 164 (f: 0, uwb: 1)
adding Nstate 164 (f: 0, uwb: 1)
uSD: Logging to: sd_log59
adding Nstate 164 (f: 0, uwb: 1)
SYS: ----------------------------
SYS: Crazyflie 2.1 is up and running!
SYS: Build 24:c2790c0d9ed6 (2022.01 +24) MODIFIED
ash!
CFGBLK: v1, verification [OK]
DECK_CORE: 3 deck(s) found
DECK_CORE: Calling INIT on driver bcUSD for deck 0
uSD: mount SD-Card [OK].
DECK_CORE: Calling INIT on driver bcMultiranger for deck 1
uSD: wait for sensors
DECK_CORE: Calling INIT on driver bcDWM1000 for deck 2
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP388 I2C connection [OK]
ESTIMATOR: Using Kalman (2) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushed motor driver
SYS: About to run tests in system.c.
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
DECK_CORE: Deck 0 test [OK].
MR: Init front sensor [OK]
MR: Init back sensor [OK]
MR: Init up sensor [OK]
MR: Init left sensor [OK]
MR: Init right sensor [OK]
DECK_CORE: Deck 1 test [OK].
DECK_CORE: Deck 2 test [OK].
SYS: The system resumed after a failed assert [WARNING]
SYS: Assert failed at crazyflie-firmware/src/deck/drivers/src/usddeck.c:795
SYS: cfAssertNormalStart [FAIL]
SYSLOAD: Task dump
SYSLOAD: Load Stack left Name
SYSLOAD: 2.28 231 Tmr Svc
SYSLOAD: 89.82 128 IDLE
SYSLOAD: 1.12 156 SYSTEM
SYSLOAD: 1.44 213 CRTP-RX
SYSLOAD: 0.0 76 PWRMGNT
SYSLOAD: 0.0 267 app
SYSLOAD: 0.0 262 LOG
SYSLOAD: 0.0 118 PLATFORM-
SYSLOAD: 0.0 255 CMDHL
SYSLOAD: 0.0 354 KALMAN
SYSLOAD: 0.0 199 USDLOG
SYSLOAD: 0.0 227 MR
SYSLOAD: 0.0 417 LPS
SYSLOAD: 0.0 187 SENSORS
SYSLOAD: 0.0 369 STABILIZE
SYSLOAD: 0.0 266 MEM
SYSLOAD: 0.01 71 CRTP-TX
SYSLOAD: 0.0 261 PARAM
SYSLOAD: 2.02 175 SYSLINK
SYSLOAD: 2.25 91 LEDSEQCMD
SYSLOAD: 1.0 108 CRTP-SRV
SYSLOAD: 0.0 113 USBLINK