High RAM usage on NXP FMUK66 on main (likely due to UAVCAN)

[dirksavage88]

Describe the bug

High ram usage (maxed) on main using the FMUK66 by Nxp.

To Reproduce

This is with uavcan enabled and active connections to a uavcan gps+mag. Could not open a system console or console commands not recognized due to max ram usage. Nothing else out of the ordinary running (see screenshot). There is 256k ram on this FMU

Expected behavior

Could not replicate on stable/1.13 where ram usage was not causing issues.

Screenshot / Media

Flight Log

Will send log on discord at request (dm)

Software Version

Main

Flight controller

FMUK66

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[dirksavage88]

So according to @PetervdPerk-NXP this is a known issue with uavcan enabled due to listener expansion with no known solution as of yet. Perhaps make uavcan selective of which listeners/topics?

[dirksavage88]

Thanks @junwoo091400 for updating the title now that we know the exact cause of the high ram usage on this board

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-august-02-2023/33434/1

[henrykotze]

I dont have that NXP board but try this PR whether it helps to reduce the RAM usage.
#21928

[dirksavage88]

I'll give it a shot @henrykotze.

In the mean time I disabled mavlink on the 2nd telem port and that helped reduce RAM usage.

[mrpollo]

Hey @PetervdPerk-NXP have you experience this before? Have any helpful tips for us?

[henrykotze]

@dirksavage88 you will just need to configure the board via the 'make boardconfig' command and disable all uavcan related subscribers and controllers.

[dirksavage88]

About 90%, and I disabled all the uavcan subscribers except for GPS (which I use over DroneCAN), optical flow (I have a can flow sensor I use from time to time) and rangefinder. Serial over telem is back to default.

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-september-20-2023/34296/2

[dirksavage88]

Fixed in #21928