usd unable to log

[easy98]

Hi,

My usd is not able to log any logging variables due to the assert problem here(

crazyflie-firmware/src/deck/drivers/src/usddeck.c

Line 504 in b448553

if (!enableLogging && lastEnableLogging != enableLogging) {

). I use the latest firmware.

SUMMARY
========

PARAMETERS

• /crazyflieTypes/CF21SingleMarker/batteryVoltageWarning: 3.8
• /crazyflieTypes/CF21SingleMarker/batteryVoltateCritical: 3.7
• /crazyflieTypes/CF21SingleMarker/bigQuad: False
• /crazyflieTypes/CF21SingleMarker/dynamicsConfiguration: 0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/CF21SingleMarker/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.1
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_xy: 1.0
• /crazyflieTypes/CF21SingleMarker/firmwareParams/kalman/pNAcc_z: 2.0
• /crazyflieTypes/CF21SingleMarker/markerConfiguration: 3
• /crazyflieTypes/default/batteryVoltageWarning: 3.8
• /crazyflieTypes/default/batteryVoltateCritical: 3.7
• /crazyflieTypes/default/bigQuad: False
• /crazyflieTypes/default/dynamicsConfiguration: 0
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/default/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/default/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/default/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/default/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/default/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/default/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/default/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/default/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/default/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/default/markerConfiguration: 0
• /crazyflieTypes/defaultSingleMarker/batteryVoltageWarning: 3.8
• /crazyflieTypes/defaultSingleMarker/batteryVoltateCritical: 3.7
• /crazyflieTypes/defaultSingleMarker/bigQuad: False
• /crazyflieTypes/defaultSingleMarker/dynamicsConfiguration: 0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/i_range_z: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_xy: 70000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_xy: 0.2
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kd_z: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_xy: 0.05
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/ki_z: 0.05
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_xy: 0.4
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kp_z: 1.25
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_xy: 20000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/mass: 0.032
• /crazyflieTypes/defaultSingleMarker/firmwareParams/ctrlMel/massThrust: 132000
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_rollpitch: 0.2
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/mNGyro_yaw: 0.1
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_xy: 4.0
• /crazyflieTypes/defaultSingleMarker/firmwareParams/kalman/pNAcc_z: 8.0
• /crazyflieTypes/defaultSingleMarker/markerConfiguration: 3
• /crazyflieTypes/large/batteryVoltageWarning: 11.4
• /crazyflieTypes/large/batteryVoltateCritical: 11.1
• /crazyflieTypes/large/bigQuad: True
• /crazyflieTypes/large/dynamicsConfiguration: 0
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/i_range_z: 4.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kR_xy: 30000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kR_z: 40000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_omega_rp: 100
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_xy: 3.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kd_z: 3.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_xy: 1.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/ki_z: 2.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kp_xy: 8.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kp_z: 8.0
• /crazyflieTypes/large/firmwareParams/ctrlMel/kw_xy: 9000
• /crazyflieTypes/large/firmwareParams/ctrlMel/kw_z: 10000
• /crazyflieTypes/large/firmwareParams/ctrlMel/mass: 0.38
• /crazyflieTypes/large/firmwareParams/ctrlMel/massThrust: 5400
• /crazyflieTypes/large/markerConfiguration: 2
• /crazyflieTypes/medium/batteryVoltageWarning: 7.6
• /crazyflieTypes/medium/batteryVoltateCritical: 7.4
• /crazyflieTypes/medium/bigQuad: True
• /crazyflieTypes/medium/dynamicsConfiguration: 0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_m_z: 1500
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_xy: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/i_range_z: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_xy: 50000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kR_z: 60000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_omega_rp: 200
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_xy: 1.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kd_z: 1.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_m_z: 500
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_xy: 0.1
• /crazyflieTypes/medium/firmwareParams/ctrlMel/ki_z: 0.5
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_xy: 2.0
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kp_z: 3
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_xy: 16000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/kw_z: 12000
• /crazyflieTypes/medium/firmwareParams/ctrlMel/mass: 0.11
• /crazyflieTypes/medium/firmwareParams/ctrlMel/massThrust: 23000
• /crazyflieTypes/medium/markerConfiguration: 1
• /crazyflies: [{'initialPositio...
• /crazyswarm_server/enable_logging: True
• /crazyswarm_server/enable_parameters: True
• /crazyswarm_server/firmwareParams/commander/enHighLevel: 1
• /crazyswarm_server/firmwareParams/kalman/resetEstimation: 1
• /crazyswarm_server/firmwareParams/locSrv/extPosStdDev: 1e-3
• /crazyswarm_server/firmwareParams/locSrv/extQuatStdDev: 0.05
• /crazyswarm_server/firmwareParams/ring/effect: 16
• /crazyswarm_server/firmwareParams/ring/headlightEnable: 0
• /crazyswarm_server/firmwareParams/ring/solidBlue: 2
• /crazyswarm_server/firmwareParams/ring/solidGreen: 0
• /crazyswarm_server/firmwareParams/ring/solidRed: 0
• /crazyswarm_server/firmwareParams/stabilizer/controller: 2
• /crazyswarm_server/firmwareParams/stabilizer/estimator: 2
• /crazyswarm_server/force_no_cache: False
• /crazyswarm_server/genericLogTopicFrequencies: [50, 50, 50, 50]
• /crazyswarm_server/genericLogTopic_log1_Variables: ['stateEstimate.x...
• /crazyswarm_server/genericLogTopic_log2_Variables: ['ranging.distanc...
• /crazyswarm_server/genericLogTopic_log3_Variables: ['ranging.distanc...
• /crazyswarm_server/genericLogTopic_log4_Variables: ['acc.x', 'acc.y'...
• /crazyswarm_server/genericLogTopics: ['log1', 'log2', ...
• /crazyswarm_server/motion_capture_type: none
• /crazyswarm_server/object_tracking_type: motionCapture
• /crazyswarm_server/print_latency: False
• /crazyswarm_server/save_point_clouds: ~/pointCloud.ot
• /crazyswarm_server/send_position_only: False
• /crazyswarm_server/vicon_host_name: 192.168.1.100
• /crazyswarm_server/world_frame: bitcraze
• /crazyswarm_server/write_csvs: False
• /crazyswarm_teleop/csv_file: /home/coven-lab/c...
• /crazyswarm_teleop/timescale: 0.8
• /dynamicsConfigurations/0/maxFitnessScore: 0.001
• /dynamicsConfigurations/0/maxPitch: 1.4
• /dynamicsConfigurations/0/maxPitchRate: 20.0
• /dynamicsConfigurations/0/maxRoll: 1.4
• /dynamicsConfigurations/0/maxRollRate: 20.0
• /dynamicsConfigurations/0/maxXVelocity: 2.0
• /dynamicsConfigurations/0/maxYVelocity: 2.0
• /dynamicsConfigurations/0/maxYawRate: 10.0
• /dynamicsConfigurations/0/maxZVelocity: 3.0
• /joy/dev: /dev/input/js0
• /markerConfigurations/0/numPoints: 4
• /markerConfigurations/0/offset: [0.0, -0.01, -0.04]
• /markerConfigurations/0/points/0: [0.0177184, 0.013...
• /markerConfigurations/0/points/1: [-0.0262914, 0.05...
• /markerConfigurations/0/points/2: [-0.0328889, -0.0...
• /markerConfigurations/0/points/3: [0.0431307, -0.03...
• /markerConfigurations/1/numPoints: 4
• /markerConfigurations/1/offset: [0.0, 0.0, -0.03]
• /markerConfigurations/1/points/0: [-0.00896228, -0....
• /markerConfigurations/1/points/1: [-0.0156318, 0.09...
• /markerConfigurations/1/points/2: [0.0461693, -0.08...
• /markerConfigurations/1/points/3: [-0.0789959, -0.0...
• /markerConfigurations/2/numPoints: 4
• /markerConfigurations/2/offset: [0.0, 0.0, -0.06]
• /markerConfigurations/2/points/0: [0.0558163, -0.00...
• /markerConfigurations/2/points/1: [-0.0113941, 0.00...
• /markerConfigurations/2/points/2: [-0.0306277, 0.05...
• /markerConfigurations/2/points/3: [0.0535816, -0.04...
• /markerConfigurations/3/numPoints: 1
• /markerConfigurations/3/offset: [0.0, -0.01, -0.04]
• /markerConfigurations/3/points/0: [0.0177184, 0.013...
• /numDynamicsConfigurations: 1
• /numMarkerConfigurations: 4
• /rosdistro: melodic
• /rosversion: 1.14.9
• /vicon/datastream_hostport: 192.168.1.100:801
• /vicon/stream_mode: ClientPull
• /vicon/tf_ref_frame_id: /world

NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
joy (joy/joy_node)
rviz (rviz/rviz)
vicon (vicon_bridge/vicon_bridge)

auto-starting new master
process[master]: started with pid [29715]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 887091b2-d221-11eb-9720-606dc7c60f33
process[rosout-1]: started with pid [29726]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [29733]
process[joy-3]: started with pid [29734]
process[crazyswarm_teleop-4]: started with pid [29735]
process[vicon-5]: started with pid [29741]
[ INFO] [1624232703.525606116]: Wait for services...
[ INFO] [1624232703.526491251]: waitForService: Service [/emergency] has not been advertised, waiting...
process[rviz-6]: started with pid [29747]
[ INFO] [1624232703.540027279]: Connecting to Vicon DataStream SDK at 192.168.1.100:801 ...
[ INFO] [1624232703.567869179]: waitForService: Service [/emergency] is now available.
[ INFO] [1624232703.569099076]: Manager ready.
ch: 1
[ INFO] [1624232703.591669117]: Adding CF: cf4 (radio://0/100/2M/E7E7E7E704, cf4)...
[ INFO] [1624232703.608835600]: CF ctor: 0.016464 s
[ INFO] [1624232703.613486238]: [cf4] SYS: ----------------------------
[ INFO] [1624232703.615937065]: [cf4] SYS: Crazyflie 2.1 is up and running!
[ INFO] [1624232703.618592807]: [cf4] SYS: Build 215:a7e0aae54b23 (2021.03 +215) CLEAN
[ INFO] [1624232703.622327383]: [cf4] SYS: I am 0x20373357594B5007003D0031 and I have 1024KB of flash!
[ INFO] [1624232703.623845705]: [cf4] CFGBLK: v1, verification [OK]
[ INFO] [1624232703.625293548]: [cf4] DECK_CORE: 1 deck(s) found
[ INFO] [1624232703.627983158]: [cf4] DECK_CORE: Calling INIT on driver bcUSD for deck 0
[ INFO] [1624232703.629399868]: [cf4] uSD: mount SD-Card [OK].
[ INFO] [1624232703.631729548]: [cf4] IMU: BMI088: Using I2C interface.
[ INFO] [1624232703.633055356]: [cf4] uSD: wait for sensors
[ INFO] [1624232703.635358707]: [cf4] IMU: BMI088 Gyro connection [OK].
[ INFO] [1624232703.637629506]: [cf4] IMU: BMI088 Accel connection [OK]
[ INFO] [1624232703.640318290]: [cf4] IMU: BMP388 I2C connection [OK]
[ INFO] [1624232703.642978629]: [cf4] ESTIMATOR: Using Complementary (1) estimator
[ INFO] [1624232703.645352116]: [cf4] CONTROLLER: Using PID (1) controller
[ INFO] [1624232703.647711081]: [cf4] MTR-DRV: Using brushed motor driver
[ INFO] [1624232703.650089538]: [cf4] SYS: About to run tests in system.c.
[ INFO] [1624232703.651573230]: [cf4] EEPROM: I2C connection [OK].
[ INFO] [1624232703.653032914]: [cf4] STORAGE: Storage check [OK].
[ INFO] [1624232703.655360071]: [cf4] IMU: BMI088 gyro self-test [OK]
[ INFO] [1624232703.656920159]: [cf4] DECK_CORE: Deck 0 test [OK].
[ INFO] [1624232703.659747646]: [cf4] SYS: The system resumed after a failed assert [WARNING]
[ INFO] [1624232703.662697624]: [cf4] SYS: Assert failed at .//src/deck/drivers/src/usddeck.c:504
[ INFO] [1624232703.664975686]: [cf4] SYS: cfAssertNormalStart [FAIL]
[ INFO] [1624232703.665778170]: [cf4] Requesting parameters...
[ INFO] [1624232703.694510701]: Found variables in cache.
[ WARN] [1624232703.706540260]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1624232703.707388153]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1624232704.013898737]: [cf4] reqParamTOC: 0.405002 s (225 params)
[ INFO] [1624232704.013936989]: [cf4] Requesting logging variables...
[ INFO] [1624232704.016709976]: Found variables in cache.
[ INFO] [1624232704.017238701]: [cf4] reqLogTOC: 0.003365 s
[ INFO] [1624232704.043680589]: [cf4] logBlocks: 0.405002 s
[ INFO] [1624232704.043718211]: Requesting memories...
[ WARN] [1624232704.170863217]: [cf4] Link Quality low (0.480000)
[ INFO] [1624232704.249291565]: [cf4] SYS: ----------------------------
[ INFO] [1624232704.273877261]: [cf4] SYS: Crazyflie 2.1 is up and running!
[ WARN] [1624232704.274000973]: [cf4] Link Quality low (0.070000)
[ INFO] [1624232704.276953192]: [cf4] SYS: Build 215:a7e0aae54b23 (2021.03 +215) CLEAN
[ INFO] [1624232704.298269926]: [cf4] ash!
[ INFO] [1624232704.299945872]: [cf4] CFGBLK: v1, verification [OK]
[ INFO] [1624232704.323444830]: [cf4] DECK_CORE: 1 deck(s) found
[ INFO] [1624232704.326513214]: [cf4] DECK_CORE: Calling INIT on driver bcUSD for deck 0
[ INFO] [1624232704.336100563]: [cf4] uSD: mount SD-Card [OK].
[ INFO] [1624232704.338625314]: [cf4] IMU: BMI088: Using I2C interface.
[ INFO] [1624232704.340154824]: [cf4] uSD: wait for sensors
[ WARN] [1624232704.372271294]: [cf4] Link Quality low (0.630000)
[ INFO] [1624232705.337373600]: [cf4] IMU: BMI088 Gyro connection [OK].
[ INFO] [1624232705.391946324]: [cf4] IMU: BMI088 Accel connection [OK]
[ INFO] [1624232705.405754023]: [cf4] IMU: BMP388 I2C connection [OK]
[ INFO] [1624232705.426961765]: [cf4] ESTIMATOR: Using Complementary (1) estimator
[ INFO] [1624232705.429507587]: [cf4] CONTROLLER: Using PID (1) controller
[ INFO] [1624232705.431969630]: [cf4] MTR-DRV: Using brushed motor driver
[ INFO] [1624232705.434565329]: [cf4] SYS: About to run tests in system.c.
[ WARN] [1624232705.627962767]: [cf4] Link Quality low (0.030000)
[ INFO] [1624232705.635151848]: [cf4] SYS: ----------------------------
[ INFO] [1624232705.660259452]: [cf4] SYS: Crazyflie 2.1 is up and running!
[ INFO] [1624232705.663078305]: [cf4] SYS: Build 215:a7e0aae54b23 (2021.03 +215) CLEAN
[ INFO] [1624232705.684592779]: [cf4] ash!
[ INFO] [1624232705.686133906]: [cf4] CFGBLK: v1, verification [OK]
[ INFO] [1624232705.709374056]: [cf4] DECK_CORE: 1 deck(s) found
[ INFO] [1624232705.712371165]: [cf4] DECK_CORE: Calling INIT on driver bcUSD for deck 0
[ INFO] [1624232705.721803673]: [cf4] uSD: mount SD-Card [OK].
[ INFO] [1624232705.724346298]: [cf4] IMU: BMI088: Using I2C interface.
[ INFO] [1624232705.725845507]: [cf4] uSD: wait for sensors
[ WARN] [1624232705.729431289]: [cf4] Link Quality low (0.330000)
terminate called after throwing an instance of 'std::runtime_error'
what(): timeout
[crazyswarm_server-2] process has died [pid 29733, exit code -6, cmd /home/coven-lab/crazyswarm/ros_ws/devel/lib/crazyswarm/crazyswarm_server __name:=crazyswarm_server __log:=/home/coven-lab/.ros/log/887091b2-d221-11eb-9720-606dc7c60f33/crazyswarm_server-2.log].
log file: /home/coven-lab/.ros/log/887091b2-d221-11eb-9720-606dc7c60f33/crazyswarm_server-2*.log

[krichardsson]

Since you are using the 2021.03 release, the assert is actually here https://github.com/bitcraze/crazyflie-firmware/blob/2021.03/src/deck/drivers/src/usddeck.c#L504

[krichardsson]

It seems to be related to the CORE log implementation we did lately. Also see #791

[jonasdn]

Hi!

Could you perhaps share your log configuration? What variables are you trying to log? It seems the switch in the usd code is missing a check for FP16, are you using any FP16 variables?

[easy98]

Hi,

It's my configuration file:

1 # version
512 # buffer size in bytes
log # file name
1 # enable on startup (0/1)
on:fixedFrequency
250 # frequency
1 # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)

acc.x
acc.y
acc.z
gyro.x
gyro.y
gyro.z
baro.asl
baro.temp
baro.pressure
stabilizer.roll
stabilizer.pitch
stabilizer.yaw
stabilizer.thrust
ctrltarget.roll
ctrltarget.pitch
ctrltarget.yaw

I think I don't use any FP16 variables.

[jonasdn]

I think the latest PR (#800) should fix this, are you able to test it @easy98 ?

[easy98]

Thank you for your reply!

I change the PR. Now it can create a log file but it's empty and unable to log anything.

NODES
/
crazyswarm_server (crazyswarm/crazyswarm_server)
crazyswarm_teleop (crazyswarm/crazyswarm_teleop)
joy (joy/joy_node)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [14635]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 3f5caa54-d3ae-11eb-9234-606dc7c60f33
process[rosout-1]: started with pid [14646]
started core service [/rosout]
process[crazyswarm_server-2]: started with pid [14653]
process[joy-3]: started with pid [14654]
process[crazyswarm_teleop-4]: started with pid [14655]
process[rviz-5]: started with pid [14662]
[ INFO] [1624403091.121302741]: Wait for services...
[ INFO] [1624403091.122488534]: waitForService: Service [/emergency] has not been advertised, waiting...
[ INFO] [1624403091.163852899]: waitForService: Service [/emergency] is now available.
[ INFO] [1624403091.165853935]: Manager ready.
ch: 1
[ INFO] [1624403091.186054739]: Adding CF: cf1 (radio://0/100/2M/E7E7E7E701, cf1)...
[ INFO] [1624403091.237215614]: CF ctor: 0.050404 s
[ INFO] [1624403091.241224201]: [cf1] SYS: ----------------------------
[ INFO] [1624403091.243738501]: [cf1] SYS: Crazyflie 2.0 is up and running!
[ INFO] [1624403091.246470005]: [cf1] SYS: Build 215:a7e0aae54b23 (2021.03 +215) MODIFIED
[ INFO] [1624403091.250542175]: [cf1] SYS: I am 0x313139313535511300300048 and I have 1024KB of flash!
[ INFO] [1624403091.252030751]: [cf1] CFGBLK: v1, verification [OK]
[ INFO] [1624403091.253442666]: [cf1] DECK_CORE: 1 deck(s) found
[ INFO] [1624403091.256097076]: [cf1] DECK_CORE: Calling INIT on driver bcUSD for deck 0
[ INFO] [1624403091.257452585]: [cf1] uSD: mount SD-Card [OK].
[ INFO] [1624403091.258743440]: [cf1] uSD: wait for sensors
[ INFO] [1624403091.260107851]: [cf1] MPU9250 I2C connection [OK].
[ INFO] [1624403091.261609045]: [cf1] AK8963 I2C connection [OK].
[ INFO] [1624403091.263047808]: [cf1] LPS25H I2C connection [OK].
[ INFO] [1624403091.265668912]: [cf1] ESTIMATOR: Using Complementary (1) estimator
[ INFO] [1624403091.267984766]: [cf1] CONTROLLER: Using PID (1) controller
[ INFO] [1624403091.270336980]: [cf1] MTR-DRV: Using brushed motor driver
[ INFO] [1624403091.272796579]: [cf1] SYS: About to run tests in system.c.
[ INFO] [1624403091.274249166]: [cf1] EEPROM: I2C connection [OK].
[ INFO] [1624403091.276469906]: [cf1] AK8963: Self test [OK].
[ INFO] [1624403091.277912459]: [cf1] DECK_CORE: Deck 0 test [OK].
[ INFO] [1624403091.279278893]: [cf1] SYS: Self test passed!
[ INFO] [1624403091.281767942]: [cf1] STAB: Wait for sensor calibration...
[ INFO] [1624403091.283254464]: [cf1] SYS: Free heap: 18808 bytes
[ INFO] [1624403091.284131951]: [cf1] Requesting parameters...
[ WARN] [1624403091.306479565]: Couldn't set gain on joystick force feedback: Bad file descriptor
[ INFO] [1624403091.307592277]: Found variables in cache.
[ INFO] [1624403091.307664369]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1624403091.618178337]: [cf1] reqParamTOC: 0.380918 s (225 params)
[ INFO] [1624403091.618209803]: [cf1] Requesting logging variables...
[ INFO] [1624403091.621763679]: [cf1] STAB: Ready to fly.
[ INFO] [1624403091.622900998]: Found variables in cache.
[ INFO] [1624403091.623320963]: [cf1] reqLogTOC: 0.005157 s
[ INFO] [1624403091.648396061]: [cf1] logBlocks: 0.380918 s
[ INFO] [1624403091.648433175]: Requesting memories...
[ INFO] [1624403091.651123876]: Memories: 6
[ INFO] [1624403091.669968459]: [cf1] Ready. Elapsed: 0.432699 s
[ INFO] [1624403091.670017596]: CF run: 0.432813 s
update commander/enHighLevel to 1
update kalman/resetEstimation to 1
update locSrv/extPosStdDev to 0.001
update locSrv/extQuatStdDev to 0.05
update ring/effect to 16
update ring/headlightEnable to 0
update ring/solidBlue to 2
update ring/solidGreen to 0
update ring/solidRed to 0
update stabilizer/controller to 2
update stabilizer/estimator to 2
update ctrlMel/i_range_m_z to 1500
update ctrlMel/i_range_xy to 2
update ctrlMel/i_range_z to 0.4
update ctrlMel/kR_xy to 70000
update ctrlMel/kR_z to 60000
update ctrlMel/kd_omega_rp to 200
update ctrlMel/kd_xy to 0.2
update ctrlMel/kd_z to 0.4
update ctrlMel/ki_m_z to 500
update ctrlMel/ki_xy to 0.05
update ctrlMel/ki_z to 0.05
update ctrlMel/kp_xy to 0.4
update ctrlMel/kp_z to 1.25
update ctrlMel/kw_xy to 20000
update ctrlMel/kw_z to 12000
update ctrlMel/mass to 0.032
update ctrlMel/massThrust to 132000
[ INFO] [1624403091.687609337]: [cf1] Update parameters
[ INFO] [1624403091.702346957]: [cf1] uSD: Config read [OK].
[ INFO] [1624403091.705030192]: [cf1] uSD: malloc buffer 50 bytes uSD: [OK].
[ INFO] [1624403091.723235531]: [cf1] CONTROLLER: Using Mellinger (2) controller
[ INFO] [1624403091.727120575]: [cf1] ESTIMATOR: Using Kalman (2) estimator
[ INFO] [1624403091.744895536]: Update params: 0.074794 s
[ INFO] [1624403091.745321578]: Started 1 threads
[ INFO] [1624403091.759531055]: [cf1] uSD: Logging to: log00

[easy98]

@jonasdn Hi, I update the PR and do some tests. Now the config file can be read and a log file can be created in the sd-card. But it's totally empty. I am so confused about it and don't know what might be the problem. Do you have any suggestions? Thanks!

[easy98]

Hi,

I add some DEBUG_PRINT in the usddeck.c file to check if there are any bugs. I find the problem is that I didn't manually stop logging by setting logging parameter usd.logging to 0. So it is not able to break this while loop, and data cannot be written to the micro-sd card. But how can I set this parameter manually? Thanks.