cannot connect to betaflight fcs

[catkira]

I get this error

#FC variant:
 Identifier: BTFL
#Api Version:
 API: 1.46
 Protocol: 0
#FC version:
 Version: 4.5.0
#Board Info:
 Identifier: S7X2
 Version: 0
 OSD support: 2
 Comms bitmask: 67
 Board Name: STM32F7X2
#Build Info:
 Date: Jan 13 2024
 Time: 14:39:30
 Git revision: f1cbd83
#Status:
 Cycle time: 124 us
 I2C errors: 0
 Sensors:
    Accelerometer: ON
    Barometer: OFF
    Magnetometer: OFF
    GPS: OFF
    Sonar: OFF
 Active Boxes (by ID):
#Ident:
 MultiWii Version: <unset>
 MSP Version: <unset>
 Type: UNDEFINED
 Capabilities:
    Bind:   OFF
    DynBal: OFF
    Flap:   OFF
Message marker 65 is not recognised!
Version marker 85 is not recognised!
terminate called after throwing an instance of 'std::runtime_error'
  what():  Cannot get BoxNames!

[catkira]

with log level DEBUG I get this output

sending message - ID 44
sending: 44 |
packed: 24 4d 3c 0 2c 2c
write complete: 0 vs 6
message failed to send
client_.sendMessage(rxConfig) failed
#RX configuration:
 serialrx_provider: <unset>
 maxcheck: <unset>
 midrc: <unset>
 mincheck: <unset>
 spektrum_sat_bind: <unset>
 rx_min_usec: <unset>
 rx_max_usec: <unset>
 rcInterpolation: <unset>
 rcInterpolationInterval: <unset>
 airModeActivateThreshold: <unset>
 rx_spi_protocol: <unset>
 rx_spi_id: <unset>
 rx_spi_rf_channel_count: <unset>
 fpvCamAngleDegrees: <unset>
 receiverType: <unset>
sending message - ID 45
sending: 45 |
packed: 24 4d 3c 0 2d 2d
write complete: 0 vs 6
message failed to send
sending message - ID 2
sending: 2 |
packed: 24 4d 3c 0 2 2
write complete: 6 vs 6
processOneMessage on 10 bytes
processOneMessage finished
#FC variant:
 Identifier: BTFL
sending message - ID 1
sending: 1 |
packed: 24 4d 3c 0 1 1
write complete: 6 vs 6
processOneMessage on 9 bytes
processOneMessage finished
#Api Version:
 API: 1.46
 Protocol: 0
sending message - ID 3
sending: 3 |
packed: 24 4d 3c 0 3 3
write complete: 6 vs 6
processOneMessage on 9 bytes
processOneMessage finished
#FC version:
 Version: 4.5.0
sending message - ID 4
sending: 4 |
packed: 24 4d 3c 0 4 4
write complete: 6 vs 6
processOneMessage on 83 bytes
processOneMessage finished
#Board Info:
 Identifier: S7X2
 Version: 0
 OSD support: 2
 Comms bitmask: 67
 Board Name: STM32F7X2
sending message - ID 5
sending: 5 |
packed: 24 4d 3c 0 5 5
write complete: 6 vs 6
processOneMessage on 32 bytes
processOneMessage finished
#Build Info:
 Date: Jan 13 2024
 Time: 14:39:30
 Git revision: f1cbd83
sending message - ID 101
sending: 101 |
packed: 24 4d 3c 0 65 65
write complete: 6 vs 6
processOneMessage on 30 bytes
processOneMessage finished
#Status:
 Cycle time: 124 us
 I2C errors: 0
 Sensors:
    Accelerometer: ON
    Barometer: OFF
    Magnetometer: OFF
    GPS: OFF
    Sonar: OFF
 Active Boxes (by ID):
sending message - ID 100
sending: 100 |
packed: 24 4d 3c 0 64 64
write complete: 6 vs 6
processOneMessage on 6 bytes
Message v1 with ID 100 is not recognised!
processOneMessage finished
#Ident:
 MultiWii Version: <unset>
 MSP Version: <unset>
 Type: UNDEFINED
 Capabilities:
    Bind:   OFF
    DynBal: OFF
    Flap:   OFF
sending message - ID 116
sending: 116 |
packed: 24 4d 3c 0 74 74
write complete: 6 vs 6
processOneMessage on 261 bytes
Message v1 with ID 116 has wrong CRC! (expected: 149, received: 76)
processOneMessage finished
processOneMessage on 3 bytes
Message marker 65 is not recognised!
Version marker 85 is not recognised!
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
terminate called after throwing an instance of 'std::runtime_error'
  what():  Cannot get BoxNames!
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
buffer returned EOF; reading char directly from port
Aborted

[catkira]

There could be a problem if payload length is more than 255 bytes

[catkira]

In betaflight source code I can see that message size can be larger than 255 bytes

[defrag-bambino]

Hello,

I am having the same issue right now. For me, it works fine if I NOT set msp_override_channels_mask = 245760, but keep it at = 0.

[catkira]

I think you probably had another issue. I could fix my issue with this PR: #60

The problem was that betaflight sent a message with payload size > 255 which msp could not handle.

[defrag-bambino]

Mine crashes at: Message v1 with ID 116 has wrong CRC! (expected: 35, received: 89)

[catkira]

that should be fixed with my PR ;)

[defrag-bambino]

Sadly it does not seem to fix it? Using your PR it processes the "jumbo" message but is stuck afterwards and does not continue.

./build/msp/fcu_test /dev/ttyACM0
sending message - ID 2
sending: 2 | 
packed: 24 4d 3c 0 2 2 
write complete: 6 vs 6
processOneMessage on 10 bytes
processOneMessage finished
sending message - ID 1
sending: 1 | 
packed: 24 4d 3c 0 1 1 
write complete: 6 vs 6
processOneMessage on 9 bytes
processOneMessage finished
sending message - ID 4
sending: 4 | 
packed: 24 4d 3c 0 4 4 
write complete: 6 vs 6
processOneMessage on 87 bytes
processOneMessage finished
sending message - ID 101
sending: 101 | 
packed: 24 4d 3c 0 65 65 
write complete: 6 vs 6
processOneMessage on 28 bytes
processOneMessage finished
sending message - ID 100
sending: 100 | 
packed: 24 4d 3c 0 64 64 
write complete: 6 vs 6
processOneMessage on 6 bytes
Message v1 with ID 100 is not recognised!
processOneMessage finished
sending message - ID 116
sending: 116 | 
packed: 24 4d 3c 0 74 74 
write complete: 6 vs 6
received jumbo message with payload_size 65535 available bytes 263

[catkira]

hmmm, payload_size 65535 looks wrong, you can try do debug :)

[catkira]

I get this

sending message - ID 116
sending: 116 |
packed: 24 4d 3c 0 74 74
write complete: 6 vs 6
processOneMessage on 317 bytes
received jumbo message with length 309
sending message - ID 119
sending: 119 |
packed: 24 4d 3c 0 77 77
write complete: 6 vs 6
processOneMessage finished
processOneMessage on 32 bytes
processOneMessage finished
sending message - ID 64
sending: 64 |
packed: 24 4d 3c 0 40 40
write complete: 6 vs 6

[catkira]

I did some force pushes. Can you post ur git hash?

[defrag-bambino]

I checked out your repo with the one commit.
Hash is: 226bf6f

[catkira]

that's what I am using too. You have to debug where this wrong 65535 size comes from. It should be 317.

[catkira]

but it could be different for your betaflight version and settings. I am using betaflight 4.5 from github.

[defrag-bambino]

I am using official Betaflight 4.4.3 on a SpeedyBee F405 V3

[catkira]

it would be nice if you can debug the problem and improve my PR

[defrag-bambino]

do you have "msp_override_channels_mask" set to anything other than 0?

[catkira]

I did not change that value

[defrag-bambino]

try changing it. Mine is 245760. Thats what breaks it for me

[catkira]

maybe its a betaflight bug and it outputs garbage in that case ^^

[catkira]

hmm looks like a betaflight bug? Can u add a debug output of the raw rx bytes and open an issue in betaflight github?

[defrag-bambino]

I tried it using YAMSPY and that works fine 🤔

[defrag-bambino]

By the way, the Betaflight FC sends the FlightControllerIdentifier "BTFL", but in FirmwareVariants.hpp Betaflight is called "BAFL". Do you think this is a problem?

[catkira]

I saw that too, I think it's a bug, but I did not see that it causes any problems besides displaying BAFL instead of BTFL.

[defrag-bambino]

Where can I print the raw RX bytes? 🙈

[catkira]

U have to add debug prints in source code. See how the other debug messages are printed.

[defrag-bambino]

Yeah but where do the raw RX bytes come in? What line?

[catkira]

u can find it :)

[defrag-bambino]

ok. does yours also not work with the msp_override_channels_mask set?

[catkira]

I will try it when I need it :)

[defrag-bambino]

is this the bytes?

#Attitude:
 Roll : 0 deg
 Pitch : 0 deg
 Heading: 353 deg
sending message - ID 109
sending: 109 | 
packed: 24 4d 3c 0 6d 6d 
write complete: 6 vs 6
processOneMessage on 12 bytes
processOneMessage finished
---------------e2 ff ff ff 0 0 

#Altitude:
 Altitude: -0.3 m, var: 0 m/s
 Barometer: <unset>
sending message - ID 110
sending: 110 | 
packed: 24 4d 3c 0 6e 6e 
write complete: 6 vs 6
processOneMessage on 15 bytes
processOneMessage finished
---------------0 0 0 0 0 0 0 1 0 

#Analog:
 Battery Voltage: 0 V
 Current: 0 A
 Power consumption: 0 Ah
 RSSI: 0
sending message - ID 111
sending: 111 | 
packed: 24 4d 3c 0 6f 6f 
write complete: 6 vs 6
processOneMessage on 29 bytes
processOneMessage finished
---------------7 0 43 43 43 0 32 0 0 0 0 7 7 0 0 64 ce 7 ce 7 ce 7 3 

Print method for message ID 111 is not implemented
sending message - ID 112
sending: 112 | 
packed: 24 4d 3c 0 70 70 
write complete: 6 vs 6
processOneMessage on 21 bytes
processOneMessage finished
---------------2d 50 28 2f 54 2e 2d 50 0 32 32 4b 28 0 0 

unsupported: 112
sending message - ID 113
sending: 113 | 
packed: 24 4d 3c 0 71 71 
write complete: 6 vs 6
processOneMessage on 6 bytes
Message v1 with ID 113 is not recognised!
processOneMessage finished
unsupported: 113
sending message - ID 114
sending: 114 | 
packed: 24 4d 3c 0 72 72 
write complete: 6 vs 6
processOneMessage on 6 bytes
Message v1 with ID 114 is not recognised!
processOneMessage finished
unsupported: 114
sending message - ID 115
sending: 115 | 
packed: 24 4d 3c 0 73 73 
write complete: 6 vs 6
processOneMessage on 6 bytes
Message v1 with ID 115 is not recognised!
processOneMessage finished
unsupported: 115
sending message - ID 116
sending: 116 | 
packed: 24 4d 3c 0 74 74 
write complete: 6 vs 6
received jumbo message with payload_size 65535 available bytes 128
received jumbo message with payload_size 65535 available bytes 263

[catkira]

yes, but the byte output from the problematic 116 message is not there. I have to work on other stuff now...

[defrag-bambino]

ok I will try to find the issue, thanks!

[catkira]

There were recent BF bugfixes related to MSP, such as betaflight/betaflight#12857

It would be good if you can test with BF 4.5 RC2 if the problem is still there.

[defrag-bambino]

Ok. I will try. I just printed the bytes:

.......
processOneMessage finished
unsupported: 114
sending message - ID 115
sending: 115 | 
packed: 24 4d 3c 0 73 73 
write complete: 6 vs 6
Message type: $M
Payload byte: 4d
Payload byte: 21
Payload size: 0
Payload byte: 73
Payload byte: 73
processOneMessage on 6 bytes
Message v1 with ID 115 is not recognised!
processOneMessage finished
unsupported: 115
sending message - ID 116
sending: 116 | 
packed: 24 4d 3c 0 74 74 
write complete: 6 vs 6
Message type: $M
Payload byte: 4d
Payload byte: 3e
Payload size: 255
Payload byte: 74
Payload byte: ff
Payload byte: 00
Payload byte: 41
Payload byte: 52
Payload byte: 4d
Payload byte: 3b
Payload byte: 41
Payload byte: 4e
Payload byte: 47
Payload byte: 4c
Payload byte: 45
Payload byte: 3b
Payload byte: 48
Payload byte: 4f
Payload byte: 52
Payload byte: 49
Payload byte: 5a
Payload byte: 4f
Payload byte: 4e
Payload byte: 3b
Payload byte: 48
Payload byte: 45
Payload byte: 41
Payload byte: 44
Payload byte: 46
Payload byte: 52
Payload byte: 45
Payload byte: 45
Payload byte: 3b
Payload byte: 46
Payload byte: 41
Payload byte: 49
Payload byte: 4c
Payload byte: 53
Payload byte: 41
Payload byte: 46
Payload byte: 45
Payload byte: 3b
Payload byte: 48
Payload byte: 45
Payload byte: 41
Payload byte: 44
Payload byte: 41
Payload byte: 44
Payload byte: 4a
Payload byte: 3b
Payload byte: 42
Payload byte: 45
Payload byte: 45
Payload byte: 50
Payload byte: 45
Payload byte: 52
Payload byte: 3b
Payload byte: 4f
Payload byte: 53
Payload byte: 44
Payload byte: 20
Payload byte: 44
Payload byte: 49
Payload byte: 53
Payload byte: 41
Payload byte: 42
Payload byte: 4c
Payload byte: 45
Payload byte: 3b
Payload byte: 42
Payload byte: 4c
Payload byte: 41
Payload byte: 43
Payload byte: 4b
Payload byte: 42
Payload byte: 4f
Payload byte: 58
Payload byte: 3b
Payload byte: 46
Payload byte: 50
Payload byte: 56
Payload byte: 20
Payload byte: 41
Payload byte: 4e
Payload byte: 47
Payload byte: 4c
Payload byte: 45
Payload byte: 20
Payload byte: 4d
Payload byte: 49
Payload byte: 58
Payload byte: 3b
Payload byte: 43
Payload byte: 41
Payload byte: 4d
Payload byte: 45
Payload byte: 52
Payload byte: 41
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4e
Payload byte: 54
Payload byte: 52
Payload byte: 4f
Payload byte: 4c
Payload byte: 20
Payload byte: 31
Payload byte: 3b
Payload byte: 43
Payload byte: 41
Payload byte: 4d
Payload byte: 45
Payload byte: 52
Payload byte: 41
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4e
Payload byte: 54
Payload byte: 52
Payload byte: 4f
Payload byte: 4c
Payload byte: 20
Payload byte: 32
Payload byte: 3b
Payload byte: 43
Payload byte: 41
Payload byte: 4d
Payload byte: 45
Payload byte: 52
Payload byte: 41
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4e
Payload byte: 54
Payload byte: 52
Payload byte: 4f
Payload byte: 4c
Payload byte: 20
Payload byte: 33
Payload byte: 3b
Payload byte: 50
Payload byte: 52
Payload byte: 45
Payload byte: 41
Payload byte: 52
Payload byte: 4d
Payload byte: 3b
Payload byte: 56
Payload byte: 54
Payload byte: 58
Payload byte: 20
Payload byte: 50
Payload byte: 49
Payload byte: 54
Payload byte: 20
Payload byte: 4d
Payload byte: 4f
Payload byte: 44
Payload byte: 45
Payload byte: 3b
Payload byte: 50
Payload byte: 41
Payload byte: 52
Payload byte: 41
Payload byte: 4c
Payload byte: 59
Payload byte: 5a
Payload byte: 45
Payload byte: 3b
Payload byte: 56
Payload byte: 54
Payload byte: 58
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4e
Payload byte: 54
Payload byte: 52
Payload byte: 4f
Payload byte: 4c
Payload byte: 20
Payload byte: 44
Payload byte: 49
Payload byte: 53
Payload byte: 41
Payload byte: 42
Payload byte: 4c
Payload byte: 45
Payload byte: 3b
Payload byte: 4c
Payload byte: 41
Payload byte: 55
Payload byte: 4e
Payload byte: 43
Payload byte: 48
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4e
Payload byte: 54
Payload byte: 52
Payload byte: 4f
Payload byte: 4c
Payload byte: 3b
Payload byte: 4d
Payload byte: 53
Payload byte: 50
Payload byte: 20
Payload byte: 4f
Payload byte: 56
Payload byte: 45
Payload byte: 52
Payload byte: 52
Payload byte: 49
Payload byte: 44
Payload byte: 45
Payload byte: 3b
Payload byte: 53
Payload byte: 54
Payload byte: 49
Payload byte: 43
Payload byte: 4b
Payload byte: 20
Payload byte: 43
Payload byte: 4f
Payload byte: 4d
Payload byte: 4d
Payload byte: 41
Payload byte: 4e
Payload byte: 44
Payload byte: 53
Payload byte: 20
Payload byte: 44
Payload byte: 49
Payload byte: 53
Payload byte: 41
Payload byte: 42
Payload byte: 4c
Payload byte: 45
Payload byte: 3b
Payload byte: 42
Payload byte: 45
Payload byte: 45
Payload byte: 50
Payload byte: 45
Payload byte: 52
Payload byte: 20
Payload byte: 4d
Payload byte: 55
Payload byte: 54
Payload byte: 45
Payload byte: 3b
Payload byte: 52
Payload byte: 45
Payload byte: 41
Payload byte: 44
Payload byte: 59
Payload byte: 3b
Payload byte: 41
received jumbo message with payload_size 65535 available bytes 263
^C

[catkira]

Payload byte: 00
Payload byte: 41

should be the payload length, 0 + 41 << 8 = 16640, that does not make sense. I also wonder why the debug message says payload_size 65535 ...
I think you need to do a bit more debugging.

[defrag-bambino]

Indeed, Betaflight 4.5 RC2 with your PR fixes the issue!
Thank you very much!

[catkira]

ok, then it was a BF bug after all.

[defrag-bambino]

yes, seems like it

[DangerD1024]

Betaflight 4.5 - Same issue here, how it can be fixed?