Wrong occured when the time of Propeller test at my Crazyflie 2.1 Brushless

[mfxjx000205]

Hi bitcraze,

I'm from the SEU-NetSI, our team have more than 200 crazyflie, most of them are Crazyflie 2.1.

We buy three Crazyflie 2.1 Brushless from Seeed in China last week, most of their function work well until now.

However, when I try to click Propeller test in cfclient, an error occured：

It always went wrong after M1 propeller test.

The error info is below:

The first time running Propeller test will crash at stabilizer.c:276, and if you running more, it will crash at SYS: Assert failed at ../src/hal/src/radiolink.c:166 with continusious restart.

First running:

`SYS: Build 0:b046745801fc (2024.10.2) CLEAN
SYS: I am 0x3736343230345118003E0025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 0 deck(s) found
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP390 I2C connection [OK]
ESTIMATOR: Using Complementary (1) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushless motor driver
SYS: About to run tests in system.c.
SYS: NRF51 version: 2024.10 (C21B)
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: Self test passed!
STAB: Wait for sensor calibration...
SYS: Free heap: 17936 bytes
STAB: Starting stabilizer loop
SUP: Can not fly
HEALTH: Acc noise floor variance X+Y:0.004112, (Z:0.002639)
HEALTH: Motor M1 variance X+Y: 0.0 (Z:0.0), voltage sag:0.0
SYS: ----------------------------
SYS: Crazyflie 2.1 Brushless is up and running!
SYS: Build 0:b046745801fc (2024.10.2) CLEAN
SYS: I am 0x3736343230345118003E0025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 0 deck(s) found
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP390 I2C connection [OK]
ESTIMATOR: Using Complementary (1) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushless motor driver
SYS: About to run tests in system.c.
SYS: NRF51 version: 2024.10 (C21B)
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: The system resumed after a failed assert [WARNING]
SYS: Assert failed at ../src/modules/src/stabilizer.c:276
SYS: cfAssertNormalStart [FAIL]`

Running more:

STAB: WARNING: stabilizer loop rate is off (1004)
HEALTH: Acc noise floor variance X+Y:0.003875, (Z:0.002784)
HEALTH: Motor M1 variance X+Y: 0.08 (Z:0.19), voltage sag:0.01
SYS: ----------------------------
SYS: Crazyflie 2.1 Brushless is up and running!
SYS: Build 0:80ee72ad480a (2024.10) CLEAN
SYS: I am 0x3736343230345118003E0025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 0 deck(s) found
IMU: BMI088: Using I2C interface.
SYS: ----------------------------
SYS: Crazyflie 2.1 Brushless is up and running!
SYS: Build 0:80ee72ad480a (2024.10) CLEAN
SYS: I am 0x3736343230345118003E0025 and I have 1024KB of flash!
CFGBLK: v1, verification [OK]
DECK_CORE: 0 deck(s) found
IMU: BMI088: Using I2C interface.
IMU: BMI088 Gyro connection [OK].
IMU: BMI088 Accel connection [OK]
IMU: BMP390 I2C connection [OK]
ESTIMATOR: Using Complementary (1) estimator
CONTROLLER: Using PID (1) controller
MTR-DRV: Using brushless motor driver
SYS: About to run tests in system.c.
SYS: NRF51 version: 2024.10 (C21B)
EEPROM: I2C connection [OK].
STORAGE: Storage check [OK].
IMU: BMI088 gyro self-test [OK]
SYS: The system resumed after a failed assert [WARNING]
SYS: Assert failed at ../src/hal/src/radiolink.c:166
SYS: cfAssertNormalStart [FAIL]

after that, I try to do two thing. But nothing works,

1. Flash the firmware via cfclient, the firmware version is 2024.10.
2. Flash the ESC firmware via esc-configurator website, the crazyflie can connect to the website, but when I click the "Read Setting", all of the motor read fail, I cann't click any other button.

Additionally, I want to ask that, if the esc firmware really broken, and I cannot flash it via website. The method in https://github.com/bitcraze/efm8-arduino-programmer can work well? Do I need an arduino?

Best Regards,

Hanjie Yu.

[tobbeanton]

I think you found a bug, probably introduced with stabilizer watch dog.

I'm have some trouble understanding the state now? Are you not able to boot the brushless?

[mfxjx000205]

Hi,
Thanks for your reply. Actually, this is an XY-problem. When I found this bug, I think it is about ESC firmware.
Well, I will rise another problem.

Thank you.

[tobbeanton]

The issue was fixed in this PR. For the Brushless don't forget to set a propeller test PWM ratio.