ar.drone 无法起飞故障处理方法

flycat007

前些日子，飞机摔坏。等到2月8号拿到螺旋桨和齿轮配件维修后，发现飞机信号灯绿色，电机灯全红，连上itouch后，显示“电机紧急”，按起飞按钮无法起飞，这下蒙了。问了淘宝卖家说可能是电机坏了或主板坏了，光邮费就得150（深圳到香港的）+200（来回的邮费）。感觉太贵了，想自己先弄一下，我不相信飞机那么容易坏得。折腾了无数，感觉没有戏，就把机器拆一下看看，结果无意中发现一个解决办法。有同样故障的机油可以尝试一下。方法如下：
1.电源断开，将前置摄像头的数据排线拔掉（不是主板底部那个摄像头），然后放在地板上，通电开机。
2.开机后你会发现，底部的灯会先红-绿-红，这时候稍等几秒钟后拔掉电源
3.接好摄像头的信号排线，将飞机平放在地板上，然后再接通电源，你会发现你的电机灯又变成绿色，说明你的飞机又可以起飞了。
虽然这个方法很有效，但老这样弄也不是办法，希望有高手能指出其中的原理，以求彻底解决。
附：在使用中还发现，以前机器（没摔前）在地板上上，四个电机灯绿，用手把机器拿起来一点，电机灯就变红了，放下去一会等又变绿了。摔机后，放在地板上，电机灯是绿的，用手平拿起来，电机灯还是绿的，没有反应，是不是超声波高度记有问题啊？

[ 本帖最后由 flycat007 于 2011-2-10 16:20 编辑 ]

mapgps

> "开机后你会发现，底部的灯会先红-绿-红"
貌似接触不良, AR.Drone在不停地重启动.

Telnet 进去看看log 文件:
telnet 192.168.1.1
cat  /data/syslog.bin

[ 本帖最后由 mapgps 于 2011-2-10 20:24 编辑 ]

flycat007

部分syslog.bin截图
731.062873  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
732.830389  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
16yue4ri04222  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16yue4ri07090  NULL  6  1076282856  control checksum PIC
16.530358  NULL  6  0  change the ultrasound frequency. 25Hz
16.531460  NULL  6  7562604  SW VERSION : 00076F10
16.540378  Video  6  984  Camera OK => Launch main video
16.542194  vp_com_server  6  978  Incoming connection on atcmd port (5556)
16.542620  Video_Hori  6  985  Camera OK => Launch main video
16.799743  Master  6  986  BLC backup hex available
16.830134  Master  6  986  BLC call for motor 1
17.350991  vp_com_server  6  978  Incoming connection on video port (5555)
17.351386  vp_com_server  6  978  192.168.1.2 connected to video
17.352514  vp_com_server  6  978  Incoming connection on navdata port (5554)
17.352763  vp_com_server  6  978  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
17.830074  Master  6  986  BLC motor 1 flash & start FAILED
17.890120  Master  6  986  BLC call for motor 2
18.354049  vp_com_server  6  978  192.168.1.2 connected to video
18.355714  vp_com_server  6  978  192.168.1.2 connected to navdata (navdata is already open for 192.168.1.2)
19.356109  vp_com_server  6  978  192.168.1.2 connected to video
19.356401  vp_com_server  6  978  192.168.1.2 connected to navdata (navdata is already open for 192.168.1.2)
19.898538  Master  6  986  BLC motor 2 flash & start FAILED
19.965814  Master  6  986  BLC call for motor 3
20.396949  vp_com_server  6  978  192.168.1.2 connected to navdata (navdata is already open for 192.168.1.2)
21.398080  vp_com_server  6  978  192.168.1.2 connected to navdata (navdata is already open for 192.168.1.2)
21.960081  Master  6  986  BLC motor 3 flash & start FAILED
22.020079  Master  6  986  BLC call for motor 4
23.860095  vp_com_server  6  978  Disconnection from atcmd port (5556)
23.860278  vp_com_server  6  978  Disconnection from video port (5555)
23.860388  vp_com_server  6  978  Disconnection from navdata port (5554)
24.020136  Master  6  986  BLC motor 4 flash & start FAILED
24.053709  Master  6  986  BLC motor 1 dead
24.053999  Master  6  986  BLC motor 2 dead
24.054087  Master  6  986  BLC motor 3 dead
24.054166  Master  6  986  BLC motor 4 dead
24.054251  Master  6  986  BLC reflash required, perform off/on cycle
24.082296  Acquisition  6  980  HARD VERSION c0
24.082478  Acquisition  6  980  change the ultrasound frequency. 25Hz
99.438836  vp_com_server  6  978  Incoming connection on atcmd port (5556)
100.562394  vp_com_server  6  978  Incoming connection on navdata port (5554)
100.563543  vp_com_server  6  978  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
100.565398  vp_com_server  6  978  Incoming connection on control port (5559)
101.567844  vp_com_server  6  978  Disconnection from control port (5559)
101.574233  vp_com_server  6  978  Incoming connection on control port (5559)
102.576661  vp_com_server  6  978  Disconnection from control port (5559)
102.580522  vp_com_server  6  978  Incoming connection on control port (5559)
103.583384  vp_com_server  6  978  Disconnection from control port (5559)
103.586493  vp_com_server  6  978  Incoming connection on control port (5559)
104.587035  vp_com_server  6  978  Disconnection from control port (5559)
104.594944  vp_com_server  6  978  Incoming connection on control port (5559)
105.596277  vp_com_server  6  978  Disconnection from control port (5559)
105.609701  vp_com_server  6  978  Incoming connection on control port (5559)
105.984834  ATcodec_Commands_Server  6  979  Setting toy's configuration for param:detect:detect_type with value:3
106.279361  ATcodec_Commands_Server  6  979  Setting toy's configuration for param:general:navdata_demo with value:TRUE
106.399197  ATcodec_Commands_Server  6  979  Mobile reconnection - Resetting com watchdog
107.018703  vp_com_server  6  978  Incoming connection on video port (5555)
107.019003  vp_com_server  6  978  192.168.1.2 connected to video
16.364245  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16.367106  NULL  6  1076282856  control checksum PIC
16yue4ri91271  NULL  6  0  change the ultrasound frequency. 25Hz
16yue4ri92390  NULL  6  7562604  SW VERSION : 00076F10
16yue4ri99859  Video  6  986  Camera OK => Launch main video
16.501385  Video_Hori  6  987  Camera OK => Launch main video

flycat007

16.757536  Master  6  988  BLC new hex available
16.780082  Master  6  988  BLC call for motor 1
16.800760  Master  6  988  BLC start flash
18.616420  Master  6  988  BLC flash done
18.616586  Master  6  988  BLC verify
18.635190  Master  6  988  BLC verify OK
18.842337  Master  6  988  BLC motor 1 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
18.900036  Master  6  988  BLC call for motor 2
18.920573  Master  6  988  BLC start flash
20.888221  Master  6  988  BLC flash done
20.888395  Master  6  988  BLC verify
20.906934  Master  6  988  BLC verify OK
21.122333  Master  6  988  BLC motor 2 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
21.180088  Master  6  988  BLC call for motor 3
21.204084  Master  6  988  BLC start flash
23.198968  Master  6  988  BLC flash done
23.199139  Master  6  988  BLC verify
23.220273  Master  6  988  BLC verify OK
23.432330  Master  6  988  BLC motor 3 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
23.490074  Master  6  988  BLC call for motor 4
23.514753  Master  6  988  BLC start flash
25.509596  Master  6  988  BLC flash done
25.509783  Master  6  988  BLC verify
25.528312  Master  6  988  BLC verify OK
25.742345  Master  6  988  BLC motor 4 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
25.800316  Acquisition  6  982  HARD VERSION c0
25.800481  Acquisition  6  982  change the ultrasound frequency. 25Hz
469.656297  vp_com_server  6  980  Incoming connection on atcmd port (5556)
470.670273  vp_com_server  6  980  Incoming connection on navdata port (5554)
16.544142  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16.547011  NULL  6  1076282856  control checksum PIC
16.633542  NULL  6  0  change the ultrasound frequency. 25Hz
16.634649  NULL  6  7562604  SW VERSION : 00076F10
16.641895  Video  6  985  Camera OK => Launch main video
16.643324  Video_Hori  6  986  Camera OK => Launch main video
16.898533  Master  6  987  BLC backup hex available
16.920081  Master  6  987  BLC call for motor 1
16.940714  Master  6  987  BLC check BLC memory corruption on motor 1
16.940943  Master  6  987  BLC verify
16.959533  Master  6  987  BLC verify OK
17.172389  Master  6  987  BLC motor 1 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.230037  Master  6  987  BLC call for motor 2
17.250545  Master  6  987  BLC check BLC memory corruption on motor 2
17.250702  Master  6  987  BLC verify
17.269209  Master  6  987  BLC verify OK
17.472319  Master  6  987  BLC motor 2 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.530049  Master  6  987  BLC call for motor 3
17.550522  Master  6  987  BLC check BLC memory corruption on motor 3
17.550667  Master  6  987  BLC verify
17.569165  Master  6  987  BLC verify OK
17.772291  Master  6  987  BLC motor 3 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.830059  Master  6  987  BLC call for motor 4
17.850538  Master  6  987  BLC check BLC memory corruption on motor 4
17.850682  Master  6  987  BLC verify
17.869155  Master  6  987  BLC verify OK
18.072372  Master  6  987  BLC motor 4 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
18.130275  Acquisition  6  981  HARD VERSION c0
18.130436  Acquisition  6  981  change the ultrasound frequency. 25Hz
79.219572  vp_com_server  6  979  Incoming connection on atcmd port (5556)
80.342582  vp_com_server  6  979  Incoming connection on navdata port (5554)
80.342955  vp_com_server  6  979  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
80.346144  vp_com_server  6  979  Incoming connection on control port (5559)
81.347782  vp_com_server  6  979  Disconnection from control port (5559)
81.352105  vp_com_server  6  979  Incoming connection on control port (5559)
82.352693  vp_com_server  6  979  Disconnection from control port (5559)
82.356763  vp_com_server  6  979  Incoming connection on control port (5559)
83.358206  vp_com_server  6  979  Disconnection from control port (5559)
83.362635  vp_com_server  6  979  Incoming connection on control port (5559)
84.366391  vp_com_server  6  979  Disconnection from control port (5559)
84.370744  vp_com_server  6  979  Incoming connection on control port (5559)
85.372209  vp_com_server  6  979  Disconnection from control port (5559)
85.376162  vp_com_server  6  979  Incoming connection on control port (5559)
85.764465  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:detect:detect_type with value:3
86.071866  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:general:navdata_demo with value:TRUE
86.276684  ATcodec_Commands_Server  6  980  Mobile reconnection - Resetting com watchdog
86.794199  vp_com_server  6  979  Incoming connection on video port (5555)
86.794510  vp_com_server  6  979  192.168.1.2 connected to video
87.851869  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:general:navdata_demo with value:TRUE
133.087494  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
134.585274  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
134.593414  Acquisition  6  981  current session flying time 1s - total flying time 511s
146.842267  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:network:owner_mac with value:00:00:00:00:00:00
151.246582  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
152.705977  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
152.720875  Acquisition  6  981  current session flying time 1s - total flying time 512s
157.994163  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:network:owner_mac with value:00:1D:4F:C6:7E:BF
163.611617  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
166.913243  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
167.930702  Acquisition  6  981  current session flying time 4s - total flying time 516s
181.385238  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
184.127478  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
184.140641  Acquisition  6  981  current session flying time 3s - total flying time 519s
191.682231  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
194.945147  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
195.743127  Acquisition  6  981  current session flying time 4s - total flying time 523s
209.197487  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
211.985093  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
211.992224  Acquisition  6  981  current session flying time 2s - total flying time 525s
213.136987  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
213.923214  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
213.950742  Acquisition  6  981  current session flying time 0s - total flying time 525s
214.731452  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
217.731929  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
217.739770  Acquisition  6  981  current session flying time 3s - total flying time 528s
224.346468  ATcodec_Commands_Server  6  980  Start pressed - start value is 1
227.253435  ATcodec_Commands_Server  6  980  Start pressed - start value is 0
227.290119  Acquisition  6  981  current session flying time 3s - total flying time 531s
284.198304  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:indoor_euler_angle_max with value:0.209440
284.411511  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:indoor_control_vz_max with value:700.000000
284.710877  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:indoor_control_yaw with value:1.745329
285.071997  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:outdoor_euler_angle_max with value:0.349066
285.388290  ATcodec_Commands_Server  6  980  Setting toy's configuration for

flycat007

param:control:outdoor_control_vz_max with value:1000.000000
285.728059  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:outdoor_control_yaw with value:3.490659
286.033738  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:outdoor with value:FALSE
286.230074  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
286.584240  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:control_vz_max with value:700.000000
287.010478  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:control_yaw with value:1.745329
287.339288  ATcodec_Commands_Server  6  980  Mobile reconnection - Resetting com watchdog
287.530378  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
287.787965  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:control_vz_max with value:700.000000
288.083455  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:control_yaw with value:1.745329
288.448884  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:control_iphone_tilt with value:0.349066
288.798659  ATcodec_Commands_Server  6  980  Setting toy's configuration for param:control:flight_without_shell with value:FALSE
16yue4ri94194  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16yue4ri97061  NULL  6  1076282856  control checksum PIC
16.583914  NULL  6  0  change the ultrasound frequency. 25Hz
16.585049  NULL  6  7562604  SW VERSION : 00076F10
16.592304  Video  6  985  Camera OK => Launch main video
16.593730  Video_Hori  6  986  Camera OK => Launch main video
16.848175  Master  6  987  BLC backup hex available
16.870151  Master  6  987  BLC call for motor 1
20.053755  Master  6  987  BLC motor 1 flash & start FAILED
20.119799  Master  6  987  BLC call for motor 2
22.130077  Master  6  987  BLC motor 2 flash & start FAILED
22.190074  Master  6  987  BLC call for motor 3
24.190089  Master  6  987  BLC motor 3 flash & start FAILED
24.259111  Master  6  987  BLC call for motor 4
26.253997  Master  6  987  BLC motor 4 flash & start FAILED
26.280081  Master  6  987  BLC motor 1 dead
26.280254  Master  6  987  BLC motor 2 dead
26.280346  Master  6  987  BLC motor 3 dead
26.280422  Master  6  987  BLC motor 4 dead
26.280506  Master  6  987  BLC reflash required, perform off/on cycle
26.312098  Acquisition  6  981  HARD VERSION c0
26.312281  Acquisition  6  981  change the ultrasound frequency. 25Hz
81.784517  vp_com_server  6  979  Incoming connection on atcmd port (5556)
82.772825  vp_com_server  6  979  Incoming connection on navdata port (5554)
82.773196  vp_com_server  6  979  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
83.282624  vp_com_server  6  979  Incoming connection on control port (5559)
84.466456  vp_com_server  6  979  Disconnection from control port (5559)
84.470888  vp_com_server  6  979  Incoming connection on control port (5559)
85.472297  vp_com_server  6  979  Disconnection from control port (5559)
85.517059  vp_com_server  6  979  Incoming connection on control port (5559)
86.519056  vp_com_server  6  979  Disconnection from control port (5559)
86.521414  vp_com_server  6  979  Incoming connection on control port (5559)
16.544168  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16.547040  NULL  6  1076282856  control checksum PIC
16.633586  NULL  6  0  change the ultrasound frequency. 25Hz
16.634707  NULL  6  7562604  SW VERSION : 00076F10
16.641923  Video  6  985  Camera OK => Launch main video
16.643350  Video_Hori  6  986  Camera OK => Launch main video
16.896812  Master  6  987  BLC new hex available
16.920092  Master  6  987  BLC call for motor 1
17.920066  Master  6  987  BLC motor 1 flash & start FAILED
17.980040  Master  6  987  BLC call for motor 2
19.980095  Master  6  987  BLC motor 2 flash & start FAILED
20.053349  Master  6  987  BLC call for motor 3
22.050170  Master  6  987  BLC motor 3 flash & start FAILED
22.110075  Master  6  987  BLC call for motor 4
22.236298  Master  6  987  BLC motor 4 soft version 255.0, hard version 7.252, supplier 0.0, lot number 00/224, FVT1 255/00/00
22.264232  Master  6  987  BLC motor 1 dead
22.264405  Master  6  987  BLC motor 2 dead
22.264498  Master  6  987  BLC motor 3 dead
22.264591  Master  6  987  BLC reflash required, perform off/on cycle
22.291693  Acquisition  6  981  HARD VERSION c0
22.291877  Acquisition  6  981  change the ultrasound frequency. 25Hz
151.495236  vp_com_server  6  979  Incoming connection on atcmd port (5556)
152.507909  vp_com_server  6  979  Incoming connection on navdata port (5554)
152.508294  vp_com_server  6  979  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
152.511692  vp_com_server  6  979  Incoming connection on control port (5559)
154.036957  vp_com_server  6  979  Disconnection from control port (5559)
154.041250  vp_com_server  6  979  Incoming connection on control port (5559)
155.041737  vp_com_server  6  979  Disconnection from control port (5559)
155.045926  vp_com_server  6  979  Incoming connection on control port (5559)
156.047308  vp_com_server  6  979  Disconnection from control port (5559)
156.055992  vp_com_server  6  979  Incoming connection on control port (5559)
16yue4ri74201  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a

flycat007

16yue4ri77064  NULL  6  1076282856  control checksum PIC
16.600937  NULL  6  0  change the ultrasound frequency. 25Hz
16.602061  NULL  6  7562604  SW VERSION : 00076F10
16.609194  Video  6  986  Camera OK => Launch main video
16.610714  Video_Hori  6  987  Camera OK => Launch main video
16.868310  Master  6  988  BLC backup hex available
16.890081  Master  6  988  BLC call for motor 1
16.910679  Master  6  988  BLC check BLC memory corruption on motor 1
16.910843  Master  6  988  BLC verify
16.929351  Master  6  988  BLC verify OK
17.142347  Master  6  988  BLC motor 1 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.200048  Master  6  988  BLC call for motor 2
17.220460  Master  6  988  BLC check BLC memory corruption on motor 2
17.220607  Master  6  988  BLC verify
17.239017  Master  6  988  BLC verify OK
17.442338  Master  6  988  BLC motor 2 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.500047  Master  6  988  BLC call for motor 3
17.520424  Master  6  988  BLC check BLC memory corruption on motor 3
17.520564  Master  6  988  BLC verify
17.538954  Master  6  988  BLC verify OK
17.742321  Master  6  988  BLC motor 3 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.800061  Master  6  988  BLC call for motor 4
17.820440  Master  6  988  BLC check BLC memory corruption on motor 4
17.820586  Master  6  988  BLC verify
17.838973  Master  6  988  BLC verify OK
18.042397  Master  6  988  BLC motor 4 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
18.100274  Acquisition  6  982  HARD VERSION c0
18.100441  Acquisition  6  982  change the ultrasound frequency. 25Hz
67.510199  vp_com_server  6  980  Incoming connection on atcmd port (5556)
68.509202  vp_com_server  6  980  Incoming connection on navdata port (5554)
68.538201  vp_com_server  6  980  Incoming connection on control port (5559)
68.538584  vp_com_server  6  980  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
69.573341  vp_com_server  6  980  Disconnection from control port (5559)
69.574662  vp_com_server  6  980  Incoming connection on control port (5559)
70.603767  vp_com_server  6  980  Disconnection from control port (5559)
70.604869  vp_com_server  6  980  Incoming connection on control port (5559)
71.663376  vp_com_server  6  980  Disconnection from control port (5559)
71.663952  vp_com_server  6  980  Incoming connection on control port (5559)
72.698647  vp_com_server  6  980  Disconnection from control port (5559)
72.699211  vp_com_server  6  980  Incoming connection on control port (5559)
73.755811  vp_com_server  6  980  Disconnection from control port (5559)
73.756398  vp_com_server  6  980  Incoming connection on control port (5559)
74.156030  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
74.574349  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:general:navdata_demo with value:TRUE
74.833940  ATcodec_Commands_Server  6  981  Mobile reconnection - Resetting com watchdog
75.182587  vp_com_server  6  980  Incoming connection on video port (5555)
75.488948  vp_com_server  6  980  192.168.1.2 connected to video
75.500740  ATcodec_Commands_Server  6  981  Mobile reconnection - Resetting com watchdog
77.480166  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:general:navdata_demo with value:TRUE
85.397827  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
86.790139  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
86.990610  Acquisition  6  982  current session flying time 1s - total flying time 533s
101.473376  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
111.406325  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
112.833406  Acquisition  6  982  current session flying time 11s - total flying time 544s
114.522940  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
126.294429  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
128.022177  Acquisition  6  982  current session flying time 14s - total flying time 558s
133.280307  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
182.178787  Acquisition  6  982  current session flying time 49s - total flying time 607s
182.179009  Acquisition  6  982  Forced landing - start value is 0
182.233392  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
182.268495  Navdata  6  979  PWM motor cutout detected
182.339357  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
188.003969  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
190.221057  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
190.928607  Acquisition  6  982  current session flying time 2s - total flying time 609s
195.976285  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
214.215183  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
215.648384  Acquisition  6  982  current session flying time 20s - total flying time 629s
216.129846  vp_com_server  6  980  Disconnection from control port (5559)
216.133524  vp_com_server  6  980  Incoming connection on control port (5559)
217.135949  vp_com_server  6  980  Disconnection from control port (5559)
217.144548  vp_com_server  6  980  Incoming connection on control port (5559)
217.590722  ATcodec_Commands_Server  6  981  Mobile reconnection - Resetting com watchdog
218.669759  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
220.857887  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
220.865803  Acquisition  6  982  current session flying time 2s - total flying time 631s
231.293011  ATcodec_Commands_Server  6  981  Start pressed - start value is 1
231.981991  ATcodec_Commands_Server  6  981  Start pressed - start value is 0
16yue4ri64191  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16yue4ri67063  NULL  6  1076282856  control checksum PIC
16.590402  NULL  6  0  change the ultrasound frequency. 25Hz
16.591501  NULL  6  7562604  SW VERSION : 00076F10
16.598618  Video  6  986  Camera OK => Launch main video
16.600121  Video_Hori  6  987  Camera OK => Launch main video
16.856932  Master  6  988  BLC new hex available
16.880094  Master  6  988  BLC call for motor 1
18.880068  Master  6  988  BLC motor 1 flash & start FAILED
18.940044  Master  6  988  BLC call for motor 2
20.480692  Master  6  988  BLC motor 2 soft version 255.0, hard version 203.255, supplier 0.252, lot number 00/00, FVT1 00/00/02
20.546139  Master  6  988  BLC call for motor 3
20.546439  Master  6  988  BLC motor 3 flash & start FAILED
20.612615  Master  6  988  BLC call for motor 4
20.612922  Master  6  988  BLC motor 4 flash & start FAILED
20.640093  Master  6  988  BLC motor 1 dead
20.640254  Master  6  988  BLC motor 3 dead
20.640345  Master  6  988  BLC motor 4 dead
20.640437  Master  6  988  BLC reflash required, perform off/on cycle
20.672016  Acquisition  6  982  HARD VERSION c0
20.672214  Acquisition  6  982  change the ultrasound frequency. 25Hz
44.799635  vp_com_server  6  980  Incoming connection on atcmd port (5556)
45.836581  vp_com_server  6  980  Incoming connection on navdata port (5554)
46.097694  vp_com_server  6  980  Incoming connection on control port (5559)
46.098081  vp_com_server  6  980  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
47.159650  vp_com_server  6  980  Disconnection from control port (5559)
47.160216  vp_com_server  6  980  Incoming connection on control port (5559)
47.853151  vp_com_server  6  980  Disconnection from control port (5559)
47.853728  vp_com_server  6  980  Incoming connection on control port (5559)
48.887788  vp_com_server  6  980  Disconnection from control port (5559)
48.888351  vp_com_server  6  980  Incoming connection on control port (5559)

flycat007

49.945044  vp_com_server  6  980  Disconnection from control port (5559)
49.946092  vp_com_server  6  980  Incoming connection on control port (5559)
50.982455  vp_com_server  6  980  Disconnection from control port (5559)
50.983002  vp_com_server  6  980  Incoming connection on control port (5559)
51.488590  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
51.690266  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
51.690693  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
51.789446  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
52.028710  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:detect:detect_type with value:3
52.029071  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:general:navdata_demo with value:TRUE
52.116260  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:general:navdata_demo with value:TRUE
52.400202  ATcodec_Commands_Server  6  981  Mobile reconnection - Resetting com watchdog
52.499216  vp_com_server  6  980  Incoming connection on video port (5555)
52.730641  vp_com_server  6  980  192.168.1.2 connected to video
55.251367  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:general:navdata_demo with value:TRUE
62.572007  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:1
63.601835  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:2
65.613716  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:3
92.199304  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:network:owner_mac with value:00:00:00:00:00:00
95.801575  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:network:owner_mac with value:00:00:00:00:00:00
106.871157  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:network:owner_mac with value:00:1D:4F:C6:7E:BF
113.680900  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:network:owner_mac with value:00:00:00:00:00:00
120.113901  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:network:owner_mac with value:00:00:00:00:00:00
127.028572  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:10000
127.299744  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:3000
127.627609  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:10000
128.908039  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_euler_angle_max with value:0.209440
129.115212  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_vz_max with value:700.000000
129.364752  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_yaw with value:1.745329
129.690709  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_euler_angle_max with value:0.349066
130.072305  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_vz_max with value:1000.000000
130.430507  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_yaw with value:3.490659
130.732293  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor with value:FALSE
131.108492  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
131.445150  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
131.772081  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
132.161026  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
132.482096  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
132.867547  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
133.202892  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_iphone_tilt with value:0.349066
133.568090  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:flight_without_shell with value:FALSE
133.910878  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:3000
134.294922  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_level with value:0
134.629101  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_euler_angle_max with value:0.209440
134.933933  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_vz_max with value:700.000000
135.252230  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_yaw with value:1.745329
135.587517  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_euler_angle_max with value:0.349066
135.963896  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_vz_max with value:1000.000000
136.371273  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_yaw with value:3.490659
136.679569  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor with value:FALSE
137.019965  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
137.427475  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
137.800064  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
138.120792  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
138.557288  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
138.831882  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
139.086489  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_iphone_tilt with value:0.349066
139.469866  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:flight_without_shell with value:FALSE
139.796045  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:3000
140.123439  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_level with value:0
140.510100  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_euler_angle_max with value:0.209440
140.853156  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_vz_max with value:700.000000
141.226862  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:indoor_control_yaw with value:1.745329
141.544573  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_euler_angle_max with value:0.349066
141.886092  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_vz_max with value:1000.000000

flycat007

142.259138  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor_control_yaw with value:3.490659
142.584143  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:outdoor with value:FALSE
142.917356  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
143.304877  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
143.622239  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
143.942715  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:euler_angle_max with value:0.209440
144.337052  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_vz_max with value:700.000000
144.660993  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_yaw with value:1.745329
145.054927  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_iphone_tilt with value:0.349066
145.377171  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:flight_without_shell with value:FALSE
145.697367  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:altitude_max with value:3000
146.100357  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:control:control_level with value:0
150.902612  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:0
153.422230  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:1
155.057585  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:2
156.174616  ATcodec_Commands_Server  6  981  Setting toy's configuration for param:video:video_channel with value:3
16yue4ri14238  NULL  6  0  version actuelle du PIC 4003a, version du PLF 4003a
16yue4ri17107  NULL  6  1076282856  control checksum PIC
16.540535  NULL  6  0  change the ultrasound frequency. 25Hz
16.541652  NULL  6  7562604  SW VERSION : 00076F10
16.548809  Video  6  984  Camera OK => Launch main video
16.550320  Video_Hori  6  985  Camera OK => Launch main video
16.807849  Master  6  986  BLC backup hex available
16.830086  Master  6  986  BLC call for motor 1
16.850652  Master  6  986  BLC check BLC memory corruption on motor 1
16.850794  Master  6  986  BLC verify
16.869278  Master  6  986  BLC verify OK
17.072345  Master  6  986  BLC motor 1 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.130042  Master  6  986  BLC call for motor 2
17.150447  Master  6  986  BLC check BLC memory corruption on motor 2
17.150604  Master  6  986  BLC verify
17.169038  Master  6  986  BLC verify OK
17.372301  Master  6  986  BLC motor 2 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.430054  Master  6  986  BLC call for motor 3
17.450438  Master  6  986  BLC check BLC memory corruption on motor 3
17.450583  Master  6  986  BLC verify
17.469004  Master  6  986  BLC verify OK
17.672308  Master  6  986  BLC motor 3 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
17.730034  Master  6  986  BLC call for motor 4
17.750434  Master  6  986  BLC check BLC memory corruption on motor 4
17.750592  Master  6  986  BLC verify
17.768980  Master  6  986  BLC verify OK
17.972340  Master  6  986  BLC motor 4 soft version 1.11, hard version 3.0, supplier 1.1, lot number 09/10, FVT1 22/09/10
18.030291  Acquisition  6  980  HARD VERSION c0
18.030467  Acquisition  6  980  change the ultrasound frequency. 25Hz
78.312144  vp_com_server  6  978  Incoming connection on atcmd port (5556)
79.344586  vp_com_server  6  978  Incoming connection on navdata port (5554)
79.372675  vp_com_server  6  978  Incoming connection on control port (5559)
79.373511  vp_com_server  6  978  255.255.255.255 connected to navdata (navdata is already open for 255.255.255.255)
81.127282  vp_com_server  6  978  Disconnection from control port (5559)
81.127852  vp_com_server  6  978  Incoming connection on control port (5559)
82.185829  vp_com_server  6  978  Disconnection from control port (5559)
82.186444  vp_com_server  6  978  Incoming connection on control port (5559)
83.222181  vp_com_server  6  978  Disconnection from control port (5559)
83.222782  vp_com_server  6  978  Incoming connection on control port (5559)
84.259874  vp_com_server  6  978  Disconnection from control port (5559)
84.260647  vp_com_server  6  978  Incoming connection on control port (5559)
84.971290  ATcodec_Commands_Server  6  979  Setting toy's configuration for param:detect:detect_type with value:3
85.364012  ATcodec_Commands_Server  6  979  Setting toy's configuration for param:general:navdata_demo with value:TRUE
85.689848  ATcodec_Commands_Server  6  979  Mobile reconnection - Resetting com watchdog
85.995187  vp_com_server  6  978  Incoming connection on video port (5555)
86.011150  vp_com_server  6  978  192.168.1.2 connected to video
88.766639  ATcodec_Commands_Server  6  979  Setting toy's configuration for param:general:navdata_demo with value:TRUE
88.881942  ATcodec_Commands_Server  6  979  Start pressed - start value is 1
90.300225  ATcodec_Commands_Server  6  979  Start pressed - start value is 0
90.538412  Acquisition  6  980  current session flying time 1s - total flying time 684s
109.167783  ATcodec_Commands_Server  6  979  Start pressed - start value is 1
112.548071  ATcodec_Commands_Server  6  979  Start pressed - start value is 0
113.457396  Acquisition  6  980  current session flying time 4s - total flying time 688s
116.995439  ATcodec_Commands_Server  6  979  Start pressed - start value is 1
119.206121  Acquisition  6  980  current session flying time 2s - total flying time 690s
119.268714  Acquisition  6  980  Forced landing - start value is 0
# cat /data/s

flycat007

24.072390  Master  6  984  BLC reflash required, perform off/on cycle
24.102039  Acquisition  6  978  HARD VERSION c0
24.102252  Acquisition  6  978  change the ultrasound frequency. 25Hz
40.116925  Acquisition  6  978  Resynchro with microcontroller
40.119467  Acquisition  6  978  Resynchro with microcontroller
40.121747  Acquisition  6  978  Resynchro with microcontroller
40.123929  Acquisition  6  978  Resynchro with microcontroller
40.126148  Acquisition  6  978  Resynchro with microcontroller
40.128311  Acquisition  6  978  Resynchro with microcontroller
40.133484  Acquisition  6  978  Resynchro with microcontroller
40.136044  Acquisition  6  978  Resynchro with microcontroller
40.138010  Acquisition  6  978  Resynchro with microcontroller
40.140283  Acquisition  6  978  Resynchro with microcontroller
40.142462  Acquisition  6  978  Resynchro with microcontroller
40.144595  Acquisition  6  978  Resynchro with microcontroller
40.146529  Acquisition  6  978  Resynchro with microcontroller

mapgps

电调板或接头有问题.
老要重刷电调板firmware (系统自动判断).
需要再次断/通电使系统自动进入重刷电调板firmware.

从下面这段Log看, 似乎电调板与主板的连接有问题(请检查一下接头), 系统无法正确判断电调板状态而误以为firmware要重刷:

1. 
   
2. 16.896812  Master  6  987  BLC new hex available
   
3. 16.920092  Master  6  987  BLC call for motor 1
   
4. 17.920066  Master  6  987  BLC motor 1 flash & start FAILED
   
5. 17.980040  Master  6  987  BLC call for motor 2
   
6. 19.980095  Master  6  987  BLC motor 2 flash & start FAILED
   
7. 20.053349  Master  6  987  BLC call for motor 3
   
8. 22.050170  Master  6  987  BLC motor 3 flash & start FAILED
   
9. 22.110075  Master  6  987  BLC call for motor 4
   
10. 22.236298  Master  6  987  BLC motor 4 soft version 255.0, hard version 7.252, supplier 0.0, lot number 00/224, FVT1 255/00/00
    
11. 22.264232  Master  6  987  BLC motor 1 dead
    
12. 22.264405  Master  6  987  BLC motor 2 dead
    
13. 22.264498  Master  6  987  BLC motor 3 dead
    
14. 22.264591  Master  6  987  BLC reflash required, perform off/on cycle
    

复制代码

[ 本帖最后由 mapgps 于 2011-2-10 23:28 编辑 ]

邪恶大哥大

:em16: :em16: :em16: