Motors do not work

[Its-BB]

Describe the bug
A diff build of the code works on my esp32 drone but when i try to build using this code (both are same) it does not work, I read some and compared both the codes and i saw, 'Ready to fly' does not come and also ' I (6543) SENSORS: isBiasValueFound!' does not come. But note: THE DRONE FULLY WORKS IN THE PREMADE-.BIN FILE

Version (please complete the following information):

• IDF Version: 4.4.5
• SoC Chip: ESP32
• Hardware: ESPlane

Logs
Add logs to help explain your problem.
I (27) boot: ESP-IDF v4.4.5-dirty 2nd stage bootloader
I (27) boot: compile time 00:09:03
I (27) boot: chip revision: v3.1
I (31) qio_mode: Enabling default flash chip QIO
I (36) boot.esp32: SPI Speed : 80MHz
I (41) boot.esp32: SPI Mode : QIO
I (45) boot.esp32: SPI Flash Size : 2MB
I (50) boot: Enabling RNG early entropy source...
I (55) boot: Partition Table:
I (59) boot: ## Label Usage Type ST Offset Length
I (66) boot: 0 nvs WiFi data 01 02 00009000 00006000
I (74) boot: 1 phy_init RF data 01 01 0000f000 00001000
I (81) boot: 2 factory factory app 00 00 00010000 00100000
I (89) boot: End of partition table
I (93) esp_image: segment 0: paddr=00010020 vaddr=3f400020 size=1fb6ch (129900) map
I (137) esp_image: segment 1: paddr=0002fb94 vaddr=3ffb0000 size=00484h ( 1156) load
I (138) esp_image: segment 2: paddr=00030020 vaddr=400d0020 size=904c0h (591040) map
I (306) esp_image: segment 3: paddr=000c04e8 vaddr=3ffb0484 size=03c44h ( 15428) load
I (310) esp_image: segment 4: paddr=000c4134 vaddr=40080000 size=1784ch ( 96332) load
I (354) boot: Loaded app from partition at offset 0x10000
I (354) boot: Disabling RNG early entropy source...
I (366) cpu_start: Pro cpu up.
I (366) cpu_start: Starting app cpu, entry point is 0x400813dc
0x400813dc: call_start_cpu1 at C:/Users/ItsBB/Desktop/esp-idf-v4.4.5/components/esp_system/port/cpu_start.c:147

I (353) cpu_start: App cpu up.
I (382) cpu_start: Pro cpu start user code
I (382) cpu_start: cpu freq: 160000000
I (382) cpu_start: Application information:
I (387) cpu_start: Project name: ESPDrone
I (392) cpu_start: App version: 1
I (396) cpu_start: Compile time: Jul 20 2025 00:08:51
I (403) cpu_start: ELF file SHA256: 4dc16297cf7a3210...
I (408) cpu_start: ESP-IDF: v4.4.5-dirty
I (414) cpu_start: Min chip rev: v0.0
I (419) cpu_start: Max chip rev: v3.99
I (423) cpu_start: Chip rev: v3.1
I (428) heap_init: Initializing. RAM available for dynamic allocation:
I (435) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM
I (441) heap_init: At 3FFCA960 len 000156A0 (85 KiB): DRAM
I (448) heap_init: At 3FFE0440 len 00003AE0 (14 KiB): D/IRAM
I (454) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM
I (460) heap_init: At 4009784C len 000087B4 (33 KiB): IRAM
I (467) spi_flash: detected chip: generic
I (471) spi_flash: flash io: qio
W (475) spi_flash: Detected size(4096k) larger than the size in the binary image header(2048k). Using the size in the binary image header.
I (489) cpu_start: Starting scheduler on PRO CPU.
I (0) cpu_start: Starting scheduler on APP CPU.
I (546) PLATFORM: set active config
I (547) gpio: GPIO[18]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (549) gpio: GPIO[23]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (558) gpio: GPIO[5]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
I (570) wifi:wifi driver task: 3ffd385c, prio:23, stack:6656, core=0
I (574) system_api: Base MAC address is not set
I (579) system_api: read default base MAC address from EFUSE
I (592) wifi:wifi firmware version: 0f80fa0
I (592) wifi:wifi certification version: v7.0
I (593) wifi:config NVS flash: enabled
I (596) wifi:config nano formating: disabled
I (600) wifi:Init data frame dynamic rx buffer num: 32
I (605) wifi:Init management frame dynamic rx buffer num: 32
I (611) wifi:Init management short buffer num: 32
I (615) wifi:Init dynamic tx buffer num: 32
I (619) wifi:Init static rx buffer size: 1600
I (623) wifi:Init static rx buffer num: 10
I (627) wifi:Init dynamic rx buffer num: 32
I (631) wifi_init: rx ba win: 6
I (635) wifi_init: tcpip mbox: 32
I (639) wifi_init: udp mbox: 6
I (642) wifi_init: tcp mbox: 6
I (646) wifi_init: tcp tx win: 5744
I (650) wifi_init: tcp rx win: 5744
I (654) wifi_init: tcp mss: 1440
I (658) wifi_init: WiFi IRAM OP enabled
I (663) wifi_init: WiFi RX IRAM OP enabled
I (673) phy_init: phy_version 4670,719f9f6,Feb 18 2021,17:07:07
I (774) wifi:mode : softAP (28:56:2f:4a:0e:e5)
I (776) wifi:Total power save buffer number: 16
I (776) wifi:Init max length of beacon: 752/752
I (777) wifi:Init max length of beacon: 752/752
I (781) espnow: esp-now Version: 2.5.2
I (785) ESPNOW: espnow [version: 1.0] init
I (789) espnow: mac: 28:56:2f:4a:0e:e4, version: 2
I (794) espnow: Enable main task
I (798) espnow: main task entry
I (799) WIFI_UDP: wifi_init_softap complete.SSID:ESP-DRONE_28562F4A0EE5 password:12345678
I (811) WIFI_UDP: Socket created
I (815) WIFI_UDP: Socket bound, port 2390
I (819) WIFI_UDP: UDP server create socket succeed
I (1325) SYS: ----------------------------

I (1325) SYS: ESPlane 2.0 is up and running!

I (1325) I2CDRV: i2c 1 driver install return = 0
I (1329) EEPROM: spi_flash_init ... !
I (1333) EEPROM: spi_flash_read ok !
Characterized using eFuse Vref
I (2549) I2CDRV: i2c 0 driver install return = 0
I (2550) SENSORS: MPU6050 I2C connection [OK].

W (2906) ZR2: Z-down sensor [FAIL]

W (2906) SENSORS: VL53L1X I2C connection [FAIL].

I (2906) gpio: GPIO[15]| InputEn: 0| OutputEn: 1| OpenDrain: 0| Pullup: 0| Pulldown: 0| Intr:0
W (2961) SENSORS: PMW3901 SPI connection [FAIL].

I (2961) SENSORS: sensors init done
I (2962) SENSORS: pitch_calib = 0.000000,roll_calib = 0.000000
I (2966) gpio: GPIO[19]| InputEn: 1| OutputEn: 0| OpenDrain: 0| Pullup: 1| Pulldown: 0| Intr:1
I (2976) ESTIMATOR: Using Complementary (1) estimator

I (2982) POSITION_CONTROLLER: thrustBase = 36000,thrustMin = 20000
I (2989) SYS: wifilinkTest = 1
I (3492) SYS: pmTest = 1
I (3492) SYS: workerTest = 1
I (3492) SYS: systemTest = 1
I (3492) SYS: configblockTest = 1
I (3495) COMM: wifilinkTest = 1
I (3499) COMM: crtpTest = 1
I (3502) COMM: crtpserviceTest = 1
I (3507) COMM: platformserviceTest = 1
I (3511) COMM: consoleTest = 1
I (3515) COMM: paramTest = 1
I (3519) SYS: commTest = 1
I (3522) SYS: commanderTest = 1
I (5344) SYS: stabilizerTest = 1
I (5344) SYS: estimatorKalmanTaskTest = 1
I (5344) SYS: soundTest = 1
No one-wire memory handler registered
I (5348) SYS: memTest = 1
I (5352) STAB: Wait for sensor calibration...

I (5357) SYS: systemStart ! selftestPassed = 1
I (6329) SYSLOAD: Task dump
I (6329) SYSLOAD: Load Stack left Name PRI
I (6329) SYSLOAD: 0.24 2428 Tmr Svc 1
I (6331) SYSLOAD: 94.53 1560 IDLE 0
I (6335) SYSLOAD: 94.93 1556 IDLE 0
I (6340) SYSLOAD: 0.03 2584 CRTP-RX 2
I (6345) SYSLOAD: 0.23 3436 PWRMGNT 1
I (6349) SYSLOAD: 0.05 2664 tiT 18
I (6353) SYSLOAD: 0.46 3288 STABILIZER 7
I (6358) SYSLOAD: 0.01 1956 sys_evt 20
I (6363) SYSLOAD: 0.06 2212 espnow_main 1
I (6368) SYSLOAD: 0.00 3660 UDP_TX 2
I (6372) SYSLOAD: 0.00 3264 UDP_RX 2
I (6377) SYSLOAD: 0.00 3572 WIFILINK 2
I (6382) SYSLOAD: 0.00 2644 CRTP-TX 2
I (6386) SYSLOAD: 0.00 2584 LOG 2
I (6391) SYSLOAD: 0.00 1580 PARAM 2
I (6395) SYSLOAD: 0.00 1532 CMDHL 3
I (6399) SYSLOAD: 1.08 1072 ipc1 4
I (6404) SYSLOAD: 0.00 2388 KALMAN 4
I (6408) SYSLOAD: 0.00 1552 MEM 2
I (6413) SYSLOAD: 0.00 1608 LEDSEQCMD 1
I (6417) SYSLOAD: 4.01 3664 SYSTEM 1
I (6422) SYSLOAD: 0.11 4376 SENSORS 6
I (6426) SYSLOAD: 0.07 3436 esp_timer 22
I (6431) SYSLOAD: 3.10 4456 wifi 23
I (6436) SYSLOAD: 0.47 1100 ipc0 24
I (6440) SYSLOAD: Free heap: 123160 bytes

[Its-BB]

i even added timeout but still it does nto work

[amitx64]

@Its-BB Does your CFClient work properly? I mean, does it update all the data without freezing? Mine hangs after about 3 seconds.

[amitx64]

@Its-BB, I cloned the cfclient from Leeebo's GitHub repository. After cloning, I installed it using the following command:

pip install -e .

The installation completed successfully, and the CFClient opens. However, after connecting to the ESP-based drone, it freezes and doesn't update any of the data.

[cccat6]

I am also debugging this issue.

Check sensors_mpu6050_hm5883L_ms5611.c around line 850. The way of calculating variance is wrong, which leads to very large numbers or very large negative numbers, and the numbers are unstable.
I assume the developer did not notice this problem but set GYRO_VARIANCE_THRESHOLD_X to 5000, which is a relatively large number for the correct variance but small for the wrong variance number. In some cases, it may work. If your drone's IMU is flat enough to get all small numbers to make the wrong formula get less than that 5000 threshold.
The funny thing is, it will even get negative variance and pass the test because it is a less than check.

I make the modification like this, but I can not guarantee it is perfectly correct since I did not get well sleep last night. You should check for yourself.

/**
 * Calculates the variance and mean for the bias buffer.
 */
static void sensorsCalculateVarianceAndMean(BiasObj *bias, Axis3f *varOut, Axis3f *meanOut)
{
    uint32_t i;
    int64_t sum[GYRO_NBR_OF_AXES] = {0};
    int64_t sumSq[GYRO_NBR_OF_AXES] = {0};

    for (i = 0; i < SENSORS_NBR_OF_BIAS_SAMPLES; i++) {
        sum[0] += bias->buffer[i].x;
        sum[1] += bias->buffer[i].y;
        sum[2] += bias->buffer[i].z;
        sumSq[0] += bias->buffer[i].x * bias->buffer[i].x;
        sumSq[1] += bias->buffer[i].y * bias->buffer[i].y;
        sumSq[2] += bias->buffer[i].z * bias->buffer[i].z;
    }

    // varOut->x = (sumSq[0] - ((int64_t)sum[0] * sum[0]) / SENSORS_NBR_OF_BIAS_SAMPLES);
    // varOut->y = (sumSq[1] - ((int64_t)sum[1] * sum[1]) / SENSORS_NBR_OF_BIAS_SAMPLES);
    // varOut->z = (sumSq[2] - ((int64_t)sum[2] * sum[2]) / SENSORS_NBR_OF_BIAS_SAMPLES);

    meanOut->x = (float)sum[0] / SENSORS_NBR_OF_BIAS_SAMPLES;
    meanOut->y = (float)sum[1] / SENSORS_NBR_OF_BIAS_SAMPLES;
    meanOut->z = (float)sum[2] / SENSORS_NBR_OF_BIAS_SAMPLES;

    varOut->x = (float)sumSq[0] / SENSORS_NBR_OF_BIAS_SAMPLES - meanOut->x * meanOut->x;
    varOut->y = (float)sumSq[1] / SENSORS_NBR_OF_BIAS_SAMPLES - meanOut->y * meanOut->y;
    varOut->z = (float)sumSq[2] / SENSORS_NBR_OF_BIAS_SAMPLES - meanOut->z * meanOut->z;
}

[isum-05]

i'm getting same issue here . how to fix it