No INS Backend Available

Navio / Edge Hardware
1

Gents,

I was doing some troubleshooting today with my camera gimbal and starting having issues with my Navio+ :confused: … I did a restart, and when it came up it complained about “No INS Backend Available”. Then I tried typing just the serial startup and got the following:

root@navio-rpi:~# sudo ArduCopter-quad -A udp:192.168.2.82:14550 -C /dev/ttyAMA0 &
[2] 2503
root@navio-rpi:~# Raspberry Pi 2 with BCM2709!
Raspberry Pi 2 with BCM2709!
No INS backends available

Please help :frowning:

root@navio-rpi:~# sudo ArduCopter-quad -C /dev/ttyAMA0 &
[1] 2412
root@navio-rpi:~# Raspberry Pi 2 with BCM2709!
Raspberry Pi 2 with BCM2709!
Interrupted

2

Hi Jeremy,

It looks like you are starting new instances of ArduCopter without stopping previous ones.
You can check what is already running by typing top command.

3

I typed pgrep ArduCopter-quad prior to running the command and nothing came up… My Navio has a solid yellow light which tells me it isn’t running prior to running the command and no telemetry data is coming out of the UART… Any other possible causes of the INS error message? Others here have had this issue and a specific chip was bad on their board…

Jeremy

4

Also, on bootup, here is the result of the top command, which looks like the command to start ArduCopter-quad failed since it does not appear after using the down arrow to search through the list.

top - 08:15:32 up 1 min, 1 user, load average: 0.91, 0.53, 0.21
Tasks: 110 total, 1 running, 109 sleeping, 0 stopped, 0 zombie
%Cpu(s): 0.5 us, 6.7 sy, 0.0 ni, 92.8 id, 0.0 wa, 0.0 hi, 0.0 si, 0.0 st
KiB Mem: 883764 total, 80804 used, 802960 free, 11004 buffers
KiB Swap: 0 total, 0 used, 0 free, 33788 cached

PID USER PR NI VIRT RES SHR S %CPU %MEM TIME+ COMMAND
63 root -51 0 0 0 0 S 16.4 0.0 0:17.83 irq/75-dwc_otg
65 root -51 0 0 0 0 S 15.1 0.0 0:16.81 irq/75-dwc_otg_
64 root -51 0 0 0 0 S 11.5 0.0 0:13.48 irq/75-dwc_otg_
2515 root 20 0 4676 2444 2088 R 1.0 0.3 0:00.58 top
2258 root 20 0 7088 5520 3700 S 0.7 0.6 0:00.38 python
3 root -2 0 0 0 0 S 0.3 0.0 0:00.41 ksoftirqd/0
18 root -2 0 0 0 0 S 0.3 0.0 0:00.34 ksoftirqd/1
24 root -2 0 0 0 0 S 0.3 0.0 0:00.34 ksoftirqd/2
29 root -2 0 0 0 0 S 0.3 0.0 0:00.25 rcuc/3
30 root -2 0 0 0 0 S 0.3 0.0 0:00.33 ksoftirqd/3
2556 root 20 0 1944 372 316 S 0.3 0.0 0:00.01 ping
1 root 20 0 2148 1304 1200 S 0.0 0.1 0:00.86 init
2 root 20 0 0 0 0 S 0.0 0.0 0:00.00 kthreadd
4 root 20 0 0 0 0 S 0.0 0.0 0:00.00 kworker/0:0
5 root 0 -20 0 0 0 S 0.0 0.0 0:00.00 kworker/0:0H
6 root 20 0 0 0 0 S 0.0 0.0 0:00.04 kworker/u8:0
7 root 20 0 0 0 0 S 0.0 0.0 0:00.10 rcu_preempt

Then I tried to start the command manually without the “&” following so I could see what was actually going on and got:
root@navio-rpi:~# sudo ArduCopter-quad -C /dev/ttyAMA0
Raspberry Pi 2 with BCM2709!
Raspberry Pi 2 with BCM2709!

Init APM:Copter V3.3 (340970fc)

Free RAM: 4096
FW Ver: 120

load_all took 827us
0 0 0 ▒ Q}▒MPU9250: unexpected WHOAMI 0x0
AK8963: Could not configure bus for AK8963
No Compass backends available
COMPASS INIT ERROR
▒3▒Calibrating barometer_R▒ Q▒ No INS backends available
▒3▒barometer calibration completeo▒▒3▒GROUND START

Does this mean I have a compass issue?

5

It appears as though I have the same problem as here, which says my MPU9250 is having issues… check out below. Is it the same issue and maybe I need replacement?

6

Hi Jeremy,

MPU9250 failure is a possible option, but we are trying to rule out software/configuration errors first. Considering that the board was working it is likely a possible scenario.

Could you please provide pictures of your setup? Is the board mounted using provided standoffs and bolts?
Could you repeat the configuration from the beginning, burn SD card etc…
Can you run the AccelGyroMag example after that and post the output?

7

@ivereninov, what I ended up doing is backing up the image of my SD card as is (with the error) and then re-flashing it with a known good image from a couple months ago. For whatever reason this issue went away. Bad news is I’ll probably have to do a bit of work to get it back up to speed, but less work than I would have to do to troubleshoot the issue. Always good to keep a backup copy and this shows why :)>. Thanks again!

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