[Bug] ABFRS50LV85D does not work

[simonzsy]

Describe the bug

ABFRS50LV85D does not work on my self designed PCB board, which is based on pix-fmu-v6x. ABFRS50LV85D and PAA3905 use the same spi bus 6, PAA3905 works, but ABFRS50LV85D does nothing after initialization. According to flight log, ABFRS50LV85D successfully communicate with MCU during initialization, so I think its not the hardware or connection fault.

To Reproduce

git clone the master branch
modify the following files:

PX4-Autopilot/boards/px4/fmu-v6x/init/rc.board_sensors
add line 177

PX4-Autopilot/boards/px4/fmu-v6x/src/board_config.h add line 252 to 257 PX4-Autopilot/boards/px4/fmu-v6x/default.px4board add line 11

Then make and flash into the board by QGC

Expected behavior

ABFRS50LV85D should work.

Screenshot / Media

No distance message shown here

Parameters related to ABFRS50LV85D can be seen and modified.

Flight Log

NuttShell (NSH) NuttX-11.0.0
nsh> dmesg
initialize EEPROM driver
ERROR [PX4_MTD] mtd failure: -5 bus 3 address 81 class 4
HW arch: PX4_FMU_V6X
HW type: V6X
HW FMUM ID: 0x003
HW BASE ID: 0x000
PX4 git-hash: 2c97a87
PX4 version: 1.16.0 c0 (17825984)
PX4 git-branch: main
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: 886acbbdb4f061e5c0ce1a76afbcfa7cb7df9849
Build datetime: Jul 23 2025 20:04:42
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.3.1 20210621 (release)
PX4GUID: 0006000000003637373235325116002f0021
MCU: STM32H7[4|5]xxx, rev. V
ERROR [bsondump] open '/fs/mtd_caldata' failed (2)
New /fs/mtd_caldata size is:
ERROR [bsondump] open '/fs/mtd_caldata' failed (2)
INFO [param] selected parameter default file /fs/mtd_params
INFO [param] importing from '/fs/mtd_params'
INFO [parameters] BSON document size 1735 bytes, decoded 1735 bytes (INT32:46, FLOAT:39)
INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson
ERROR [netman] Network could not be saved!
Board architecture defaults: /etc/init.d/rc.board_arch_defaults
Board defaults: /etc/init.d/rc.board_defaults
Loading airframe: /etc/init.d/airframes/4001_quad_x
INFO [dataman] data manager file '/fs/microsd/dataman' size is 128528 bytes
Board sensors: /etc/init.d/rc.board_sensors
bmi088_accel #0 on SPI bus 3 rotation 4
bmi088_gyro #0 on SPI bus 3 rotation 4
icm42688p #0 on SPI bus 2 rotation 6
ERROR [SPI_I2C] icm42670p: no instance started (no device on bus?)
bmm150 #0 on I2C bus 4 (external) address 0x10
WARN [SPI_I2C] ist8310: no instance started (no device on bus?)
bmp388 #0 on I2C bus 4 (external) address 0x77
bmp388 #1 on I2C bus 2 (external) address 0x76
INFO [afbrs50] AFBR-S50 Chip ID: 213123, API Version: 17104902 v1.5.6
INFO [afbrs50] Module: AFBR-S50LV85D
WARN [batt_smbus] Failed to flush lifetime data
WARN [batt_smbus] Failed to flush lifetime data
WARN [batt_smbus] Failed to flush lifetime data
WARN [SPI_I2C] batt_smbus: no instance started (no device on bus?)
paa3905 #0 on SPI bus 6 (external, equal to '-b 1')
INFO [afbrs50] AFBRS50::CONFIGURE
INFO [afbrs50] AFBRS50::TRIGGER2
ekf2 [584:237]
WARN [px4io] check CRC failed: -1, CRC: 2305713667
INFO [vehicle_air_data] BARO switch from #0 -> #1
WARN [px4io] IO refused to reboot
WARN [px4io] reboot failed - -1, still attempting upgrade
[PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin
[PX4IO] bootloader not responding
WARN [px4io] IO refused to reboot
WARN [px4io] reboot failed - -1, still attempting upgrade
[PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin
[PX4IO] bootloader not responding
ERROR [px4io] error updating PX4IO - check that bootloader mode is enabled
INFO [tune_control] Stopping playback...
ERROR [px4io] Failed to communicate with IO, abort.
ERROR [px4io] Task start failed (-1)
PX4IO start failed
INFO [arch_dshot] Allocated DMA UP Timer Index 0
Board mavlink: /etc/init.d/rc.board_mavlink
Starting Main GPS on /dev/ttyS0
Starting RC Input Driver on /dev/ttyS3
Starting MAVLink on /dev/ttyS6
INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B
Starting MAVLink on ethernet
INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550
INFO [cdcacm_autostart] Starting CDC/ACM autostart
WARN [mavlink] no broadcasting address found
INFO [logger] logger started (mode=all)

NuttShell (NSH) NuttX-11.0.0
nsh> sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
INFO [gps] u-blox firmware version: SPG 4.04
INFO [gps] u-blox protocol version: 32.01
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2)
INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
INFO [mavlink] Setting system clock from SYSTEM_TIME sent by 255/190
INFO [mavlink] Starting mavlink shell
nsh>

Software Version

No response

Flight controller

No response

Vehicle type

Multicopter

How are the different components wired up (including port information)

No response

Additional context

No response

[simonzsy]

I added debug info in PX4-Autopilot/src/drivers/distance_sensor/broadcom/afbrs50/AFBRS50.cpp to indicate where it stuck, AFBRS50::TRIGGER2 was printed in th log, but function measurementReadyCallback was never called

[simonzsy]

I'm wondering if IRQ signal of ABFRS50LV85D must be connected to PD11 since I didn't connect this wire. Or I can modify somwhere in the code to just periodically get distance data from ABFRS50LV85D ?