CubeOrangePlus gives no parameters, stuck on STAT_TIMERUN

Cube Autopilot
1

Hi guys, I’m did some parameter changes in Ardupilot firmware and load on my CubeOrangePlus, also tried to change SRx_protocol/baudrate..

Now when I connect to GCS (Mission Planer/ QGC / Mavproxy) I can nnot get the parameters list, the FC returns only STAT_TIMEOUT , and if I wait long enough , I can get some other paramteres (not all).

Example on MP:

image
image723×743 186 KB

And on Mavproxy parameter editor:

image
image995×694 39.6 KB

I tried to reset default parameters, but the Cube gives no response, and I know parameters are currently not be changed by GCS request. Loading official firmware versions does not help ( built with waf on LInux or loading firmware by MP)

2

Hi Dang,

From the screenshots, MAVLink communication itself appears alive, but the parameter protocol is not completing. Since this happened after custom ArduPilot parameter / firmware changes, I would first suspect either corrupted stored parameters or an issue in the custom AP_Param table.

I would suggest testing in this order:

  1. Disconnect all peripherals and connect the CubeOrangePlus directly by USB only.

  2. Load an official stable ArduPilot firmware.

  3. Force a clean parameter reset by setting FORMAT_VERSION = 0, writing it, then rebooting the board:
    https://ardupilot.org/copter/docs/common-parameter-reset.html

  4. If it recovers, the issue is most likely in the custom firmware parameter definitions. Check for duplicate indexes/keys, invalid parameter names, type changes without proper conversion, missing reserved old slots, or incorrect GroupInfo / AP_GROUPEND structure:
    https://ardupilot.org/dev/docs/code-overview-adding-a-new-parameter.html

Changing SRx rates or baudrate is unlikely to be the root cause if the same issue appears across Mission Planner, QGC, and MAVProxy, especially over direct USB.

So I would first recover with official firmware + FORMAT_VERSION = 0, then review the custom AP_Param changes before flashing again.

Dr. Fares Al DHaheri

Al-Etihad Industrials, UAE

3

Thanks, setting FORMAT_VERSION = 0 help me solve this problem!

I have another question, may be loadding new firmware with bootloader also can help reset parameters list (firmware with ending “..with_bl.hex”). I have not tried yet since I was afraid that touching bootloader could make the issue worse

4

Hi Dang,

Glad to hear that FORMAT_VERSION = 0 solved the issue.

Regarding the with_bl.hex firmware: I would personally avoid touching the bootloader unless there is a specific bootloader-related problem or official guidance to do so.

Flashing firmware with bootloader may rewrite the bootloader area depending on the flashing method, but it should not be treated as the normal way to reset parameters. For parameter corruption or parameter table issues, FORMAT_VERSION = 0 is the cleaner and safer recovery path.

Since your board recovered after the parameter reset, I would leave the bootloader untouched and focus on reviewing the custom AP_Param changes before flashing your modified firmware again.

In short: if the bootloader is working and the board can flash/connect normally, I would not use with_bl.hex just to reset parameters.

Dr. Fares Al Dhaheri

Al-Etihad Industrials, UAE

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