CAN Errors During SIM

[Crossle86]

Just installed 2026 beta, seeing these errors for all CTRE devices during sim:

   pigeon 2 1 ("rio") Status Signal Yaw

CAN message is stale, data is valid but old. Check the CAN bus wiring, CAN bus utilization, and power to the device.
pigeon 2 1 ("rio") Status Signal AngularVelocityZWorld
CAN frame not received/too-stale. Check the CAN bus wiring, CAN bus utilization, and power to the device.
ctre::phoenix6::BaseStatusSignal::WaitForAll
CAN message is stale, data is valid but old. Check the CAN bus wiring, CAN bus utilization, and power to the device.
talon fx 1 ("rio") Status Signal Position
CAN message is stale, data is valid but old. Check the CAN bus wiring, CAN bus utilization, and power to the device.
talon fx 1 ("rio") Status Signal Velocity
CAN message is stale, data is valid but old. Check the CAN bus wiring, CAN bus utilization, and power to the device.

[Crossle86]

Forgot to mention, sim seems to work correctly despite the errors.

[daltzctr]

Did you select hardware attached sim or regular sim in VS Code?

[daltzctr]

Also, it's not unexpected if these warnings occur really early on startup, especially on Windows due to some lax timing there by the OS.

[Crossle86]

Regular sim VSCode. Warnings persist for length of sim run.

[daltzctr]

Can you share a link to your code so I can attempt to reproduce the problem? Thanks!

[Crossle86]

Thanks. https://github.com/ORF-4450/Robot26 [1]

On 2025-12-15 6:49 am, Dalton Smith wrote: daltzctr left a comment (CrossTheRoadElec/Phoenix-Releases#128) [1] Can you share a link to your code so I can attempt to reproduce the problem? Thanks! -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***>

Links: ------ [1] #128 (comment) [2] https://github.com/notifications/unsubscribe-auth/AA2SXO5URQH5WTXR257OJVD4B3C7PAVCNFSM6AAAAACO6QBPJKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTMNJWGA2TANJYGI

[CoryNessCTR]

I'm pretty sure you're running into performance limitations on your computer, particularly since it's on Windows.
I can reproduce the issue you're seeing if I'm running the odometry thread at 250Hz on my computer, but I don't see it at 50 Hz (which is what you'd be using by default with the RIO bus).
If you explicitly slow down the odometry update thread does it still reproduce, maybe bring it closer to 10 Hz as a sanity check?

You can modify the TunerConstants.java here to explicitly set an update frequency.

    public static CommandSwerveDrivetrain createDrivetrain() {
        return new CommandSwerveDrivetrain(
            DrivetrainConstants, /* Update frequency in hertz */, FrontLeft, FrontRight, BackLeft, BackRight
        );
    }

[Crossle86]

Cory, Slowing the thread does reduce the occurrence rate of the error messages. 10hz pretty much eliminates them but the robot moves VERY slowly. 50 seems a workable compromise. You say the RIO by default is 50 but I saw some online doc saying the RIO is CAN 2.0 at 100. Your doc also says this for the update freq parameter. Can you clarify that? Richard

On 2025-12-16 9:24 am, Cory wrote: CoryNessCTR left a comment (CrossTheRoadElec/Phoenix-Releases#128) [1] I'm pretty sure you're running into performance limitations on your computer, particularly since it's on Windows. I can reproduce the issue you're seeing if I'm running the odometry thread at 250Hz on my computer, but I don't see it at 50 Hz (which is what you'd be using by default with the RIO bus). If you explicitly slow down the odometry update thread does it still reproduce, maybe bring it closer to 10 Hz as a sanity check? You can modify the TunerConstants.java here [2] to explicitly set an update frequency. public static CommandSwerveDrivetrain createDrivetrain() { return new CommandSwerveDrivetrain( DrivetrainConstants, /* Update frequency in hertz */, FrontLeft, FrontRight, BackLeft, BackRight ); } -- Reply to this email directly, view it on GitHub [1], or unsubscribe [3]. You are receiving this because you authored the thread.Message ID: ***@***.***>

Links: ------ [1] #128 (comment) [2] https://github.com/ORF-4450/Robot26/blob/master/src/main/java/Team4450/Robot26/subsystems/SDS/TunerConstants.java#L206 [3] https://github.com/notifications/unsubscribe-auth/AA2SXO6IYXZTJHPPEIHRINL4CA54TAVCNFSM6AAAAACO6QBPJKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTMNRRGYYTONRZGM

[CoryNessCTR]

You say the RIO by default is 50 but I saw some online doc saying the
RIO is CAN 2.0 at 100. Your doc also says this for the update freq
parameter. Can you clarify that?

You're absolutely right, I got the Odometry update frequency mixed up with the default robot periodic frequency. If the CAN bus is a RIO bus the update frequency defaults to 100 Hz, not 50 Hz.

[Crossle86]

So I can just set it to 100 and not affect real robot but reduce the errors in sim. On that TunerX issue, maybe I am blind, but I don't see a link to download an installation exe on releases page for the beta.

On 2025-12-16 12:20 pm, Cory wrote: CoryNessCTR left a comment (CrossTheRoadElec/Phoenix-Releases#128) [1] > You say the RIO by default is 50 but I saw some online doc saying the > RIO is CAN 2.0 at 100. Your doc also says this for the update freq > parameter. Can you clarify that? You're absolutely right, I got the Odometry update frequency mixed up with the default robot periodic frequency. If the CAN bus is a RIO bus the update frequency defaults to 100 Hz, not 50 Hz. -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***>

Links: ------ [1] #128 (comment) [2] https://github.com/notifications/unsubscribe-auth/AA2SXOZCMOTV6ATA2QNWJ4L4CBSSHAVCNFSM6AAAAACO6QBPJKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTMNRSGIZTINRWGU

[daltzctr]

Release is available under assets https://github.com/CrossTheRoadElec/Phoenix-Releases/releases/tag/v25.3.2

Keep in mind that 1903 is out of support. So our assistance with any issues you may face will be limited.

[Crossle86]

Dalton, I saw that installer...but I was looking for 2026 preview. The 2026 preview TunerX is the one that will not run for me. I expected the preview installer would be under the 2026 beta release. I installed the preview I tried from the MS store. I understand about W10, a project for another day.

On 2025-12-17 6:25 am, Dalton Smith wrote: daltzctr left a comment (CrossTheRoadElec/Phoenix-Releases#128) [1] Release is available under assets https://github.com/CrossTheRoadElec/Phoenix-Releases/releases/tag/v25.3.2 Keep in mind that 1903 is out of support. So our assistance with any issues you may face will be limited. -- Reply to this email directly, view it on GitHub [1], or unsubscribe [2]. You are receiving this because you authored the thread.Message ID: ***@***.***>

Links: ------ [1] #128 (comment) [2] https://github.com/notifications/unsubscribe-auth/AA2SXO5LNG22ZVLX3OQ6TSD4CFRUPAVCNFSM6AAAAACO6QBPJKVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTMNRVGU4TMNJRGQ