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Re: [Paparazzi-devel] motor command error on hexa------work arround prog

From: Eduardo lavratti
Subject: Re: [Paparazzi-devel] motor command error on hexa------work arround progress
Date: Tue, 26 Mar 2013 16:25:18 -0300

Sergey, i know the i2c problem with mikrokopter.
All times i start my big octo the mikrokopter BEEP because some i2c error occur but the bus continue work and the rotorcraft flies.
2 year ago i flied with mikrokopter using 12 motors without problem.

My question is: Why the paparazzi i2c bus hang after i2c error ?
have a way to make the bus to continu working after errors ?

> To: address@hidden
> Date: Mon, 25 Mar 2013 09:14:34 +0100
> From: address@hidden
> Subject: Re: [Paparazzi-devel] motor command error on hexa------work arround progress
> Hi Eduardo!
> If the problem is still actuall, try to checkout the latest
> actuators_mkk.c file from the master branch.
> I've added the i2c submission control, so the actual queue length could be
> leaved unchanged.
> I've also experienced problems with 8 mkk controllers, they a very
> sensitive to the bus speed. With the 400kHz there going to be the bus
> errors anyway. I've had problems with 8 mkk sometimes even with the bus
> speed about 60kHz. So try to let your bus speed down. But when you let
> your bus speed down, and it is not sufficient to control all the motors
> once per periodic time, the queue length increase is not going to help. So
> then you have to use the fixed actuators_mkk.c file.
> But anyway, I've experienced a crash with the stock MK autopilot because
> of i2c errors problem, so imho the solution with more than 6 mkk
> controllers is not reliable enough. I wouldn't recommend that.
> Regards,
> Sergey
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