Re: [Paparazzi-devel] simultaneously using two autopilot systems for rel

On Mon, Nov 25, 2013 at 2:43 PM, Refik Sever <address@hidden> wrote:

Hi Michal,

We want to readback the file using Blackmagic and check if it is uploaded correctly or not. Could you please send the commands for readback of the flash?

Regards,

Refik

From: paparazzi-devel-bounces+refiksever=address@hidden [mailto:paparazzi-devel-bounces+refiksever=address@hidden] On Behalf Of Refik Sever
Sent: Monday, November 25, 2013 9:04 PM

To: 'Paparazzi UAV devel list'
Subject: Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability

Thanks Michal...

From: address@hidden [mailto:address@hidden] On Behalf Of Michal Podhradsky
Sent: Monday, November 25, 2013 8:59 PM
To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability

Refik,
just a side note - we have BlackMagic debugger and pretty often we have that flash erase error (both when uploading from Eclipse or Paparazzi center - obviously it is gdb related thing). But you can upload for second time then it usually works.

Try this command sequence in gdb:
target extended-remote /dev/ttyACM0
monitor jtag_scan
attach 1
monitor vector_catch disable hard
set mem inaccessible-by-default off
monitor option erase
set print pretty
and then load the target
.
monitor option erase should undo the flash write protection, but sometimes it just doesn't work.
M

On Mon, Nov 25, 2013 at 11:36 AM, Refik Sever <address@hidden> wrote:

Hello,

Chris, I observed that when the modem tx power is above 25mW, then the voltage of modem drops to 4V. Thanks for warning. We will give the voltage from a different supply.

Michal, I was not aware of I2C issue. We are using airspeed and temperature sensors connected to I2C. It seems that the I2C issue is a serious problem.

We bought a BlackMagic probe and today we start working on debugging. We tried to upload using JTAG cable, but it always gives an error that it can not erase the flash when we upload from GCS. When we upload from terminal, it usually uploads successfully and sometimes it gives the same error.

We want to have a very reliable system which can work for hours. I am planning to use a second autopilot which does not have any peripheral. It will be connected only to GPS, and maybe to modem also. It will always be on standby mode. I ordered an FPGA board. If it works porperly, I hope that the system will be more reliable. And I understand that using a watchdog timer outside of the microcontroller will be better. I am planning to use the FPGA for that purpose.

Do you have recommendations about the connection of the second autopilot?

1. We can add the second autopilot with a second modem using API mode and the GCS will see the two autopilots as 2 different airplanes.

2. We can add only one modem and both of the autopilots will receive same commands from GCS, but only one of them transmits data to GCS.

3. The second autopilot will not have a modem. It will always be on standby mode. If the primary autopilot will freeze, the second autopilot will bring the plane to the standby.

Regards,
Refik

From: paparazzi-devel-bounces+refiksever=address@hidden [mailto:paparazzi-devel-bounces+refiksever=address@hidden] On Behalf Of Michal Podhradsky
Sent: Monday, November 25, 2013 7:23 PM

To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability

Refik,
since you mentioned using I2C, look at the pending issue with I2C causing the autopilot to freeze (https://github.com/paparazzi/paparazzi/pull/531). What happens if you disable the I2C sensor, does it still hang?

Also, do you have a debugger (http://paparazzi.enac.fr/wiki/JTAG)? That would be probably the easiest way to find what happened.

M

On Mon, Nov 25, 2013 at 9:40 AM, Eduardo lavratti <address@hidden> wrote:

When i do the first test with mine lisa_m it reset or hang.
This occur when i power the board with 12v and the internal regulator work very hot and then turn off.

To solve this i use a external 7.4volt regulator that power the board.

After this the board not hang anymore.

From: address@hidden
Date: Tue, 26 Nov 2013 00:51:55 +1100
To: address@hidden

Subject: Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability
Although we do not give power to the Ets in the upload, its 7 segment display works and blinks. I think that it takes power from I2C pins. Does it create a problem in the upload?

I don't know. Can you remove everything then add them back one by one, testing in between? That's software-guy thinking, maybe a hardware person has a more informed idea...

Chris Gough

Refik

From: address@hidden [mailto:paparazzi-devel-bounces+refiksever=address@hidden] On Behalf Of Chris Gough
Sent: Monday, November 25, 2013 2:48 PM
To: Paparazzi UAV devel list
Subject: Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability

When the modem TX power is 25mw or higher, then the IMU does not work properly and also does the autopilot. It still sends messages, but the behaviour is not normal. The PFD screen does not work properly etc. We can see it on the bench. When the TX power is 1mW, then it works properly.

That makes me very suspicious of a power supply problem. Increasing the power supply (or powering the modem independently) is so much simpler than a failsafe/failover system.

Sorry if you've exhausted this line of enquiry already, but these components are usually very reliable so something must be going wrong.

Sometimes, it completely freezes and the leds do not blink. I think that we have also problems in upload. We haven't yet tried the verification procedure of uploaded stream. The autopilot starts working, but when it jumps to a problematic part of the code, then it stops.

What is the problematic part of the code? Does it correlate with a burst of telemetry transmission?

What peripherals do you have on the powered from the autopilot?

Chris Gough
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From:	Michal Podhradsky
Subject:	Re: [Paparazzi-devel] simultaneously using two autopilot systems for reliability
Date:	Mon, 25 Nov 2013 14:50:33 -0700