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Re: [Paparazzi-devel] IMU lost in flight

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] IMU lost in flight
Date: Tue, 04 Nov 2014 17:49:18 +0100
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:24.0) Gecko/20100101 Icedove/24.8.1


I have seen this a few times on Umarim boards. But I think it is more related to an issue in the i2c driver on the old lpc2148 boards. Unfortunately I never manage to trap the error with a logical analyzer or a debugger. I don't really know how to search for it, it is really random.


Le 04/11/2014 17:26, Simon Liebold a écrit :
Hi all,

Maybe you can help me to understand what happened past Saturday to my UAV. Just as I was bringing it in for landing it suddenly spun out of control and went down - to quickly to recover.

The logs show that seconds before impact the IMU_* data all lock up. In the replay the GCS is showing "IMU_LO" (probably stands for "IMU lost"):

I have never seen this before. It would explain the loss of control. But I cannot find any explanation why the sensors freeze up. It is the Umarim Lite V2 with gyroscope and accelerometer on the board. So it cannot be a connection issue.

I did find one correlation though: The mishap begins just as I was pulling the power out to lose altitude:

Source state was master (with last commit dd386f1).

Has anyone an idea what could have caused it? Some sort of "out-of-tune frequency" from the ESC?


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