tridge

// auto-generated DMA mapping from dma_resolver.py
#define STM32_ADC_ADC1_DMA_STREAM      STM32_DMA_STREAM_ID(1, 2)
#define STM32_ADC_ADC1_DMA_CHAN        STM32_DMAMUX1_ADC1
#define STM32_I2C_I2C1_RX_DMA_STREAM   STM32_DMA_STREAM_ID(2, 2) // shared I2C1_RX,I2C3_TX
#define STM32_I2C_I2C1_RX_DMA_CHAN     STM32_DMAMUX1_I2C1_RX
#define STM32_I2C_I2C1_TX_DMA_STREAM   STM32_DMA_STREAM_ID(2, 5) // shared SPI4_TX,SPI2_TX,USART3_TX,I2C1_TX,SPI5_TX
#define STM32_I2C_I2C1_TX_DMA_CHAN     STM32_DMAMUX1_I2C1_TX
#define STM32_I2C_I2C2_RX_DMA_STREAM   STM32_DMA_STREAM_ID(2, 1) // shared SPI4_RX,I2C2_RX,SPI2_RX,SPI5_RX
#define STM32_I2C_I2C2_RX_DMA_CHAN     STM32_DMAMUX1_I2C2_RX
#define STM32_I2C_I2C2_TX_DMA_STREAM   STM32_DMA_STREAM_ID(2, 6)

tridge

Hi tridge,
I had an in-air engine shutdown yesterday and I still can't determine the cause of it. I do not have a dataflash log from it because I can't get logging to work on this
controller with ChibiOS. It works fine with a NuttX build though. But I was running a ChibiOS build in this case.

I have the tlog (attached). I successfully autorotated the helicopter from auto flight mode with just some minor damage to the landing gear.

https://youtu.be/2Sk0mAha0rM

The sequence of events was:
1) everything is normal, cruising in auto at 20kts, 75' AGL

tridge

120.36.254.239 - - [24/Jul/2019:01:03:57 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:03:58 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:03:58 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:03:58 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:03:58 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:03:58 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:09:19 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:09:19 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1.1" 200 442 "-" "-"
120.36.254.239 - - [24/Jul/2019:01:09:20 +0000] "GET /Copter/stable/fmuv3/git-version.txt HTTP/1

tridge

#ifndef AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX     128
#endif

tridge

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index 74cce72ad0..0436eb44bd 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1033,6 +1033,15 @@ AP_GPS_UBLOX::_parse_gps(void)
 #endif
         break;
     case MSG_PVT:
+    {
+        static uint32_t last_pvt_ms;

tridge

good:

  0:0:00=0xEA   1:0:03=0x70   2:0:05=0x40   3:0:06=0x01   4:0:07=0x00   5:0:0F=0x00   6:0:10=0x00   7:0:11=0x01
  8:0:12=0x00   9:0:13=0x00  10:0:17=0x00  11:0:19=0x00  12:0:1A=0x01  13:0:1B=0x00  14:0:1C=0x00  15:0:28=0x00 
 16:0:29=0x00  17:0:2D=0x00  18:0:2E=0x74  19:0:2F=0x00  20:0:30=0xA7  21:0:31=0xF7  22:0:32=0xE8  23:0:33=0x00 
 24:0:34=0x27  25:0:35=0x00  26:0:36=0x38  27:0:37=0x00  28:0:38=0x03  29:0:39=0x1C  30:0:3A=0x80  31:0:3B=0x01 
 32:0:3C=0xFC  33:0:3D=0xFF  34:0:3E=0xE8  35:0:3F=0x00  36:0:40=0x7C  37:0:41=0x01  38:0:42=0x00  39:0:43=0x30 
 40:0:44=0x00  41:0:45=0x00  42:0:46=0x00  43:0:47=0x00  44:0:48=0x00  45:0:49=0x00  46:0:4A=0x00  47:0:4B=0x00 
 48:0:4C=0x00  49:0:4D=0x00  50:0:4E=0x00  51:0:4F=0x00  52:0:50=0x00  53:0:51=0x00  54:0:52=0x00  55:0:66=0x00 
 56:0:68=0x00  57:0:69=0x0F  58:0:70=0x00  59:0:71=0x46  60:0:72=0x00  61:0:74=0x0B  62:0:76=0x00  63:1:02=0xB2 

tridge

-- a PI controller with feed-forward
local function PIFF(kFF,kP,kI,iMax)
  -- the new instance
  local self = {}

  -- private fields as locals
  local _kFF = kFF
  local _kP = kP or 0.0
  local _kI = kI or 0.0
  local _kD = kD or 0.0

tridge

non-debug (-O2):
Dump of assembler code for function __core_init:
   0x08002a50 <+0>:     push    {r4, r5, r6, r7, lr}
   0x08002a52 <+2>:     nop
   0x08002a54 <+4>:     nop
   0x08002a56 <+6>:     nop
   0x08002a58 <+8>:     dsb     sy
   0x08002a5c <+12>:    isb     sy
   0x08002a60 <+16>:    nop
   0x08002a62 <+18>:    nop

tridge

======================================================================
FAIL: demos/various/RT-Posix-Simulator/Makefile (make all)
----------------------------------------------------------------------
CMD: /usr/bin/env make -C /home/tridge/project/UAV/APM.chibios/modules/ChibiOS/demos/various/RT-Posix-Simulator -f Makefile all

STDOUT:
make[1]: Entering directory '/home/tridge/project/UAV/APM.chibios/modules/ChibiOS/demos/various/RT-Posix-Simulator'
Compiler Options
gcc -c -O2 -ggdb -m32 -ffunction-sections -fdata-sections -fno-common -Wall -Wextra -Wundef -Wstrict-prototypes -Wa,-alms=./build/lst/ -DSIMULATOR -DTEST_CFG_SIZE_REPORT=0 -MD -MP -MF ./.dep/build.d -I. -I./cfg -I../../../os/license -I../../../os/hal/include -I../../../os/hal/boards/simulator -I../../../os/hal/ports/simulator/posix -I../../../os/hal/ports/simulator -I../../../os/hal/osal/rt-nil -I../../../os/rt/include -I../../../os/oslib/include -I../../../os/common/portability/GCC -I../../../os/common/ports/SIMIA32/compilers/GCC -I../../../os/co

tridge

#define STM32_ADC_ADC1_DMA_STREAM      STM32_DMA_STREAM_ID(2, 0)
#define STM32_ADC_ADC1_DMA_CHAN        0
#define STM32_I2C_I2C1_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 0) // shared I2C1_RX,UART8_TX
#define STM32_I2C_I2C1_RX_DMA_CHAN     1
#define STM32_I2C_I2C1_TX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 6) // shared I2C1_TX,USART2_TX,TIM4_UP
#define STM32_I2C_I2C1_TX_DMA_CHAN     1
#define STM32_I2C_I2C2_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 3) // shared SPI2_RX,I2C2_RX
#define STM32_I2C_I2C2_RX_DMA_CHAN     7
#define STM32_I2C_I2C2_TX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 7)
#define STM32_I2C_I2C2_TX_DMA_CHAN     7