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

#ifndef AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX
#define AP_SERIALMANAGER_MAVLINK_BUFSIZE_RX     128
#endif

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

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

// 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

465: ALTITUDE {time_usec : 63903290, altitude_monotonic : 544.899108887, altitude_amsl : 544.899108887, altitude_local : 0.0728899389505, altitude_relative : 0.0728899389505, altitude_terrain : nan, bottom_clearance : nan}
2203: ATTITUDE {time_boot_ms : 63897, roll : 0.176129847765, pitch : -0.0907887071371, yaw : 2.88246703148, rollspeed : -0.00157175888307, pitchspeed : -0.00114167109132, yawspeed : -0.00108176632784}
2203: ATTITUDE_QUATERNION {time_boot_ms : 63897, q1 : 0.124609746039, q2 : 0.0561756826937, q3 : 0.0812838822603, q4 : 0.987273812294, rollspeed : -0.00157175888307, pitchspeed : -0.00114167109132, yawspeed : -0.00108176632784}
10: BAD_DATA {Bad prefix, data:['d8']}
47: BATTERY_STATUS {id : 0, battery_function : 1, type : 1, temperature : 32767, voltages : [65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535, 65535], current_battery : -1, current_consumed : -1, energy_consumed : -1, battery_remaining : -1, time_remaining : 0, charge_state : 0}
231: ESTIMATOR_STATUS {time_usec : 63720

tridge

2018-07-30 09:25:59,071  INFO MissionPlanner.Utilities.Firmware - 71 Trying Port COM12 (C:\Users\michael\Source\Repos\MissionPlanner\Utilities\Firmware.cs:635) [Base Thread]
2018-07-30 09:25:59,090 DEBUG Program - FirstChanceException in: px4uploader (C:\Users\michael\Source\Repos\MissionPlanner\Program.cs:267) [Base Thread]
System.IO.FileLoadException: Could not load file or assembly 'System.IO.Ports, Version=4.0.0.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51' or one of its dependencies. The located assembly's manifest definition does not match the assembly reference. (Exception from HRESULT: 0x80131040)
File name: 'System.IO.Ports, Version=4.0.0.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51'
   at px4uploader.Uploader..ctor(String port, Int32 baudrate)
   at MissionPlanner.Utilities.Firmware.UploadPX4(String filename, boards board) in C:\Users\michael\Source\Repos\MissionPlanner\Utilities\Firmware.cs:line 639

WRN: Assembly binding logging is turned OFF.
To enable assembly bind failure logging,

tridge

def to_string(s):
    '''desperate attempt to convert a string regardless of what garbage paypal gave us. Better solutions welcome'''
    try:
        s2 = s.encode('utf-8', 'ignore')
        x = u"%s" % s2
        return s2
    except Exception:
        pass
    # so its a nasty one. Let's grab as many characters as we can
    r = ''

tridge

// Note: The following peripherals can't be resolved for DMA: ['TIM4_UP', 'USART2_TX', 'USART2_RX', 'USART3_RX']

#define STM32_ADC_ADC1_DMA_STREAM      STM32_DMA_STREAM_ID(2, 4)
#define STM32_ADC_ADC1_DMA_CHAN        0
#define STM32_I2C_I2C1_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 5) // shared I2C1_RX,I2C4_TX
#define STM32_I2C_I2C1_RX_DMA_CHAN     1
#define STM32_I2C_I2C1_TX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 7) // shared I2C1_TX,I2C2_TX
#define STM32_I2C_I2C1_TX_DMA_CHAN     1
#define STM32_I2C_I2C2_RX_DMA_STREAM   STM32_DMA_STREAM_ID(1, 3) // shared I2C2_RX,USART3_TX
#define STM32_I2C_I2C2_RX_DMA_CHAN     7

tridge

#!/usr/bin/env python

import can
from can.listener import Listener

import uavcan.transport as tp
import time

class UAVCANListener(Listener):
  def __init__(self):