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ArduPlane, ArduCopter, ArduRover, ArduSub source
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Filter: Non-quiet NaNs are logged for FCN #27363

Open mbuzdalov opened 3 months ago

mbuzdalov commented 3 months ago

Bug report

Issue details

Valid NaNs in logs are supposed to be quiet (and are supposed to feature some distinct AP signature).

For some time I am observing notification about log errors when opening logs created by firmware from the master branch. Today I decided to get further into it, and observed that FCN entries often feature a signalling NaN (int value 2143289344, or 1111111110000000000000000000000).

This is apparently not what should happen, and may indicate some bugs in filter computations. It also triggers error messages in certain GCS software.

An example log is attached.

Version Many recent master commits, including 96682b1b1bb5626394394944eb6b377ce45bf162.

Platform [ x ] All [ ] AntennaTracker [ ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type

Was found on quadcopters and coax copters, likely affects everything else.

Hardware type

FlywooF405S-AIO FlywooF745

Logs 24-06-23_02-24-47_psz-experiments_data-errors.bin.gz

peterbarker commented 3 months ago 
1970-01-01 10:03:00.485 FCN {TimeUS : 180485024, I : 0, NF : 4, CF1 : 193.33164978027344, CF2 : 204.1666717529297, CF3 : 179.27687072753906, CF4 : 135.83334350585938, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}
1970-01-01 10:03:00.585 FCN {TimeUS : 180585005, I : 0, NF : 4, CF1 : 196.22161865234375, CF2 : 206.3833465576172, CF3 : 181.447509765625, CF4 : 136.10000610351562, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}
1970-01-01 10:03:00.684 FCN {TimeUS : 180684990, I : 0, NF : 4, CF1 : 188.197998046875, CF2 : 193.8833465576172, CF3 : 178.75033569335938, CF4 : 131.3833465576172, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}
1970-01-01 10:03:00.784 FCN {TimeUS : 180784972, I : 0, NF : 4, CF1 : nan, CF2 : nan, CF3 : nan, CF4 : nan, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}
1970-01-01 10:03:00.884 FCN {TimeUS : 180884957, I : 0, NF : 4, CF1 : nan, CF2 : nan, CF3 : nan, CF4 : nan, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}
1970-01-01 10:03:00.984 FCN {TimeUS : 180984859, I : 0, NF : 4, CF1 : nan, CF2 : nan, CF3 : nan, CF4 : nan, CF5 : 0.0, CF6 : 0.0, HF1 : 1.0953272347364598e-19, HF2 : nan, HF3 : 1.0953272347364598e-19, HF4 : nan, HF5 : 0.0, HF6 : 0.0}