The bug description
Sometimes the task can be interrupted, when it should not be interrupted.
Log example from real flight
It was the usual flight, when I want to land copter by sending command from server, but the command was executed only for the second time.
The bug description Sometimes the task can be interrupted, when it should not be interrupted.
Log example from real flight It was the usual flight, when I want to land copter by sending command from server, but the command was executed only for the second time.
Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,028 [FlightL] [Task process] [INFO ] Going to: | x: 10.811 y: -1.975 z: 3.545 yaw: 3.142 Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,029 [tasking] [Task process] [INFO ] Execution done Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,030 [tasking] [Task process] [INFO ] Executing task execute_frame Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,096 [FlightL] [Task process] [INFO ] Going to: | x: 10.875 y: -1.967 z: 3.546 yaw: 3.142 Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,099 [tasking] [MainThread ] [INFO ] Task queue paused Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,105 [tasking] [MainThread ] [INFO ] Task queue resumed with timeshift 0.0 Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,108 [tasking] [Task process] [WARNI] Timeout checking exception: list index out of range Jan 22 13:21:43 clever-05 bash[504]: 2020-01-22 13:21:43,519 [main_] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.08 | pos_delta: 0.36 | pos_dt: -0.03 | action: emergency_land | range: 10.00 Jan 22 13:21:43 clever-05 bash[493]: 2020-01-22 13:21:43,732 [FlightL] [Telemetry ge] [WARNI] [Linear velocity estimation]: Err: Z velocity estimation: 0.161 m/s Jan 22 13:21:44 clever-05 bash[504]: 2020-01-22 13:21:44,019 [_main] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.08 | pos_delta: 0.11 | pos_dt: 0.00 | action: emergency_land | range: 10.00 Jan 22 13:21:44 clever-05 bash[504]: 2020-01-22 13:21:44,519 [main_] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.08 | pos_delta: 0.22 | pos_dt: 0.00 | action: emergency_land | range: 10.00 Jan 22 13:21:44 clever-05 bash[493]: 2020-01-22 13:21:44,805 [FlightL] [Telemetry ge] [WARNI] [Angular velocity estimation]: Err: Pitch rate estimation: 0.109 rad/s Jan 22 13:21:44 clever-05 bash[493]: 2020-01-22 13:21:44,808 [FlightL] [Telemetry ge] [WARNI] [Angular velocity estimation]: Err: Roll rate estimation: 0.129 rad/s Jan 22 13:21:45 clever-05 bash[504]: 2020-01-22 13:21:45,020 [main_] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.08 | pos_delta: 0.36 | pos_dt: 0.00 | action: emergency_land | range: 10.00 Jan 22 13:21:45 clever-05 bash[504]: 2020-01-22 13:21:45,518 [_main] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.08 | pos_delta: 0.33 | pos_dt: 0.01 | action: emergency_land | range: 10.00 Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,795 [FlightL] [Telemetry ge] [WARNI] [Angular velocity estimation]: Err: Pitch rate estimation: 0.094 rad/s Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,803 [tasking] [MainThread ] [INFO ] Task queue paused Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,805 [tasking] [MainThread ] [INFO ] Task queue resumed with timeshift 0.0 Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,807 [tasking] [Task process] [INFO ] Executing task land Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,814 [tasking] [Thread-4 ] [WARNI] Waiting was interrupted! Jan 22 13:21:45 clever-05 bash[493]: 2020-01-22 13:21:45,824 [tasking] [Thread-4 ] [WARNI] Waiting was interrupted! Jan 22 13:21:45 clever-05 bash[492]: #033[33m[ WARN] [1579699305.867162293]: ros.mavros.cmd: CMD: Unexpected command 176, result 0#033[0m Jan 22 13:21:46 clever-05 bash[504]: 2020-01-22 13:21:46,019 [main_] [Thread-4 ] [DEBUG] armed: True | mode: OFFBOARD | viz_dt: 0.13 | pos_delta: 0.34 | pos_dt: 0.06 | action: emergency_land | range: 10.00 Jan 22 13:21:46 clever-05 bash[493]: 2020-01-22 13:21:46,394 [FlightL] [Task process] [WARNI] Land function interrupted! Jan 22 13:21:46 clever-05 bash[493]: 2020-01-22 13:21:46,396 [tasking] [Task process] [INFO ] Execution done
Expected behavior The task should not be interrupted by itself, we need to rework the task manager.
Version v0.3.