[BUG] Reset with newer firmware

MB3hel / AUVControlBoard

Vectored 6-DOF motion controller for AUVs.

https://mb3hel.github.io/AUVControlBoard/

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[BUG] Reset with newer firmware #22

Closed MB3hel closed 1 year ago

MB3hel commented 1 year ago

Describe the bug

Watchdog triggers system reset unexpectedly when using sassist.py and sensordata.py (release build, v1)
When using a debug build (debug build, v1) it deadlocks
Impacts v2 as well (tested with release build, v2 = causes reset)

Tested Versions v1, v2

Impacted Versions v1, v2

To Reproduce

Build release for v1 or v2
Run the sensordata.py script
Run the sassist.py script
Wait a few seconds
Hit enter to end sassist.py
Repeat steps 2-5 until the system resets (indicated by LED going back to yellow = RAW mode)

Expected behavior No system reset; deadlock does not occur.

MB3hel commented 1 year ago

Deadlocks due to mval being nan causing this to be an infinite loop. Not sure why this becomes nan. Located in motor_control.c in mc_set_local

MB3hel commented 1 year ago

Caused by check failure in cmdctrl.c's cmdctrl_apply_saved_speed. If the IMU data returns zero (as it does after axis configure), this is passed to mc_set_global. The newer implementation of mc_set_global will result in nans being passed to mc_set_local in this scenario due to the invalid quaternion.

This is fixed by checking valid sensor data in cmdctrl_apply_saved_speed before calling mc_set_global, mc_set_sassist, or mc_set_dhold