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MB3hel / AUVControlBoard

Vectored 6-DOF motion controller for AUVs.
https://mb3hel.github.io/AUVControlBoard/
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[BUG] Incorrect Motor Motions after running for a long time #27

Open MB3hel opened 1 year ago

MB3hel commented 1 year ago

Describe the bug After leaving the device running for several hours (somewhere between 2-5 hours) the control board started generating incorrect motor signals. During the several hours the device was running, various commands were sent to the device and the vehicle was in motion using various modes.

When the issue occurred, thrusters would not complete arming (usually; sometimes a few would). This was determined by the last "beep" that indicates a zero speed is currently applied to the ESC by PWM signal. Additionally, when trying to run a motor test, various unexpected motions occurred (details of what specific motions were are unknown).

Tested Versions v1

Impacted Versions v1

To Reproduce

  1. Run for a long time
  2. Check PWM signals
  3. Observe any issues

Expected behavior 1500us pulse for zero speed

MB3hel commented 1 year ago

I have been unable to reproduce this as of now (simulation and testing with sitting on my desk). More info is needed to track down this issue.