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osrf / uctf

Unmanned Capture the Flag (U-CTF) project.
Apache License 2.0
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zephyr models detect motor failure shortly after takeoff #48

Closed tfoote closed 7 years ago

tfoote commented 7 years ago 
APM: Motor failure detected.
[ERROR] [1479420688.714654122]: FCU: Motor failure detected.
APM: ACS COMMANDED: killing throttle
[ERROR] [1479420688.733913089]: FCU: ACS COMMANDED: killing throttle
height 20
APM: ACS COMMANDED: killing throttle
[ERROR] [1479420691.859900823]: FCU: ACS COMMANDED: killing throttle
height 30
APM: ACS COMMANDED: killing throttle
[ERROR] [1479420694.662475274]: FCU: ACS COMMANDED: killing throttle
APM: ACS COMMANDED: killing throttle
[ERROR] [1479420697.465758206]: FCU: ACS COMMANDED: killing throttle
height 40
height 50

After dropping for 20 seconds in a death spiral they recover can go back to other forms of flight.

Like this going back to RTL. image

tfoote commented 7 years ago

Having watched this more it seems to be when the plane gets too aggressive in it's angle of attack.

clemsonwaterski commented 7 years ago

We grabbed a few more lines from seeing a similar issue when running in Gazebo below:

[INFO] [WallTime: 1481657246.881846] MAVLink STATUSTEXT: Barometer calibration complete
[INFO] [WallTime: 1481657250.733753] NET FlightReady
[INFO] [WallTime: 1481657250.735150] Swarm state updated to Flight Ready
[INFO] [WallTime: 1481657250.911014] Task Runner: Starting Event 'on_ready'
[INFO] [WallTime: 1481657250.912051] Task Runner: Completed Event 'on_ready'
[INFO] [WallTime: 1481657252.632761] NET Arm
[INFO] [WallTime: 1481657252.678609] ROS sub recvd: arm
APM: Throttle armed
[INFO] [WallTime: 1481657252.701719] MAVLink STATUSTEXT: Throttle armed
ARMED
[INFO] [WallTime: 1481657253.142750] Task Runner: Starting Event 'on_arm'
[INFO] [WallTime: 1481657253.143758] Task Runner: Completed Event 'on_arm'
[INFO] [WallTime: 1481657259.950104] NET MissionConfig
[INFO] [WallTime: 1481657259.961891] ROS srv recvd: fpr_param_setlist
[INFO] [WallTime: 1481657260.001293] MAVLink STATUSTEXT: ArduPlane V3.8.0beta1 (9fecf578)
[INFO] [WallTime: 1481657262.165535] PARAM ALT_HOLD_RTL --> 12500.000000
[INFO] [WallTime: 1481657262.367028] PARAM FENCE_RETALT --> 125.000000
[INFO] [WallTime: 1481657262.377581] ROS srv recvd: load_rally
[INFO] [WallTime: 1481657262.389775] ROS srv recvd: fpr_rally_setall
[INFO] [WallTime: 1481657263.002875] ROS srv recvd: load_wp
[INFO] [WallTime: 1481657263.020252] ROS srv recvd: wp_setall
[INFO] [WallTime: 1481657263.762475] MAVLink STATUSTEXT: Flight plan received
[INFO] [WallTime: 1481657263.898137] ROS sub recvd: waypoint_goto
[INFO] [WallTime: 1481657264.205074] ROS srv recvd: wp_getrange
[INFO] [WallTime: 1481657269.253093] NET Mode
[INFO] [WallTime: 1481657269.311948] Sent mode AUTO (10) to autopilot 
[INFO] [WallTime: 1481657269.312507] ROS sub recvd: mode_num
APM: Executing nav command ID #22
APM: Resetting previous waypoint
APM: Armed AUTO, xaccel = -0.0 m/s/s, waiting 0.2 sec
[INFO] [WallTime: 1481657269.341871] MAVLink STATUSTEXT: Executing nav command ID #22
[INFO] [WallTime: 1481657269.342676] MAVLink STATUSTEXT: Resetting previous waypoint
[INFO] [WallTime: 1481657269.343595] MAVLink STATUSTEXT: Armed AUTO, xaccel = -0.0 m/s/s, waiting 0.2 sec
APM: Triggered AUTO. GPS speed = 7.9
[INFO] [WallTime: 1481657269.541896] MAVLink STATUSTEXT: Triggered AUTO. GPS speed = 7.9
26:AUTO> Mode AUTO
APM: Holding course 19 at 10.3m/s (0.0)
[INFO] [WallTime: 1481657271.441472] MAVLink STATUSTEXT: Holding course 19 at 10.3m/s (0.0)
[INFO] [WallTime: 1481657277.328049] Swarm state updated to Ingress
APM: Takeoff level-off starting at 6m
[INFO] [WallTime: 1481657291.121934] MAVLink STATUSTEXT: Takeoff level-off starting at 6m
APM: Takeoff complete at 80.17m
[INFO] [WallTime: 1481657293.122124] MAVLink STATUSTEXT: Takeoff complete at 80.17m
APM: Executing command ID #207
APM: Set fence enabled state to 1
APM: Executing nav command ID #19
[INFO] [WallTime: 1481657293.124088] MAVLink STATUSTEXT: Executing command ID #207
[INFO] [WallTime: 1481657293.126158] MAVLink STATUSTEXT: Set fence enabled state to 1
[INFO] [WallTime: 1481657293.127442] MAVLink STATUSTEXT: Executing nav command ID #19
[INFO] [WallTime: 1481657293.328568] ROS srv recvd: wp_getrange
APM: Verify nav: LOITER time complete
APM: Executing nav command ID #31
APM: Resetting previous waypoint
[INFO] [WallTime: 1481657359.981957] MAVLink STATUSTEXT: Verify nav: LOITER time complete
[INFO] [WallTime: 1481657359.984232] MAVLink STATUSTEXT: Executing nav command ID #31
[INFO] [WallTime: 1481657359.986128] MAVLink STATUSTEXT: Resetting previous waypoint
[INFO] [WallTime: 1481657360.594231] ROS srv recvd: wp_getrange
APM: Motor failure detected.
[INFO] [WallTime: 1481657366.001525] MAVLink STATUSTEXT: Motor failure detected.
APM: Throttle disarmed
[INFO] [WallTime: 1481657366.021554] MAVLink STATUSTEXT: Throttle disarmed
DISARMED
[INFO] [WallTime: 1481657366.601927] Task Runner: Starting Event 'on_disarm'
[INFO] [WallTime: 1481657366.602427] Task Runner: Completed Event 'on_disarm'
[INFO] [WallTime: 1481657366.604658] ROS srv recvd: wp_getrange
26:RTL> Mode RTL
[INFO] [WallTime: 1481657366.728110] Swarm state updated to State Error
[INFO] [WallTime: 1481657366.729872] independent_transit activate request False returned False
[INFO] [WallTime: 1481657366.731688] patrol_box activate request False returned False
[INFO] [WallTime: 1481657366.732271] Active swarm behavior updated to standby
[INFO] [WallTime: 1481657366.732743] Subswarm updated to 0
[WARN] [WallTime: 1481657366.733089] Autopilot not in AUTO: disabling swarming
[INFO] [WallTime: 1481657367.628720] Swarm state updated to On Deck
[INFO] [WallTime: 1481657367.634484] independent_transit activate request False returned False
[INFO] [WallTime: 1481657367.640200] patrol_box activate request False returned False
[INFO] [WallTime: 1481657367.642971] Active swarm behavior updated to standby
[INFO] [WallTime: 1481657367.645066] Subswarm updated to 0
[WARN] [WallTime: 1481657367.646562] Unexpected low airspeed--not flying anymore!
APM: Motor failure detected.
[INFO] [WallTime: 1481657370.421416] MAVLink STATUSTEXT: Motor failure detected.
tfoote commented 7 years ago

Fixed upstream, in AP_ACS we have not seen this recently.