Re: [Paparazzi-devel] The reason for ACTUATORS_START_DELAY

[Christophe De Wagter]

According to our tests not the actuator subsystem but the i2c peripheral on stm fails. With atmega you can start instantly. If the motor controller was not ready yet it will simply not ACK. However if the i2c starts too early, we have shown that power spikes can (also) lock i2c. I still hope that a watchdog could solve this. We still have the same issue with eagle tree airspeed.

On Apr 5, 2013 10:28 PM, "Felix Ruess" <address@hidden> wrote:

Hi Sergey,

IIRC the problem was that right after powering the mkk controllers you have to wait a while before sending the first commands.

Just calling actuators_mkk_init every time doesn't do anything else than setting a some inital values for variables....

Cheers, Felix

On Fri, Apr 5, 2013 at 10:24 PM, Sergey Krukowski <address@hidden> wrote:

I’ve done some tests, and unfortunately seems that there fail not the mkk controllers, but the actuators subsystem.

If I call the actuators_mkk_init every time before submitting the motor values, everything goes without any problems.

I suspect the i2c_trans values corruption during some i2c execution troubles.

Regards,

Sergey

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