The cf can recieve and fly from 4 basestations. But over 4 is causing it to recieve nothing at all.
It can recieve 5 sketchily, but cannot fly.
6 and above it completley checks out. the board goes yellow.
the tab says none of them are being recieved.
the KALMAN task is at 15% when 4 are on , but drops down to 8% when 5 or more are on.
Perhaps the sensors are being bombarded by light?
Is this a hard limit on what the cf can do? or is there a way around this.
******EXTRA INFO******
We are using such a ridiculous number of lighthouses because we have motrless drones on the back of the hand that are being used as markers that the drone follows. So we want good coverage. Most of the time the flying drone or the hand drone will not see all BS, but still, it needs to for the calibration postion. (see this thread that explains why the CF must see all BS at calibration)
(firmware build 340:6a0f79c84766 (2020.09 +340)
Relevant change here is
Code: Select all
#define PULSE_PROCESSOR_N_BASE_STATIONS 8
SYSLOAD: Load Stack left Name
SYSLOAD: 0.85 230 Tmr Svc
SYSLOAD: 60.64 127 IDLE
SYSLOAD: 0.38 213 CRTP-RX
SYSLOAD: 0.0 74 PWRMGNT
SYSLOAD: 0.0 256 CMDHL
SYSLOAD: 0.0 115 PLATFORM-
SYSLOAD: 0.0 255 LOG
SYSLOAD: 0.0 223 MEM
SYSLOAD: 0.05 91 PARAM
SYSLOAD: 0.58 93 LEDSEQCMD
SYSLOAD: 0.20 107 CRTP-SRV
SYSLOAD: 0.44 100 SYSTEM
SYSLOAD: 0.08 61 CRTP-TX
SYSLOAD: 0.82 176 SYSLINK
SYSLOAD: 5.46 368 STABILIZE
SYSLOAD: 6.06 159 SENSORS
SYSLOAD: 15.89 283 KALMAN
SYSLOAD: 8.48 67 LH
SYSLOAD: 0.0 114 USBLINK
SYSLOAD: Task dump (with 5 BS turned on)
SYSLOAD: Load Stack left Name
SYSLOAD: 2.16 230 Tmr Svc
SYSLOAD: 62.02 127 IDLE
SYSLOAD: 1.11 213 CRTP-RX
SYSLOAD: 0.0 74 PWRMGNT
SYSLOAD: 0.0 256 CMDHL
SYSLOAD: 0.0 115 PLATFORM-
SYSLOAD: 0.0 251 LOG
SYSLOAD: 0.0 217 MEM
SYSLOAD: 0.04 91 PARAM
SYSLOAD: 0.40 100 SYSTEM
SYSLOAD: 0.08 61 CRTP-TX
SYSLOAD: 1.74 176 SYSLINK
SYSLOAD: 1.65 93 LEDSEQCMD
SYSLOAD: 0.67 107 CRTP-SRV
SYSLOAD: 5.15 368 STABILIZE
SYSLOAD: 7.74 151 SENSORS
SYSLOAD: 7.39 283 KALMAN
SYSLOAD: 9.78 67 LH
SYSLOAD: 0.0 114 USBLINK
SYSLOAD: Task dump (with 6 BS turned on)
SYSLOAD: Load Stack left Name
SYSLOAD: 2.81 181 Tmr Svc
SYSLOAD: 55.50 127 IDLE
SYSLOAD: 1.41 213 CRTP-RX
SYSLOAD: 7.20 151 SENSORS
SYSLOAD: 0.0 74 PWRMGNT
SYSLOAD: 0.0 115 PLATFORM-
SYSLOAD: 0.0 251 LOG
SYSLOAD: 0.0 217 MEM
SYSLOAD: 0.0 91 PARAM
SYSLOAD: 0.08 100 SYSTEM
SYSLOAD: 0.07 61 CRTP-TX
SYSLOAD: 2.13 176 SYSLINK
SYSLOAD: 2.08 93 LEDSEQCMD
SYSLOAD: 0.87 107 CRTP-SRV
SYSLOAD: 6.68 368 STABILIZE
SYSLOAD: 8.59 283 KALMAN
SYSLOAD: 12.50 67 LH
SYSLOAD: 0.0 114 USBLINK
SYSLOAD: 0.0 256 CMDHL