The main loop stopped for 2 seconds
What ArduPilot says:
- ERR CPU (Subsys 19)
Copter has a last-resort check that runs from a timer 1,000 times a second, outside the main loop. When the main loop has not completed a single pass for 2 seconds, it sets the motors to minimum if the copter is armed, writes ERR CPU 1 to the log, and then disarms the motors once a second for as long as the loop stays stopped. ERR CPU 0 means the loop is running again. Nothing can fly the aircraft meanwhile.
What to do, most likely first
The firmware hung: the same causes as for main_loop_stuck, only longer.
CheckLook in the same log for “Internal Errors”, MON messages and, after a restart, a “WDG:” line.
FixDo not fly until it is explained. Go back to the stable release, remove new scripts and devices, and report it with the log.
With the hardware watchdog on (BRD_OPTIONS bit 0), the board may restart before this is reached; the trace is then a “WDG:” line at the next start.
Parameters to look at
| Parameter | What it is |
|---|---|
BRD_OPTIONS | Board options |
Where to do it:Setup & Tuning Guide