The fast attitude loop changed its rate
InformationBoard, internal errors, CAN, scriptingCopter only4.7 only
What ArduPilot says:
- Rate CPU …, rate set to NHz
With the fast rate thread on (FSTRATE_ENABLE), the innermost control loop runs faster than the main loop, at the gyro rate divided by FSTRATE_DIV. This line reports the rate it now runs at. “Rate CPU high”: the processor could not keep up (the loop ran late, or a log is being downloaded), so the rate was lowered a step. “Rate CPU normal”: the rate was set at start-up or on arming, or raised again after the load fell. The copter flies at any of these rates; a rate that keeps dropping means the board is asked for more than it can do.
Parameters to look at
| Parameter | What it is |
|---|---|
FSTRATE_ENABLE | Enable the fast Rate thread |
FSTRATE_DIV | Fast rate thread divisor |
SCHED_LOOP_RATE | Scheduling main loop rate |
INS_GYRO_RATE | Gyro rate for IMUs with Fast Sampling enabled |
The code that sends it
Rate CPU …, rate set to NHz
ArduCopter/rate_thread.cpp Copter::rate_controller_set_rates() · Open in ArduPilot Copter-4.7.1