Death of a board

The extra range required to take advantage of non linear CCPM put the servos in a lot of stalled positions. It also pulled the washout base off the rods in the machine vision captures. Tried another round of manual CCPM.

Manual CCPM is flyable for a human. The human gets used to the collective crosstalk & nonlinearity. It's pretty bad for an autopilot. The autopilot using PID feedback can't handle the crosstalk & phase error. Maybe implementing proper phase would fix the cyclic.

Got through a number of tests before the next global killer. Adding noise to the PWM did not make cyclic more stable. The most stable results had no curve. The best explanation is the polled PWM changed duty cycles when the lines were high. The interrupt PWM updates once, as soon as the last line lowers, adding up to 40ms of delay.

Got all the way back to autonomous hover with the interrupt PWM & manual CCPM. She overcame the crosstalk & got it stabilized.

Well, the radio is still a problem. The syslog indeed captured a radio failure and a flight recording was captured with radio packets dropping out. Maybe it's time for auto landing if radio failure.

The crash during high altitude auto hover was a global killer. Nothing survived, not even bacteria. Probably time for a PCB.