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Thomas Watson
2a25847a29
Incorporates ArduPilot ChibiOS pulls #99 , #100, and #101 to fix issues in the SD card drivers which can cause the flight controller to hang (and subsequently watchdog) or the logging thread to fall asleep forever and be unable to recover. Both results can happen during flight. The former result happens on F4 and F7 only, the latter happens on H7 too. The issues are mostly triggered by an SD card that is rapidly connected and disconnected, such as vibrating in its socket, though random card communication failures could trigger them too. They have existed for a very long time. Testing was performed on Cube Black (F4), Pixhawk 4 Mini (F7), and Cube Orange (H7). The issues were reproduced using an SD card extender, then deliberately unlocking and carefully wiggling the flat flex cable. After these patches, this can be done apparently indefinitely and the logging thread always comes back and logging restarts after the SD card is securely attached again. Note that some boards are evidently vulnerable to this wiggling shorting out the SD power rail and resetting the CPU too. Software can't fix that, so vehicles with poor SD card connections need to be fixed properly!