2018-07-09 09:32:06,308 pid=5991 INFO kucher.main: Starting version (0, 0, 1); package root: '/tmp/_MEIc1FAi3' 2018-07-09 09:32:06,308 pid=5991 INFO kucher.view.utils: Icon 'zee' found at '/tmp/_MEIc1FAi3/view/icons/zee.png' 2018-07-09 09:32:06,335 pid=5991 INFO kucher.view.utils: Screen width and height: (1440, 900), is small: False 2018-07-09 09:32:06,354 pid=5991 INFO kucher.view.utils: Selected monospace font (0.010969 seconds): 'DejaVu Sans Mono,11,-1,5,50,0,0,0,0,0' 2018-07-09 09:32:06,355 pid=5991 INFO kucher.view.utils: Icon 'disconnected' found at '/tmp/_MEIc1FAi3/view/icons/disconnected.png' 2018-07-09 09:32:06,376 pid=5991 INFO kucher.view.utils: Icon 'electricity' found at '/tmp/_MEIc1FAi3/view/icons/electricity.png' 2018-07-09 09:32:06,376 pid=5991 INFO kucher.view.utils: Icon '_empty' found at '/tmp/_MEIc1FAi3/view/icons/_empty.png' 2018-07-09 09:32:06,377 pid=5991 INFO kucher.view.utils: Pixmap '_empty' has been rendered with size 17x17 in 0.000728 seconds 2018-07-09 09:32:06,378 pid=5991 INFO kucher.view.utils: Icon 'thermometer' found at '/tmp/_MEIc1FAi3/view/icons/thermometer.png' 2018-07-09 09:32:06,379 pid=5991 INFO kucher.view.utils: Icon 'integrated-circuit' found at '/tmp/_MEIc1FAi3/view/icons/integrated-circuit.png' 2018-07-09 09:32:06,380 pid=5991 INFO kucher.view.utils: Icon 'question-mark' found at '/tmp/_MEIc1FAi3/view/icons/question-mark.png' 2018-07-09 09:32:06,382 pid=5991 INFO kucher.view.utils: Icon 'sine' found at '/tmp/_MEIc1FAi3/view/icons/sine.png' 2018-07-09 09:32:06,383 pid=5991 INFO kucher.view.utils: Icon 'ok-strong' found at '/tmp/_MEIc1FAi3/view/icons/ok-strong.png' 2018-07-09 09:32:06,387 pid=5991 INFO view.utils: Selected monospace font (0.000031 seconds): 'DejaVu Sans Mono,11,-1,5,50,0,0,0,0,0' 2018-07-09 09:32:06,390 pid=5991 INFO view.utils: Icon '_empty' found at '/tmp/_MEIc1FAi3/view/icons/_empty.png' 2018-07-09 09:32:06,391 pid=5991 INFO view.utils: Pixmap '_empty' has been rendered with size 17x17 in 0.000714 seconds 2018-07-09 09:32:06,392 pid=5991 INFO kucher.view.main_window.telega_control_widget.task_specific_status_widget: Task ID to widget mapping: {: , : , : , : , : , : , : } 2018-07-09 09:32:06,392 pid=5991 INFO kucher.view.utils: Icon 'adjust' found at '/tmp/_MEIc1FAi3/view/icons/adjust.png' 2018-07-09 09:32:06,393 pid=5991 INFO kucher.view.utils: Icon 'guru' found at '/tmp/_MEIc1FAi3/view/icons/guru.png' 2018-07-09 09:32:06,395 pid=5991 INFO kucher.view.utils: Icon 'rotation-percent' found at '/tmp/_MEIc1FAi3/view/icons/rotation-percent.png' 2018-07-09 09:32:06,396 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: New control mode: _ControlPolicy(mode=, unit='%rad/s', setpoint_range=(-100.0, 100.0), setpoint_step=0.1, only_for_guru=False, get_value_from_status= at 0x7f84b0bbd2f0>) 2018-07-09 09:32:06,396 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: Initial value of the new control mode: 0.0 %rad/s 2018-07-09 09:32:06,396 pid=5991 INFO kucher.view.utils: Icon 'rotation' found at '/tmp/_MEIc1FAi3/view/icons/rotation.png' 2018-07-09 09:32:06,397 pid=5991 INFO kucher.view.utils: Icon 'muscle-percent' found at '/tmp/_MEIc1FAi3/view/icons/muscle-percent.png' 2018-07-09 09:32:06,398 pid=5991 INFO kucher.view.utils: Icon 'muscle' found at '/tmp/_MEIc1FAi3/view/icons/muscle.png' 2018-07-09 09:32:06,399 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: New control mode: _ControlPolicy(mode=, unit='%rad/s', setpoint_range=(-100.0, 100.0), setpoint_step=0.1, only_for_guru=False, get_value_from_status= at 0x7f84b0bbd2f0>) 2018-07-09 09:32:06,399 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: Initial value of the new control mode: 0.0 %rad/s 2018-07-09 09:32:06,399 pid=5991 INFO kucher.view.utils: Icon 'play' found at '/tmp/_MEIc1FAi3/view/icons/play.png' 2018-07-09 09:32:06,401 pid=5991 INFO kucher.view.utils: Icon 'speaker' found at '/tmp/_MEIc1FAi3/view/icons/speaker.png' 2018-07-09 09:32:06,402 pid=5991 INFO kucher.view.utils: Icon 'darth-vader' found at '/tmp/_MEIc1FAi3/view/icons/darth-vader.png' 2018-07-09 09:32:06,404 pid=5991 INFO kucher.view.utils: Icon 'scales' found at '/tmp/_MEIc1FAi3/view/icons/scales.png' 2018-07-09 09:32:06,405 pid=5991 INFO kucher.view.utils: Icon 'link' found at '/tmp/_MEIc1FAi3/view/icons/link.png' 2018-07-09 09:32:06,406 pid=5991 INFO kucher.view.utils: Icon 'send-up' found at '/tmp/_MEIc1FAi3/view/icons/send-up.png' 2018-07-09 09:32:06,410 pid=5991 INFO kucher.view.utils: Icon 'clear-symbol' found at '/tmp/_MEIc1FAi3/view/icons/clear-symbol.png' 2018-07-09 09:32:06,411 pid=5991 INFO kucher.view.utils: Icon 'frequency-f' found at '/tmp/_MEIc1FAi3/view/icons/frequency-f.png' 2018-07-09 09:32:06,412 pid=5991 INFO kucher.view.utils: Icon 'running' found at '/tmp/_MEIc1FAi3/view/icons/running.png' 2018-07-09 09:32:06,414 pid=5991 INFO kucher.view.utils: Icon 'caliper' found at '/tmp/_MEIc1FAi3/view/icons/caliper.png' 2018-07-09 09:32:06,416 pid=5991 INFO kucher.view.utils: Icon 'pass-fail' found at '/tmp/_MEIc1FAi3/view/icons/pass-fail.png' 2018-07-09 09:32:06,416 pid=5991 INFO kucher.view.utils: Icon 'ellipsis' found at '/tmp/_MEIc1FAi3/view/icons/ellipsis.png' 2018-07-09 09:32:06,417 pid=5991 INFO kucher.view.utils: Icon 'hand-button' found at '/tmp/_MEIc1FAi3/view/icons/hand-button.png' 2018-07-09 09:32:06,419 pid=5991 INFO kucher.view.utils: Icon 'stop' found at '/tmp/_MEIc1FAi3/view/icons/stop.png' 2018-07-09 09:32:06,420 pid=5991 INFO kucher.view.utils: Icon 'connector' found at '/tmp/_MEIc1FAi3/view/icons/connector.png' 2018-07-09 09:32:06,421 pid=5991 INFO kucher.view.utils: Icon 'wagon' found at '/tmp/_MEIc1FAi3/view/icons/wagon.png' 2018-07-09 09:32:06,422 pid=5991 INFO kucher.view.utils: Icon 'exit' found at '/tmp/_MEIc1FAi3/view/icons/exit.png' 2018-07-09 09:32:06,429 pid=5991 INFO kucher.view.utils: Icon 'spreadsheet' found at '/tmp/_MEIc1FAi3/view/icons/spreadsheet.png' 2018-07-09 09:32:06,435 pid=5991 INFO kucher.view.tool_window_manager: Existing tool windows matching the rule _ArrangementRule(apply_to=[, ], group_when=, location=) against : [] 2018-07-09 09:32:06,436 pid=5991 INFO kucher.view.tool_window_manager: Spawned tool window ToolWindow() 'Task statistics' with icon 'spreadsheet' 2018-07-09 09:32:06,436 pid=5991 INFO kucher.view.utils: Icon 'log' found at '/tmp/_MEIc1FAi3/view/icons/log.png' 2018-07-09 09:32:06,437 pid=5991 INFO kucher.view.utils: Icon 'delete-document' found at '/tmp/_MEIc1FAi3/view/icons/delete-document.png' 2018-07-09 09:32:06,438 pid=5991 INFO kucher.view.utils: Selected monospace font (0.000042 seconds): 'DejaVu Sans Mono,9,-1,5,50,0,0,0,0,0' 2018-07-09 09:32:06,443 pid=5991 INFO kucher.view.tool_window_manager: Existing tool windows matching the rule _ArrangementRule(apply_to=[, ], group_when=, location=) against : [ToolWindow()] 2018-07-09 09:32:06,445 pid=5991 INFO kucher.view.tool_window_manager: Spawned tool window ToolWindow() 'Device log' with icon 'log' 2018-07-09 09:32:06,445 pid=5991 INFO kucher.view.utils: Icon 'data' found at '/tmp/_MEIc1FAi3/view/icons/data.png' 2018-07-09 09:32:06,446 pid=5991 INFO kucher.view.utils: Icon 'process' found at '/tmp/_MEIc1FAi3/view/icons/process.png' 2018-07-09 09:32:06,447 pid=5991 INFO kucher.view.utils: Icon 'process-plus' found at '/tmp/_MEIc1FAi3/view/icons/process-plus.png' 2018-07-09 09:32:06,448 pid=5991 INFO kucher.view.utils: Icon 'expand-arrow' found at '/tmp/_MEIc1FAi3/view/icons/expand-arrow.png' 2018-07-09 09:32:06,449 pid=5991 INFO kucher.view.utils: Icon 'collapse-arrow' found at '/tmp/_MEIc1FAi3/view/icons/collapse-arrow.png' 2018-07-09 09:32:06,451 pid=5991 INFO kucher.view.tool_window_manager: Existing tool windows matching the rule _ArrangementRule(apply_to=[], group_when=, location=) against : [] 2018-07-09 09:32:06,451 pid=5991 INFO kucher.view.tool_window_manager: Spawned tool window ToolWindow() 'Registers' with icon 'data' 2018-07-09 09:32:06,451 pid=5991 INFO kucher.view.utils: Icon 'www' found at '/tmp/_MEIc1FAi3/view/icons/www.png' 2018-07-09 09:32:06,452 pid=5991 INFO kucher.view.utils: Icon 'knowledge' found at '/tmp/_MEIc1FAi3/view/icons/knowledge.png' 2018-07-09 09:32:08,573 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 09:32:08,578 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 09:32:08,592 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 6018; waiting for initialization... 2018-07-09 09:32:09,083 pid=6018 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 6018, parent 5991; initializing... 2018-07-09 09:32:09,083 pid=6018 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 09:32:09,085 pid=6018 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 09:32:09,086 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 6018 initialized successfully 2018-07-09 09:32:09,092 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 09:32:09,098 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 09:32:09,103 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('1137.122159927'))(status_flags=Container(dc_undervoltage=True)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=True)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='fault')(temperature=Container(cpu=307.56195068359375)(vsi=262.0430603027344)(motor=0.0))(dc=Container(voltage=0.052151259034872055)(current=0.0))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=Container(failed_task_id='idle')(failed_task_exit_code=2)) 2018-07-09 09:32:09,104 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 09:32:09,751 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 09:32:10,754 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('1137.774674461'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('1137.777316894'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.780328105'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.783319472'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('1137.787180194'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1137.790247872'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.79316365'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.796456261'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('1137.800393138'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1137.803639716'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1137.806710738'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1137.81216575'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1137.815441394'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1137.818090016'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1137.821280994'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1137.825178394'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1137.828169383'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1137.831389894'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1137.834289705'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1137.838323394'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1137.841369838'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1137.843895105'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1137.84845225'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.851073005'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('1137.854110183'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1137.857345838'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1137.861361238'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1137.864360916'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1137.866872716'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1137.86977975'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1137.874326583'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.877368872'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('1137.880585383'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('1137.884342905'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('1137.886963472'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1137.890022894'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1137.892877272'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('1137.896891794'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('1137.899954205'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('1137.902935383'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('1137.905870072'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.90958555'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.911865772'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.91488155'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1137.91880925'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.921799072'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.924708361'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1137.927868005'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1137.932173327'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('1137.93491745'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('1137.93781335'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.941692127'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1137.944677038'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('1137.947855705'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.950729305'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1137.954746116'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('1137.95779065'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1137.960768027'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.963889161'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.967771061'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('1137.970742227'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('1137.973711261'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.977527427'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.979880172'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1137.982806827'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1137.986043938'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.990030494'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1137.992987894'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1137.99646425'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1137.998897238'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.002713472'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.005866183'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1138.008973183'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('1138.012872172'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.015965527'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.018924305'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('1138.021890183'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('1138.02573275'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.029368827'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.031982027'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1138.034877794'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('1138.038658072'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.04178565'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.044869705'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('1138.049414216'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('1138.051738383'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.054735072'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.057796972'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('1138.061719461'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('1138.064940783'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('1138.067860494'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1138.070766994'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('1138.074877694'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1138.077869616'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1138.080938894'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1138.084730905'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('1138.087823672'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1138.09076965'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1138.093768972'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1138.097959227'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1138.10097665'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1138.103792994'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1138.106792683'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1138.110867572'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('1138.113953338'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1138.117246461'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('1138.120643272'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1138.122687561'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1138.12578215'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1138.128703861'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.132872172'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.135783527'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1138.138763005'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1138.141784005'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('1138.145766283'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.148924727'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1138.151801594'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('1138.155732372'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.158877127'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.162344527'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1138.16562675'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('1138.169561472'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('1138.172428827'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('1138.175626561'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1138.178614361'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1138.18266085'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1138.18702205'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1138.190872116'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1138.196095916'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('1138.199462072'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('1138.203044494'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1138.207073394'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('1138.212233383'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1138.216198938'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1138.219943783'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('1138.223630983'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1138.227683327'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1138.231655838'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1138.235926161'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1138.241372561'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1138.24526905'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('1138.248942483'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('1138.253326194'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1138.258178238'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('1138.262020694'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1138.266336138'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1138.270279205'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1138.275402561'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1138.278975161'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.282624083'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.286946483'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.291114394'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1138.295114572'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('1138.299489283'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('1138.304496761'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1138.307924705'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1138.311856572'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('1138.315558261'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('1138.320075527'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1138.324404972'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1138.327916783'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('1138.333062172'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('1138.336939583'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1138.340985661'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1138.345121938'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.350627183'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.353721661'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.357962305'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1138.362112494'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.367693016'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.372165172'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.376205083'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1138.381497105'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.384920738'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.388883672'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.392950938'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1138.398584805'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('1138.401889038'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('1138.405765638'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.409907572'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1138.414998461'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.419466338'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.422901172'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.428377961'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1138.431864227'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.435777083'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.439752072'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.444999427'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1138.449577105'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.453119083'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1138.457040627'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.462428227'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1138.466118505'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('1138.469908583'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('1138.475099772'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.478986861'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1138.483109783'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('1138.486957772'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('1138.492406516'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.495856116'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1138.50014595'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('1138.503914094'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('1138.509061194'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.512881961'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('1138.517124005'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('1138.522388616'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.52571055'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.529728594'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1138.533933027'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1138.539538594'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1138.542865672'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1138.546768361'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('1138.550854594'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.556171261'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1138.559977994'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[307.6484680175781]) DataResponseMessage(timestamp=Decimal('1138.563933594'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[262.0500793457031]) DataResponseMessage(timestamp=Decimal('1138.568867461'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.858867446775548e-06]) DataResponseMessage(timestamp=Decimal('1138.572865594'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('1138.577012594'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1138.581372261'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1138.599597794'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1138.604552927'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.607764194'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.611911194'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.618227394'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.621757661'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[0.050848931074142456]) DataResponseMessage(timestamp=Decimal('1138.626010994'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[0.053025636821985245]) DataResponseMessage(timestamp=Decimal('1138.631455261'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.634857927'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('1138.639579127'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1138.642960527'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[566013]) DataResponseMessage(timestamp=Decimal('1138.648447327'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('1138.651913794'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[283014]) DataResponseMessage(timestamp=Decimal('1138.655996994'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[4533]) DataResponseMessage(timestamp=Decimal('1138.660058927'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.665652061'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.670373261'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.674584061'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.679815661'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.684579394'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.688279794'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.692171594'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.697785994'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.702188194'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.706186327'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.710099394'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.715437327'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.719563061'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.723305994'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.729537127'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.733428927'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.737065527'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.741446461'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.746975794'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1138.751569394'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1138.756205527'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1138.761671061'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 09:32:10,754 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.2 seconds 2018-07-09 09:32:10,767 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=1137.774674461, ts_mono=1071.662) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=1137.787180194, ts_mono=1071.662) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1137.800393138, ts_mono=1071.662) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=1137.815441394, ts_mono=1071.662) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=1137.828169383, ts_mono=1071.662) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.841369838, ts_mono=1071.662) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1137.854110183, ts_mono=1071.662) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.866872716, ts_mono=1071.662) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1137.880585383, ts_mono=1071.662) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=1137.892877272, ts_mono=1071.663) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1137.905870072, ts_mono=1071.663) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1137.918809250, ts_mono=1071.663) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=1137.932173327, ts_mono=1071.663) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=1137.944677038, ts_mono=1071.663) Register(name='m.max_current', type_id=ValueType.F32, cached=[10.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=1137.957790650, ts_mono=1071.663) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1137.970742227, ts_mono=1071.663) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1137.982806827, ts_mono=1071.663) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1137.996464250, ts_mono=1071.663) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=1138.008973183, ts_mono=1071.663) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=1138.021890183, ts_mono=1071.663) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=1138.034877794, ts_mono=1071.663) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=1138.049414216, ts_mono=1071.664) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=1138.061719461, ts_mono=1071.664) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=1138.074877694, ts_mono=1071.664) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=1138.087823672, ts_mono=1071.664) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1138.100976650, ts_mono=1071.664) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=1138.113953338, ts_mono=1071.664) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1138.125782150, ts_mono=1071.664) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=1138.138763005, ts_mono=1071.664) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=1138.151801594, ts_mono=1071.664) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=1138.165626750, ts_mono=1071.664) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=1138.178614361, ts_mono=1071.665) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=1138.196095916, ts_mono=1071.665) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=1138.212233383, ts_mono=1071.665) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=1138.227683327, ts_mono=1071.665) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=1138.245269050, ts_mono=1071.665) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=1138.262020694, ts_mono=1071.665) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1138.278975161, ts_mono=1071.665) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1138.295114572, ts_mono=1071.665) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1138.311856572, ts_mono=1071.665) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1138.327916783, ts_mono=1071.665) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1138.345121938, ts_mono=1071.665) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1138.362112494, ts_mono=1071.665) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=1138.381497105, ts_mono=1071.666) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=1138.398584805, ts_mono=1071.666) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1138.414998461, ts_mono=1071.666) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1138.431864227, ts_mono=1071.666) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1138.449577105, ts_mono=1071.666) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1138.466118505, ts_mono=1071.666) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1138.483109783, ts_mono=1071.666) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=1138.500145950, ts_mono=1071.666) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1138.517124005, ts_mono=1071.666) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=1138.533933027, ts_mono=1071.666) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.550854594, ts_mono=1071.666) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.556171261, ts_mono=1071.667) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[307.6484680175781], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.559977994, ts_mono=1071.667) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[262.0500793457031], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.563933594, ts_mono=1071.667) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.858867446775548e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.568867461, ts_mono=1071.667) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.572865594, ts_mono=1071.668) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.577012594, ts_mono=1071.668) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.581372261, ts_mono=1071.668) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.599597794, ts_mono=1071.668) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.604552927, ts_mono=1071.669) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.607764194, ts_mono=1071.669) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.611911194, ts_mono=1071.669) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.618227394, ts_mono=1071.669) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[0.050848931074142456], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.621757661, ts_mono=1071.669) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[0.053025636821985245], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.626010994, ts_mono=1071.669) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.631455261, ts_mono=1071.669) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.634857927, ts_mono=1071.669) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.639579127, ts_mono=1071.669) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[566013], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.642960527, ts_mono=1071.669) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.648447327, ts_mono=1071.669) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[283014], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.651913794, ts_mono=1071.669) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[4533], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.655996994, ts_mono=1071.670) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.660058927, ts_mono=1071.670) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.665652061, ts_mono=1071.670) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.670373261, ts_mono=1071.670) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.674584061, ts_mono=1071.670) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.679815661, ts_mono=1071.670) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.684579394, ts_mono=1071.670) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.688279794, ts_mono=1071.670) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.692171594, ts_mono=1071.670) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.697785994, ts_mono=1071.670) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.702188194, ts_mono=1071.670) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.706186327, ts_mono=1071.670) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.710099394, ts_mono=1071.670) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.715437327, ts_mono=1071.671) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.719563061, ts_mono=1071.671) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.723305994, ts_mono=1071.671) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.729537127, ts_mono=1071.671) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.733428927, ts_mono=1071.671) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.737065527, ts_mono=1071.671) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.741446461, ts_mono=1071.671) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.746975794, ts_mono=1071.671) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.751569394, ts_mono=1071.671) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.756205527, ts_mono=1071.671) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1138.761671061, ts_mono=1071.671) 2018-07-09 09:32:10,789 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(98 registers, id=0x7f848c69aaf8) 2018-07-09 09:32:10,791 pid=5991 INFO kucher.view.utils: Icon 'overload-negative' found at '/tmp/_MEIc1FAi3/view/icons/overload-negative.png' 2018-07-09 09:32:10,797 pid=5991 INFO kucher.view.utils: Pixmap 'overload-negative' has been rendered with size 17x17 in 0.005709 seconds 2018-07-09 09:32:10,797 pid=5991 INFO kucher.view.utils: Icon 'ok' found at '/tmp/_MEIc1FAi3/view/icons/ok.png' 2018-07-09 09:32:10,798 pid=5991 INFO kucher.view.utils: Pixmap 'ok' has been rendered with size 17x17 in 0.000845 seconds 2018-07-09 09:32:10,799 pid=5991 INFO kucher.view.utils: Icon 'skull' found at '/tmp/_MEIc1FAi3/view/icons/skull.png' 2018-07-09 09:32:10,799 pid=5991 INFO kucher.view.utils: Icon 'sleep' found at '/tmp/_MEIc1FAi3/view/icons/sleep.png' 2018-07-09 09:32:10,800 pid=5991 INFO kucher.view.utils: Icon 'error' found at '/tmp/_MEIc1FAi3/view/icons/error.png' 2018-07-09 09:32:10,802 pid=5991 INFO view.utils: Icon 'sleep' found at '/tmp/_MEIc1FAi3/view/icons/sleep.png' 2018-07-09 09:32:10,803 pid=5991 INFO view.utils: Pixmap 'sleep' has been rendered with size 17x17 in 0.000773 seconds 2018-07-09 09:32:10,806 pid=5991 INFO kucher.view.utils: Icon 'connected' found at '/tmp/_MEIc1FAi3/view/icons/connected.png' 2018-07-09 09:32:10,817 pid=5991 INFO kucher.view.utils: Icon 'edit' found at '/tmp/_MEIc1FAi3/view/icons/edit.png' 2018-07-09 09:32:10,817 pid=5991 INFO kucher.view.utils: Pixmap 'edit' has been rendered with size 14x14 in 0.000840 seconds 2018-07-09 09:32:10,818 pid=5991 INFO kucher.view.utils: Icon 'save' found at '/tmp/_MEIc1FAi3/view/icons/save.png' 2018-07-09 09:32:10,818 pid=5991 INFO kucher.view.utils: Pixmap 'save' has been rendered with size 14x14 in 0.000642 seconds 2018-07-09 09:32:10,827 pid=5991 INFO kucher.view.utils: Icon 'lock' found at '/tmp/_MEIc1FAi3/view/icons/lock.png' 2018-07-09 09:32:10,828 pid=5991 INFO kucher.view.utils: Pixmap 'lock' has been rendered with size 14x14 in 0.000677 seconds 2018-07-09 09:32:10,828 pid=5991 INFO kucher.view.utils: Icon 'random-access-memory' found at '/tmp/_MEIc1FAi3/view/icons/random-access-memory.png' 2018-07-09 09:32:10,829 pid=5991 INFO kucher.view.utils: Pixmap 'random-access-memory' has been rendered with size 14x14 in 0.000669 seconds 2018-07-09 09:32:11,113 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 09:32:11,113 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 09:32:11,113 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 09:32:16,259 pid=5991 INFO kucher.data_dir: Old log cleaner is ready to work now 2018-07-09 09:32:16,260 pid=5991 INFO kucher.data_dir: Log files found: ['/home/florian/.zubax/kucher/log/20180709-093206-5991.log', '/home/florian/.zubax/kucher/log/20180706-173337-28537.log', '/home/florian/.zubax/kucher/log/20180706-145235-7408.log', '/home/florian/.zubax/kucher/log/20180706-143616-2625.log', '/home/florian/.zubax/kucher/log/20180705-111713-28193.log', '/home/florian/.zubax/kucher/log/20180702-162042-4021.log'] 2018-07-09 09:32:16,262 pid=5991 INFO kucher.data_dir: Background old log cleaner has finished successfully; total files removed: 0 2018-07-09 09:32:28,632 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.866872716, ts_mono=1071.662) 2018-07-09 09:32:29,993 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.866872716, ts_mono=1071.662) with 0 2018-07-09 09:32:29,995 pid=5991 INFO kucher.view.utils: Pixmap 'process' has been rendered with size 14x14 in 0.000044 seconds 2018-07-09 09:32:29,998 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[0]) -> DataResponseMessage(timestamp=Decimal('1158.015059883'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[0]) 2018-07-09 09:32:29,998 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1158.015059883, ts_mono=1090.905) complete; new value: [0] 2018-07-09 09:32:29,999 pid=5991 INFO kucher.view.utils: Pixmap 'ok' has been rendered with size 14x14 in 0.000042 seconds 2018-07-09 10:16:39,602 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1158.015059883, ts_mono=1090.905) 2018-07-09 10:16:41,107 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1158.015059883, ts_mono=1090.905) with 1 2018-07-09 10:16:41,111 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) -> DataResponseMessage(timestamp=Decimal('3809.077602705'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) 2018-07-09 10:16:41,112 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=3809.077602705, ts_mono=3742.019) complete; new value: [1] 2018-07-09 10:18:52,854 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c39348b8) 2018-07-09 10:18:52,858 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(98 registers, id=0x7f848c69aaf8): [, , , , , , , ] 2018-07-09 10:19:17,788 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.841369838, ts_mono=1071.662) 2018-07-09 10:19:18,991 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1137.841369838, ts_mono=1071.662) with 0 2018-07-09 10:19:18,997 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) -> DataResponseMessage(timestamp=Decimal('3966.955737894'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) 2018-07-09 10:19:18,997 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=3966.955737894, ts_mono=3899.904) complete; new value: [0] 2018-07-09 10:19:39,628 pid=5991 INFO kucher.view.utils: Icon 'flag-red' found at '/tmp/_MEIc1FAi3/view/icons/flag-red.png' 2018-07-09 10:19:39,630 pid=5991 INFO kucher.view.utils: Pixmap 'flag-red' has been rendered with size 17x17 in 0.002050 seconds 2018-07-09 10:19:44,171 pid=6018 ERROR popcop.physical.serial_multiprocessing: IO process TX loop error: write failed: [Errno 19] No such device Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 537, in write OSError: [Errno 19] No such device During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 257, in run File "popcop/physical/serial_multiprocessing.py", line 237, in _tx_loop File "site-packages/serial/serialposix.py", line 571, in write serial.serialutil.SerialException: write failed: [Errno 19] No such device 2018-07-09 10:19:44,173 pid=6018 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:19:44,177 pid=6018 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 10:19:44,180 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:19:44,181 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (2 of 100): IO worker process has encountered an unhandled exception: write failed: [Errno 19] No such device serial.serialutil.SerialException: write failed: [Errno 19] No such device The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: write failed: [Errno 19] No such device 2018-07-09 10:19:44,284 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 10:19:44,286 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:19:44,287 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 10:19:44,314 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f848c69aee8) 2018-07-09 10:19:44,318 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c39348b8): [, , , , , , , ] 2018-07-09 10:19:44,320 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:19:44,345 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:19:44,346 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:19:44,646 pid=5991 ERROR kucher.model.device_model.connection: Unhandled exception in the task > Traceback (most recent call last): File "kucher/model/device_model/connection.py", line 192, in proxy File "kucher/model/device_model/connection.py", line 154, in _status_monitoring_task_entry_point kucher.model.device_model.connection.ConnectionLostException: General status request has timed out 2018-07-09 10:19:44,653 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:19:45,181 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 10:19:53,971 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 10:19:53,976 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 10:19:53,989 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 9177; waiting for initialization... 2018-07-09 10:19:54,426 pid=9177 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 9177, parent 5991; initializing... 2018-07-09 10:19:54,427 pid=9177 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 10:19:54,428 pid=9177 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 10:19:54,430 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 9177 initialized successfully 2018-07-09 10:19:55,484 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: None 2018-07-09 10:19:55,486 pid=5991 INFO popcop.physical.serial_multiprocessing: Stopping the IO worker process with PID 9177... 2018-07-09 10:19:55,487 pid=9177 INFO popcop.physical.serial_multiprocessing: Master wants us to quit. Yes master. 2018-07-09 10:19:55,770 pid=9177 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 10:19:55,822 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 9177 stopped successfully. Now waiting for the babysitter thread to join too. 2018-07-09 10:19:55,852 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 10:19:56,774 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: True 2018-07-09 10:19:56,775 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter has joined, we're all set. 2018-07-09 10:19:56,778 pid=5991 ERROR kucher.view.utils: Error window: title='Could not connect', text='Connection via the port /dev/ttyACM0 could not be established.', informative_text='Reason: Node info request has timed out', parent= Traceback (most recent call last): File "kucher/view/main_window/device_management_widget/__init__.py", line 220, in _do_connect File "kucher/fuhrer/__init__.py", line 66, in _on_connection_request File "kucher/model/device_model/__init__.py", line 134, in connect File "kucher/model/device_model/connection.py", line 296, in connect kucher.model.device_model.connection.ConnectionAttemptFailedException: Node info request has timed out 2018-07-09 10:19:59,201 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 10:19:59,205 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 10:19:59,217 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 9193; waiting for initialization... 2018-07-09 10:19:59,651 pid=9193 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 9193, parent 5991; initializing... 2018-07-09 10:19:59,652 pid=9193 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 10:19:59,653 pid=9193 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 10:19:59,655 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 9193 initialized successfully 2018-07-09 10:19:59,663 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 10:19:59,670 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 10:19:59,677 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('8.026763927'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=False)(can_data_link_up=False)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=310.21221923828125)(vsi=277.77130126953125)(motor=0.0))(dc=Container(voltage=16.790302276611328)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 10:19:59,678 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 10:20:00,519 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 10:20:01,660 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('8.87444805'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('8.878532961'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.881717383'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.885171027'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('8.890079772'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('8.892180072'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.895591361'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.898176672'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('8.90208785'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('8.904185227'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('8.907088116'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('8.910953516'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('8.913589805'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('8.917105894'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('8.920998661'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('8.924606905'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('8.927713238'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('8.931014805'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('8.934098838'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('8.939357727'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('8.943304138'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.961128338'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('8.965888416'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('8.968883716'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('8.971868683'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('8.975040705'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('8.979375961'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('8.983282694'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('8.987671983'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('8.991692861'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('8.996809161'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('9.000575483'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('9.004469838'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('9.009964283'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('9.013781138'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.017704505'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.021221338'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('9.026350716'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('9.030336738'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('9.034715738'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('9.038552738'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.043774327'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.047532183'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.051832627'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.056790727'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.060471927'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.064608994'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.068637872'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.073995638'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('9.077160316'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('9.081497672'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.086296372'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('9.090726805'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('9.094475438'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('9.098679105'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('9.105759394'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('9.110905361'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.114330127'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.118487038'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.123450572'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('9.12755595'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('9.131658305'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.136904338'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.140210172'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.144836661'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('9.148510205'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.153909894'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.157563972'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.161723283'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('9.165859705'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.170938716'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.174674594'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.178708572'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('9.185638027'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.19099845'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.194630183'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('9.199332627'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('9.205073994'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.208309238'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.212652094'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.216480827'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('9.221710494'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.225619472'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.229874661'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('9.235208238'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('9.239640205'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.243672505'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.247675905'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('9.253122127'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('9.257877116'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('9.261684727'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.265938027'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('9.27045455'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('9.274883238'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('9.278851661'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.284344772'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('9.288869394'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('9.292741216'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('9.296624727'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.302110661'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('9.30652745'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('9.310752294'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('9.315069616'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('9.31951395'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('9.323761494'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('9.327537283'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('9.333460872'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('9.337863238'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('9.34145675'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('9.34582015'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.351291994'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.355711638'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('9.359617472'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('9.363989994'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('9.368982272'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.372706472'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('9.376698838'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('9.381594672'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.385421994'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.389869372'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('9.39368695'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('9.399409283'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('9.403734805'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('9.407518794'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('9.41183415'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('9.417984372'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('9.421601572'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.425482527'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('9.430797872'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('9.434017805'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('9.437340361'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.441543805'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('9.447099872'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('9.451833816'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('9.45506945'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('9.459158672'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('9.464471261'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('9.468281505'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('9.472281694'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('9.477605361'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('9.481424683'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('9.485140872'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('9.489607138'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.495076383'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('9.499756994'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('9.503752627'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('9.50760005'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('9.513169216'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('9.517677605'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.521318638'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.526306638'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.530253605'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.534568283'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('9.538864872'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('9.543927838'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.547571272'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('9.551703616'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('9.555040616'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('9.559034627'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.56143085'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('9.565296494'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('9.57027715'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('9.574588594'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('9.578732794'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('9.582691283'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.588162494'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.59298795'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.59663725'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('9.600041383'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.604531972'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.608649138'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.61253045'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('9.617795316'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.621338305'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.625521238'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.630090061'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('9.636034772'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('9.639278105'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('9.643518694'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.647937283'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('9.652724038'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.656658583'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.660802505'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.666015294'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.669288938'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.673543727'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.67761925'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.683513183'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.687551805'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.691769472'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('9.695621694'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.700953883'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('9.704657794'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('9.708376272'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('9.713688794'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.717342272'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('9.721644227'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('9.725624394'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('9.731919383'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.735802938'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('9.739939183'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('9.743828627'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('9.749105283'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.753850527'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('9.757666716'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('9.76343675'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.768173516'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.773118361'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('9.778062961'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('9.783793572'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('9.788376916'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('9.79342285'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('9.798022061'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.802658194'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('9.806720127'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[310.3654479980469]) DataResponseMessage(timestamp=Decimal('9.810675727'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[277.6302795410156]) DataResponseMessage(timestamp=Decimal('9.816524061'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.83716371995979e-06]) DataResponseMessage(timestamp=Decimal('9.820883727'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('9.824626661'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('9.829092661'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('9.835408861'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('9.839768527'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.843660327'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.847509594'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('9.853336661'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.857696327'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.790128707885742]) DataResponseMessage(timestamp=Decimal('9.861566861'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.809127807617188]) DataResponseMessage(timestamp=Decimal('9.866521994'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.870690261'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('9.874773461'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('9.879175661'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[5]) DataResponseMessage(timestamp=Decimal('9.885385527'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('9.889787727'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('9.893573194'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('9.897273594'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.903334594'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.907843127'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.912394194'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.918604061'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.922729794'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.926621594'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.930130594'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.936595661'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.940678861'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.944528127'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.949057927'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.955416661'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.959627461'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.963476727'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.969346327'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.973620927'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.977895527'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('9.981361994'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.987380461'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('9.991633794'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('9.995972194'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('10.000693394'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 10:20:01,661 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.5 seconds 2018-07-09 10:20:01,668 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=8.874448050, ts_mono=3942.568) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=8.890079772, ts_mono=3942.568) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=8.902087850, ts_mono=3942.568) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=8.913589805, ts_mono=3942.568) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=8.927713238, ts_mono=3942.568) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=8.943304138, ts_mono=3942.568) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=8.971868683, ts_mono=3942.568) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=8.987671983, ts_mono=3942.568) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=9.004469838, ts_mono=3942.568) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=9.021221338, ts_mono=3942.569) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=9.038552738, ts_mono=3942.569) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=9.056790727, ts_mono=3942.569) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=9.073995638, ts_mono=3942.569) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=9.090726805, ts_mono=3942.569) Register(name='m.max_current', type_id=ValueType.F32, cached=[10.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=9.110905361, ts_mono=3942.569) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=9.127555950, ts_mono=3942.569) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=9.144836661, ts_mono=3942.569) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=9.161723283, ts_mono=3942.569) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=9.178708572, ts_mono=3942.569) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=9.199332627, ts_mono=3942.569) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=9.216480827, ts_mono=3942.569) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=9.235208238, ts_mono=3942.569) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=9.253122127, ts_mono=3942.569) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=9.270454550, ts_mono=3942.569) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=9.288869394, ts_mono=3942.569) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=9.306527450, ts_mono=3942.569) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=9.323761494, ts_mono=3942.569) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=9.341456750, ts_mono=3942.569) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=9.359617472, ts_mono=3942.569) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=9.376698838, ts_mono=3942.569) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=9.393686950, ts_mono=3942.569) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=9.411834150, ts_mono=3942.569) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=9.430797872, ts_mono=3942.569) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=9.447099872, ts_mono=3942.569) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=9.464471261, ts_mono=3942.569) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=9.481424683, ts_mono=3942.570) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=9.499756994, ts_mono=3942.570) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=9.517677605, ts_mono=3942.570) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=9.534568283, ts_mono=3942.570) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=9.551703616, ts_mono=3942.570) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=9.565296494, ts_mono=3942.570) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=9.582691283, ts_mono=3942.570) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=9.600041383, ts_mono=3942.570) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=9.617795316, ts_mono=3942.570) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=9.636034772, ts_mono=3942.570) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=9.652724038, ts_mono=3942.570) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=9.669288938, ts_mono=3942.571) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=9.687551805, ts_mono=3942.571) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=9.704657794, ts_mono=3942.571) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=9.721644227, ts_mono=3942.571) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=9.739939183, ts_mono=3942.571) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=9.757666716, ts_mono=3942.571) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=9.778062961, ts_mono=3942.571) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.798022061, ts_mono=3942.571) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.802658194, ts_mono=3942.571) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[310.3654479980469], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.806720127, ts_mono=3942.571) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[277.6302795410156], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.810675727, ts_mono=3942.571) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.83716371995979e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.816524061, ts_mono=3942.571) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.820883727, ts_mono=3942.571) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.824626661, ts_mono=3942.571) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.829092661, ts_mono=3942.571) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.835408861, ts_mono=3942.571) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.839768527, ts_mono=3942.571) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.843660327, ts_mono=3942.571) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.847509594, ts_mono=3942.571) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.853336661, ts_mono=3942.572) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.790128707885742], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.857696327, ts_mono=3942.572) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.809127807617188], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.861566861, ts_mono=3942.572) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.866521994, ts_mono=3942.572) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.870690261, ts_mono=3942.572) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.874773461, ts_mono=3942.572) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[5], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.879175661, ts_mono=3942.572) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.885385527, ts_mono=3942.572) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.889787727, ts_mono=3942.572) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.893573194, ts_mono=3942.572) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.897273594, ts_mono=3942.572) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.903334594, ts_mono=3942.572) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.907843127, ts_mono=3942.572) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.912394194, ts_mono=3942.572) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.918604061, ts_mono=3942.572) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.922729794, ts_mono=3942.572) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.926621594, ts_mono=3942.572) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.930130594, ts_mono=3942.572) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.936595661, ts_mono=3942.572) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.940678861, ts_mono=3942.572) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.944528127, ts_mono=3942.572) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.949057927, ts_mono=3942.572) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.955416661, ts_mono=3942.572) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.959627461, ts_mono=3942.572) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.963476727, ts_mono=3942.573) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.969346327, ts_mono=3942.573) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.973620927, ts_mono=3942.573) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.977895527, ts_mono=3942.573) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.981361994, ts_mono=3942.573) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.987380461, ts_mono=3942.573) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.991633794, ts_mono=3942.573) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=9.995972194, ts_mono=3942.573) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=10.000693394, ts_mono=3942.573) 2018-07-09 10:20:01,679 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c39349d8) 2018-07-09 10:20:01,683 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f848c69aee8): [, , , , , , , ] 2018-07-09 10:20:01,946 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:20:01,946 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:20:01,947 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:20:09,923 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: New control mode: _ControlPolicy(mode=, unit='RPM', setpoint_range=(-999999, 999999), setpoint_step=10.0, only_for_guru=False, get_value_from_status=.get_rpm at 0x7f84c7c43840>) 2018-07-09 10:20:09,923 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget.run_control_widget: Initial value of the new control mode: 0.0 RPM 2018-07-09 10:20:13,146 pid=5991 INFO view.utils: Icon 'rotation' found at '/tmp/_MEIc1FAi3/view/icons/rotation.png' 2018-07-09 10:20:13,147 pid=5991 INFO view.utils: Pixmap 'rotation' has been rendered with size 17x17 in 0.001067 seconds 2018-07-09 10:20:13,147 pid=5991 INFO view.utils: Icon 'jog-forward' found at '/tmp/_MEIc1FAi3/view/icons/jog-forward.png' 2018-07-09 10:20:13,148 pid=5991 INFO view.utils: Pixmap 'jog-forward' has been rendered with size 17x17 in 0.000655 seconds 2018-07-09 10:20:13,148 pid=5991 INFO view.utils: Icon 'warning' found at '/tmp/_MEIc1FAi3/view/icons/warning.png' 2018-07-09 10:20:13,148 pid=5991 INFO view.utils: Pixmap 'warning' has been rendered with size 17x17 in 0.000629 seconds 2018-07-09 10:20:13,149 pid=5991 INFO view.utils: Icon 'ok-strong' found at '/tmp/_MEIc1FAi3/view/icons/ok-strong.png' 2018-07-09 10:20:13,149 pid=5991 INFO view.utils: Pixmap 'ok-strong' has been rendered with size 17x17 in 0.000657 seconds 2018-07-09 10:20:27,587 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget: Stop button clicked (or shortcut activated) 2018-07-09 10:20:27,593 pid=5991 INFO kucher.model.device_model.commander: Requesting stop 2018-07-09 10:20:27,857 pid=5991 INFO view.utils: Icon 'muscle-percent' found at '/tmp/_MEIc1FAi3/view/icons/muscle-percent.png' 2018-07-09 10:20:27,858 pid=5991 INFO view.utils: Pixmap 'muscle-percent' has been rendered with size 17x17 in 0.001249 seconds 2018-07-09 10:20:37,623 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=8.943304138, ts_mono=3942.568) 2018-07-09 10:20:38,691 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=8.943304138, ts_mono=3942.568) with 1 2018-07-09 10:20:38,695 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='uavcan.esc_rcm', type_id=ValueType.U8, value=[1]) -> DataResponseMessage(timestamp=Decimal('47.043922016'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[1]) 2018-07-09 10:20:38,695 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=47.043922016, ts_mono=3979.602) complete; new value: [1] 2018-07-09 10:24:01,287 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=47.043922016, ts_mono=3979.602) 2018-07-09 10:24:03,038 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=47.043922016, ts_mono=3979.602) with 2 2018-07-09 10:24:03,044 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) -> DataResponseMessage(timestamp=Decimal('251.385366505'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) 2018-07-09 10:24:03,044 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=251.385366505, ts_mono=4183.951) complete; new value: [2] 2018-07-09 10:25:13,050 pid=5991 INFO kucher.view.main_window.telega_control_widget.control_widget: Stop button clicked (or shortcut activated) 2018-07-09 10:25:13,056 pid=5991 INFO kucher.model.device_model.commander: Requesting stop 2018-07-09 10:25:16,746 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=9.306527450, ts_mono=3942.569) 2018-07-09 10:25:16,747 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 10:25:19,437 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=9.306527450, ts_mono=3942.569) with 100.0 2018-07-09 10:25:19,445 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[100.0]) -> DataResponseMessage(timestamp=Decimal('327.782611338'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[100.0]) 2018-07-09 10:25:19,445 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=327.782611338, ts_mono=4260.352) complete; new value: [100.0] 2018-07-09 10:25:23,280 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=327.782611338, ts_mono=4260.352) 2018-07-09 10:25:23,281 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 10:25:25,270 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[100.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=327.782611338, ts_mono=4260.352) with 1000.0 2018-07-09 10:25:25,280 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) -> DataResponseMessage(timestamp=Decimal('333.615002616'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) 2018-07-09 10:25:25,281 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=333.615002616, ts_mono=4266.187) complete; new value: [1000.0] 2018-07-09 10:26:58,348 pid=9193 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:26:58,352 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:26:58,354 pid=9193 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 10:26:58,455 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 10:26:58,457 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:26:58,457 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 10:26:58,481 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c3934b88) 2018-07-09 10:26:58,485 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c39349d8): [, , , , , , , , ] 2018-07-09 10:26:58,486 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:26:58,517 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:26:58,518 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:26:58,544 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:26:58,547 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:26:59,358 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 10:56:29,816 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 10:56:29,821 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 10:56:29,855 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 15263; waiting for initialization... 2018-07-09 10:56:30,295 pid=15263 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 15263, parent 5991; initializing... 2018-07-09 10:56:30,296 pid=15263 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 10:56:30,297 pid=15263 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 10:56:30,299 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 15263 initialized successfully 2018-07-09 10:56:30,306 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 10:56:30,312 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 10:56:30,317 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('330.108365438'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=310.0835266113281)(vsi=278.6766052246094)(motor=0.0))(dc=Container(voltage=16.782207489013672)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 10:56:30,318 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 10:56:31,227 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 10:56:32,347 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('331.023190883'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('331.027098427'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.030796072'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.035740338'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('331.039469116'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('331.042468638'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.045360972'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.04747125'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('331.052116038'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.054462127'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.05734755'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.060197338'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.062737283'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('331.065657305'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('331.069306394'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('331.073710305'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('331.077413638'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('331.080346661'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('331.083112127'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('331.087283361'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.090577183'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('331.095175661'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('331.099464338'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.103278983'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('331.106111161'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.109301505'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.113233183'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.117058027'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.120559794'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('331.125007838'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('331.129813416'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.133862561'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('331.137750683'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('331.14338695'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('331.146661838'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.151332216'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.15468055'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('331.159988494'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('331.164123816'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('331.168069272'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('331.172087483'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.17736345'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.181045572'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.185105094'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.189733838'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.193718761'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.198233616'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.202161227'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.207549983'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('331.211799627'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('331.216157416'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.221452316'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('331.226044461'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('331.22998795'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.234052127'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('331.239072416'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('331.244275672'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.249194861'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.253042861'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.258211216'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('331.262323105'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('331.266075094'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.271648327'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.276530783'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.281561894'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('331.286282961'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.291655583'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.296225416'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.300158305'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('331.304207061'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.309561516'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.314312338'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.317664705'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('331.323053905'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.326871238'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.331036538'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('331.334833738'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('331.340099238'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.343890372'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.347870572'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.352247572'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('331.357242305'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.360821272'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.366088138'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('331.371218672'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('331.374789516'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.37885225'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.382908716'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('331.388063794'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('331.391370138'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('331.394559183'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.398778416'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('331.404026861'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('331.406971927'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('331.410683727'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.415390672'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('331.417611538'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('331.420656538'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('331.423451683'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.427892394'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('331.430796505'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('331.433678283'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('331.437184038'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('331.44063315'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('331.444730105'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('331.447881827'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('331.452214294'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('331.455066583'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('331.457772672'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('331.462154894'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.468300872'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.47227805'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('331.475480683'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('331.479349405'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('331.483475194'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.487486027'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('331.492163894'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('331.497238983'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.500753783'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.504857361'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('331.508600605'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('331.514091527'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('331.518055538'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('331.522180638'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('331.526169761'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.532197272'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.536146461'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.539875461'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('331.54525655'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('331.549264194'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('331.553351783'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.55827525'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('331.562887883'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('331.566706327'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('331.570762094'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('331.57500585'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('331.580496294'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('331.584863494'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('331.588986516'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('331.594544227'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('331.599294594'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('331.603110494'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('331.607298672'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.612405216'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('331.61596755'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.620122283'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('331.624144138'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('331.62966275'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('331.634290583'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.637881538'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.643042383'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.64727545'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.651079083'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('331.654919838'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('331.660638905'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.66523505'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('331.668893427'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('331.672769994'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('331.67812815'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.682297261'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('331.685966305'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('331.691769583'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('331.696110383'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('331.700235716'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('331.70395835'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.709860716'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.714540238'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.71940945'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('331.723007261'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.72873055'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.733326605'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.737219627'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('331.74231155'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.746155305'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.749867272'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.754183227'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('331.759394872'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('331.763285283'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('331.76725845'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.771248372'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('331.775681894'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.780239405'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.78378895'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.789133716'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.792875361'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.797356672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.800818727'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('331.806090883'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.809790872'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.813987294'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('331.818136105'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.823379861'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('331.827323194'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('331.830912438'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('331.836558372'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.842359061'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('331.84738345'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('331.851317961'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('331.856224261'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.859590672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('331.863883938'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('331.86782955'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('331.873446616'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.877965361'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('331.882398361'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('331.887331072'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.891066338'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.895099572'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('331.898973038'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('331.904217327'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('331.90780905'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('331.911848861'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('331.916351105'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.920710772'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('331.927324705'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[310.1652526855469]) DataResponseMessage(timestamp=Decimal('331.930961305'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[278.71136474609375]) DataResponseMessage(timestamp=Decimal('331.936022772'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.8985341486986727e-06]) DataResponseMessage(timestamp=Decimal('331.939872038'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('331.944082838'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('331.949420772'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('331.956374972'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('331.962287105'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('331.967306038'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('331.971070238'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('331.977322638'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.980959238'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.7822265625]) DataResponseMessage(timestamp=Decimal('331.985021172'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.786401748657227]) DataResponseMessage(timestamp=Decimal('331.990380372'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('331.993889372'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('331.999546305'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('332.003757105'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[17]) DataResponseMessage(timestamp=Decimal('332.009073772'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('332.013156972'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[72844]) DataResponseMessage(timestamp=Decimal('332.016644705'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[2952]) DataResponseMessage(timestamp=Decimal('332.022514305'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('332.028660372'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.033126372'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.037273372'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.042675105'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.050671372'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.054924705'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.059178038'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.064133172'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.067791038'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.072320838'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('332.076212638'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.081359172'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.084655505'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.088802505'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.093502438'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.097670705'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('332.101690105'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('332.109197238'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.114662772'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('332.119235105'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('332.122786638'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('332.128315972'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 10:56:32,347 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.5 seconds 2018-07-09 10:56:32,355 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=331.023190883, ts_mono=6133.255) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=331.039469116, ts_mono=6133.255) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=331.052116038, ts_mono=6133.255) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=331.062737283, ts_mono=6133.255) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=331.077413638, ts_mono=6133.255) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=331.090577183, ts_mono=6133.255) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=331.106111161, ts_mono=6133.255) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=331.120559794, ts_mono=6133.255) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=331.137750683, ts_mono=6133.255) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=331.154680550, ts_mono=6133.255) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=331.172087483, ts_mono=6133.255) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=331.189733838, ts_mono=6133.255) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=331.207549983, ts_mono=6133.255) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=331.226044461, ts_mono=6133.255) Register(name='m.max_current', type_id=ValueType.F32, cached=[10.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=331.244275672, ts_mono=6133.255) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=331.262323105, ts_mono=6133.255) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=331.281561894, ts_mono=6133.255) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=331.300158305, ts_mono=6133.256) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=331.317664705, ts_mono=6133.256) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=331.334833738, ts_mono=6133.256) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=331.352247572, ts_mono=6133.256) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=331.371218672, ts_mono=6133.256) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=331.388063794, ts_mono=6133.256) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=331.404026861, ts_mono=6133.256) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=331.417611538, ts_mono=6133.256) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=331.430796505, ts_mono=6133.256) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=331.444730105, ts_mono=6133.256) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=331.457772672, ts_mono=6133.256) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=331.475480683, ts_mono=6133.256) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=331.492163894, ts_mono=6133.256) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=331.508600605, ts_mono=6133.256) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=331.526169761, ts_mono=6133.256) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=331.545256550, ts_mono=6133.257) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=331.562887883, ts_mono=6133.257) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=331.580496294, ts_mono=6133.257) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=331.599294594, ts_mono=6133.257) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=331.615967550, ts_mono=6133.257) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=331.634290583, ts_mono=6133.257) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=331.651079083, ts_mono=6133.257) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=331.668893427, ts_mono=6133.257) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=331.685966305, ts_mono=6133.257) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=331.703958350, ts_mono=6133.257) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=331.723007261, ts_mono=6133.257) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=331.742311550, ts_mono=6133.257) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=331.759394872, ts_mono=6133.257) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=331.775681894, ts_mono=6133.257) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=331.792875361, ts_mono=6133.257) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=331.809790872, ts_mono=6133.257) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=331.827323194, ts_mono=6133.257) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=331.847383450, ts_mono=6133.257) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=331.863883938, ts_mono=6133.257) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=331.882398361, ts_mono=6133.257) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=331.898973038, ts_mono=6133.258) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.916351105, ts_mono=6133.258) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.920710772, ts_mono=6133.258) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[310.1652526855469], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.927324705, ts_mono=6133.258) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[278.71136474609375], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.930961305, ts_mono=6133.258) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.8985341486986727e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.936022772, ts_mono=6133.258) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.939872038, ts_mono=6133.258) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.944082838, ts_mono=6133.258) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.949420772, ts_mono=6133.258) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.956374972, ts_mono=6133.258) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.962287105, ts_mono=6133.258) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.967306038, ts_mono=6133.258) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.971070238, ts_mono=6133.258) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.977322638, ts_mono=6133.258) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.7822265625], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.980959238, ts_mono=6133.258) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.786401748657227], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.985021172, ts_mono=6133.258) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.990380372, ts_mono=6133.258) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.993889372, ts_mono=6133.258) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=331.999546305, ts_mono=6133.258) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[17], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.003757105, ts_mono=6133.258) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.009073772, ts_mono=6133.259) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[72844], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.013156972, ts_mono=6133.259) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[2952], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.016644705, ts_mono=6133.259) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.022514305, ts_mono=6133.259) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.028660372, ts_mono=6133.259) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.033126372, ts_mono=6133.259) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.037273372, ts_mono=6133.259) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.042675105, ts_mono=6133.259) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.050671372, ts_mono=6133.259) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.054924705, ts_mono=6133.259) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.059178038, ts_mono=6133.259) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.064133172, ts_mono=6133.259) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.067791038, ts_mono=6133.259) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.072320838, ts_mono=6133.259) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.076212638, ts_mono=6133.259) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.081359172, ts_mono=6133.259) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.084655505, ts_mono=6133.259) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.088802505, ts_mono=6133.259) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.093502438, ts_mono=6133.259) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.097670705, ts_mono=6133.259) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.101690105, ts_mono=6133.260) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.109197238, ts_mono=6133.260) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.114662772, ts_mono=6133.260) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.119235105, ts_mono=6133.260) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.122786638, ts_mono=6133.260) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=332.128315972, ts_mono=6133.260) 2018-07-09 10:56:32,363 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c39341f8) 2018-07-09 10:56:32,368 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c3934b88): [, , , , , , , ] 2018-07-09 10:56:32,634 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:56:32,634 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:56:32,634 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 10:56:39,708 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.max_current', type_id=ValueType.F32, cached=[10.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=331.244275672, ts_mono=6133.255) 2018-07-09 10:56:39,709 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 0.1 2018-07-09 10:56:41,320 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.max_current', type_id=ValueType.F32, cached=[10.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=331.244275672, ts_mono=6133.255) with 20.0 2018-07-09 10:56:41,326 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.max_current', type_id=ValueType.F32, value=[20.0]) -> DataResponseMessage(timestamp=Decimal('341.114885716'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) 2018-07-09 10:56:41,326 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=341.114885716, ts_mono=6142.233) complete; new value: [20.0] 2018-07-09 10:56:45,738 pid=15263 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:56:45,742 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 10:56:45,745 pid=15263 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 10:56:45,845 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 10:56:45,847 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:56:45,848 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 10:56:45,872 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c3934f78) 2018-07-09 10:56:45,876 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c39341f8): [, , , , , , , , ] 2018-07-09 10:56:45,878 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:56:45,911 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:56:45,911 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:56:45,920 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 10:56:45,923 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 10:56:46,748 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 11:00:10,627 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 11:00:10,630 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 11:00:10,641 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 16496; waiting for initialization... 2018-07-09 11:00:11,076 pid=16496 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 16496, parent 5991; initializing... 2018-07-09 11:00:11,076 pid=16496 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 11:00:11,078 pid=16496 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 11:00:11,080 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 16496 initialized successfully 2018-07-09 11:00:11,089 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 11:00:11,097 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 11:00:11,104 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('550.909595905'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=311.4957580566406)(vsi=278.1322937011719)(motor=0.0))(dc=Container(voltage=16.772687911987305)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 11:00:11,105 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 11:00:12,016 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 11:00:13,164 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('551.82886255'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('551.83962905'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.842415161'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.84557915'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('551.849230283'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('551.851358705'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.853397316'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.856317472'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('551.859352161'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('551.861783327'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('551.86446145'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('551.868250794'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('551.870586372'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('551.874018916'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('551.877263361'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('551.881066683'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('551.884218227'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('551.887156294'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('551.890265372'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('551.894655583'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('551.898927672'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('551.902737672'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('551.907653538'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.911443038'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('551.915761983'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('551.91966355'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('551.925202605'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('551.928915705'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('551.932770561'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('551.936867405'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('551.942362461'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('551.945857561'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('551.949988638'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('551.954714627'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('551.958954683'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('551.963075416'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('551.966841727'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('551.972268372'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('551.975812205'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('551.979937716'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('551.983913972'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('551.989339661'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('551.99284485'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('551.996882938'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.002990305'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.006751005'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.011055116'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.014856227'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.020263572'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('552.02389745'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('552.02792335'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.033014294'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('552.03670185'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('552.040661205'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('552.04480195'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('552.050209538'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('552.053946105'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('552.058259994'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.061943394'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.067332605'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('552.070821005'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('552.074760861'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.079580083'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.083927305'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.08806825'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('552.092056927'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.097382561'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.102008861'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.106036161'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('552.110098161'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.115343483'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.118640105'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.12291895'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('552.129332127'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.133097572'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.137085216'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('552.140584138'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('552.145805738'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.149801394'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.154050805'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('552.158578072'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('552.164574772'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.169235672'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.173113327'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('552.178122205'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('552.182066838'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.186060372'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.189922494'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('552.197577072'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('552.201865694'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('552.206065361'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('552.210874561'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('552.217344394'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('552.220212616'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('552.223205027'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('552.227615316'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('552.231399338'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('552.23568905'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('552.239562994'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('552.245173383'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('552.24858045'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('552.25245435'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('552.256645427'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('552.263067238'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('552.268980838'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('552.274185361'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('552.278999661'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('552.28273485'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('552.286676794'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('552.290667205'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.296258105'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.300237916'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('552.303084483'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('552.306739194'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('552.312351761'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.316842783'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('552.320954294'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('552.326442527'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.331177661'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.335154038'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('552.339051138'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('552.344433027'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('552.349125405'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('552.352804183'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('552.356959161'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('552.364086472'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('552.368997083'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('552.372589827'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('552.378201105'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('552.381687672'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('552.385766794'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.389877094'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('552.395581605'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('552.400026427'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('552.404063616'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('552.420839838'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('552.425800083'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('552.429563905'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('552.433364916'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('552.43904955'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('552.444083327'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('552.448209016'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('552.451978494'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.45688255'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('552.460630872'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('552.464736794'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('552.46901535'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('552.474179227'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('552.477956216'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.481709738'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.486943727'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.49087315'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.495165872'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('552.499067505'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('552.505229583'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('552.50942465'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('552.514392783'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('552.519069494'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('552.524023927'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('552.52798495'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('552.531815827'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('552.537100816'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('552.540662983'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('552.545087272'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('552.549106183'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.556559016'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.562558883'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.566688127'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('552.57074895'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.576249872'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.579814405'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.584098583'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('552.589110094'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.592724572'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.596729094'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.600965205'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('552.606222438'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('552.610566327'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('552.614811416'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.618721183'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('552.624128472'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.627452161'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.631936438'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.637167216'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.64071075'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.644552183'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.648686672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.654119394'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.658586794'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.663551672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('552.669065594'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.674615305'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('552.679106627'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('552.682801561'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('552.688017338'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.691801961'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('552.696129483'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('552.699775838'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('552.705390916'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.710432672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('552.715003516'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('552.719101427'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('552.724166727'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.727758861'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('552.731998205'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('552.736677194'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.74090985'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.744751616'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('552.749184605'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('552.754181316'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('552.75774725'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('552.762149416'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('552.765835638'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.771364972'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('552.776064905'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[311.49267578125]) DataResponseMessage(timestamp=Decimal('552.779807838'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[278.1736755371094]) DataResponseMessage(timestamp=Decimal('552.785273372'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.9031864414719166e-06]) DataResponseMessage(timestamp=Decimal('552.789165172'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('552.792908105'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('552.797182705'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('552.802414305'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('552.807390705'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.811558972'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.816152572'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('552.821107705'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.825020772'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.773284912109375]) DataResponseMessage(timestamp=Decimal('552.829146505'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.778825759887695]) DataResponseMessage(timestamp=Decimal('552.834165438'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.837759505'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('552.841906505'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('552.846074772'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[26]) DataResponseMessage(timestamp=Decimal('552.851348905'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('552.855708572'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[119367]) DataResponseMessage(timestamp=Decimal('552.859685438'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[5542]) DataResponseMessage(timestamp=Decimal('552.863364572'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.869276705'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.872764438'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.876805105'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.882185572'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.885715838'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.890032972'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.894328838'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.900581238'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.906089305'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.909896038'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.914276972'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.919168305'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.922762372'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.926909372'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.932438705'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.937032305'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.940881572'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.944624505'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.950111305'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('552.954258305'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('552.958107572'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('552.963275372'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 11:00:13,165 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.5 seconds 2018-07-09 11:00:13,170 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=551.828862550, ts_mono=6354.072) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=551.849230283, ts_mono=6354.072) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=551.859352161, ts_mono=6354.072) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=551.870586372, ts_mono=6354.072) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=551.884218227, ts_mono=6354.072) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=551.898927672, ts_mono=6354.072) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=551.915761983, ts_mono=6354.072) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=551.932770561, ts_mono=6354.072) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=551.949988638, ts_mono=6354.072) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=551.966841727, ts_mono=6354.072) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=551.983913972, ts_mono=6354.072) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=552.002990305, ts_mono=6354.072) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=552.020263572, ts_mono=6354.072) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=552.036701850, ts_mono=6354.072) Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=552.053946105, ts_mono=6354.072) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=552.070821005, ts_mono=6354.072) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=552.088068250, ts_mono=6354.072) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=552.106036161, ts_mono=6354.073) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=552.122918950, ts_mono=6354.073) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=552.140584138, ts_mono=6354.073) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=552.158578072, ts_mono=6354.073) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=552.178122205, ts_mono=6354.073) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=552.197577072, ts_mono=6354.073) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=552.217344394, ts_mono=6354.073) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=552.231399338, ts_mono=6354.073) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=552.248580450, ts_mono=6354.073) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=552.268980838, ts_mono=6354.073) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=552.286676794, ts_mono=6354.073) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=552.303084483, ts_mono=6354.073) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=552.320954294, ts_mono=6354.073) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=552.339051138, ts_mono=6354.073) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=552.356959161, ts_mono=6354.073) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=552.378201105, ts_mono=6354.073) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=552.395581605, ts_mono=6354.073) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=552.425800083, ts_mono=6354.073) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=552.444083327, ts_mono=6354.073) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=552.460630872, ts_mono=6354.073) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=552.477956216, ts_mono=6354.073) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=552.495165872, ts_mono=6354.073) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=552.514392783, ts_mono=6354.073) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=552.531815827, ts_mono=6354.074) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=552.549106183, ts_mono=6354.074) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=552.570748950, ts_mono=6354.074) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=552.589110094, ts_mono=6354.074) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=552.606222438, ts_mono=6354.074) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=552.624128472, ts_mono=6354.074) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=552.640710750, ts_mono=6354.074) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=552.658586794, ts_mono=6354.074) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=552.679106627, ts_mono=6354.074) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=552.696129483, ts_mono=6354.074) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=552.715003516, ts_mono=6354.074) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=552.731998205, ts_mono=6354.074) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=552.749184605, ts_mono=6354.074) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.765835638, ts_mono=6354.074) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.771364972, ts_mono=6354.074) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[311.49267578125], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.776064905, ts_mono=6354.074) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[278.1736755371094], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.779807838, ts_mono=6354.074) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.9031864414719166e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.785273372, ts_mono=6354.074) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.789165172, ts_mono=6354.074) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.792908105, ts_mono=6354.074) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.797182705, ts_mono=6354.074) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.802414305, ts_mono=6354.074) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.807390705, ts_mono=6354.074) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.811558972, ts_mono=6354.074) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.816152572, ts_mono=6354.075) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.821107705, ts_mono=6354.075) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.773284912109375], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.825020772, ts_mono=6354.075) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.778825759887695], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.829146505, ts_mono=6354.075) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.834165438, ts_mono=6354.075) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.837759505, ts_mono=6354.075) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.841906505, ts_mono=6354.075) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[26], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.846074772, ts_mono=6354.075) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.851348905, ts_mono=6354.075) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[119367], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.855708572, ts_mono=6354.075) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[5542], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.859685438, ts_mono=6354.075) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.863364572, ts_mono=6354.075) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.869276705, ts_mono=6354.075) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.872764438, ts_mono=6354.075) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.876805105, ts_mono=6354.075) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.882185572, ts_mono=6354.075) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.885715838, ts_mono=6354.075) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.890032972, ts_mono=6354.075) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.894328838, ts_mono=6354.075) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.900581238, ts_mono=6354.075) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.906089305, ts_mono=6354.075) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.909896038, ts_mono=6354.075) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.914276972, ts_mono=6354.075) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.919168305, ts_mono=6354.075) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.922762372, ts_mono=6354.075) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.926909372, ts_mono=6354.075) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.932438705, ts_mono=6354.076) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.937032305, ts_mono=6354.076) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.940881572, ts_mono=6354.076) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.944624505, ts_mono=6354.076) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.950111305, ts_mono=6354.076) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.954258305, ts_mono=6354.076) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.958107572, ts_mono=6354.076) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=552.963275372, ts_mono=6354.076) 2018-07-09 11:00:13,178 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c3934af8) 2018-07-09 11:00:13,182 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c3934f78): [, , , , , , , ] 2018-07-09 11:00:13,449 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:00:13,449 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:00:13,450 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:00:16,934 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=552.248580450, ts_mono=6354.073) 2018-07-09 11:00:16,935 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 11:00:19,157 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=552.248580450, ts_mono=6354.073) with 10.0 2018-07-09 11:00:19,167 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[10.0]) -> DataResponseMessage(timestamp=Decimal('558.968790005'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[10.0]) 2018-07-09 11:00:19,168 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[10.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=558.968790005, ts_mono=6360.074) complete; new value: [10.0] 2018-07-09 11:00:23,194 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[10.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=558.968790005, ts_mono=6360.074) 2018-07-09 11:00:23,195 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 11:00:24,582 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[10.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=558.968790005, ts_mono=6360.074) with 20.0 2018-07-09 11:00:24,587 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[20.0]) -> DataResponseMessage(timestamp=Decimal('564.394293416'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[20.0]) 2018-07-09 11:00:24,588 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[20.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=564.394293416, ts_mono=6365.494) complete; new value: [20.0] 2018-07-09 11:00:27,153 pid=16496 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:00:27,157 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:00:27,160 pid=16496 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 11:00:27,264 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 11:00:27,266 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:00:27,267 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 11:00:27,293 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c39345e8) 2018-07-09 11:00:27,297 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c3934af8): [, , , , , , , , ] 2018-07-09 11:00:27,299 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:00:27,333 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:00:27,333 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:00:27,598 pid=5991 ERROR kucher.model.device_model.connection: Unhandled exception in the task > Traceback (most recent call last): File "kucher/model/device_model/connection.py", line 192, in proxy File "kucher/model/device_model/connection.py", line 154, in _status_monitoring_task_entry_point kucher.model.device_model.connection.ConnectionLostException: General status request has timed out 2018-07-09 11:00:27,603 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:00:28,166 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 11:00:45,110 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 11:00:45,115 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 11:00:45,127 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 16538; waiting for initialization... 2018-07-09 11:00:45,563 pid=16538 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 16538, parent 5991; initializing... 2018-07-09 11:00:45,564 pid=16538 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 11:00:45,565 pid=16538 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 11:00:45,567 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 16538 initialized successfully 2018-07-09 11:00:45,576 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 11:00:45,583 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 11:00:45,588 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('585.398897638'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=311.29534912109375)(vsi=278.2389221191406)(motor=0.0))(dc=Container(voltage=16.77422523498535)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 11:00:45,589 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 11:00:46,480 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 11:00:47,598 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('586.29576475'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('586.299377127'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.303464983'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.308345627'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('586.313204338'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('586.315873138'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.318820705'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.322054316'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('586.326302561'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.329847027'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.332864105'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.337710572'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.341090138'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('586.343467216'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('586.346549716'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('586.350738172'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('586.353940272'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('586.35746945'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('586.361828938'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('586.366773761'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.37054005'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('586.374984916'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('586.380085738'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.384318016'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('586.388903005'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.392890205'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.398256683'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.401726905'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.406210105'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('586.423790461'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('586.428787327'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.432400094'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('586.436837261'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('586.442090805'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('586.44607825'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.449904138'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.453616294'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('586.458818827'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('586.462794261'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('586.466923605'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('586.471098616'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.476598761'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.480953105'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.484857883'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('586.489789638'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.493903472'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.497946583'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.501870416'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('586.507201127'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('586.511095583'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('586.514766861'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.519750061'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('586.523719794'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('586.527845138'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.533089516'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('586.539678661'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('586.542738683'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('586.545457483'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.54846315'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.552273016'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('586.555461772'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('586.558472605'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.562297561'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.565360938'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('586.568517416'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('586.571479061'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.575376138'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.578468727'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('586.581407783'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('586.584469172'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.588469405'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.591500961'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('586.594544905'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('586.599072883'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.60181335'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.605396361'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('586.609320861'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('586.614264905'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.617239116'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.62194245'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.626089283'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('586.631800927'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.635932705'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.640055027'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('586.645053038'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('586.648793294'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.652872827'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.656829327'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('586.662873316'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('586.666890283'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('586.67103875'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.675154272'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('586.680298127'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('586.684820416'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('586.688900761'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('586.694237483'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('586.697858194'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('586.701886383'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('586.705835005'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.711296916'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('586.71593335'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('586.719701927'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('586.724265038'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('586.730899827'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('586.734790894'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('586.738651105'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('586.743961838'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('586.747861583'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('586.751700127'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('586.755972427'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.761191238'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.76465765'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('586.768651894'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('586.772925005'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('586.777910938'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.781731594'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('586.78579315'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('586.791242061'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('586.794552038'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('586.798623005'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('586.802009205'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('586.806070583'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('586.809467861'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('586.813509516'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('586.817956438'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.822971705'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.826736716'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.830921027'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('586.835619638'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('586.839137461'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('586.842284316'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('586.846520594'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('586.851859061'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('586.855847005'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('586.859966961'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('586.863650738'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('586.869017638'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('586.872479672'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('586.87671185'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('586.882219872'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('586.885477716'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('586.889707838'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('586.893751027'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('586.898813038'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('586.902941272'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.906733072'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('586.91080705'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('586.915349405'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('586.91936955'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.923313516'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.928680383'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('586.932628516'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('586.93659665'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('586.94047685'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('586.945601716'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.949583761'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('586.953677383'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('586.957931483'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('586.963159572'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.966464105'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('586.97096785'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('586.97594805'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('586.980073972'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('586.984045438'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('586.98791775'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('586.993069494'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('586.996456261'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.000605894'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('587.004673872'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('587.010460138'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('587.015056761'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.018799683'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('587.023983027'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.027698005'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.031783894'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.035914227'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('587.041142316'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('587.044797716'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('587.048585772'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('587.052603994'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('587.057731394'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.061972827'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.065753372'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.071111316'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('587.074859983'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.078901138'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.082553583'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.087875205'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('587.091936116'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('587.095823983'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('587.100006338'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.105266705'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('587.10987485'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('587.11361865'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('587.118981616'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.12272455'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('587.126931116'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('587.130911605'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('587.136001338'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.139785483'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('587.143984572'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('587.147651516'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('587.153023394'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.156564961'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('587.161087294'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('587.166237794'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.170600705'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.174905438'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('587.179044661'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('587.184329661'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('587.189020516'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('587.192965361'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('587.196717838'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.201991972'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('587.205990105'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[311.2662353515625]) DataResponseMessage(timestamp=Decimal('587.209541638'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[278.25286865234375]) DataResponseMessage(timestamp=Decimal('587.214794505'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.8963472686882596e-06]) DataResponseMessage(timestamp=Decimal('587.218579972'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('587.223556372'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('587.228596572'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('587.234232238'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('587.239761572'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.243972372'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.247566438'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('587.253031972'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.256711105'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.77406883239746]) DataResponseMessage(timestamp=Decimal('587.260815572'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.778825759887695]) DataResponseMessage(timestamp=Decimal('587.266110972'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.269449838'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('587.273745705'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('587.278105372'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[34]) DataResponseMessage(timestamp=Decimal('587.283209372'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('587.287994372'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[127951]) DataResponseMessage(timestamp=Decimal('587.291503372'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[5791]) DataResponseMessage(timestamp=Decimal('587.295756705'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.301456172'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.306921705'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.311217572'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.317491238'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.322446372'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.327103772'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.330506438'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.336120838'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.339459705'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.343883172'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.347668638'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.353070372'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.356302905'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.360662572'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.366106838'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.369530772'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.373784105'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.378122505'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.383375372'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('587.388585705'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('587.393051705'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('587.398368372'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 11:00:47,598 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.5 seconds 2018-07-09 11:00:47,604 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=586.295764750, ts_mono=6388.506) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=586.313204338, ts_mono=6388.506) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=586.326302561, ts_mono=6388.506) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=586.341090138, ts_mono=6388.506) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=586.353940272, ts_mono=6388.506) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=586.370540050, ts_mono=6388.506) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=586.388903005, ts_mono=6388.506) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=586.406210105, ts_mono=6388.506) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=586.436837261, ts_mono=6388.506) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=586.453616294, ts_mono=6388.506) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=586.471098616, ts_mono=6388.506) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=586.489789638, ts_mono=6388.506) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=586.507201127, ts_mono=6388.506) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=586.523719794, ts_mono=6388.506) Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=586.542738683, ts_mono=6388.506) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=586.555461772, ts_mono=6388.506) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=586.568517416, ts_mono=6388.506) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=586.581407783, ts_mono=6388.506) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=586.594544905, ts_mono=6388.506) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=586.609320861, ts_mono=6388.507) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=586.626089283, ts_mono=6388.507) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=586.645053038, ts_mono=6388.507) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=586.662873316, ts_mono=6388.507) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=586.680298127, ts_mono=6388.507) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=586.697858194, ts_mono=6388.507) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[20.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=586.715933350, ts_mono=6388.507) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=586.734790894, ts_mono=6388.507) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=586.751700127, ts_mono=6388.507) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=586.768651894, ts_mono=6388.507) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=586.785793150, ts_mono=6388.507) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=586.802009205, ts_mono=6388.507) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=586.817956438, ts_mono=6388.507) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=586.835619638, ts_mono=6388.507) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=586.851859061, ts_mono=6388.507) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=586.869017638, ts_mono=6388.507) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=586.885477716, ts_mono=6388.507) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=586.902941272, ts_mono=6388.507) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=586.919369550, ts_mono=6388.507) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=586.936596650, ts_mono=6388.507) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=586.953677383, ts_mono=6388.507) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=586.970967850, ts_mono=6388.507) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=586.987917750, ts_mono=6388.507) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=587.004673872, ts_mono=6388.507) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=587.023983027, ts_mono=6388.508) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=587.041142316, ts_mono=6388.508) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=587.057731394, ts_mono=6388.508) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=587.074859983, ts_mono=6388.508) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=587.091936116, ts_mono=6388.508) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=587.109874850, ts_mono=6388.508) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=587.126931116, ts_mono=6388.508) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=587.143984572, ts_mono=6388.508) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=587.161087294, ts_mono=6388.508) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=587.179044661, ts_mono=6388.508) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.196717838, ts_mono=6388.508) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.201991972, ts_mono=6388.508) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[311.2662353515625], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.205990105, ts_mono=6388.508) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[278.25286865234375], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.209541638, ts_mono=6388.508) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.8963472686882596e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.214794505, ts_mono=6388.508) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.218579972, ts_mono=6388.508) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.223556372, ts_mono=6388.508) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.228596572, ts_mono=6388.508) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.234232238, ts_mono=6388.508) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.239761572, ts_mono=6388.508) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.243972372, ts_mono=6388.508) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.247566438, ts_mono=6388.508) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.253031972, ts_mono=6388.508) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.77406883239746], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.256711105, ts_mono=6388.508) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.778825759887695], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.260815572, ts_mono=6388.509) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.266110972, ts_mono=6388.509) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.269449838, ts_mono=6388.509) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.273745705, ts_mono=6388.509) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[34], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.278105372, ts_mono=6388.509) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.283209372, ts_mono=6388.509) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[127951], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.287994372, ts_mono=6388.509) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[5791], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.291503372, ts_mono=6388.509) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.295756705, ts_mono=6388.509) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.301456172, ts_mono=6388.509) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.306921705, ts_mono=6388.509) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.311217572, ts_mono=6388.509) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.317491238, ts_mono=6388.509) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.322446372, ts_mono=6388.509) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.327103772, ts_mono=6388.509) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.330506438, ts_mono=6388.509) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.336120838, ts_mono=6388.509) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.339459705, ts_mono=6388.509) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.343883172, ts_mono=6388.509) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.347668638, ts_mono=6388.509) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.353070372, ts_mono=6388.509) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.356302905, ts_mono=6388.509) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.360662572, ts_mono=6388.509) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.366106838, ts_mono=6388.509) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.369530772, ts_mono=6388.509) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.373784105, ts_mono=6388.510) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.378122505, ts_mono=6388.510) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.383375372, ts_mono=6388.510) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.388585705, ts_mono=6388.510) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.393051705, ts_mono=6388.510) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=587.398368372, ts_mono=6388.510) 2018-07-09 11:00:47,612 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c3934288) 2018-07-09 11:00:47,616 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c39345e8): [, , , , , , , ] 2018-07-09 11:00:47,875 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:00:47,875 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:00:47,876 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:01:57,022 pid=5991 INFO view.utils: Icon 'jog-reverse' found at '/tmp/_MEIc1FAi3/view/icons/jog-reverse.png' 2018-07-09 11:01:57,023 pid=5991 INFO view.utils: Pixmap 'jog-reverse' has been rendered with size 17x17 in 0.000953 seconds 2018-07-09 11:03:08,837 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=586.370540050, ts_mono=6388.506) 2018-07-09 11:03:10,743 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=586.370540050, ts_mono=6388.506) with 0 2018-07-09 11:03:10,747 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) -> DataResponseMessage(timestamp=Decimal('730.571773572'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) 2018-07-09 11:03:10,747 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=730.571773572, ts_mono=6531.654) complete; new value: [0] 2018-07-09 11:05:35,104 pid=16538 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:05:35,106 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:05:35,109 pid=16538 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 11:05:35,208 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 11:05:35,208 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:05:35,209 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 11:05:35,227 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c3934c18) 2018-07-09 11:05:35,232 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c3934288): [, , , , , , , , ] 2018-07-09 11:05:35,234 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:05:35,279 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:05:35,283 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:05:35,284 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:05:35,287 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:05:36,112 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 11:13:05,907 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 11:13:05,912 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 11:13:05,924 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 17817; waiting for initialization... 2018-07-09 11:13:06,337 pid=17817 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 17817, parent 5991; initializing... 2018-07-09 11:13:06,338 pid=17817 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 11:13:06,339 pid=17817 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 11:13:06,341 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 17817 initialized successfully 2018-07-09 11:13:06,348 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 11:13:06,355 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 11:13:06,361 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('1326.213193105'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=310.1200866699219)(vsi=277.5168762207031)(motor=0.0))(dc=Container(voltage=16.770408630371094)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=6)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 11:13:06,362 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 11:13:07,224 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 11:13:08,379 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('1327.082626016'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('1327.093497861'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.095569216'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.098483272'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('1327.101787305'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1327.104705816'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.107700438'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.110633838'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('1327.114283594'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.116568427'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.119441905'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.122338205'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.124948305'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1327.127584738'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1327.13063675'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1327.134636538'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1327.137368794'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1327.139578294'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1327.142735361'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1327.147064705'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.150307394'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.153513116'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1327.15853095'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.162384338'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('1327.165631961'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.169679383'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.174773161'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.178754016'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.182774216'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1327.186751583'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('1327.192200561'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.196040672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('1327.19979105'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('1327.205149527'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('1327.208972083'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.213578205'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.218464772'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('1327.222797738'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('1327.227066294'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('1327.231385483'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('1327.235132605'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.240558716'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.245228394'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.249066805'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1327.254767361'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.259416683'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.263546883'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.268444616'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1327.273413961'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('1327.277222005'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('1327.281215394'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.286733338'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1327.291082027'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('1327.29528395'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.299383383'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('1327.304378272'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('1327.308530961'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1327.313540461'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.318396938'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.323596327'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('1327.328602927'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('1327.333473105'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.338475883'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.342189683'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.346278172'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1327.350200072'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.355545238'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.360349505'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.36424065'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1327.368459772'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.373523727'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.378530883'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.383505516'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('1327.389637072'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.39433605'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.397968883'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('1327.402251094'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('1327.40715335'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.411076138'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.415013616'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.419153272'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('1327.424701583'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.429255705'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.433507205'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('1327.438856138'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('1327.442944538'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.447101438'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.451522238'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('1327.456478927'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('1327.45956015'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('1327.464212772'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.467869838'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('1327.473495627'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1327.478462538'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1327.481949205'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.48754585'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('1327.49240545'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1327.495983272'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1327.500054161'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.505165683'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('1327.509168738'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1327.512854805'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1327.517146761'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1327.522082383'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('1327.52585255'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1327.529698416'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('1327.535326561'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1327.538842872'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1327.542858616'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('1327.546823672'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.55234385'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.555981627'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1327.560168716'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1327.563960605'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('1327.568958038'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.573536283'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1327.578566261'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('1327.584844872'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.589302794'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.593581038'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('1327.59860675'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('1327.605367616'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('1327.608988094'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('1327.613679138'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1327.618552327'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.623787261'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.628571116'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.633582872'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1327.639752672'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('1327.644627416'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('1327.649155205'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.653634294'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('1327.66016855'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1327.664280405'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('1327.668554272'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('1327.673573416'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('1327.680220972'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1327.684832183'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1327.688819627'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('1327.694066116'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('1327.697900472'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('1327.701958961'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('1327.706097961'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.711383172'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('1327.715056638'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.719186683'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('1327.723583461'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('1327.729592605'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('1327.73412875'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.737857927'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.743685616'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.74840675'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1327.750890505'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('1327.753799383'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('1327.757673172'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.761017738'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1327.76387055'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('1327.766868494'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('1327.770591927'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.773740116'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1327.776986983'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('1327.780765816'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('1327.783891261'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('1327.787258705'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('1327.789689238'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.795447461'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.798886483'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.802554283'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1327.806276338'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.811138127'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.814569727'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.818611061'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1327.82430065'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.828648516'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.833619461'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.837838872'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('1327.844091516'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('1327.847862872'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('1327.851533561'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.855616705'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('1327.86289005'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.868642916'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.874944694'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.883595561'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1327.887347272'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.890855427'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.894970161'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1327.900418394'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1327.903711872'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.908180694'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('1327.912060094'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.917430761'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1327.920687438'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('1327.925006238'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('1327.93026975'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.933928894'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1327.938130538'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('1327.941765772'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('1327.947294172'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.951828783'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('1327.956304972'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('1327.960192927'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('1327.965411605'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.968772838'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('1327.973083005'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('1327.978046416'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.982294794'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1327.985916261'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('1327.990118894'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1327.995336827'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1327.999010294'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('1328.003035894'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('1328.007057705'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.012544505'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('1328.017138105'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[310.23406982421875]) DataResponseMessage(timestamp=Decimal('1328.020774705'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[277.5374755859375]) DataResponseMessage(timestamp=Decimal('1328.026431638'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.8891734018543502e-06]) DataResponseMessage(timestamp=Decimal('1328.029579105'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('1328.033960038'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1328.038702505'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1328.044933638'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[6]) DataResponseMessage(timestamp=Decimal('1328.049420905'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.053716772'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.058289105'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('1328.063308038'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.067050972'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.770444869995117]) DataResponseMessage(timestamp=Decimal('1328.070985305'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.778825759887695]) DataResponseMessage(timestamp=Decimal('1328.076344505'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.079832238'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('1328.084064305'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('1328.088721705'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[53]) DataResponseMessage(timestamp=Decimal('1328.094782705'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('1328.099418838'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[304055]) DataResponseMessage(timestamp=Decimal('1328.103757238'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[10590]) DataResponseMessage(timestamp=Decimal('1328.108776172'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.114709572'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.119281905'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.123726638'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.130489438'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.135210638'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.139208772'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.143781105'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.150203638'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.154201772'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.158774105'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.163856838'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.169279838'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.173767105'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.178956172'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.184868305'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.189313038'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.193736505'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.198840505'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.205114172'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('1328.209452572'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('1328.214705438'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('1328.220596305'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 11:13:08,379 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.5 seconds 2018-07-09 11:13:08,386 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=1327.082626016, ts_mono=7129.287) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=1327.101787305, ts_mono=7129.287) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1327.114283594, ts_mono=7129.287) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=1327.124948305, ts_mono=7129.287) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=1327.137368794, ts_mono=7129.287) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.150307394, ts_mono=7129.287) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1327.165631961, ts_mono=7129.287) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.182774216, ts_mono=7129.287) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=1327.199791050, ts_mono=7129.287) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=1327.218464772, ts_mono=7129.287) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1327.235132605, ts_mono=7129.287) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1327.254767361, ts_mono=7129.287) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=1327.273413961, ts_mono=7129.287) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=1327.291082027, ts_mono=7129.287) Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=1327.308530961, ts_mono=7129.287) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1327.328602927, ts_mono=7129.287) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1327.346278172, ts_mono=7129.288) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1327.364240650, ts_mono=7129.288) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=1327.383505516, ts_mono=7129.288) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=1327.402251094, ts_mono=7129.288) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=1327.419153272, ts_mono=7129.288) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=1327.438856138, ts_mono=7129.288) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=1327.456478927, ts_mono=7129.288) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=1327.473495627, ts_mono=7129.288) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=1327.492405450, ts_mono=7129.288) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[20.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1327.509168738, ts_mono=7129.288) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=1327.525852550, ts_mono=7129.288) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1327.542858616, ts_mono=7129.288) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=1327.560168716, ts_mono=7129.288) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=1327.578566261, ts_mono=7129.288) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=1327.598606750, ts_mono=7129.288) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=1327.618552327, ts_mono=7129.288) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=1327.639752672, ts_mono=7129.288) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=1327.660168550, ts_mono=7129.288) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=1327.680220972, ts_mono=7129.288) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=1327.697900472, ts_mono=7129.289) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=1327.715056638, ts_mono=7129.289) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1327.734128750, ts_mono=7129.289) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1327.750890505, ts_mono=7129.289) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1327.763870550, ts_mono=7129.289) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=1327.776986983, ts_mono=7129.289) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1327.789689238, ts_mono=7129.289) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=1327.806276338, ts_mono=7129.289) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=1327.824300650, ts_mono=7129.289) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=1327.844091516, ts_mono=7129.289) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1327.862890050, ts_mono=7129.289) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=1327.887347272, ts_mono=7129.289) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1327.903711872, ts_mono=7129.289) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1327.920687438, ts_mono=7129.289) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=1327.938130538, ts_mono=7129.289) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=1327.956304972, ts_mono=7129.289) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=1327.973083005, ts_mono=7129.289) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=1327.990118894, ts_mono=7129.289) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.007057705, ts_mono=7129.289) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.012544505, ts_mono=7129.289) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[310.23406982421875], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.017138105, ts_mono=7129.289) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[277.5374755859375], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.020774705, ts_mono=7129.289) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.8891734018543502e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.026431638, ts_mono=7129.289) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.029579105, ts_mono=7129.289) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.033960038, ts_mono=7129.290) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.038702505, ts_mono=7129.290) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[6], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.044933638, ts_mono=7129.290) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.049420905, ts_mono=7129.290) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.053716772, ts_mono=7129.290) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.058289105, ts_mono=7129.290) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.063308038, ts_mono=7129.290) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.770444869995117], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.067050972, ts_mono=7129.290) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.778825759887695], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.070985305, ts_mono=7129.290) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.076344505, ts_mono=7129.290) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.079832238, ts_mono=7129.290) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.084064305, ts_mono=7129.290) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[53], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.088721705, ts_mono=7129.290) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.094782705, ts_mono=7129.290) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[304055], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.099418838, ts_mono=7129.290) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[10590], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.103757238, ts_mono=7129.290) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.108776172, ts_mono=7129.290) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.114709572, ts_mono=7129.290) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.119281905, ts_mono=7129.290) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.123726638, ts_mono=7129.290) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.130489438, ts_mono=7129.290) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.135210638, ts_mono=7129.290) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.139208772, ts_mono=7129.290) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.143781105, ts_mono=7129.290) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.150203638, ts_mono=7129.290) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.154201772, ts_mono=7129.291) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.158774105, ts_mono=7129.291) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.163856838, ts_mono=7129.291) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.169279838, ts_mono=7129.291) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.173767105, ts_mono=7129.291) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.178956172, ts_mono=7129.291) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.184868305, ts_mono=7129.291) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.189313038, ts_mono=7129.291) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.193736505, ts_mono=7129.291) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.198840505, ts_mono=7129.291) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.205114172, ts_mono=7129.291) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.209452572, ts_mono=7129.291) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.214705438, ts_mono=7129.291) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=1328.220596305, ts_mono=7129.291) 2018-07-09 11:13:08,393 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c3934318) 2018-07-09 11:13:08,398 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c3934c18): [, , , , , , , ] 2018-07-09 11:13:08,661 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:13:08,661 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:13:08,661 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 11:13:19,258 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[20.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1327.509168738, ts_mono=7129.288) 2018-07-09 11:13:19,259 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 11:13:21,054 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[20.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1327.509168738, ts_mono=7129.288) with 1000.0 2018-07-09 11:13:21,059 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) -> DataResponseMessage(timestamp=Decimal('1340.911411061'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[1000.0]) 2018-07-09 11:13:21,060 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1340.911411061, ts_mono=7141.967) complete; new value: [1000.0] 2018-07-09 11:13:22,963 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1340.911411061, ts_mono=7141.967) 2018-07-09 11:13:22,964 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing QDoubleSpinBox with single step set to 1.0 2018-07-09 11:13:25,002 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[1000.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1340.911411061, ts_mono=7141.967) with 300.0 2018-07-09 11:13:25,007 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='m.voltage_ramp', type_id=ValueType.F32, value=[300.0]) -> DataResponseMessage(timestamp=Decimal('1344.859206461'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[300.0]) 2018-07-09 11:13:25,008 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[300.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=1344.859206461, ts_mono=7145.914) complete; new value: [300.0] 2018-07-09 11:14:49,100 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.182774216, ts_mono=7129.287) 2018-07-09 11:14:51,189 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[1], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.182774216, ts_mono=7129.287) with 2 2018-07-09 11:14:51,195 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[2]) -> DataResponseMessage(timestamp=Decimal('1431.047684383'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[2]) 2018-07-09 11:14:51,195 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1431.047684383, ts_mono=7232.102) complete; new value: [2] 2018-07-09 11:15:25,469 pid=5991 INFO kucher.view.main_window.register_view_widget.editor_delegate: Constructing editor for Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.150307394, ts_mono=7129.287) 2018-07-09 11:15:26,577 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Writing register Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[0], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1327.150307394, ts_mono=7129.287) with 2 2018-07-09 11:15:26,581 pid=5991 INFO kucher.model.device_model.connection: Register set/get result: DataRequestMessage(name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) -> DataResponseMessage(timestamp=Decimal('1466.436396527'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) 2018-07-09 11:15:26,581 pid=5991 INFO kucher.view.main_window.register_view_widget.model: Write to Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=1466.436396527, ts_mono=7267.488) complete; new value: [2] 2018-07-09 11:27:43,166 pid=17817 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:27:43,173 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 11:27:43,173 pid=17817 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 11:27:43,275 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 11:27:43,277 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:27:43,278 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 11:27:43,301 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c3934a68) 2018-07-09 11:27:43,305 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c3934318): [, , , , , , , , ] 2018-07-09 11:27:43,307 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 11:27:43,355 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:27:43,355 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:27:43,671 pid=5991 ERROR kucher.model.device_model.connection: Unhandled exception in the task > Traceback (most recent call last): File "kucher/model/device_model/connection.py", line 192, in proxy File "kucher/model/device_model/connection.py", line 154, in _status_monitoring_task_entry_point kucher.model.device_model.connection.ConnectionLostException: General status request has timed out 2018-07-09 11:27:43,677 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 11:27:44,176 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 12:51:07,434 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 12:51:07,438 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 12:51:07,450 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 20685; waiting for initialization... 2018-07-09 12:51:07,893 pid=20685 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 20685, parent 5991; initializing... 2018-07-09 12:51:07,893 pid=20685 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 12:51:07,895 pid=20685 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 12:51:07,897 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 20685 initialized successfully 2018-07-09 12:51:07,906 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 12:51:07,914 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 12:51:07,923 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('5.623673127'))(status_flags=Container(dc_undervoltage=True)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=False)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=True)(uavcan_node_up=True)(can_data_link_up=True)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='fault')(temperature=Container(cpu=305.5003967285156)(vsi=262.0495300292969)(motor=0.0))(dc=Container(voltage=0.0517035573720932)(current=0.0))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=0)(overload=0)(fault=0))(task_specific_status_report=Container(failed_task_id='idle')(failed_task_exit_code=2)) 2018-07-09 12:51:07,924 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 12:51:08,820 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 12:51:09,990 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('6.516043061'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('6.520813316'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.523613572'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.525931472'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('6.529864883'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('6.531792883'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.534005183'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.536835961'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('6.53958185'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.541839138'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.544229616'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.547821872'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.549886505'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('6.553247838'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('6.557075927'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('6.561751616'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('6.564510727'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('6.567562327'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('6.570856627'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('6.574738161'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.579026861'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('6.583067816'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('6.588280783'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.591818116'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('6.595069138'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.598672405'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.602996483'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.60690325'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.611564294'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('6.614961316'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('6.61991065'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.624071005'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('6.627906127'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('6.634068094'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('6.638398338'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.64253675'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.646662494'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('6.651712283'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('6.655157461'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('6.659516883'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('6.663306561'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.668469016'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.672339783'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.676593094'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.682186038'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.686398616'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.690613327'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.694549694'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.70012405'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('6.704642938'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('6.708564294'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.714702294'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('6.719829283'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('6.724795361'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.727856261'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('6.731768861'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('6.734653294'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('6.737870627'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.741895372'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.74682995'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('6.749952627'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('6.754390316'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.759597172'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.763070316'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.767495583'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('6.77134335'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.776732027'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.779957805'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.78451995'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('6.788402194'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.794105327'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.798198372'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.802386905'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('6.807924761'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.812509205'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.816529138'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('6.820472316'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('6.82560065'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.829301072'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.834109127'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.839316305'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('6.846460138'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.85060885'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.854431016'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('6.859768272'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('6.864064083'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.868069283'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.872271805'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('6.877684027'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('6.881501672'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('6.88544695'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.889263616'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('6.894420183'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('6.898324716'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('6.902214294'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.907167416'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('6.91145075'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('6.91557165'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('6.919419516'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.924635194'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('6.929138483'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('6.933348861'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('6.93749745'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('6.942587272'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('6.946300216'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('6.950254338'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('6.955259161'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('6.959384483'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('6.963195605'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('6.98158875'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.985984227'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.990197372'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('6.994237061'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('6.99807075'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('7.00413045'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.008069672'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('7.012600283'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('7.019379516'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.024143394'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.028375383'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('7.032263572'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('7.037622261'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('7.041544427'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('7.045378094'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('7.049366016'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('7.054546038'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('7.05912995'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('7.064139916'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('7.069924905'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('7.07463095'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('7.078224816'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('7.082513405'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('7.087561661'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('7.091345572'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('7.095445994'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('7.099618938'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('7.104788705'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('7.108157738'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('7.11237015'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('7.11713875'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('7.121080538'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('7.125066894'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('7.129434405'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('7.134872138'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('7.139270694'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('7.143304083'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('7.146888405'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('7.153074716'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('7.157622905'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.161264872'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.166645172'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.169856194'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('7.172685672'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('7.175959994'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('7.181689505'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('7.185147894'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('7.189251661'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('7.193174538'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('7.19817175'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('7.203247705'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('7.207605483'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('7.213055705'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('7.217451938'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('7.221516172'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('7.225429461'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.230922005'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.235632816'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.239225361'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('7.243416105'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.249699694'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.254264805'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.259180861'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('7.264736372'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.268264872'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.272574894'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.276560283'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('7.281617772'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('7.285320094'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('7.28961355'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.293050672'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('7.298365083'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.302152961'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.306416994'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.311225483'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('7.315200116'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.319213361'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.323174105'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.32923565'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('7.334269038'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.339266016'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('7.344274205'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.349943938'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('7.354647272'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('7.359169305'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('7.365068216'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.36938595'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('7.373338761'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('7.37755235'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('7.382933094'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.387568938'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('7.391135938'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('7.395441316'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('7.400643427'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.404310116'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('7.408371827'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('7.41422825'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.418403772'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.421692905'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('7.42506745'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('7.430617116'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('7.434269572'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('7.439279472'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('7.444269927'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.449841794'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('7.454520461'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[305.85772705078125]) DataResponseMessage(timestamp=Decimal('7.459220394'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[262.06475830078125]) DataResponseMessage(timestamp=Decimal('7.465919394'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.8833674150519073e-06]) DataResponseMessage(timestamp=Decimal('7.470640594'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('7.474319727'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('7.477658594'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('7.482273461'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('7.486356661'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.490376061'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.494374194'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.500052394'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.505220194'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[0.052606794983148575]) DataResponseMessage(timestamp=Decimal('7.510047727'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[0.045450545847415924]) DataResponseMessage(timestamp=Decimal('7.514917794'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.519256194'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('7.523062927'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('7.527188661'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[1273]) DataResponseMessage(timestamp=Decimal('7.532696727'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('7.535674061'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[644]) DataResponseMessage(timestamp=Decimal('7.539310661'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[7]) DataResponseMessage(timestamp=Decimal('7.544287061'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.549582461'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.554388727'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.559301327'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.566404394'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.570296194'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.574783461'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.580376594'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.587585994'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.591052461'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.596858261'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.603089394'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.609299261'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.614339461'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.619294594'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.625036594'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.629821594'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.633181727'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.639370327'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.645473861'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('7.649769727'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('7.653172394'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('7.659297194'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 12:51:09,991 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.6 seconds 2018-07-09 12:51:09,997 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=6.516043061, ts_mono=10233.214) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=6.529864883, ts_mono=10233.214) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=6.539581850, ts_mono=10233.214) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=6.549886505, ts_mono=10233.214) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=6.564510727, ts_mono=10233.214) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=6.579026861, ts_mono=10233.214) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=6.595069138, ts_mono=10233.214) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=6.611564294, ts_mono=10233.214) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=6.627906127, ts_mono=10233.214) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=6.646662494, ts_mono=10233.214) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=6.663306561, ts_mono=10233.214) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=6.682186038, ts_mono=10233.215) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=6.700124050, ts_mono=10233.215) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=6.719829283, ts_mono=10233.215) Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=6.734653294, ts_mono=10233.215) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=6.749952627, ts_mono=10233.215) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=6.767495583, ts_mono=10233.215) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=6.784519950, ts_mono=10233.215) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=6.802386905, ts_mono=10233.215) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=6.820472316, ts_mono=10233.215) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=6.839316305, ts_mono=10233.215) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=6.859768272, ts_mono=10233.215) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=6.877684027, ts_mono=10233.215) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=6.894420183, ts_mono=10233.215) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=6.911450750, ts_mono=10233.215) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[300.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=6.929138483, ts_mono=10233.215) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=6.946300216, ts_mono=10233.215) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=6.963195605, ts_mono=10233.215) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=6.994237061, ts_mono=10233.215) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=7.012600283, ts_mono=10233.215) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=7.032263572, ts_mono=10233.215) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=7.049366016, ts_mono=10233.215) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=7.069924905, ts_mono=10233.215) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=7.087561661, ts_mono=10233.215) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=7.104788705, ts_mono=10233.215) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=7.121080538, ts_mono=10233.216) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=7.139270694, ts_mono=10233.216) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=7.157622905, ts_mono=10233.216) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=7.172685672, ts_mono=10233.216) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=7.189251661, ts_mono=10233.216) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=7.207605483, ts_mono=10233.216) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=7.225429461, ts_mono=10233.216) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=7.243416105, ts_mono=10233.216) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=7.264736372, ts_mono=10233.216) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=7.281617772, ts_mono=10233.216) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=7.298365083, ts_mono=10233.216) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=7.315200116, ts_mono=10233.216) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=7.334269038, ts_mono=10233.216) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=7.354647272, ts_mono=10233.216) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=7.373338761, ts_mono=10233.216) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=7.391135938, ts_mono=10233.216) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=7.408371827, ts_mono=10233.216) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=7.425067450, ts_mono=10233.216) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.444269927, ts_mono=10233.216) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.449841794, ts_mono=10233.216) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[305.85772705078125], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.454520461, ts_mono=10233.216) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[262.06475830078125], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.459220394, ts_mono=10233.216) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.8833674150519073e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.465919394, ts_mono=10233.216) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.470640594, ts_mono=10233.217) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.474319727, ts_mono=10233.217) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.477658594, ts_mono=10233.217) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.482273461, ts_mono=10233.217) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.486356661, ts_mono=10233.217) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.490376061, ts_mono=10233.217) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.494374194, ts_mono=10233.217) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.500052394, ts_mono=10233.217) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[0.052606794983148575], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.505220194, ts_mono=10233.217) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[0.045450545847415924], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.510047727, ts_mono=10233.217) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.514917794, ts_mono=10233.217) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.519256194, ts_mono=10233.217) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.523062927, ts_mono=10233.217) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[1273], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.527188661, ts_mono=10233.217) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.532696727, ts_mono=10233.217) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[644], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.535674061, ts_mono=10233.217) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[7], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.539310661, ts_mono=10233.217) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.544287061, ts_mono=10233.217) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.549582461, ts_mono=10233.217) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.554388727, ts_mono=10233.217) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.559301327, ts_mono=10233.217) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.566404394, ts_mono=10233.217) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.570296194, ts_mono=10233.217) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.574783461, ts_mono=10233.217) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.580376594, ts_mono=10233.217) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.587585994, ts_mono=10233.218) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.591052461, ts_mono=10233.218) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.596858261, ts_mono=10233.218) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.603089394, ts_mono=10233.218) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.609299261, ts_mono=10233.218) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.614339461, ts_mono=10233.218) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.619294594, ts_mono=10233.218) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.625036594, ts_mono=10233.218) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.629821594, ts_mono=10233.218) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.633181727, ts_mono=10233.218) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.639370327, ts_mono=10233.218) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.645473861, ts_mono=10233.218) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.649769727, ts_mono=10233.218) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.653172394, ts_mono=10233.218) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=7.659297194, ts_mono=10233.218) 2018-07-09 12:51:10,005 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c3934048) 2018-07-09 12:51:10,010 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c3934a68): [, , , , , , , ] 2018-07-09 12:51:10,281 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:51:10,286 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:51:10,286 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:54:28,473 pid=20685 ERROR popcop.physical.serial_multiprocessing: IO process RX thread failure: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) Traceback (most recent call last): File "site-packages/serial/serialposix.py", line 501, in read serial.serialutil.SerialException: device reports readiness to read but returned no data (device disconnected or multiple access on port?) During handling of the above exception, another exception occurred: Traceback (most recent call last): File "popcop/physical/serial_multiprocessing.py", line 242, in _rx_thread_function File "site-packages/serial/serialposix.py", line 509, in read serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 12:54:28,477 pid=5991 ERROR kucher.model.device_model.communicator.communicator: Unhandled exception in IO worker thread (1 of 100): IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) serial.serialutil.SerialException: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) The above exception was the direct cause of the following exception: Traceback (most recent call last): File "kucher/model/device_model/communicator/communicator.py", line 97, in _thread_entry File "popcop/physical/serial_multiprocessing.py", line 626, in receive popcop.physical.serial_multiprocessing.ChannelException: IO worker process has encountered an unhandled exception: read failed: device reports readiness to read but returned no data (device disconnected or multiple access on port?) 2018-07-09 12:54:28,479 pid=20685 INFO popcop.physical.serial_multiprocessing: IO tootaja on peatunud. Head aega! 2018-07-09 12:54:28,582 pid=5991 INFO kucher.model.device_model.communicator.communicator: IO worker thread is stopping 2018-07-09 12:54:28,584 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 12:54:28,584 pid=5991 INFO kucher.model.device_model: Connection instance reported connection loss; reason: CommunicationChannelClosedException() 2018-07-09 12:54:28,610 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(0 registers, id=0x7f84c3934678) 2018-07-09 12:54:28,615 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(53 registers, id=0x7f84c3934048): [, , , , , , , ] 2018-07-09 12:54:28,616 pid=5991 INFO kucher.model.device_model.connection: Task > is stopping because the communication channel is closed: CommunicationChannelClosedException() 2018-07-09 12:54:28,665 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 12:54:28,665 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 12:54:28,932 pid=5991 ERROR kucher.model.device_model.connection: Unhandled exception in the task > Traceback (most recent call last): File "kucher/model/device_model/connection.py", line 192, in proxy File "kucher/model/device_model/connection.py", line 154, in _status_monitoring_task_entry_point kucher.model.device_model.connection.ConnectionLostException: General status request has timed out 2018-07-09 12:54:28,938 pid=5991 INFO kucher.model.device_model.connection: Task > has stopped 2018-07-09 12:54:29,483 pid=5991 INFO popcop.physical.serial_multiprocessing: Babysitter is exiting normally. IO worker process is alive: False, explicit quit request: False 2018-07-09 12:54:39,946 pid=5991 INFO kucher.view.main_window.device_management_widget: Connection initialization task spawned 2018-07-09 12:54:39,950 pid=5991 INFO kucher.model.device_model: Explicit disconnect request; reason: None 2018-07-09 12:54:39,963 pid=5991 INFO popcop.physical.serial_multiprocessing: Started IO worker process with PID 20804; waiting for initialization... 2018-07-09 12:54:40,410 pid=20804 INFO popcop.physical.serial_multiprocessing: IO worker process started with PID 20804, parent 5991; initializing... 2018-07-09 12:54:40,411 pid=20804 INFO popcop.physical.serial_multiprocessing: IO worker process will be operating at the default priority level (reason: PermissionError(1, 'Operation not permitted')) 2018-07-09 12:54:40,412 pid=20804 INFO popcop.physical.serial_multiprocessing: Ready to run. Port '/dev/ttyACM0' 2018-07-09 12:54:40,414 pid=5991 INFO popcop.physical.serial_multiprocessing: IO worker process with PID 20804 initialized successfully 2018-07-09 12:54:40,422 pid=5991 INFO kucher.model.device_model.connection: Node info of the connected device: NodeInfoMessage(software_image_crc=10808009691266491450, software_vcs_commit_id=3506679476, software_build_timestamp_utc=2018-03-21T19:19:07, software_version_major=0, software_version_minor=1, hardware_version_major=1, hardware_version_minor=3, software_release_build=True, software_dirty_build=False, mode=Mode.NORMAL, globally_unique_id=4b0053000c5136313036383800000000, node_name='com.zubax.telega', node_description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', certificate_of_authenticity=) 2018-07-09 12:54:40,430 pid=5991 INFO kucher.model.device_model.connection: Device characteristics: :Container(capability_flags=Container(doubly_redundant_can_bus=True)(battery_eliminator_circuit=True))(vsi_model=Container(resistance_per_phase=[Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.007000000216066837), Container(high=0.004000000189989805)(low=0.004000000189989805)])(gate_ton_toff_imbalance=-1.1000000021965661e-08)(phase_current_measurement_error_variance=0.30000001192092896))(limits=Container(measurement_range=Container(vsi_dc_voltage=Container(min=4.0)(max=62.040000915527344)))(safe_operating_area=Container(vsi_dc_voltage=Container(min=11.0)(max=51.0))(vsi_dc_current=Container(min=-25.0)(max=25.0))(vsi_phase_current=Container(min=-30.0)(max=30.0))(cpu_temperature=Container(min=236.14999389648438)(max=355.1499938964844))(vsi_temperature=Container(min=233.14999389648438)(max=358.1499938964844)))(phase_current_zero_bias_limit=Container(low_gain=2.0)(high_gain=0.5))) 2018-07-09 12:54:40,437 pid=5991 INFO kucher.model.device_model.connection: General status: :Container(timestamp=Decimal('4.647129061'))(status_flags=Container(dc_undervoltage=False)(dc_overvoltage=False)(dc_undercurrent=False)(dc_overcurrent=False)(cpu_cold=False)(cpu_overheating=False)(vsi_cold=False)(vsi_overheating=False)(motor_cold=False)(motor_overheating=False)(hardware_lvps_malfunction=True)(hardware_fault=False)(hardware_overload=False)(phase_current_measurement_malfunction=False)(uavcan_node_up=False)(can_data_link_up=False)(usb_connected=True)(usb_power_supplied=True)(rcpwm_signal_detected=False)(phase_current_agc_high_gain_selected=True)(vsi_modulating=False)(vsi_enabled=False))(current_task_id='idle')(temperature=Container(cpu=309.7736511230469)(vsi=307.91156005859375)(motor=0.0))(dc=Container(voltage=16.731216430664062)(current=7.006492321624085e-44))(pwm=Container(period=2.1277777705108747e-05)(dead_time=1.0000000116860974e-07)(upper_limit=0.8825064897537231))(hardware_flag_edge_counters=Container(lvps_malfunction=1)(overload=0)(fault=0))(task_specific_status_report=None) 2018-07-09 12:54:40,438 pid=5991 INFO kucher.model.device_model.connection: Populated device info view: DeviceInfoView(name='com.zubax.telega', description='Telega', build_environment_description='arm-none-eabi-gcc 7.2.1 20170904 [ARM/embedded-7-branch revision 255204]', runtime_environment_description='STM32F446 rev.A LQFP64 512KB', software_version=SoftwareVersion(major=0, minor=1, build_timestamp_utc=datetime.datetime(2018, 3, 21, 19, 19, 7), vcs_commit_id=3506679476, image_crc=10808009691266491450, release_build=True, dirty_build=False), hardware_version=HardwareVersion(major=1, minor=3), globally_unique_id=b'K\x00S\x00\x0cQ610688\x00\x00\x00\x00', certificate_of_authenticity=b'', characteristics=Characteristics(capabilities=Characteristics.Capabilities(number_of_can_interfaces=2, battery_eliminator_circuit_available=True), vsi_model=Characteristics.VSIModel(resistance_per_phase=(Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.007000000216066837), Characteristics.VSIModel.HBR(high=0.004000000189989805, low=0.004000000189989805)), gate_ton_toff_imbalance=-1.1000000021965661e-08, phase_current_measurement_error_variance=0.30000001192092896), limits=Characteristics.Limits(measurement_range=Characteristics.Limits.MeasurementRange(vsi_dc_voltage=MathRange(min=4.0, max=62.040000915527344)), safe_operating_area=Characteristics.Limits.SafeOperatingArea(vsi_dc_voltage=MathRange(min=11.0, max=51.0), vsi_dc_current=MathRange(min=-25.0, max=25.0), vsi_phase_current=MathRange(min=-30.0, max=30.0), cpu_temperature=MathRange(min=236.14999389648438, max=355.1499938964844), vsi_temperature=MathRange(min=233.14999389648438, max=358.1499938964844)), phase_current_zero_bias_limit=Characteristics.Limits.PhaseCurrentZeroBiasLimit(low_gain=2.0, high_gain=0.5)))) 2018-07-09 12:54:41,274 pid=5991 INFO kucher.model.device_model.connection: Discovered 257 registers: uavcan.node_id uavcan.node_id= uavcan.node_id< uavcan.node_id> uavcan.esc_index uavcan.esc_index= uavcan.esc_index< uavcan.esc_index> uavcan.esc_ttl uavcan.esc_ttl= uavcan.esc_ttl< uavcan.esc_ttl> uavcan.esc_sint uavcan.esc_sint= uavcan.esc_sint< uavcan.esc_sint> uavcan.esc_sintp uavcan.esc_sintp= uavcan.esc_sintp< uavcan.esc_sintp> uavcan.esc_rcm uavcan.esc_rcm= uavcan.esc_rcm< uavcan.esc_rcm> rcpwm.ttl rcpwm.ttl= rcpwm.ttl< rcpwm.ttl> rcpwm.ctl_mode rcpwm.ctl_mode= rcpwm.ctl_mode< rcpwm.ctl_mode> ctl.spinup_durat ctl.spinup_durat= ctl.spinup_durat< ctl.spinup_durat> ctl.num_attempts ctl.num_attempts= ctl.num_attempts< ctl.num_attempts> ctl.vm_cci_comp ctl.vm_cci_comp= ctl.vm_cci_comp< ctl.vm_cci_comp> ctl.vm_oversatur ctl.vm_oversatur= ctl.vm_oversatur< ctl.vm_oversatur> ctl.vm_pppwm_thr ctl.vm_pppwm_thr= ctl.vm_pppwm_thr< ctl.vm_pppwm_thr> m.num_poles m.num_poles= m.num_poles< m.num_poles> m.max_current m.max_current= m.max_current< m.max_current> m.min_current m.min_current= m.min_current< m.min_current> m.spup_current_l m.spup_current_l= m.spup_current_l< m.spup_current_l> m.spup_current_h m.spup_current_h= m.spup_current_h< m.spup_current_h> m.phi_milliweber m.phi_milliweber= m.phi_milliweber< m.phi_milliweber> m.rs_ohm m.rs_ohm= m.rs_ohm< m.rs_ohm> m.ld_microhenry m.ld_microhenry= m.ld_microhenry< m.ld_microhenry> m.lq_microhenry m.lq_microhenry= m.lq_microhenry< m.lq_microhenry> m.min_eangvel m.min_eangvel= m.min_eangvel< m.min_eangvel> m.max_eangvel m.max_eangvel= m.max_eangvel< m.max_eangvel> m.current_ramp m.current_ramp= m.current_ramp< m.current_ramp> m.voltage_ramp m.voltage_ramp= m.voltage_ramp< m.voltage_ramp> m.eangvel_rampup m.eangvel_rampup= m.eangvel_rampup< m.eangvel_rampup> m.eangvel_rampdn m.eangvel_rampdn= m.eangvel_rampdn< m.eangvel_rampdn> m.eangvel_ctl_kp m.eangvel_ctl_kp= m.eangvel_ctl_kp< m.eangvel_ctl_kp> m.eangvel_ctl_ki m.eangvel_ctl_ki= m.eangvel_ctl_ki< m.eangvel_ctl_ki> m.current_ctl_bw m.current_ctl_bw= m.current_ctl_bw< m.current_ctl_bw> mid.phi.curr_mul mid.phi.curr_mul= mid.phi.curr_mul< mid.phi.curr_mul> mid.phi.eangvel mid.phi.eangvel= mid.phi.eangvel< mid.phi.eangvel> mid.phi.stall_th mid.phi.stall_th= mid.phi.stall_th< mid.phi.stall_th> mid.l.curr_mul mid.l.curr_mul= mid.l.curr_mul< mid.l.curr_mul> mid.l.curr_freq mid.l.curr_freq= mid.l.curr_freq< mid.l.curr_freq> mid.r.curr_mul mid.r.curr_mul= mid.r.curr_mul< mid.r.curr_mul> o.type o.type= o.type< o.type> o.ekf.q_id o.ekf.q_id= o.ekf.q_id< o.ekf.q_id> o.ekf.q_iq o.ekf.q_iq= o.ekf.q_iq< o.ekf.q_iq> o.ekf.q_eangvel o.ekf.q_eangvel= o.ekf.q_eangvel< o.ekf.q_eangvel> o.ekf.p0_idq o.ekf.p0_idq= o.ekf.p0_idq< o.ekf.p0_idq> o.ekf.p0_eangvel o.ekf.p0_eangvel= o.ekf.p0_eangvel< o.ekf.p0_eangvel> o.ekf.cc_comp o.ekf.cc_comp= o.ekf.cc_comp< o.ekf.cc_comp> o.mras.gain o.mras.gain= o.mras.gain< o.mras.gain> bec.can_pwr_on bec.can_pwr_on= bec.can_pwr_on< bec.can_pwr_on> rcpwm.enable rcpwm.enable= rcpwm.enable< rcpwm.enable> rcpwm.pulse.bot rcpwm.pulse.bot= rcpwm.pulse.bot< rcpwm.pulse.bot> rcpwm.pulse.mid rcpwm.pulse.mid= rcpwm.pulse.mid< rcpwm.pulse.mid> rcpwm.pulse.top rcpwm.pulse.top= rcpwm.pulse.top< rcpwm.pulse.top> rcpwm.pulse.hyst rcpwm.pulse.hyst= rcpwm.pulse.hyst< rcpwm.pulse.hyst> vsi.pwm_freq_khz vsi.pwm_freq_khz= vsi.pwm_freq_khz< vsi.pwm_freq_khz> exec_aux_command exec_aux_command= exec_aux_command< exec_aux_command> vsi.motor_temp vsi.current_gain_level vsi.cpu_temp vsi.vsi_temp vsi.pwm_irq_duration vsi.phase_voltage_error vsi.hw_flag_cnt.fault vsi.hw_flag_cnt.overload vsi.hw_flag_cnt.lvps_malfunction vsi.phase_voltage vsi.phase_current vsi.dc_current_lpf vsi.dc_current vsi.dc_voltage_lpf vsi.dc_voltage rcpwm.rescaled rcpwm.pulse_dur usb.empty_transaction_cnt ctrl.task_switch_count uavcan.transfer_cnt.error uavcan.transfer_cnt.rx uavcan.transfer_cnt.tx motor.pwm_setpoint motor.electrical_angle motor.scalar.frequency setpoint.elect_ang_vel_ctrl.integral setpoint.electrical_angular_velocity motor.setpoint_q observer.variance.electrical_angle observer.variance.electrical_ang_vel observer.variance.i_q observer.variance.i_d observer.x motor.id.phi_noise_threshold motor.id.phi_noise_sample motor.id.phi motor.id.raw_phi motor.electrical_angular_velocity motor.i_dq motor.u_dq motor.i_q_pid.error_integral motor.i_d_pid.error_integral motor.passive_phase_modulation_on motor.phase_voltage_setpoint motor.u_dq_setpoint 2018-07-09 12:54:42,542 pid=5991 INFO kucher.model.device_model.connection: Read 257 registers: DataResponseMessage(timestamp=Decimal('5.489852316'), flags=Flags(mutable=True, persistent=True), name='uavcan.node_id', type_id=ValueType.U8, value=[3]) DataResponseMessage(timestamp=Decimal('5.50697545'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.509987472'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.512765561'), flags=Flags(mutable=False, persistent=True), name='uavcan.node_id>', type_id=ValueType.U8, value=[125]) DataResponseMessage(timestamp=Decimal('5.517017305'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_index', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('5.519835038'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.522684294'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.525047994'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_index>', type_id=ValueType.U8, value=[15]) DataResponseMessage(timestamp=Decimal('5.529156627'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('5.532582605'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('5.535556561'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('5.539622383'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.54295495'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sint', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('5.546615161'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint=', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('5.550423583'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('5.556778772'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sint>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('5.56169695'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_sintp', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('5.566836627'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp=', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('5.572345472'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('5.57823575'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_sintp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.582607838'), flags=Flags(mutable=True, persistent=True), name='uavcan.esc_rcm', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('5.586187372'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('5.591315261'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.595394716'), flags=Flags(mutable=False, persistent=True), name='uavcan.esc_rcm>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('5.599694483'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ttl', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('5.60298985'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('5.608230272'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('5.612530261'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ttl>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.616072305'), flags=Flags(mutable=True, persistent=True), name='rcpwm.ctl_mode', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('5.620325261'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode=', type_id=ValueType.U8, value=[1]) DataResponseMessage(timestamp=Decimal('5.625268083'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.629854461'), flags=Flags(mutable=False, persistent=True), name='rcpwm.ctl_mode>', type_id=ValueType.U8, value=[2]) DataResponseMessage(timestamp=Decimal('5.635264305'), flags=Flags(mutable=True, persistent=True), name='ctl.spinup_durat', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('5.642127327'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat=', type_id=ValueType.F32, value=[1.5]) DataResponseMessage(timestamp=Decimal('5.645832138'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('5.65112015'), flags=Flags(mutable=False, persistent=True), name='ctl.spinup_durat>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.656858483'), flags=Flags(mutable=True, persistent=True), name='ctl.num_attempts', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('5.662685516'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts=', type_id=ValueType.U32, value=[100]) DataResponseMessage(timestamp=Decimal('5.665946016'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts<', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('5.669980594'), flags=Flags(mutable=False, persistent=True), name='ctl.num_attempts>', type_id=ValueType.U32, value=[10000000]) DataResponseMessage(timestamp=Decimal('5.674329061'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.679504327'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.683184494'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.687342116'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_cci_comp>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('5.692397327'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.696183594'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.700294416'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('5.704175405'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_oversatur>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('5.709734127'), flags=Flags(mutable=True, persistent=True), name='ctl.vm_pppwm_thr', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('5.714268972'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr=', type_id=ValueType.F32, value=[0.949999988079071]) DataResponseMessage(timestamp=Decimal('5.718577994'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.723496561'), flags=Flags(mutable=False, persistent=True), name='ctl.vm_pppwm_thr>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('5.72716505'), flags=Flags(mutable=True, persistent=True), name='m.num_poles', type_id=ValueType.U8, value=[14]) DataResponseMessage(timestamp=Decimal('5.731112316'), flags=Flags(mutable=False, persistent=True), name='m.num_poles=', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.73544185'), flags=Flags(mutable=False, persistent=True), name='m.num_poles<', type_id=ValueType.U8, value=[0]) DataResponseMessage(timestamp=Decimal('5.74071775'), flags=Flags(mutable=False, persistent=True), name='m.num_poles>', type_id=ValueType.U8, value=[200]) DataResponseMessage(timestamp=Decimal('5.745082583'), flags=Flags(mutable=True, persistent=True), name='m.max_current', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('5.750561927'), flags=Flags(mutable=False, persistent=True), name='m.max_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.756047905'), flags=Flags(mutable=False, persistent=True), name='m.max_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.762544727'), flags=Flags(mutable=False, persistent=True), name='m.max_current>', type_id=ValueType.F32, value=[200.0]) DataResponseMessage(timestamp=Decimal('5.766211283'), flags=Flags(mutable=True, persistent=True), name='m.min_current', type_id=ValueType.F32, value=[0.25]) DataResponseMessage(timestamp=Decimal('5.770318972'), flags=Flags(mutable=False, persistent=True), name='m.min_current=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.775701516'), flags=Flags(mutable=False, persistent=True), name='m.min_current<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.779106327'), flags=Flags(mutable=False, persistent=True), name='m.min_current>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('5.783695694'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_l', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('5.78744365'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.792564172'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.795947916'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_l>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('5.800102216'), flags=Flags(mutable=True, persistent=True), name='m.spup_current_h', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('5.803821227'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.809508727'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.813230616'), flags=Flags(mutable=False, persistent=True), name='m.spup_current_h>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('5.817349583'), flags=Flags(mutable=True, persistent=True), name='m.phi_milliweber', type_id=ValueType.F32, value=[0.9932619333267212]) DataResponseMessage(timestamp=Decimal('5.822611394'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.826276405'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.830999038'), flags=Flags(mutable=False, persistent=True), name='m.phi_milliweber>', type_id=ValueType.F32, value=[500.0]) DataResponseMessage(timestamp=Decimal('5.835211994'), flags=Flags(mutable=True, persistent=True), name='m.rs_ohm', type_id=ValueType.F32, value=[0.06129943206906319]) DataResponseMessage(timestamp=Decimal('5.840200627'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.84428125'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.848450016'), flags=Flags(mutable=False, persistent=True), name='m.rs_ohm>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.852201883'), flags=Flags(mutable=True, persistent=True), name='m.ld_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('5.857769272'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.862506083'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.865846005'), flags=Flags(mutable=False, persistent=True), name='m.ld_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('5.871466905'), flags=Flags(mutable=True, persistent=True), name='m.lq_microhenry', type_id=ValueType.F32, value=[10.738819122314453]) DataResponseMessage(timestamp=Decimal('5.874970338'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.879138061'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.883084205'), flags=Flags(mutable=False, persistent=True), name='m.lq_microhenry>', type_id=ValueType.F32, value=[500000.0]) DataResponseMessage(timestamp=Decimal('5.888653861'), flags=Flags(mutable=True, persistent=True), name='m.min_eangvel', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('5.891986261'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel=', type_id=ValueType.F32, value=[400.0]) DataResponseMessage(timestamp=Decimal('5.896983905'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.901307216'), flags=Flags(mutable=False, persistent=True), name='m.min_eangvel>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('5.90632585'), flags=Flags(mutable=True, persistent=True), name='m.max_eangvel', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('5.910771005'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel=', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('5.915676527'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel<', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('5.919969172'), flags=Flags(mutable=False, persistent=True), name='m.max_eangvel>', type_id=ValueType.F32, value=[20000.0]) DataResponseMessage(timestamp=Decimal('5.924137861'), flags=Flags(mutable=True, persistent=True), name='m.current_ramp', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('5.928340305'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp=', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('5.932206183'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('5.937257472'), flags=Flags(mutable=False, persistent=True), name='m.current_ramp>', type_id=ValueType.F32, value=[10000.0]) DataResponseMessage(timestamp=Decimal('5.941170061'), flags=Flags(mutable=True, persistent=True), name='m.voltage_ramp', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('5.945077694'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp=', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('5.949174872'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('5.954942616'), flags=Flags(mutable=False, persistent=True), name='m.voltage_ramp>', type_id=ValueType.F32, value=[1000.0]) DataResponseMessage(timestamp=Decimal('5.959568527'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampup', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('5.963234716'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup=', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('5.968732927'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('5.973372683'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampup>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('5.977387394'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_rampdn', type_id=ValueType.F32, value=[5000.0]) DataResponseMessage(timestamp=Decimal('5.981197016'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.986859616'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('5.991432138'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_rampdn>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('5.994701883'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_kp', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('5.997802261'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp=', type_id=ValueType.F32, value=[0.003000000026077032]) DataResponseMessage(timestamp=Decimal('6.003624772'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.006951283'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_kp>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('6.011003738'), flags=Flags(mutable=True, persistent=True), name='m.eangvel_ctl_ki', type_id=ValueType.F32, value=[0.004999999888241291]) DataResponseMessage(timestamp=Decimal('6.01662445'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.019945783'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.024187283'), flags=Flags(mutable=False, persistent=True), name='m.eangvel_ctl_ki>', type_id=ValueType.F32, value=[100.0]) DataResponseMessage(timestamp=Decimal('6.028280961'), flags=Flags(mutable=True, persistent=True), name='m.current_ctl_bw', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('6.033794127'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw=', type_id=ValueType.F32, value=[0.019999999552965164]) DataResponseMessage(timestamp=Decimal('6.038044172'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw<', type_id=ValueType.F32, value=[9.999999747378752e-06]) DataResponseMessage(timestamp=Decimal('6.042038883'), flags=Flags(mutable=False, persistent=True), name='m.current_ctl_bw>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('6.04628065'), flags=Flags(mutable=True, persistent=True), name='mid.phi.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.051864472'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.056337538'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.142573794'), flags=Flags(mutable=False, persistent=True), name='mid.phi.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('6.152377316'), flags=Flags(mutable=True, persistent=True), name='mid.phi.eangvel', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('6.156850005'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel=', type_id=ValueType.F32, value=[300.0]) DataResponseMessage(timestamp=Decimal('6.16265665'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.167370905'), flags=Flags(mutable=False, persistent=True), name='mid.phi.eangvel>', type_id=ValueType.F32, value=[2000.0]) DataResponseMessage(timestamp=Decimal('6.172180161'), flags=Flags(mutable=True, persistent=True), name='mid.phi.stall_th', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('6.176385527'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th=', type_id=ValueType.F32, value=[5.0]) DataResponseMessage(timestamp=Decimal('6.180217883'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th<', type_id=ValueType.F32, value=[2.0]) DataResponseMessage(timestamp=Decimal('6.184101272'), flags=Flags(mutable=False, persistent=True), name='mid.phi.stall_th>', type_id=ValueType.F32, value=[20.0]) DataResponseMessage(timestamp=Decimal('6.189574872'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_mul', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('6.193683561'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul=', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('6.197414961'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul<', type_id=ValueType.F32, value=[0.009999999776482582]) DataResponseMessage(timestamp=Decimal('6.202062272'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_mul>', type_id=ValueType.F32, value=[0.5]) DataResponseMessage(timestamp=Decimal('6.205949472'), flags=Flags(mutable=True, persistent=True), name='mid.l.curr_freq', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('6.210312783'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq=', type_id=ValueType.F32, value=[900.0]) DataResponseMessage(timestamp=Decimal('6.214368605'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq<', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.219642394'), flags=Flags(mutable=False, persistent=True), name='mid.l.curr_freq>', type_id=ValueType.F32, value=[1500.0]) DataResponseMessage(timestamp=Decimal('6.222859261'), flags=Flags(mutable=True, persistent=True), name='mid.r.curr_mul', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.227491627'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul=', type_id=ValueType.F32, value=[0.30000001192092896]) DataResponseMessage(timestamp=Decimal('6.231194372'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul<', type_id=ValueType.F32, value=[0.05000000074505806]) DataResponseMessage(timestamp=Decimal('6.237022538'), flags=Flags(mutable=False, persistent=True), name='mid.r.curr_mul>', type_id=ValueType.F32, value=[1.0]) DataResponseMessage(timestamp=Decimal('6.241319938'), flags=Flags(mutable=True, persistent=True), name='o.type', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.245337683'), flags=Flags(mutable=False, persistent=True), name='o.type=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.250569572'), flags=Flags(mutable=False, persistent=True), name='o.type<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.254181472'), flags=Flags(mutable=False, persistent=True), name='o.type>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.258650627'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_id', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('6.262326327'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id=', type_id=ValueType.F32, value=[30000.0]) DataResponseMessage(timestamp=Decimal('6.26730665'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.271320938'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_id>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('6.275342905'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_iq', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('6.279289194'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq=', type_id=ValueType.F32, value=[300000.0]) DataResponseMessage(timestamp=Decimal('6.284641638'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.287938694'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_iq>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('6.292622472'), flags=Flags(mutable=True, persistent=True), name='o.ekf.q_eangvel', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('6.297518038'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel=', type_id=ValueType.F32, value=[300000000.0]) DataResponseMessage(timestamp=Decimal('6.301263616'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel<', type_id=ValueType.F32, value=[0.10000000149011612]) DataResponseMessage(timestamp=Decimal('6.305498094'), flags=Flags(mutable=False, persistent=True), name='o.ekf.q_eangvel>', type_id=ValueType.F32, value=[1000000000.0]) DataResponseMessage(timestamp=Decimal('6.309584905'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_idq', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.314351305'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.318686727'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.322261316'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_idq>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('6.326505883'), flags=Flags(mutable=True, persistent=True), name='o.ekf.p0_eangvel', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.331587472'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.335275783'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.339207027'), flags=Flags(mutable=False, persistent=True), name='o.ekf.p0_eangvel>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('6.344444405'), flags=Flags(mutable=True, persistent=True), name='o.ekf.cc_comp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.348723838'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.353774016'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.358617127'), flags=Flags(mutable=False, persistent=True), name='o.ekf.cc_comp>', type_id=ValueType.F32, value=[10.0]) DataResponseMessage(timestamp=Decimal('6.363831738'), flags=Flags(mutable=True, persistent=True), name='o.mras.gain', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('6.368693638'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain=', type_id=ValueType.F32, value=[150000.0]) DataResponseMessage(timestamp=Decimal('6.372268805'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain<', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.376312583'), flags=Flags(mutable=False, persistent=True), name='o.mras.gain>', type_id=ValueType.F32, value=[1000000.0]) DataResponseMessage(timestamp=Decimal('6.38123375'), flags=Flags(mutable=True, persistent=True), name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.385118261'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.389111861'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.394476472'), flags=Flags(mutable=False, persistent=True), name='bec.can_pwr_on>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.397779461'), flags=Flags(mutable=True, persistent=True), name='rcpwm.enable', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.402068372'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable=', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.405665705'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable<', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.410058116'), flags=Flags(mutable=False, persistent=True), name='rcpwm.enable>', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.414054705'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.bot', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.418090272'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot=', type_id=ValueType.F32, value=[0.0010000000474974513]) DataResponseMessage(timestamp=Decimal('6.42192685'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.42753875'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.bot>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('6.431027283'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.mid', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('6.435305072'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid=', type_id=ValueType.F32, value=[0.001500000013038516]) DataResponseMessage(timestamp=Decimal('6.440436672'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.444432305'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.mid>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('6.44879375'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.top', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('6.45378525'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top=', type_id=ValueType.F32, value=[0.0020000000949949026]) DataResponseMessage(timestamp=Decimal('6.459419816'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.46371435'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.top>', type_id=ValueType.F32, value=[0.05999999865889549]) DataResponseMessage(timestamp=Decimal('6.468738238'), flags=Flags(mutable=True, persistent=True), name='rcpwm.pulse.hyst', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('6.473730983'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst=', type_id=ValueType.F32, value=[1.9999999494757503e-05]) DataResponseMessage(timestamp=Decimal('6.479928405'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.484356383'), flags=Flags(mutable=False, persistent=True), name='rcpwm.pulse.hyst>', type_id=ValueType.F32, value=[0.029999999329447746]) DataResponseMessage(timestamp=Decimal('6.488765794'), flags=Flags(mutable=True, persistent=True), name='vsi.pwm_freq_khz', type_id=ValueType.F32, value=[47.000003814697266]) DataResponseMessage(timestamp=Decimal('6.496106927'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz=', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.500582894'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz<', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.503920327'), flags=Flags(mutable=False, persistent=True), name='vsi.pwm_freq_khz>', type_id=ValueType.F32, value=[50.0]) DataResponseMessage(timestamp=Decimal('6.508728961'), flags=Flags(mutable=True, persistent=True), name='exec_aux_command', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('6.514142083'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command=', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('6.518733738'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command<', type_id=ValueType.I16, value=[-1]) DataResponseMessage(timestamp=Decimal('6.523800672'), flags=Flags(mutable=False, persistent=True), name='exec_aux_command>', type_id=ValueType.I16, value=[9999]) DataResponseMessage(timestamp=Decimal('6.528739927'), flags=Flags(mutable=False, persistent=False), name='vsi.motor_temp', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.533992794'), flags=Flags(mutable=False, persistent=False), name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, value=[True]) DataResponseMessage(timestamp=Decimal('6.538161061'), flags=Flags(mutable=False, persistent=False), name='vsi.cpu_temp', type_id=ValueType.F32, value=[310.20526123046875]) DataResponseMessage(timestamp=Decimal('6.542159194'), flags=Flags(mutable=False, persistent=False), name='vsi.vsi_temp', type_id=ValueType.F32, value=[301.8232116699219]) DataResponseMessage(timestamp=Decimal('6.547773594'), flags=Flags(mutable=False, persistent=False), name='vsi.pwm_irq_duration', type_id=ValueType.F32, value=[2.904626626332174e-06]) DataResponseMessage(timestamp=Decimal('6.552728727'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage_error', type_id=ValueType.F32, value=[0.0, 0.0, -0.0]) DataResponseMessage(timestamp=Decimal('6.558662127'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('6.562426327'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('6.567551594'), flags=Flags(mutable=False, persistent=False), name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, value=[1]) DataResponseMessage(timestamp=Decimal('6.571209461'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_voltage', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.575356461'), flags=Flags(mutable=False, persistent=False), name='vsi.phase_current', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.579205727'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current_lpf', type_id=ValueType.F32, value=[7.006492321624085e-44]) DataResponseMessage(timestamp=Decimal('6.584564927'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_current', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.587797461'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage_lpf', type_id=ValueType.F32, value=[16.732152938842773]) DataResponseMessage(timestamp=Decimal('6.592454861'), flags=Flags(mutable=False, persistent=False), name='vsi.dc_voltage', type_id=ValueType.F32, value=[16.740951538085938]) DataResponseMessage(timestamp=Decimal('6.597686461'), flags=Flags(mutable=False, persistent=False), name='rcpwm.rescaled', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.601578261'), flags=Flags(mutable=False, persistent=False), name='rcpwm.pulse_dur', type_id=ValueType.F32, value=[nan]) DataResponseMessage(timestamp=Decimal('6.606171861'), flags=Flags(mutable=False, persistent=False), name='usb.empty_transaction_cnt', type_id=ValueType.U32, value=[0]) DataResponseMessage(timestamp=Decimal('6.610276327'), flags=Flags(mutable=False, persistent=False), name='ctrl.task_switch_count', type_id=ValueType.U32, value=[5]) DataResponseMessage(timestamp=Decimal('6.615103861'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.error', type_id=ValueType.U64, value=[0]) DataResponseMessage(timestamp=Decimal('6.619378461'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, value=[165]) DataResponseMessage(timestamp=Decimal('6.623780661'), flags=Flags(mutable=False, persistent=False), name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, value=[1]) DataResponseMessage(timestamp=Decimal('6.630096861'), flags=Flags(mutable=False, persistent=False), name='motor.pwm_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.637178661'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.642388994'), flags=Flags(mutable=False, persistent=False), name='motor.scalar.frequency', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.646153194'), flags=Flags(mutable=False, persistent=False), name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.651469861'), flags=Flags(mutable=False, persistent=False), name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.655553061'), flags=Flags(mutable=False, persistent=False), name='motor.setpoint_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.658955727'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_angle', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.663804527'), flags=Flags(mutable=False, persistent=False), name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.670716194'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_q', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.675479927'), flags=Flags(mutable=False, persistent=False), name='observer.variance.i_d', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.679903394'), flags=Flags(mutable=False, persistent=False), name='observer.x', type_id=ValueType.F32, value=[0.0, 0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.685326394'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_threshold', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.690366594'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi_noise_sample', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.694024461'), flags=Flags(mutable=False, persistent=False), name='motor.id.phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.698192727'), flags=Flags(mutable=False, persistent=False), name='motor.id.raw_phi', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.704636527'), flags=Flags(mutable=False, persistent=False), name='motor.electrical_angular_velocity', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.708762261'), flags=Flags(mutable=False, persistent=False), name='motor.i_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.713781194'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq', type_id=ValueType.F32, value=[0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.718821394'), flags=Flags(mutable=False, persistent=False), name='motor.i_q_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.726966527'), flags=Flags(mutable=False, persistent=False), name='motor.i_d_pid.error_integral', type_id=ValueType.F32, value=[0.0]) DataResponseMessage(timestamp=Decimal('6.732410794'), flags=Flags(mutable=False, persistent=False), name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, value=[False]) DataResponseMessage(timestamp=Decimal('6.735941061'), flags=Flags(mutable=False, persistent=False), name='motor.phase_voltage_setpoint', type_id=ValueType.F32, value=[0.0, 0.0, 0.0]) DataResponseMessage(timestamp=Decimal('6.741831927'), flags=Flags(mutable=False, persistent=False), name='motor.u_dq_setpoint', type_id=ValueType.F32, value=[0.0, 0.0]) 2018-07-09 12:54:42,543 pid=5991 INFO kucher.model.device_model.connection: Connection on port '/dev/ttyACM0' established in 2.6 seconds 2018-07-09 12:54:42,549 pid=5991 INFO kucher.model.device_model.connection: Constructed 98 register model objects: Register(name='uavcan.node_id', type_id=ValueType.U8, cached=[3], default=[0], min=[0], max=[125], mutable=True, persistent=True, ts_device=5.489852316, ts_mono=10445.766) Register(name='uavcan.esc_index', type_id=ValueType.U8, cached=[1], default=[0], min=[0], max=[15], mutable=True, persistent=True, ts_device=5.517017305, ts_mono=10445.766) Register(name='uavcan.esc_ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=5.529156627, ts_mono=10445.766) Register(name='uavcan.esc_sint', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.05000000074505806], min=[0.009999999776482582], max=[1.0], mutable=True, persistent=True, ts_device=5.542954950, ts_mono=10445.766) Register(name='uavcan.esc_sintp', type_id=ValueType.F32, cached=[0.5], default=[0.5], min=[0.009999999776482582], max=[10.0], mutable=True, persistent=True, ts_device=5.561696950, ts_mono=10445.766) Register(name='uavcan.esc_rcm', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=5.582607838, ts_mono=10445.766) Register(name='rcpwm.ttl', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=5.599694483, ts_mono=10445.766) Register(name='rcpwm.ctl_mode', type_id=ValueType.U8, cached=[2], default=[1], min=[0], max=[2], mutable=True, persistent=True, ts_device=5.616072305, ts_mono=10445.766) Register(name='ctl.spinup_durat', type_id=ValueType.F32, cached=[1.5], default=[1.5], min=[0.10000000149011612], max=[10.0], mutable=True, persistent=True, ts_device=5.635264305, ts_mono=10445.766) Register(name='ctl.num_attempts', type_id=ValueType.U32, cached=[100], default=[100], min=[1], max=[10000000], mutable=True, persistent=True, ts_device=5.656858483, ts_mono=10445.766) Register(name='ctl.vm_cci_comp', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=5.674329061, ts_mono=10445.766) Register(name='ctl.vm_oversatur', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=5.692397327, ts_mono=10445.766) Register(name='ctl.vm_pppwm_thr', type_id=ValueType.F32, cached=[0.949999988079071], default=[0.949999988079071], min=[0.0], max=[1.0], mutable=True, persistent=True, ts_device=5.709734127, ts_mono=10445.767) Register(name='m.num_poles', type_id=ValueType.U8, cached=[14], default=[0], min=[0], max=[200], mutable=True, persistent=True, ts_device=5.727165050, ts_mono=10445.767) Register(name='m.max_current', type_id=ValueType.F32, cached=[20.0], default=[0.0], min=[0.0], max=[200.0], mutable=True, persistent=True, ts_device=5.745082583, ts_mono=10445.767) Register(name='m.min_current', type_id=ValueType.F32, cached=[0.25], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=5.766211283, ts_mono=10445.767) Register(name='m.spup_current_l', type_id=ValueType.F32, cached=[0.5], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=5.783695694, ts_mono=10445.767) Register(name='m.spup_current_h', type_id=ValueType.F32, cached=[5.0], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=5.800102216, ts_mono=10445.767) Register(name='m.phi_milliweber', type_id=ValueType.F32, cached=[0.9932619333267212], default=[0.0], min=[0.0], max=[500.0], mutable=True, persistent=True, ts_device=5.817349583, ts_mono=10445.767) Register(name='m.rs_ohm', type_id=ValueType.F32, cached=[0.06129943206906319], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=5.835211994, ts_mono=10445.767) Register(name='m.ld_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=5.852201883, ts_mono=10445.767) Register(name='m.lq_microhenry', type_id=ValueType.F32, cached=[10.738819122314453], default=[0.0], min=[0.0], max=[500000.0], mutable=True, persistent=True, ts_device=5.871466905, ts_mono=10445.767) Register(name='m.min_eangvel', type_id=ValueType.F32, cached=[400.0], default=[400.0], min=[10.0], max=[1000.0], mutable=True, persistent=True, ts_device=5.888653861, ts_mono=10445.767) Register(name='m.max_eangvel', type_id=ValueType.F32, cached=[10000.0], default=[10000.0], min=[10.0], max=[20000.0], mutable=True, persistent=True, ts_device=5.906325850, ts_mono=10445.767) Register(name='m.current_ramp', type_id=ValueType.F32, cached=[5000.0], default=[100.0], min=[0.10000000149011612], max=[10000.0], mutable=True, persistent=True, ts_device=5.924137861, ts_mono=10445.767) Register(name='m.voltage_ramp', type_id=ValueType.F32, cached=[300.0], default=[20.0], min=[0.009999999776482582], max=[1000.0], mutable=True, persistent=True, ts_device=5.941170061, ts_mono=10445.767) Register(name='m.eangvel_rampup', type_id=ValueType.F32, cached=[5000.0], default=[2000.0], min=[0.009999999776482582], max=[1000000.0], mutable=True, persistent=True, ts_device=5.959568527, ts_mono=10445.767) Register(name='m.eangvel_rampdn', type_id=ValueType.F32, cached=[5000.0], default=[0.0], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=5.977387394, ts_mono=10445.767) Register(name='m.eangvel_ctl_kp', type_id=ValueType.F32, cached=[0.05000000074505806], default=[0.003000000026077032], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=5.994701883, ts_mono=10445.767) Register(name='m.eangvel_ctl_ki', type_id=ValueType.F32, cached=[0.004999999888241291], default=[0.0010000000474974513], min=[0.0], max=[100.0], mutable=True, persistent=True, ts_device=6.011003738, ts_mono=10445.767) Register(name='m.current_ctl_bw', type_id=ValueType.F32, cached=[0.019999999552965164], default=[0.019999999552965164], min=[9.999999747378752e-06], max=[0.5], mutable=True, persistent=True, ts_device=6.028280961, ts_mono=10445.768) Register(name='mid.phi.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.10000000149011612], max=[1.0], mutable=True, persistent=True, ts_device=6.046280650, ts_mono=10445.768) Register(name='mid.phi.eangvel', type_id=ValueType.F32, cached=[300.0], default=[300.0], min=[50.0], max=[2000.0], mutable=True, persistent=True, ts_device=6.152377316, ts_mono=10445.768) Register(name='mid.phi.stall_th', type_id=ValueType.F32, cached=[5.0], default=[5.0], min=[2.0], max=[20.0], mutable=True, persistent=True, ts_device=6.172180161, ts_mono=10445.768) Register(name='mid.l.curr_mul', type_id=ValueType.F32, cached=[0.05999999865889549], default=[0.05999999865889549], min=[0.009999999776482582], max=[0.5], mutable=True, persistent=True, ts_device=6.189574872, ts_mono=10445.768) Register(name='mid.l.curr_freq', type_id=ValueType.F32, cached=[900.0], default=[900.0], min=[50.0], max=[1500.0], mutable=True, persistent=True, ts_device=6.205949472, ts_mono=10445.768) Register(name='mid.r.curr_mul', type_id=ValueType.F32, cached=[0.30000001192092896], default=[0.30000001192092896], min=[0.05000000074505806], max=[1.0], mutable=True, persistent=True, ts_device=6.222859261, ts_mono=10445.768) Register(name='o.type', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=6.241319938, ts_mono=10445.768) Register(name='o.ekf.q_id', type_id=ValueType.F32, cached=[30000.0], default=[30000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=6.258650627, ts_mono=10445.768) Register(name='o.ekf.q_iq', type_id=ValueType.F32, cached=[300000.0], default=[300000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=6.275342905, ts_mono=10445.768) Register(name='o.ekf.q_eangvel', type_id=ValueType.F32, cached=[300000000.0], default=[300000000.0], min=[0.10000000149011612], max=[1000000000.0], mutable=True, persistent=True, ts_device=6.292622472, ts_mono=10445.768) Register(name='o.ekf.p0_idq', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=6.309584905, ts_mono=10445.768) Register(name='o.ekf.p0_eangvel', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[1000000.0], mutable=True, persistent=True, ts_device=6.326505883, ts_mono=10445.768) Register(name='o.ekf.cc_comp', type_id=ValueType.F32, cached=[0.0], default=[0.0], min=[0.0], max=[10.0], mutable=True, persistent=True, ts_device=6.344444405, ts_mono=10445.768) Register(name='o.mras.gain', type_id=ValueType.F32, cached=[150000.0], default=[150000.0], min=[0.0010000000474974513], max=[1000000.0], mutable=True, persistent=True, ts_device=6.363831738, ts_mono=10445.768) Register(name='bec.can_pwr_on', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=6.381233750, ts_mono=10445.768) Register(name='rcpwm.enable', type_id=ValueType.BOOLEAN, cached=[False], default=[False], min=[False], max=[True], mutable=True, persistent=True, ts_device=6.397779461, ts_mono=10445.768) Register(name='rcpwm.pulse.bot', type_id=ValueType.F32, cached=[0.0010000000474974513], default=[0.0010000000474974513], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=6.414054705, ts_mono=10445.768) Register(name='rcpwm.pulse.mid', type_id=ValueType.F32, cached=[0.001500000013038516], default=[0.001500000013038516], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=6.431027283, ts_mono=10445.768) Register(name='rcpwm.pulse.top', type_id=ValueType.F32, cached=[0.0020000000949949026], default=[0.0020000000949949026], min=[0.0], max=[0.05999999865889549], mutable=True, persistent=True, ts_device=6.448793750, ts_mono=10445.768) Register(name='rcpwm.pulse.hyst', type_id=ValueType.F32, cached=[1.9999999494757503e-05], default=[1.9999999494757503e-05], min=[0.0], max=[0.029999999329447746], mutable=True, persistent=True, ts_device=6.468738238, ts_mono=10445.768) Register(name='vsi.pwm_freq_khz', type_id=ValueType.F32, cached=[47.000003814697266], default=[0.0], min=[0.0], max=[50.0], mutable=True, persistent=True, ts_device=6.488765794, ts_mono=10445.769) Register(name='exec_aux_command', type_id=ValueType.I16, cached=[-1], default=[-1], min=[-1], max=[9999], mutable=True, persistent=True, ts_device=6.508728961, ts_mono=10445.769) Register(name='vsi.motor_temp', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.528739927, ts_mono=10445.769) Register(name='vsi.current_gain_level', type_id=ValueType.BOOLEAN, cached=[True], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.533992794, ts_mono=10445.769) Register(name='vsi.cpu_temp', type_id=ValueType.F32, cached=[310.20526123046875], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.538161061, ts_mono=10445.769) Register(name='vsi.vsi_temp', type_id=ValueType.F32, cached=[301.8232116699219], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.542159194, ts_mono=10445.769) Register(name='vsi.pwm_irq_duration', type_id=ValueType.F32, cached=[2.904626626332174e-06], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.547773594, ts_mono=10445.769) Register(name='vsi.phase_voltage_error', type_id=ValueType.F32, cached=[0.0, 0.0, -0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.552728727, ts_mono=10445.769) Register(name='vsi.hw_flag_cnt.fault', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.558662127, ts_mono=10445.769) Register(name='vsi.hw_flag_cnt.overload', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.562426327, ts_mono=10445.769) Register(name='vsi.hw_flag_cnt.lvps_malfunction', type_id=ValueType.U32, cached=[1], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.567551594, ts_mono=10445.769) Register(name='vsi.phase_voltage', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.571209461, ts_mono=10445.769) Register(name='vsi.phase_current', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.575356461, ts_mono=10445.769) Register(name='vsi.dc_current_lpf', type_id=ValueType.F32, cached=[7.006492321624085e-44], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.579205727, ts_mono=10445.769) Register(name='vsi.dc_current', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.584564927, ts_mono=10445.769) Register(name='vsi.dc_voltage_lpf', type_id=ValueType.F32, cached=[16.732152938842773], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.587797461, ts_mono=10445.769) Register(name='vsi.dc_voltage', type_id=ValueType.F32, cached=[16.740951538085938], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.592454861, ts_mono=10445.769) Register(name='rcpwm.rescaled', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.597686461, ts_mono=10445.769) Register(name='rcpwm.pulse_dur', type_id=ValueType.F32, cached=[nan], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.601578261, ts_mono=10445.769) Register(name='usb.empty_transaction_cnt', type_id=ValueType.U32, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.606171861, ts_mono=10445.769) Register(name='ctrl.task_switch_count', type_id=ValueType.U32, cached=[5], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.610276327, ts_mono=10445.769) Register(name='uavcan.transfer_cnt.error', type_id=ValueType.U64, cached=[0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.615103861, ts_mono=10445.769) Register(name='uavcan.transfer_cnt.rx', type_id=ValueType.U64, cached=[165], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.619378461, ts_mono=10445.769) Register(name='uavcan.transfer_cnt.tx', type_id=ValueType.U64, cached=[1], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.623780661, ts_mono=10445.769) Register(name='motor.pwm_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.630096861, ts_mono=10445.769) Register(name='motor.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.637178661, ts_mono=10445.770) Register(name='motor.scalar.frequency', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.642388994, ts_mono=10445.770) Register(name='setpoint.elect_ang_vel_ctrl.integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.646153194, ts_mono=10445.770) Register(name='setpoint.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.651469861, ts_mono=10445.770) Register(name='motor.setpoint_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.655553061, ts_mono=10445.770) Register(name='observer.variance.electrical_angle', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.658955727, ts_mono=10445.770) Register(name='observer.variance.electrical_ang_vel', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.663804527, ts_mono=10445.770) Register(name='observer.variance.i_q', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.670716194, ts_mono=10445.770) Register(name='observer.variance.i_d', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.675479927, ts_mono=10445.770) Register(name='observer.x', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.679903394, ts_mono=10445.770) Register(name='motor.id.phi_noise_threshold', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.685326394, ts_mono=10445.770) Register(name='motor.id.phi_noise_sample', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.690366594, ts_mono=10445.770) Register(name='motor.id.phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.694024461, ts_mono=10445.770) Register(name='motor.id.raw_phi', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.698192727, ts_mono=10445.770) Register(name='motor.electrical_angular_velocity', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.704636527, ts_mono=10445.770) Register(name='motor.i_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.708762261, ts_mono=10445.770) Register(name='motor.u_dq', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.713781194, ts_mono=10445.770) Register(name='motor.i_q_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.718821394, ts_mono=10445.770) Register(name='motor.i_d_pid.error_integral', type_id=ValueType.F32, cached=[0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.726966527, ts_mono=10445.770) Register(name='motor.passive_phase_modulation_on', type_id=ValueType.BOOLEAN, cached=[False], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.732410794, ts_mono=10445.770) Register(name='motor.phase_voltage_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.735941061, ts_mono=10445.770) Register(name='motor.u_dq_setpoint', type_id=ValueType.F32, cached=[0.0, 0.0], default=None, min=None, max=None, mutable=False, persistent=False, ts_device=6.741831927, ts_mono=10445.770) 2018-07-09 12:54:42,558 pid=5991 INFO kucher.view.main_window.register_view_widget: New model Model(53 registers, id=0x7f84c26d0798) 2018-07-09 12:54:42,563 pid=5991 WARNING kucher.view.main_window.register_view_widget: Extra references to the old model Model(0 registers, id=0x7f84c3934678): [, , , , , , , ] 2018-07-09 12:54:42,838 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:54:42,842 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:54:42,843 pid=5991 INFO kucher.model.device_model.connection: Starting task > 2018-07-09 12:54:56,743 pid=5991 INFO kucher.fuhrer: The main window is closing, asking the controller task to stop 2018-07-09 12:54:57,279 pid=5991 INFO kucher.fuhrer: Controller task is stopping normally