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Floating Point Exception in the position controller #28969

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peterbarker opened this issue Dec 30, 2024 · 2 comments
Closed

Floating Point Exception in the position controller #28969

peterbarker opened this issue Dec 30, 2024 · 2 comments

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@peterbarker
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CI run produced an FPE while running test.Plane.FlyEachFrame. I've never seen this before.

The PR in question is going absolutely nowhere near the relevant code (should actually be a no-compiler-output change in SITL?). #28966

Link to output is below, also excerpted below.

Seems to be something wrong with the maths in limit_accel_xy - we're taking the square root of a negative number; something wrong with taking the cross product, perhaps?! Thankfully the output below contains values for all of the variables required...

https://productionresultssa10.blob.core.windows.net/actions-results/4e63b159-021f-4b97-a167-86fc7dcf4f13/workflow-job-run-6b0240de-2d48-582d-e68b-9616ef328464/logs/job/job-logs.txt?rsct=text%2Fplain&se=2024-12-30T07%3A30%3A15Z&sig=CO5BGQOMT4%2FEO2n%2F2x77s%2FBvK54kxyiUgE7qSlhKxUs%3D&ske=2024-12-30T19%3A10%3A12Z&skoid=ca7593d4-ee42-46cd-af88-8b886a2f84eb&sks=b&skt=2024-12-30T07%3A10%3A12Z&sktid=398a6654-997b-47e9-b12b-9515b896b4de&skv=2024-11-04&sp=r&spr=https&sr=b&st=2024-12-30T07%3A20%3A10Z&sv=2024-11-04

2024-12-30T06:13:01.8519750Z AT-0413.1: AP: VTOL position1 v=21.3 d=169.1 h=49.8 dc=19.6
2024-12-30T06:13:01.8520094Z arduplane: ERROR: Floating point exception - aborting
2024-12-30T06:13:01.8520719Z arduplane: Running: sh Tools/scripts/dumpstack.sh 8040 >dumpstack.sh_arduplane.8040.out 2>&1
2024-12-30T06:13:01.8521189Z arduplane: dumpstack.sh has been run.  Output was:
2024-12-30T06:13:01.8521547Z arduplane: -------------- begin dumpstack.sh output ----------------
2024-12-30T06:13:01.8521872Z arduplane: [New LWP 8041]
2024-12-30T06:13:01.8522144Z arduplane: [Thread debugging using libthread_db enabled]
2024-12-30T06:13:01.8522575Z arduplane: Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
2024-12-30T06:13:01.8523073Z arduplane: 0x00007fe61ddfb42f in wait4 () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8523543Z arduplane: #0  0x00007fe61ddfb42f in wait4 () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8523926Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8524278Z arduplane: #1  0x00007fe61dd61bdb in ?? () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8524638Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8533257Z arduplane: #2  0x000055788a89e19f in AP_HAL::run_command_on_ownpid (commandname=0x55788aa1a1af "dumpstack.sh") at ../../libraries/AP_HAL_SITL/system.cpp:127
2024-12-30T06:13:01.8534641Z arduplane:         command_filepath = 0x7ffdaf31f660 "Tools/scripts/dumpstack.sh"
2024-12-30T06:13:01.8535865Z arduplane:         statbuf = {st_dev = 2065, st_ino = 527244, st_nlink = 1, st_mode = 33261, st_uid = 0, st_gid = 0, __pad0 = 0, st_rdev = 0, st_size = 265, st_blksize = 4096, st_blocks = 8, st_atim = {tv_sec = 1735538476, tv_nsec = 968517313}, st_mtim = {tv_sec = 1735538476, tv_nsec = 968517313}, st_ctim = {tv_sec = 1735538476, tv_nsec = 968517313}, __glibc_reserved = {0, 0, 0}}
2024-12-30T06:13:01.8537613Z arduplane:         custom_scripts_dir_path = 0x0
2024-12-30T06:13:01.8538484Z arduplane:         custom_scripts_dir_path_pattern = 0x0
2024-12-30T06:13:01.8539517Z arduplane:         paths = {0x0, 0x55788aa1a06b "Tools/scripts/%s", 0x55788aa1a07c "APM/Tools/scripts/%s", 0x55788aa1a091 "../Tools/scripts/%s"}
2024-12-30T06:13:01.8541241Z arduplane:         buffer = "Tools/scripts/dumpstack.sh\000\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8543296Z arduplane:         progname = "/__w/ardupilot/ardupilot/build/sitl/bin\000arduplane\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8544682Z arduplane:         n = 49
2024-12-30T06:13:01.8545053Z arduplane:         p = 0x7ffdaf31f717 ""
2024-12-30T06:13:01.8546307Z arduplane:         output_filepath = "dumpstack.sh_arduplane.8040.out\000\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8549709Z arduplane:         cmd = "sh Tools/scripts/dumpstack.sh 8040 >dumpstack.sh_arduplane.8040.out 2>&1\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8552083Z arduplane:         fd = 2141192192
2024-12-30T06:13:01.8555083Z arduplane:         buf = "\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"...
2024-12-30T06:13:01.8558307Z arduplane: #3  0x000055788a89e34d in AP_HAL::dump_stack_trace () at ../../libraries/AP_HAL_SITL/system.cpp:159
2024-12-30T06:13:01.8559065Z arduplane: No locals.
2024-12-30T06:13:01.8559724Z arduplane: #4  0x000055788a89ef34 in _sig_fpe (signum=8) at ../../libraries/AP_HAL_SITL/SITL_cmdline.cpp:65
2024-12-30T06:13:01.8560456Z arduplane: No locals.
2024-12-30T06:13:01.8560811Z arduplane: #5  <signal handler called>
2024-12-30T06:13:01.8561274Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8561893Z arduplane: #6  0x00007fe61df6c49c in ?? () from /lib/x86_64-linux-gnu/libm.so.6
2024-12-30T06:13:01.8562662Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8563291Z arduplane: #7  0x00007fe61df6e6e5 in ?? () from /lib/x86_64-linux-gnu/libm.so.6
2024-12-30T06:13:01.8563913Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8564666Z arduplane: #8  0x000055788a6d8822 in safe_sqrt<float> (v=-0.03125) at ../../libraries/AP_Math/AP_Math.cpp:73
2024-12-30T06:13:01.8565405Z arduplane:         ret = 566.187256
2024-12-30T06:13:01.8566232Z arduplane: #9  0x000055788a6daa7e in limit_accel_xy (vel=..., accel=..., accel_max=566.187256) at ../../libraries/AP_Math/control.cpp:390
2024-12-30T06:13:01.8567133Z arduplane:         accel_max_dir = 4.59135442e-41
2024-12-30T06:13:01.8567835Z arduplane:         vel_input_unit = {x = 0.984285712, y = 0.176583186}
2024-12-30T06:13:01.8568392Z arduplane:         accel_dir = -0.0795593262
2024-12-30T06:13:01.8568938Z arduplane:         accel_cross = {x = 99.9791489, y = -557.290039}
2024-12-30T06:13:01.8570050Z arduplane: #10 0x000055788a8577ca in AC_PosControl::update_xy_controller (this=0x55788b15f850) at ../../libraries/AC_AttitudeControl/AC_PosControl.cpp:706
2024-12-30T06:13:01.8571094Z arduplane:         ahrsGndSpdLimit = 400
2024-12-30T06:13:01.8571545Z arduplane:         ahrsControlScaleXY = 1
2024-12-30T06:13:01.8572195Z arduplane:         curr_pos = @0x55788ab23238: {x = -17819.6914, y = 3957.76709, z = 4968.15088}
2024-12-30T06:13:01.8572950Z arduplane:         comb_pos = {x = -17819.6914, y = 3957.76709, z = 4968.15088}
2024-12-30T06:13:01.8573522Z arduplane:         vel_target = {x = 0, y = 0}
2024-12-30T06:13:01.8574094Z arduplane:         curr_vel = @0x55788ab23244: {x = 2097.99463, y = 376.385193}
2024-12-30T06:13:01.8574725Z arduplane:         comb_vel = {x = 2097.99463, y = 376.385193}
2024-12-30T06:13:01.8575307Z arduplane:         accel_target = {x = 99.9008408, y = -557.304077}
2024-12-30T06:13:01.8575829Z arduplane:         angle_max = 3000
2024-12-30T06:13:01.8576244Z arduplane:         accel_max = 566.187256
2024-12-30T06:13:01.8577379Z arduplane: #11 0x000055788a6595fe in QuadPlane::run_xy_controller (this=0x55788ab23220 <plane+54528>, accel_limit=3) at ../../ArduPlane/quadplane.cpp:2169
2024-12-30T06:13:01.8578422Z arduplane:         accel_cmss = 300
2024-12-30T06:13:01.8578826Z arduplane:         speed_cms = 500
2024-12-30T06:13:01.8579781Z arduplane: #12 0x000055788a65b287 in QuadPlane::vtol_position_controller (this=0x55788ab23220 <plane+54528>) at ../../ArduPlane/quadplane.cpp:2621
2024-12-30T06:13:01.8581098Z arduplane:         rel_groundspeed_vector = {x = 20.9799461, y = 3.76385188}
2024-12-30T06:13:01.8581693Z arduplane:         stopping_speed = 28.2293301
2024-12-30T06:13:01.8582271Z arduplane:         target_speed_xy_cms = {x = 2104.06812, y = -341.523285}
2024-12-30T06:13:01.8582909Z arduplane:         target_accel_cms = {x = -117.963844, y = 19.1473846}
2024-12-30T06:13:01.8583616Z arduplane:         target_yaw_deg = -9.219594
2024-12-30T06:13:01.8584082Z arduplane:         distance = 169.129776
2024-12-30T06:13:01.8584563Z arduplane:         closing_groundspeed = 20.105875
2024-12-30T06:13:01.8585058Z arduplane:         target_speed = 21.320034
2024-12-30T06:13:01.8585465Z arduplane:         wp_speed = 5
2024-12-30T06:13:01.8585893Z arduplane:         scaled_wp_speed = 4.73900986
2024-12-30T06:13:01.8586425Z arduplane:         diff_wp = {x = 166.94487, y = -27.0977764}
2024-12-30T06:13:01.8586940Z arduplane:         target_accel = 1.19507706
2024-12-30T06:13:01.8587423Z arduplane:         rel_groundspeed_sq = 454.324738
2024-12-30T06:13:01.8587902Z arduplane:         have_target_yaw = false
2024-12-30T06:13:01.8588373Z arduplane:         target_speed_ms = 21.320034
2024-12-30T06:13:01.8589911Z arduplane:         loc = @0x55788ab23068: {relative_alt = 0 '\000', loiter_ccw = 0 '\000', terrain_alt = 0 '\000', origin_alt = 0 '\000', loiter_xtrack = 0 '\000', alt = 63825, lat = -353630410, lng = 1491652220, static LOCATION_SCALING_FACTOR = 0.0111318845, static LOCATION_SCALING_FACTOR_INV = 89.8320465}
2024-12-30T06:13:01.8591506Z arduplane:         now_ms = 184369
2024-12-30T06:13:01.8591950Z arduplane:         position2_dist_threshold = 10
2024-12-30T06:13:01.8592448Z arduplane:         position2_target_speed = 3
2024-12-30T06:13:01.8592947Z arduplane:         suppress_z_controller = false
2024-12-30T06:13:01.8593469Z arduplane:         landing_velocity = {x = 0, y = 0}
2024-12-30T06:13:01.8594419Z arduplane: #13 0x000055788a65d6aa in QuadPlane::control_auto (this=0x55788ab23220 <plane+54528>) at ../../ArduPlane/quadplane.cpp:3250
2024-12-30T06:13:01.8595325Z arduplane:         id = 85
2024-12-30T06:13:01.8596121Z arduplane: #14 0x000055788a648ec9 in ModeAuto::update (this=0x55788ab21378 <plane+46680>) at ../../ArduPlane/mode_auto.cpp:77
2024-12-30T06:13:01.8597086Z arduplane:         nav_cmd_id = 85
2024-12-30T06:13:01.8597925Z arduplane: #15 0x000055788a6368ed in Plane::update_control_mode (this=0x55788ab15d20 <plane>) at ../../ArduPlane/Plane.cpp:516
2024-12-30T06:13:01.8598772Z arduplane: No locals.
2024-12-30T06:13:01.8599817Z arduplane: #16 0x000055788a639dbc in Functor<void>::method_wrapper<Plane, &Plane::update_control_mode> (obj=0x55788ab15d20 <plane>) at ../../libraries/AP_HAL/utility/functor.h:88
2024-12-30T06:13:01.8600920Z arduplane:         t = 0x55788ab15d20 <plane>
2024-12-30T06:13:01.8601927Z arduplane: #17 0x000055788a6efeb0 in Functor<void>::operator() (this=0x55788aae6160 <Plane::scheduler_tasks+32>) at ../../libraries/AP_HAL/utility/functor.h:54
2024-12-30T06:13:01.8602930Z arduplane: No locals.
2024-12-30T06:13:01.8603839Z arduplane: #18 0x000055788a7533c1 in AP_Scheduler::run (this=0x55788ab15ee8 <plane+456>, time_available=3333) at ../../libraries/AP_Scheduler/AP_Scheduler.cpp:264
2024-12-30T06:13:01.8604867Z arduplane:         run_vehicle_task = true
2024-12-30T06:13:01.8606514Z arduplane:         task = @0x55788aae6160: {function = {_obj = 0x55788ab15d20 <plane>, _method = 0x55788a639d98 <Functor<void>::method_wrapper<Plane, &Plane::update_control_mode>(void*)>}, name = 0x55788a9e97f9 "Plane::update_control_mode*", rate_hz = 0, max_time_micros = 0, priority = 0 '\000'}
2024-12-30T06:13:01.8608158Z arduplane:         time_taken = 0
2024-12-30T06:13:01.8608653Z arduplane:         overrun = false
2024-12-30T06:13:01.8609046Z arduplane:         i = 1 '\001'
2024-12-30T06:13:01.8609457Z arduplane:         run_started_usec = 184369556
2024-12-30T06:13:01.8609904Z arduplane:         now = 184369556
2024-12-30T06:13:01.8610337Z arduplane:         vehicle_tasks_offset = 2 '\002'
2024-12-30T06:13:01.8610832Z arduplane:         common_tasks_offset = 0 '\000'
2024-12-30T06:13:01.8611795Z arduplane: #19 0x000055788a753870 in AP_Scheduler::loop (this=0x55788ab15ee8 <plane+456>) at ../../libraries/AP_Scheduler/AP_Scheduler.cpp:393
2024-12-30T06:13:01.8612748Z arduplane:         sample_time_us = 184369556
2024-12-30T06:13:01.8613179Z arduplane:         loop_us = 3333
2024-12-30T06:13:01.8613639Z arduplane:         now = 184369556
2024-12-30T06:13:01.8614030Z arduplane:         time_available = 3333
2024-12-30T06:13:01.8614433Z arduplane:         loop_tick_us = 0
2024-12-30T06:13:01.8615279Z arduplane: #20 0x000055788a759779 in AP_Vehicle::loop (this=0x55788ab15d20 <plane>) at ../../libraries/AP_Vehicle/AP_Vehicle.cpp:539
2024-12-30T06:13:01.8616181Z arduplane:         new_internal_errors = 0
2024-12-30T06:13:01.8617421Z arduplane: #21 0x000055788a893418 in HAL_SITL::run (this=0x55788ab319e0 <hal_sitl_inst>, argc=10, argv=0x7ffdaf3208c8, callbacks=0x55788ab15d20 <plane>) at ../../libraries/AP_HAL_SITL/HAL_SITL_Class.cpp:289
2024-12-30T06:13:01.8618648Z arduplane:         now = 184367
2024-12-30T06:13:01.8619378Z arduplane:         __PRETTY_FUNCTION__ = "virtual void HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const"
2024-12-30T06:13:01.8620168Z arduplane:         new_argv_offset = 9 '\t'
2024-12-30T06:13:01.8620808Z arduplane:         using_watchdog = false
2024-12-30T06:13:01.8621272Z arduplane:         last_watchdog_save = 1754
2024-12-30T06:13:01.8621845Z arduplane:         fill_count = 3 '\003'
2024-12-30T06:13:01.8622579Z arduplane: #22 0x000055788a63974b in main (argc=10, argv=0x7ffdaf3208c8) at ../../ArduPlane/Plane.cpp:1070
2024-12-30T06:13:01.8623316Z arduplane: No locals.
2024-12-30T06:13:01.8623646Z arduplane: 
2024-12-30T06:13:01.8624075Z arduplane: Thread 2 (Thread 0x7fe61dcd9640 (LWP 8041) "log_io"):
2024-12-30T06:13:01.8624871Z arduplane: #0  0x00007fe61ddf67f8 in clock_nanosleep () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8625589Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8626246Z arduplane: #1  0x00007fe61ddfb677 in nanosleep () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8626968Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8627757Z arduplane: #2  0x00007fe61de2d11f in usleep () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8628420Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8629544Z arduplane: #3  0x000055788a895e47 in HALSITL::SITL_State::wait_clock (this=0x55788ab30160 <sitlState>, wait_time_usec=184370556) at ../../libraries/AP_HAL_SITL/SITL_State.cpp:179
2024-12-30T06:13:01.8630641Z arduplane:         speedup = 100
2024-12-30T06:13:01.8631712Z arduplane: #4  0x000055788a89beaa in HALSITL::Scheduler::delay_microseconds (this=0x55788ab30660 <sitlScheduler>, usec=1000) at ../../libraries/AP_HAL_SITL/Scheduler.cpp:142
2024-12-30T06:13:01.8632830Z arduplane:         dtime = 0
2024-12-30T06:13:01.8633207Z arduplane:         start = 184369556
2024-12-30T06:13:01.8634092Z arduplane: #5  0x000055788a761a40 in AP_Logger::io_thread (this=0x55788ab180a0 <plane+9088>) at ../../libraries/AP_Logger/AP_Logger.cpp:1430
2024-12-30T06:13:01.8634999Z arduplane:         now = 184369556
2024-12-30T06:13:01.8635388Z arduplane:         delay = 1000
2024-12-30T06:13:01.8635780Z arduplane:         last_run_us = 184369556
2024-12-30T06:13:01.8636223Z arduplane:         last_stack_us = 184326240
2024-12-30T06:13:01.8636685Z arduplane:         last_crash_check_us = 5031320
2024-12-30T06:13:01.8637178Z arduplane:         done_crash_dump_save = true
2024-12-30T06:13:01.8638431Z arduplane: #6  0x000055788a7627bd in Functor<void>::method_wrapper<AP_Logger, &AP_Logger::io_thread> (obj=0x55788ab180a0 <plane+9088>) at ../../libraries/AP_HAL/utility/functor.h:88
2024-12-30T06:13:01.8639595Z arduplane:         t = 0x55788ab180a0 <plane+9088>
2024-12-30T06:13:01.8640509Z arduplane: #7  0x000055788a6efeb0 in Functor<void>::operator() (this=0x55788b158a10) at ../../libraries/AP_HAL/utility/functor.h:54
2024-12-30T06:13:01.8641353Z arduplane: No locals.
2024-12-30T06:13:01.8642252Z arduplane: #8  0x000055788a89c485 in HALSITL::Scheduler::thread_create_trampoline (ctx=0x55788b158a30) at ../../libraries/AP_HAL_SITL/Scheduler.cpp:317
2024-12-30T06:13:01.8643238Z arduplane:         a = 0x55788b158a30
2024-12-30T06:13:01.8643653Z arduplane:         _getsem17 = {_mtx = @0x0}
2024-12-30T06:13:01.8644396Z arduplane: #9  0x00007fe61dda5ac3 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8645024Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8645623Z arduplane: #10 0x00007fe61de37a40 in ?? () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8646242Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8646647Z arduplane: 
2024-12-30T06:13:01.8647100Z arduplane: Thread 1 (Thread 0x7fe61dd103c0 (LWP 8040) "arduplane"):
2024-12-30T06:13:01.8647859Z arduplane: #0  0x00007fe61ddfb42f in wait4 () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8648484Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8649073Z arduplane: #1  0x00007fe61dd61bdb in ?? () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:01.8649673Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8650707Z arduplane: #2  0x000055788a89e19f in AP_HAL::run_command_on_ownpid (commandname=0x55788aa1a1af "dumpstack.sh") at ../../libraries/AP_HAL_SITL/system.cpp:127
2024-12-30T06:13:01.8651871Z arduplane:         command_filepath = 0x7ffdaf31f660 "Tools/scripts/dumpstack.sh"
2024-12-30T06:13:01.8653801Z arduplane:         statbuf = {st_dev = 2065, st_ino = 527244, st_nlink = 1, st_mode = 33261, st_uid = 0, st_gid = 0, __pad0 = 0, st_rdev = 0, st_size = 265, st_blksize = 4096, st_blocks = 8, st_atim = {tv_sec = 1735538476, tv_nsec = 968517313}, st_mtim = {tv_sec = 1735538476, tv_nsec = 968517313}, st_ctim = {tv_sec = 1735538476, tv_nsec = 968517313}, __glibc_reserved = {0, 0, 0}}
2024-12-30T06:13:01.8655412Z arduplane:         custom_scripts_dir_path = 0x0
2024-12-30T06:13:01.8655944Z arduplane:         custom_scripts_dir_path_pattern = 0x0
2024-12-30T06:13:01.8656908Z arduplane:         paths = {0x0, 0x55788aa1a06b "Tools/scripts/%s", 0x55788aa1a07c "APM/Tools/scripts/%s", 0x55788aa1a091 "../Tools/scripts/%s"}
2024-12-30T06:13:01.8658517Z arduplane:         buffer = "Tools/scripts/dumpstack.sh\000\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8660457Z arduplane:         progname = "/__w/ardupilot/ardupilot/build/sitl/bin\000arduplane\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8663394Z arduplane:         n = 49
2024-12-30T06:13:01.8663768Z arduplane:         p = 0x7ffdaf31f717 ""
2024-12-30T06:13:01.8664995Z arduplane:         output_filepath = "dumpstack.sh_arduplane.8040.out\000\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8668304Z arduplane:         cmd = "sh Tools/scripts/dumpstack.sh 8040 >dumpstack.sh_arduplane.8040.out 2>&1\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"
2024-12-30T06:13:01.8670729Z arduplane:         fd = 2141192192
2024-12-30T06:13:01.8673861Z arduplane:         buf = "\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177\000\000\240\177"...
2024-12-30T06:13:01.8677064Z arduplane: #3  0x000055788a89e34d in AP_HAL::dump_stack_trace () at ../../libraries/AP_HAL_SITL/system.cpp:159
2024-12-30T06:13:01.8677817Z arduplane: No locals.
2024-12-30T06:13:01.8678472Z arduplane: #4  0x000055788a89ef34 in _sig_fpe (signum=8) at ../../libraries/AP_HAL_SITL/SITL_cmdline.cpp:65
2024-12-30T06:13:01.8679200Z arduplane: No locals.
2024-12-30T06:13:01.8679547Z arduplane: #5  <signal handler called>
2024-12-30T06:13:01.8679992Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8680609Z arduplane: #6  0x00007fe61df6c49c in ?? () from /lib/x86_64-linux-gnu/libm.so.6
2024-12-30T06:13:01.8681246Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8681869Z arduplane: #7  0x00007fe61df6e6e5 in ?? () from /lib/x86_64-linux-gnu/libm.so.6
2024-12-30T06:13:01.8682627Z arduplane: No symbol table info available.
2024-12-30T06:13:01.8683066Z arduplane: #8  0x000055788a6d8822 in safe_sqrt<float> (v=-0.03125) at ../../libraries/AP_Math/AP_Math.cpp:73
2024-12-30T06:13:01.8683502Z arduplane:         ret = 566.187256
2024-12-30T06:13:01.8683984Z arduplane: #9  0x000055788a6daa7e in limit_accel_xy (vel=..., accel=..., accel_max=566.187256) at ../../libraries/AP_Math/control.cpp:390
2024-12-30T06:13:01.8684496Z arduplane:         accel_max_dir = 4.59135442e-41
2024-12-30T06:13:01.8684829Z arduplane:         vel_input_unit = {x = 0.984285712, y = 0.176583186}
2024-12-30T06:13:01.8685169Z arduplane:         accel_dir = -0.0795593262
2024-12-30T06:13:01.8685479Z arduplane:         accel_cross = {x = 99.9791489, y = -557.290039}
2024-12-30T06:13:01.8686232Z arduplane: #10 0x000055788a8577ca in AC_PosControl::update_xy_controller (this=0x55788b15f850) at ../../libraries/AC_AttitudeControl/AC_PosControl.cpp:706
2024-12-30T06:13:01.8686956Z arduplane:         ahrsGndSpdLimit = 400
2024-12-30T06:13:01.8687224Z arduplane:         ahrsControlScaleXY = 1
2024-12-30T06:13:01.8687601Z arduplane:         curr_pos = @0x55788ab23238: {x = -17819.6914, y = 3957.76709, z = 4968.15088}
2024-12-30T06:13:01.8688284Z arduplane:         comb_pos = {x = -17819.6914, y = 3957.76709, z = 4968.15088}
2024-12-30T06:13:01.8688760Z arduplane:         vel_target = {x = 0, y = 0}
2024-12-30T06:13:01.8689097Z arduplane:         curr_vel = @0x55788ab23244: {x = 2097.99463, y = 376.385193}
2024-12-30T06:13:01.8689458Z arduplane:         comb_vel = {x = 2097.99463, y = 376.385193}
2024-12-30T06:13:01.8689804Z arduplane:         accel_target = {x = 99.9008408, y = -557.304077}
2024-12-30T06:13:01.8690110Z arduplane:         angle_max = 3000
2024-12-30T06:13:01.8690348Z arduplane:         accel_max = 566.187256
2024-12-30T06:13:01.8690933Z arduplane: #11 0x000055788a6595fe in QuadPlane::run_xy_controller (this=0x55788ab23220 <plane+54528>, accel_limit=3) at ../../ArduPlane/quadplane.cpp:2169
2024-12-30T06:13:01.8691508Z arduplane:         accel_cmss = 300
2024-12-30T06:13:01.8691739Z arduplane:         speed_cms = 500
2024-12-30T06:13:01.8692448Z arduplane: #12 0x000055788a65b287 in QuadPlane::vtol_position_controller (this=0x55788ab23220 <plane+54528>) at ../../ArduPlane/quadplane.cpp:2621
2024-12-30T06:13:01.8693604Z arduplane:         rel_groundspeed_vector = {x = 20.9799461, y = 3.76385188}
2024-12-30T06:13:01.8694218Z arduplane:         stopping_speed = 28.2293301
2024-12-30T06:13:01.8694799Z arduplane:         target_speed_xy_cms = {x = 2104.06812, y = -341.523285}
2024-12-30T06:13:01.8695453Z arduplane:         target_accel_cms = {x = -117.963844, y = 19.1473846}
2024-12-30T06:13:01.8695787Z arduplane:         target_yaw_deg = -9.219594
2024-12-30T06:13:01.8696050Z arduplane:         distance = 169.129776
2024-12-30T06:13:01.8696321Z arduplane:         closing_groundspeed = 20.105875
2024-12-30T06:13:01.8696709Z arduplane:         target_speed = 21.320034
2024-12-30T06:13:01.8696983Z arduplane:         wp_speed = 5
2024-12-30T06:13:01.8697324Z arduplane:         scaled_wp_speed = 4.73900986
2024-12-30T06:13:01.8697643Z arduplane:         diff_wp = {x = 166.94487, y = -27.0977764}
2024-12-30T06:13:01.8697947Z arduplane:         target_accel = 1.19507706
2024-12-30T06:13:01.8698222Z arduplane:         rel_groundspeed_sq = 454.324738
2024-12-30T06:13:01.8698521Z arduplane:         have_target_yaw = false
2024-12-30T06:13:01.8698792Z arduplane:         target_speed_ms = 21.320034
2024-12-30T06:13:01.8699650Z arduplane:         loc = @0x55788ab23068: {relative_alt = 0 '\000', loiter_ccw = 0 '\000', terrain_alt = 0 '\000', origin_alt = 0 '\000', loiter_xtrack = 0 '\000', alt = 63825, lat = -353630410, lng = 1491652220, static LOCATION_SCALING_FACTOR = 0.0111318845, static LOCATION_SCALING_FACTOR_INV = 89.8320465}
2024-12-30T06:13:01.8700491Z arduplane:         now_ms = 184369
2024-12-30T06:13:01.8701004Z arduplane:         position2_dist_threshold = 10
2024-12-30T06:13:01.8701419Z arduplane:         position2_target_speed = 3
2024-12-30T06:13:01.8701704Z arduplane:         suppress_z_controller = false
2024-12-30T06:13:01.8702007Z arduplane:         landing_velocity = {x = 0, y = 0}
2024-12-30T06:13:01.8702566Z arduplane: #13 0x000055788a65d6aa in QuadPlane::control_auto (this=0x55788ab23220 <plane+54528>) at ../../ArduPlane/quadplane.cpp:3250
2024-12-30T06:13:01.8703078Z arduplane:         id = 85
2024-12-30T06:13:01.8703534Z arduplane: #14 0x000055788a648ec9 in ModeAuto::update (this=0x55788ab21378 <plane+46680>) at ../../ArduPlane/mode_auto.cpp:77
2024-12-30T06:13:01.8704017Z arduplane:         nav_cmd_id = 85
2024-12-30T06:13:01.8704493Z arduplane: #15 0x000055788a6368ed in Plane::update_control_mode (this=0x55788ab15d20 <plane>) at ../../ArduPlane/Plane.cpp:516
2024-12-30T06:13:01.8705049Z arduplane: No locals.
2024-12-30T06:13:01.8705639Z arduplane: #16 0x000055788a639dbc in Functor<void>::method_wrapper<Plane, &Plane::update_control_mode> (obj=0x55788ab15d20 <plane>) at ../../libraries/AP_HAL/utility/functor.h:88
2024-12-30T06:13:01.8706302Z arduplane:         t = 0x55788ab15d20 <plane>
2024-12-30T06:13:01.8706893Z arduplane: #17 0x000055788a6efeb0 in Functor<void>::operator() (this=0x55788aae6160 <Plane::scheduler_tasks+32>) at ../../libraries/AP_HAL/utility/functor.h:54
2024-12-30T06:13:01.8707464Z arduplane: No locals.
2024-12-30T06:13:01.8708100Z arduplane: #18 0x000055788a7533c1 in AP_Scheduler::run (this=0x55788ab15ee8 <plane+456>, time_available=3333) at ../../libraries/AP_Scheduler/AP_Scheduler.cpp:264
2024-12-30T06:13:01.8708683Z arduplane:         run_vehicle_task = true
2024-12-30T06:13:01.8709953Z arduplane:         task = @0x55788aae6160: {function = {_obj = 0x55788ab15d20 <plane>, _method = 0x55788a639d98 <Functor<void>::method_wrapper<Plane, &Plane::update_control_mode>(void*)>}, name = 0x55788a9e97f9 "Plane::update_control_mode*", rate_hz = 0, max_time_micros = 0, priority = 0 '\000'}
2024-12-30T06:13:01.8710897Z arduplane:         time_taken = 0
2024-12-30T06:13:01.8711138Z arduplane:         overrun = false
2024-12-30T06:13:01.8711366Z arduplane:         i = 1 '\001'
2024-12-30T06:13:01.8711608Z arduplane:         run_started_usec = 184369556
2024-12-30T06:13:01.8711972Z arduplane:         now = 184369556
2024-12-30T06:13:01.8712229Z arduplane:         vehicle_tasks_offset = 2 '\002'
2024-12-30T06:13:01.8712522Z arduplane:         common_tasks_offset = 0 '\000'
2024-12-30T06:13:01.8713075Z arduplane: #19 0x000055788a753870 in AP_Scheduler::loop (this=0x55788ab15ee8 <plane+456>) at ../../libraries/AP_Scheduler/AP_Scheduler.cpp:393
2024-12-30T06:13:01.8713613Z arduplane:         sample_time_us = 184369556
2024-12-30T06:13:01.8713861Z arduplane:         loop_us = 3333
2024-12-30T06:13:01.8714085Z arduplane:         now = 184369556
2024-12-30T06:13:01.8714320Z arduplane:         time_available = 3333
2024-12-30T06:13:01.8714571Z arduplane:         loop_tick_us = 0
2024-12-30T06:13:01.8715128Z arduplane: #20 0x000055788a759779 in AP_Vehicle::loop (this=0x55788ab15d20 <plane>) at ../../libraries/AP_Vehicle/AP_Vehicle.cpp:539
2024-12-30T06:13:01.8715640Z arduplane:         new_internal_errors = 0
2024-12-30T06:13:01.8716340Z arduplane: #21 0x000055788a893418 in HAL_SITL::run (this=0x55788ab319e0 <hal_sitl_inst>, argc=10, argv=0x7ffdaf3208c8, callbacks=0x55788ab15d20 <plane>) at ../../libraries/AP_HAL_SITL/HAL_SITL_Class.cpp:289
2024-12-30T06:13:01.8717022Z arduplane:         now = 184367
2024-12-30T06:13:01.8717441Z arduplane:         __PRETTY_FUNCTION__ = "virtual void HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const"
2024-12-30T06:13:01.8717888Z arduplane:         new_argv_offset = 9 '\t'
2024-12-30T06:13:01.8718143Z arduplane:         using_watchdog = false
2024-12-30T06:13:01.8718407Z arduplane:         last_watchdog_save = 1754
2024-12-30T06:13:01.8718779Z arduplane:         fill_count = 3 '\003'
2024-12-30T06:13:01.8719199Z arduplane: #22 0x000055788a63974b in main (argc=10, argv=0x7ffdaf3208c8) at ../../ArduPlane/Plane.cpp:1070
2024-12-30T06:13:01.8719618Z arduplane: No locals.
2024-12-30T06:13:01.8719930Z arduplane: A debugging session is active.
2024-12-30T06:13:01.8720172Z arduplane: 
2024-12-30T06:13:01.8720395Z arduplane: 	Inferior 1 [process 8040] will be detached.
2024-12-30T06:13:01.8720674Z arduplane: 
2024-12-30T06:13:01.8720935Z arduplane: Quit anyway? (y or n) [answered Y; input not from terminal]
2024-12-30T06:13:22.0834109Z arduplane: [Inferior 1 (process 8040) detached]
2024-12-30T06:13:22.0834686Z arduplane: -------------- end dumpstack.sh output ----------------
2024-12-30T06:13:22.0835237Z arduplane: Running: sh Tools/scripts/dumpcore.sh 8040 >dumpcore.sh_arduplane.8040.out 2>&1
2024-12-30T06:13:22.0835997Z arduplane: dumpcore.sh has been run.  Output was:
2024-12-30T06:13:22.0837175Z arduplane: -------------- begin dumpcore.sh output ----------------
2024-12-30T06:13:22.0837544Z arduplane: [New LWP 8041]
2024-12-30T06:13:22.0837844Z arduplane: [Thread debugging using libthread_db enabled]
2024-12-30T06:13:22.0838342Z arduplane: Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
2024-12-30T06:13:22.0838926Z arduplane: 0x00007fe61ddfb42f in wait4 () from /lib/x86_64-linux-gnu/libc.so.6
2024-12-30T06:13:22.0839502Z arduplane: warning: target file /proc/8040/cmdline contained unexpected null characters
2024-12-30T06:13:22.0840130Z arduplane: warning: Memory read failed for corefile section, 4096 bytes at 0xffffffffff600000.
2024-12-30T06:13:22.0840603Z arduplane: Saved corefile ap-8055.core
2024-12-30T06:13:22.0840895Z arduplane: A debugging session is active.
2024-12-30T06:13:22.0841167Z arduplane: 
2024-12-30T06:13:22.0841408Z arduplane: 	Inferior 1 [process 8040] will be detached.
2024-12-30T06:13:22.0841716Z arduplane: 
2024-12-30T06:13:22.0842002Z arduplane: Quit anyway? (y or n) [answered Y; input not from terminal]
2024-12-30T06:13:22.0842401Z arduplane: [Inferior 1 (process 8040) detached]
2024-12-30T06:13:22.0842770Z arduplane: -------------- end dumpcore.sh output ----------------
2024-12-30T06:13:22.0843102Z EOF on TCP socket
2024-12-30T06:13:22.0843313Z Attempting reconnect
2024-12-30T06:13:22.0843540Z [Errno 111] Connection refused sleeping
2024-12-30T06:13:22.0843818Z [Errno 111] Connection refused sleeping
2024-12-30T06:13:22.0844228Z [Errno 111] Connection refused sleeping
2024-12-30T06:13:22.0844498Z [Errno 111] Connection refused sleeping
2024-12-30T06:13:22.0844770Z [Errno 111] Connection refused sleeping
@tridge tridge mentioned this issue Dec 31, 2024
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@lthall
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lthall commented Jan 1, 2025

It is safe to limit the answer to positve values.
float accel_max_dir = safe_sqrt(MAX(0, sq(accel_max) - accel_cross.length_squared()));

@peterbarker peterbarker mentioned this issue Jan 1, 2025
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@tpwrules
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tpwrules commented Jan 1, 2025

It's happened again here: https://github.com/ArduPilot/ardupilot/actions/runs/12572260649/job/35044375709?pr=28857

Numbers are identical.

@tpwrules tpwrules closed this as completed Jan 7, 2025
@github-project-automation github-project-automation bot moved this to Pending in 4.6 Backports Jan 7, 2025
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@lthall @tpwrules @peterbarker