2026-08-19T17:33:07Z INFO main Log session: /home/altairfc/ALTAIR_FC_V2/altairfc/logs/2026-08-19_17-33-07Z 2026-08-19T17:33:07Z INFO main Wrote 18 flight settings to DataStore 2026-08-19T17:33:07Z INFO core.scheduler Task sphere_pitch is disabled in config, skipping registration 2026-08-19T17:33:07Z INFO core.scheduler Task pointing is disabled in config, skipping registration 2026-08-19T17:33:07Z INFO telemetry.tee_server TeeServer: listening on 0.0.0.0:5760 2026-08-19T17:33:07Z INFO main Starting ALTAIR V2 flight computer 2026-08-19T17:33:07Z INFO core.scheduler Starting 10 task(s) 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: connecting to /dev/serial/by-id/usb-Auterion_PX4_FMU_v6X.x_0-if00 @ 115200 baud 2026-08-19T17:33:07Z INFO core.task_base Task mavlink started 2026-08-19T17:33:07Z INFO core.task_base Task gps started 2026-08-19T17:33:07Z INFO drivers.gps_driver GpsDriver: opened /dev/i2c-1 (fd=9) 2026-08-19T17:33:07Z INFO core.task_base Task telemetry started 2026-08-19T17:33:07Z INFO tasks.gps_task GpsTask: driver ready on /dev/i2c-1 2026-08-19T17:33:07Z INFO tasks.command_receiver_task CommandReceiverTask: ready (sharing transport with TelemetryTask) 2026-08-19T17:33:07Z INFO core.task_base Task command_receiver started 2026-08-19T17:33:07Z INFO tasks.radio_config_task RadioConfigTask: config_enabled=false — transparent passthrough only 2026-08-19T17:33:07Z INFO core.task_base Task radio_config started 2026-08-19T17:33:07Z INFO drivers.mcp23017 MCP23017: opened bus 1 address 0x20 2026-08-19T17:33:07Z INFO tasks.flight_stage_task FlightStageTask: initializing — writing all event.* keys to 0 2026-08-19T17:33:07Z INFO core.task_base Task flight_stage started 2026-08-19T17:33:07Z INFO tasks.flight_stage_task FlightStageTask: preflight failures: mavlink_stale 2026-08-19T17:33:07Z INFO core.task_base Task photodiode started 2026-08-19T17:33:07Z INFO core.task_base Task power started 2026-08-19T17:33:07Z INFO core.task_base Task lighting started 2026-08-19T17:33:07Z INFO telemetry.transport SerialTransport: opened /dev/ttyUSB0 @ 57600 baud 2026-08-19T17:33:07Z INFO drivers.mcp4728_driver MCP4728Driver: opened /dev/i2c-1 (fd=23) 2026-08-19T17:33:07Z INFO core.task_base Task datalogger started 2026-08-19T17:33:07Z INFO telemetry.telemetry_task TelemetryTask: transport opened 2026-08-19T17:33:07Z INFO tasks.datalogger_task DataLoggerTask: logging to /home/altairfc/ALTAIR_FC_V2/altairfc/logs/2026-08-19_17-33-07Z 2026-08-19T17:33:07Z INFO drivers.led_board LedBoard: LDAC (BCM 20) held low 2026-08-19T17:33:07Z INFO drivers.ina3221_driver INA3221Driver: opened /dev/i2c-1 (fd=18) 2026-08-19T17:33:07Z INFO core.watchdog Watchdog started (ping interval 15.0s) 2026-08-19T17:33:07Z INFO drivers.sphere_led SphereLedSource: holding 0.2800 A (kp=10000.0 ki=1000.0) 2026-08-19T17:33:07Z INFO tasks.lighting_task LightingTask: sphere on at task start (target 0.2800 A) — will not turn off internally; stopped externally at apogee 2026-08-19T17:33:07Z INFO drivers.gpio_hold_driver GpioHold: holding gpiochip0:4 high 2026-08-19T17:33:07Z INFO drivers.gpio_hold_driver GpioHold: holding gpiochip0:17 high 2026-08-19T17:33:07Z INFO tasks.datalogger_task DataLoggerTask: opened 14 CSV files 2026-08-19T17:33:07Z INFO drivers.mcp23017 MCP23017: opened bus 1 address 0x20 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: heartbeat received (system 1, component 0) 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=30 at 50.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=31 at 50.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=24 at 5.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=124 at 5.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=32 at 5.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=29 at 5.0 Hz 2026-08-19T17:33:07Z INFO tasks.mavlink_task MavlinkTask: requested MSG_ID=74 at 5.0 Hz 2026-08-19T17:33:07Z WARNING tasks.mavlink_task MavlinkTask: mavlink.environment.airspeed is non-finite (nan) — writing 0.0 instead 2026-08-19T17:33:07Z INFO drivers.ads124s08_driver ads124s08Driver: opened /dev/spidev0.0 CS=gpiochip0:13 DRDY=gpiochip0:22 START=gpiochip0:25 2026-08-19T17:33:07Z INFO drivers.dac5311_driver dac5311Driver: opened /dev/spidev0.0 CS=gpiochip0:12 2026-08-19T17:33:07Z INFO drivers.ads124s08_driver ads124s08Driver: opened /dev/spidev0.0 CS=gpiochip0:19 DRDY=gpiochip0:24 START=gpiochip0:8 2026-08-19T17:33:07Z INFO drivers.dac5311_driver dac5311Driver: opened /dev/spidev0.0 CS=gpiochip0:6 2026-08-19T17:33:07Z INFO tasks.photodiode_task PhotodiodeTask: UVIC PDRO ready (signal=SPS_800 at 100.0 Hz, temperature=SPS_2000 every 1.00 s, bias=0.000 V) 2026-08-19T17:33:07Z INFO tasks.flight_stage_task FlightStageTask: preflight failures cleared 2026-08-19T17:33:08Z INFO tasks.lighting_task LightingTask: sphere loop 23.4 Hz (24 updates/1.02s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0000 A settled=0/24 code=192 2026-08-19T17:33:09Z INFO tasks.lighting_task LightingTask: sphere loop 21.7 Hz (22 updates/1.02s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0001 A settled=0/22 code=368 2026-08-19T17:33:10Z INFO tasks.lighting_task LightingTask: sphere loop 21.9 Hz (22 updates/1.00s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0001 A settled=0/22 code=544 2026-08-19T17:33:11Z INFO tasks.lighting_task LightingTask: sphere loop 21.8 Hz (22 updates/1.01s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0000 A settled=0/22 code=720 2026-08-19T17:33:12Z INFO tasks.lighting_task LightingTask: sphere loop 21.8 Hz (22 updates/1.01s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0001 A settled=0/22 code=896 2026-08-19T17:33:12Z INFO tasks.flight_stage_task FlightStageTask: preflight stable for 5.0 s — auto-triggering arm checks 2026-08-19T17:33:12Z INFO tasks.flight_stage_task FlightStageTask: arm checks pending: gps_no_fix(fix_type=0,sv=0) 2026-08-19T17:33:13Z INFO tasks.lighting_task LightingTask: sphere loop 22.0 Hz (22 updates/1.00s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0001 A settled=0/22 code=1072 2026-08-19T17:33:14Z INFO tasks.lighting_task LightingTask: sphere loop 22.1 Hz (23 updates/1.04s) — target=0.2800 A mean=-0.0005 A min=-0.0006 A max=-0.0005 A spread=0.0001 A settled=0/23 code=1256 2026-08-19T17:33:15Z INFO tasks.lighting_task LightingTask: sphere loop 21.8 Hz (22 updates/1.01s) — target=0.2800 A mean=-0.0005 A min=-0.0005 A max=-0.0005 A spread=0.0000 A settled=0/22 code=1432 2026-08-19T17:33:16Z INFO tasks.lighting_task LightingTask: sphere loop 21.7 Hz (22 updates/1.01s) — target=0.2800 A mean=-0.0005 A min=-0.0005 A max=-0.0004 A spread=0.0001 A settled=0/22 code=1608 2026-08-19T17:33:17Z INFO tasks.lighting_task LightingTask: sphere loop 22.2 Hz (23 updates/1.04s) — target=0.2800 A mean=-0.0002 A min=-0.0004 A max=0.0001 A spread=0.0005 A settled=0/23 code=1792 2026-08-19T17:33:18Z INFO tasks.lighting_task LightingTask: sphere loop 21.5 Hz (22 updates/1.02s) — target=0.2800 A mean=0.0012 A min=0.0002 A max=0.0028 A spread=0.0026 A settled=0/22 code=1968 2026-08-19T17:33:19Z INFO tasks.lighting_task LightingTask: sphere loop 21.6 Hz (22 updates/1.02s) — target=0.2800 A mean=0.0076 A min=0.0031 A max=0.0140 A spread=0.0109 A settled=0/22 code=2144 2026-08-19T17:33:20Z INFO tasks.lighting_task LightingTask: sphere loop 22.0 Hz (22 updates/1.00s) — target=0.2800 A mean=0.0262 A min=0.0148 A max=0.0401 A spread=0.0253 A settled=0/22 code=2320 2026-08-19T17:33:21Z INFO tasks.lighting_task LightingTask: sphere loop 21.9 Hz (22 updates/1.01s) — target=0.2800 A mean=0.0593 A min=0.0416 A max=0.0793 A spread=0.0378 A settled=0/22 code=2496 2026-08-19T17:33:22Z INFO tasks.lighting_task LightingTask: sphere loop 22.0 Hz (23 updates/1.04s) — target=0.2800 A mean=0.1059 A min=0.0814 A max=0.1315 A spread=0.0501 A settled=0/23 code=2680 2026-08-19T17:33:23Z INFO tasks.lighting_task LightingTask: sphere loop 21.1 Hz (22 updates/1.04s) — target=0.2800 A mean=0.1592 A min=0.1331 A max=0.1859 A spread=0.0528 A settled=0/22 code=2856 2026-08-19T17:33:24Z INFO tasks.lighting_task LightingTask: sphere loop 21.8 Hz (22 updates/1.01s) — target=0.2800 A mean=0.2164 A min=0.1884 A max=0.2451 A spread=0.0567 A settled=0/22 code=3032 2026-08-19T17:33:25Z INFO tasks.lighting_task LightingTask: sphere loop 22.5 Hz (23 updates/1.02s) — target=0.2800 A mean=0.2695 A min=0.2476 A max=0.2772 A spread=0.0295 A settled=13/23 code=3112 2026-08-19T17:33:26Z INFO tasks.lighting_task LightingTask: sphere loop 23.2 Hz (24 updates/1.03s) — target=0.2800 A mean=0.2774 A min=0.2760 A max=0.2785 A spread=0.0025 A settled=24/24 code=3112 2026-08-19T17:33:27Z INFO tasks.lighting_task LightingTask: sphere loop 22.8 Hz (23 updates/1.01s) — target=0.2800 A mean=0.2784 A min=0.2774 A max=0.2792 A spread=0.0018 A settled=23/23 code=3112 2026-08-19T17:33:28Z INFO tasks.lighting_task LightingTask: sphere loop 23.2 Hz (24 updates/1.03s) — target=0.2800 A mean=0.2795 A min=0.2787 A max=0.2804 A spread=0.0018 A settled=24/24 code=3112 2026-08-19T17:33:29Z INFO tasks.lighting_task LightingTask: sphere loop 23.0 Hz (24 updates/1.04s) — target=0.2800 A mean=0.2804 A min=0.2794 A max=0.2812 A spread=0.0017 A settled=24/24 code=3112 2026-08-19T17:33:30Z INFO tasks.lighting_task LightingTask: sphere loop 23.0 Hz (23 updates/1.00s) — target=0.2800 A mean=0.2813 A min=0.2805 A max=0.2819 A spread=0.0014 A settled=23/23 code=3112 2026-08-19T17:33:31Z INFO tasks.lighting_task LightingTask: sphere loop 23.2 Hz (24 updates/1.03s) — target=0.2800 A mean=0.2822 A min=0.2815 A max=0.2828 A spread=0.0013 A settled=24/24 code=3112 2026-08-19T17:33:32Z INFO tasks.lighting_task LightingTask: sphere loop 23.0 Hz (23 updates/1.00s) — target=0.2800 A mean=0.2828 A min=0.2816 A max=0.2839 A spread=0.0023 A settled=23/23 code=3112 2026-08-19T17:33:33Z INFO tasks.lighting_task LightingTask: sphere loop 23.1 Hz (24 updates/1.04s) — target=0.2800 A mean=0.2837 A min=0.2828 A max=0.2845 A spread=0.0017 A settled=24/24 code=3112 2026-08-19T17:33:34Z INFO tasks.lighting_task LightingTask: sphere loop 23.2 Hz (24 updates/1.04s) — target=0.2800 A mean=0.2844 A min=0.2824 A max=0.2853 A spread=0.0029 A settled=23/24 code=3104 2026-08-19T17:33:35Z INFO tasks.lighting_task LightingTask: sphere loop 23.2 Hz (24 updates/1.03s) — target=0.2800 A mean=0.2822 A min=0.2810 A max=0.2829 A spread=0.0019 A settled=24/24 code=3104 2026-08-19T17:33:36Z INFO tasks.lighting_task LightingTask: sphere loop 22.9 Hz (23 updates/1.00s) — target=0.2800 A mean=0.2828 A min=0.2821 A max=0.2838 A spread=0.0016 A settled=23/23 code=3104 2026-08-19T17:33:37Z INFO tasks.lighting_task LightingTask: sphere loop 23.0 Hz (23 updates/1.00s) — target=0.2800 A mean=0.2833 A min=0.2824 A max=0.2842 A spread=0.0018 A settled=23/23 code=3104 2026-08-19T17:33:38Z INFO core.lifecycle Received SIGTERM — initiating graceful shutdown 2026-08-19T17:33:38Z INFO main Shutdown event received — stopping all tasks 2026-08-19T17:33:38Z INFO core.watchdog Watchdog stopped 2026-08-19T17:33:38Z INFO core.scheduler Stopping all tasks 2026-08-19T17:33:38Z INFO tasks.datalogger_task DataLoggerTask: all CSV files closed 2026-08-19T17:33:38Z INFO core.task_base Task datalogger stopped 2026-08-19T17:33:38Z INFO core.task_base Task lighting stopped 2026-08-19T17:33:38Z INFO core.task_base Task power stopped 2026-08-19T17:33:38Z INFO tasks.photodiode_task PhotodiodeTask: UVIC PDRO closed 2026-08-19T17:33:38Z INFO core.task_base Task photodiode stopped 2026-08-19T17:33:38Z INFO core.task_base Task flight_stage stopped 2026-08-19T17:33:38Z INFO core.task_base Task radio_config stopped 2026-08-19T17:33:38Z INFO core.task_base Task command_receiver stopped 2026-08-19T17:33:38Z INFO telemetry.transport SerialTransport: closed 2026-08-19T17:33:38Z INFO telemetry.telemetry_task TelemetryTask: transport closed 2026-08-19T17:33:38Z INFO core.task_base Task telemetry stopped 2026-08-19T17:33:38Z INFO tasks.gps_task GpsTask: driver closed 2026-08-19T17:33:38Z INFO core.task_base Task gps stopped 2026-08-19T17:33:38Z INFO tasks.mavlink_task MavlinkTask: connection closed 2026-08-19T17:33:38Z INFO core.task_base Task mavlink stopped