5 ms·
The article title is still misleading. The sensor fusion was the root cause of the malfunction, it was not the advanced control technique that was deployed to s
by njoubert 5y ago
The article title is still misleading. The sensor fusion was the root cause of the malfunction, it was not the advanced control technique that was deployed to survive the anomaly.
- arbirk 5y agoAgree. It's interesting that they don't treat the optical and gyroscopic systems as two separate sensors with the possibility to disregard one if it disagrees too much. A quick restart of the visual system would have been the most optimal solution #2020-hindsight
- afrodc_ 5y agoHow would you know which one is wrong in this scenario?
- omeze 5y agoThis reminds me of the adage “ Never go to sea with two chronometers; take one or three” [1] to avoid this exact conundrum [1] https://en.m.wikipedia.org/wiki/Triple_modular_redundancy#Chronometers https://en.m.wikipedia.org/wiki/Triple_modular_redundancy#Ch...
- kortex 5y agoIncidentally, I learned the hard way why you never run two instances of Consul (or any Raft powered stack), only 1 or 3. All sorts of wacky state can occur.
- arbirk 5y agoYou have the navigation system as a third ‘sensor’, but in this case the sensor with an abnormal spike could be disregarded
- mrandish 5y agoMy understanding from reading an earlier explanation from JPL was that it appeared the issue wasn't so much from the missing frame itself but rather the software not being tolerant of the frame count being off. IIRC, it seemed more like a missing test case or scenario in the software validation suite might have been the ultimate root cause.