Unexplained intermittent CAN / 2CAN Jaguar problems at GSR

[Zme]

i can provide a little more information on something that seems to have similar behavior to this problem.
We are using c++ and have had similar issues with jaguars suddenly no longer responding to commands when using a closed loop control mode.
We noticed that it generally happened when there was a fault on the jaguar (current, voltage etc). when this happened the jag stopped working for whatever reason. it was thought that perhaps the fault caused the heartbeat to time out for some reason and therefore the jag would no longer respond to commands.
the fix we tried was running back through the initialization of the jaguar, (setting pid's and enabling control) whenever we detected a fault, this seemed to alleviate the problem but didn't catch everything. we then put a button on the joystick that would run through the re-init and while it didn't solve the problem it made things bearable.