Vexing bug (possibly system watchdog related?)

[LyraS]

We have a problem with our robot.

The symptoms are: every 30 seconds, or so, all the motors, servos and solenoids on our robot turn on and off for about 100-500 ms. This happens repeatedly over a 2-3 second interval, after which everything is fine for another 30 seconds - 1 minute (and then the whole sequence repeats).

When this "chatter" occurs, we get "Watchdog not feed" warnings on the driver station.

We get this same problem when using the out-of-the-box SimpleRobot sample code in WindRiver.

It happens with a much simpler program (<50 line and no Watchdog object instantiated at all). The program is attached.

It happens on multiple cRios.

It happens even if we raise our Task Priority to 1.

It happens if we simply set a motor running and then go into a Wait state for 10 minutes.

We've had this problem for quite a while (months) over multiple cRio image version, versions of wpilib, etc.

We are running out of ideas on debugging this. Any help would be greatly appreciated!

Thanks,

Geoff