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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
HIL crash in mission mode
| Airframe: | HIL Quadcopter X Simulation (1001) |
| Hardware: | PX4FMU_V2 |
| Software Version: | 0668d616 branch: master |
| OS Version: | NuttX, v7.18.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:33 |
| Dropouts: | 341 (139 s) |
| Vehicle Life Flight Time: | 1 minutes 46 seconds |
| Vehicle UUID: | 003F00243335511435303335 (HIL quad X) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Vehicle becomes horribly unstable in HIL in mission mode, when SYS_COMPANION set to 921600 |
| Distance: | 127.9 m |
| Max Altitude Difference: | 51 m |
| Average Speed: | 0.8 km/h |
| Max Speed: | 17.0 km/h |
| Max Speed Horizontal: | 11.6 km/h |
| Max Speed Up: | 14.2 km/h |
| Max Speed Down: | 1.8 km/h |
| Max Tilt Angle: | 64.6 deg |
| Max Rotation Speed: | 618.7 deg/s |
| Average Current: | 10.0 A |
| Max Current: | 10.0 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE 0 Idle Task 155263 0.598 228/ 748 0 ( 0) READY 1 hpwork 2292 1.197 640/ 1780 192 (192) w:sig 2 lpwork 563 0.099 640/ 1780 50 ( 50) w:sig 3 init 19259 0.000 1672/ 2484 100 (100) w:sem 106 dataman 383 0.000 728/ 1180 90 ( 90) w:sem 108 sensors 21750 10.479 1440/ 1956 249 (249) w:sem 110 commander 3175 1.297 2688/ 3644 140 (140) w:sig 111 commander_low_prio 7 0.000 592/ 2996 50 ( 50) w:sem 118 pwm_out_sim 15916 0.898 704/ 1172 100 (100) w:sem 120 px4io 3954 4.291 1008/ 1484 240 (240) w:sem 132 mavlink_if0 2485 0.998 1640/ 2436 100 (100) w:sig 133 mavlink_rcv_if0 793 0.299 1320/ 2140 175 (175) w:sem 141 mavlink_if1 13799 6.986 1736/ 2372 100 (100) READY 144 mavlink_rcv_if1 1331 2.295 1496/ 2140 175 (175) READY 191 log_writer_file 7 0.299 536/ 1068 60 ( 60) READY 179 mavlink_if2 12560 6.886 1720/ 2388 100 (100) READY 180 mavlink_rcv_if2 8073 12.075 1816/ 2140 175 (175) READY 190 logger 1059 9.780 3024/ 3540 245 (245) RUN 230 ekf2 14485 27.944 5080/ 5876 250 (250) w:sem 233 mc_att_control 4760 8.083 1176/ 1676 250 (250) w:sem 241 mc_pos_control 3542 6.686 1152/ 1876 250 (250) w:sem 247 navigator 85 0.099 1064/ 1772 105 (105) w:sem Processes: 22 total, 7 running, 15 sleeping CPU usage: 99.40% tasks, 0.00% sched, 0.60% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 240.455s total, 155.264s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE 0 Idle Task 155982 0.199 228/ 748 0 ( 0) READY 1 hpwork 4298 1.398 640/ 1780 192 (192) READY 2 lpwork 760 0.000 664/ 1780 50 ( 50) READY 3 init 19259 0.000 1672/ 2484 100 (100) w:sem 106 dataman 393 0.099 728/ 1180 90 ( 90) READY 108 sensors 39505 13.486 1440/ 1956 249 (249) w:sem 110 commander 5445 1.598 2688/ 3644 140 (140) w:sig 111 commander_low_prio 13 0.000 592/ 2996 50 ( 50) w:sem 118 pwm_out_sim 17153 0.299 704/ 1172 100 (100) w:sem 120 px4io 11109 5.294 1008/ 1484 240 (240) w:sem 132 mavlink_if0 3889 0.599 1720/ 2436 100 (100) READY 133 mavlink_rcv_if0 1377 0.399 1320/ 2140 175 (175) READY 141 mavlink_if1 23460 4.295 1736/ 2372 100 (100) w:sig 144 mavlink_rcv_if1 4554 1.198 1496/ 2140 175 (175) w:sem 191 log_writer_file 273 0.099 544/ 1068 60 ( 60) w:sem 179 mavlink_if2 21895 4.295 1736/ 2388 100 (100) w:sig 180 mavlink_rcv_if2 28151 15.084 1816/ 2140 175 (175) READY 190 logger 8957 4.395 3024/ 3540 245 (245) RUN 230 ekf2 63853 38.761 5080/ 5876 250 (250) w:sem 233 mc_att_control 18600 11.188 1176/ 1676 250 (250) w:sem 241 mc_pos_control 24239 29.670 1152/ 1876 250 (250) w:sem 247 navigator 565 0.000 1064/ 1772 105 (105) w:sem Processes: 22 total, 8 running, 14 sleeping CPU usage: 99.80% tasks, 0.00% sched, 0.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 411.073s total, 155.982s idle
Performance Counters
Pre Flight:
navigator: 1058 events, 85602us elapsed, 80us avg, min 24us max 12047us 494.725us rms ctrl_latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mc_att_control: 30021 events, 3646899us elapsed, 121us avg, min 72us max 395us 31.109us rms ctl_lat: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 1113961us elapsed, 371320us avg, min 27392us max 558584us 298243.375us rms mavlink_txe: 146 events mavlink_el: 65792 events, 16167993us elapsed, 245us avg, min 87us max 44103us 745.294us rms mavlink_txe: 137 events mavlink_el: 65867 events, 18503835us elapsed, 280us avg, min 90us max 22419us 884.113us rms mavlink_txe: 0 events mavlink_el: 21251 events, 2749458us elapsed, 129us avg, min 69us max 26650us 375.000us rms io latency: 26567 events, 530750654670us elapsed, 19977816us avg, min 662us max 185598860us 56979796.000us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 34025 events, 29746994us elapsed, 874us avg, min 259us max 15005us 766.405us rms io_txns: 67850 events, 28560598us elapsed, 420us avg, min 132us max 11138us 305.658us rms stack_check: 678 events, 13786us elapsed, 20us avg, min 1us max 3494us 149.552us rms sensors: 33238 events, 22802476us elapsed, 686us avg, min 17us max 4521us 413.749us rms dma_alloc: 5 events
Post Flight:
navigator: 3203 events, 14940138us elapsed, 4664us avg, min 31us max 9560318us 180608.047us rms ctrl_latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mc_att_control: 85883 events, 11056799us elapsed, 128us avg, min 104us max 363us 37.193us rms ctl_lat: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 3 events, 1867096us elapsed, 622365us avg, min 170184us max 1425580us 697440.375us rms logger_sd_write: 311 events, 167131981us elapsed, 537401us avg, min 9us max 19344740us 1438724.125us rms mavlink_txe: 0 events mavlink_el: 8456 events, 89496381us elapsed, 10583us avg, min 109us max 247632us 17093.182us rms mavlink_txe: 934 events mavlink_el: 10078 events, 73367196us elapsed, 7279us avg, min 118us max 154222us 12980.183us rms mavlink_txe: 0 events mavlink_el: 7758 events, 9549329us elapsed, 1230us avg, min 71us max 103272us 4650.140us rms io latency: 72192 events, 192722886us elapsed, 2669us avg, min 827us max 49885us 34565472.000us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 72198 events, 67731816us elapsed, 938us avg, min 1us max 44234us 1231.600us rms io_txns: 104626 events, 65364058us elapsed, 624us avg, min 134us max 44203us 606.005us rms stack_check: 390 events, 3007010us elapsed, 7710us avg, min 1us max 1753709us 91123.250us rms sensors: 85883 events, 86403757us elapsed, 1006us avg, min 632us max 3880us 487.378us rms dma_alloc: 0 events