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PX4 Octorotor | Open 3D ViewOpen PID Analysis |
CoaxOctocopter
| Airframe: | Generic 10" Octo coaxial geometry Octorotor Coaxial (12001) |
| Hardware: | PX4_FMU_V6C (V6C000000) |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:51 |
| Vehicle Life Flight Time: | 7 minutes 47 seconds |
| Vehicle UUID: | 000600000000363035373330510c0019003d |
| Feedback: | Flight data for the calibration flight of a coaxial octocopter during flight |
| Distance: | 31.6 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 2.1 km/h |
| Max Speed: | 16.4 km/h |
| Max Speed Horizontal: | 16.4 km/h |
| Max Speed Up: | 4.7 km/h |
| Max Speed Down: | 14.5 km/h |
| Max Tilt Angle: | 173.6 deg |
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Console Output
HW arch: PX4_FMU_V6C HW type: V6C000000 HW version: 0x000 HW revision: 0x000 PX4 git-hash: b8c541dd7277ed735139d7d1bfb829d61fbe29fb PX4 version: Release 1.14.0 (17694975) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Oct 19 2023 16:22:41 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000363035373330510c0019003d MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3066 bytes, decoded 3066 bytes (INT32:74, FLOAT:77) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/12001_octo_cox INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 address 0x39 INFO [px4io] IO FW CRC match WARN [camera_capture] No capture channel configured Board sensors: /etc/init.d/rc.board_sensors bmi055_accel #0 on SPI bus 1 rotation 4 bmi055_gyro #0 on SPI bus 1 rotation 4 icm42688p #0 on SPI bus 1 rotation 6 ms5611 #0 on I2C bus 4 (external) address 0x77 ist8310 #0 on I2C bus 4 (external) address 0xC ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 ll40ls #0 on I2C bus 4 address 0x62 rotation 25 WARN [SPI_I2C] Already running on bus 1 ekf2 [657:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS5 WARN [mavlink] offboard mission init failed (-1) INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS3 @ 921600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 2880 B/s on /dev/ttyS1 @ 57600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-20/07_52_44.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-20/07_52_44.ulg INFO [commander] Takeoff detected WARN [commander] Disarming denied! Not landed INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 3076582 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-20/07_56_22.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-20/07_56_22.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 345257 59.689 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.001 1092/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 3 391 wq:rate_ctrl 54 5.464 2308/ 3120 255 (255) w:sem 3 303 wq:hp_default 42 4.197 1196/ 1872 237 (237) w:sem 3 318 dataman 0 0.007 852/ 1280 90 ( 90) w:sem 4 326 wq:lp_default 0 0.034 1028/ 1896 205 (205) w:sem 3 333 wq:I2C1 1 0.188 928/ 2312 246 (246) w:sem 3 394 wq:SPI1 68 6.805 1840/ 2368 253 (253) w:sem 3 408 wq:I2C4 13 1.333 928/ 2312 243 (243) w:sem 3 633 wq:nav_and_controllers 21 2.166 1444/ 2216 242 (242) w:sem 3 635 wq:INS0 30 3.043 4316/ 5976 241 (241) w:sem 3 636 wq:INS1 31 3.114 4316/ 5976 240 (240) w:sem 3 648 commander 4 0.474 1648/ 3192 140 (140) w:sig 5 1043 log_writer_file 3 0.343 628/ 1144 60 ( 60) w:sem 4 765 gps 1 0.130 1236/ 1936 205 (205) w:sem 4 841 mavlink_if0 9 0.931 1964/ 2704 100 (100) w:sig 4 843 mavlink_rcv_if0 1 0.191 1612/ 4616 175 (175) w:sem 4 863 mavlink_if1 39 3.914 1964/ 2712 100 (100) w:sig 4 869 mavlink_rcv_if1 1 0.154 1336/ 4616 175 (175) w:sem 4 908 mavlink_if2 19 1.903 1916/ 2712 100 (100) w:sig 4 910 mavlink_rcv_if2 1 0.195 1336/ 4616 175 (175) w:sem 4 944 navigator 0 0.065 1056/ 1896 105 (105) w:sem 6 1018 logger 37 3.729 2972/ 3616 230 (230) RUN 4 1046 wq:uavcan 7 0.794 2244/ 3600 236 (236) w:sem 3 Processes: 27 total, 2 running, 25 sleeping CPU usage: 39.18% tasks, 1.13% sched, 59.69% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 536.555s total, 345.258s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 376990 59.062 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 23 2.300 1092/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 3 391 wq:rate_ctrl 54 5.491 2308/ 3120 255 (255) w:sem 3 303 wq:hp_default 42 4.245 1196/ 1872 237 (237) w:sem 3 318 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 326 wq:lp_default 1 0.109 1028/ 1896 205 (205) w:sem 3 333 wq:I2C1 2 0.231 928/ 2312 246 (246) w:sem 3 394 wq:SPI1 68 6.795 1840/ 2368 253 (253) w:sem 3 408 wq:I2C4 13 1.323 928/ 2312 243 (243) w:sem 3 633 wq:nav_and_controllers 21 2.184 1444/ 2216 242 (242) w:sem 3 635 wq:INS0 31 3.133 4316/ 5976 241 (241) w:sem 3 636 wq:INS1 32 3.200 4316/ 5976 240 (240) w:sem 3 648 commander 4 0.478 1648/ 3192 140 (140) w:sig 5 1043 log_writer_file 3 0.326 628/ 1144 60 ( 60) w:sem 4 765 gps 1 0.135 1236/ 1936 205 (205) w:sem 4 841 mavlink_if0 9 0.972 1964/ 2704 100 (100) w:sig 4 843 mavlink_rcv_if0 1 0.199 1612/ 4616 175 (175) w:sem 4 863 mavlink_if1 40 4.056 1964/ 2712 100 (100) w:sig 4 869 mavlink_rcv_if1 1 0.197 1336/ 4616 175 (175) w:sem 4 908 mavlink_if2 19 1.987 1916/ 2712 100 (100) READY 4 910 mavlink_rcv_if2 2 0.199 1336/ 4616 175 (175) w:sem 4 944 navigator 0 0.068 1056/ 1896 105 (105) w:sem 6 1018 logger 13 1.336 2972/ 3616 230 (230) RUN 4 1046 wq:uavcan 8 0.813 2244/ 3600 236 (236) w:sem 3 Processes: 27 total, 3 running, 24 sleeping CPU usage: 39.79% tasks, 1.15% sched, 59.06% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 587.371s total, 376.991s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 72707 events, 2999.96 avg, min 1172us max 4829us 135.353us rms uavcan: cycle time: 72707 events, 1532395us elapsed, 21.08us avg, min 13us max 983us 58.315us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 215 events, 883735us elapsed, 4110.40us avg, min 866us max 10116us 2240.527us rms logger_sd_write: 714 events, 1990457us elapsed, 2787.75us avg, min 5us max 74531us 5519.615us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6916 events, 30092.55 avg, min 56us max 10000636us 317369.219us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 40359 events, 6897161us elapsed, 170.90us avg, min 135us max 845us 82.127us rms gyro_fft: cycle interval: 86273 events, 2528.28 avg, min 303us max 3582us 70.805us rms gyro_fft: cycle: 86273 events, 7775723us elapsed, 90.13us avg, min 2us max 854us 146.161us rms navigator: 4652 events, 185272us elapsed, 39.83us avg, min 8us max 3591us 152.128us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 43609 events, 5001.64 avg, min 4093us max 27548us 191.760us rms mavlink: tx run elapsed: 43609 events, 5415547us elapsed, 124.18us avg, min 76us max 1622us 142.878us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 67552 events, 3228.86 avg, min 2117us max 26413us 548.708us rms mavlink: tx run elapsed: 67552 events, 27616180us elapsed, 408.81us avg, min 86us max 5749us 932.529us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 21037 events, 10368.00 avg, min 9124us max 61074us 1996.090us rms mavlink: tx run elapsed: 21037 events, 10883061us elapsed, 517.33us avg, min 79us max 51689us 4083.191us rms mag_bias_estimator: cycle: 7207 events, 130241us elapsed, 18.07us avg, min 2us max 682us 64.646us rms land_detector: cycle: 21568 events, 207887us elapsed, 9.64us avg, min 8us max 141us 6.188us rms mc_pos_control: cycle time: 21568 events, 251909us elapsed, 11.68us avg, min 4us max 107us 15.502us rms flight_mode_manager: cycle: 10906 events, 126749us elapsed, 11.62us avg, min 3us max 181us 181.420us rms mc_hover_thrust_estimator: cycle time: 21542 events, 40588us elapsed, 1.88us avg, min 1us max 97us 2.922us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 43136 events, 590421us elapsed, 13.69us avg, min 7us max 89us 8.305us rms mc_rate_control: cycle: 171399 events, 1414183us elapsed, 8.25us avg, min 7us max 34us 1.449us rms control_allocator: cycle: 171399 events, 4029196us elapsed, 23.51us avg, min 20us max 216us 3.830us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21568 events, 3249603us elapsed, 150.67us avg, min 85us max 1230us 113.430us rms ekf2: ECL update: 21568 events, 7677us elapsed, 0.35us avg, min 0us max 38us 1.619us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 24275 events, 3555150us elapsed, 146.45us avg, min 85us max 669us 105.846us rms ekf2: ECL update: 24275 events, 9316us elapsed, 0.38us avg, min 0us max 124us 2.585us rms pwm_out: interval: 727 events, 299587.70 avg, min 299288us max 300712us 128.052us rms pwm_out: cycle: 727 events, 2759us elapsed, 3.80us avg, min 2us max 78us 9.537us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 1986 events, 441621us elapsed, 222.37us avg, min 151us max 1134us 187.364us rms commander: cycle: 19826 events, 1312716us elapsed, 66.21us avg, min 25us max 1171us 145.330us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 10214 events, 271790us elapsed, 26.61us avg, min 16us max 449us 19.902us rms vehicle_gps_position: cycle: 1745 events, 13858us elapsed, 7.94us avg, min 6us max 112us 12.701us rms vehicle_air_data: cycle: 13905 events, 222777us elapsed, 16.02us avg, min 10us max 138us 22.779us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 171400 events, 2150039us elapsed, 12.54us avg, min 10us max 105us 1.994us rms sensors: 43136 events, 1114644us elapsed, 25.84us avg, min 18us max 2035us 25.705us rms battery_status: 21812 events, 332457us elapsed, 15.24us avg, min 10us max 802us 42.093us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 18540 events, 25282755us elapsed, 1363.69us avg, min 1325us max 1545us 59.739us rms ll40ls: comms errors: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 18540 events, 3929944us elapsed, 211.97us avg, min 205us max 330us 29.091us rms ms5611: read: 18540 events, 11014923us elapsed, 594.12us avg, min 586us max 732us 23.714us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events board_adc: sample: 130872 events, 1191790us elapsed, 9.11us avg, min 6us max 747us 32.154us rms manual_control: interval: 3438 events, 63386.03 avg, min 3394us max 200335us 60319.898us rms manual_control: cycle: 3438 events, 45518us elapsed, 13.24us avg, min 8us max 531us 29.539us rms rc_update: valid data interval: 10652 events, 20475.00 avg, min 12730us max 29266us 1488.117us rms rc_update: cycle interval: 10652 events, 20475.00 avg, min 12730us max 29266us 1488.059us rms rc_update: cycle: 10652 events, 153539us elapsed, 14.41us avg, min 11us max 271us 15.509us rms control latency: 86896 events, 37760828us elapsed, 434.55us avg, min 381us max 1724us 217.513us rms px4io: interface write: 86902 events, 20888227us elapsed, 240.37us avg, min 125us max 398us 17.261us rms px4io: interface read: 63535 events, 17970769us elapsed, 282.85us avg, min 139us max 684us 230.158us rms px4io: interval: 86896 events, 2510.16 avg, min 294us max 9066us 435.774us rms px4io: cycle: 86896 events, 40222564us elapsed, 462.88us avg, min 248us max 8995us 951.368us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 150437 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 150438 events, 38341711us elapsed, 254.87us avg, min 122us max 681us 152.006us rms rgbled: led_control message missed: 0 events load_mon: cycle: 436 events, 38213us elapsed, 87.64us avg, min 62us max 547us 109.679us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1232 events, 108539us elapsed, 88.10us avg, min 15us max 3568us 581.920us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 5 events param: set: 4 events, 96us elapsed, 24.00us avg, min 1us max 88us 74.275us rms param: get: 27383 events param: find: 41108 events param: export: 2 events, 22719us elapsed, 11359.50us avg, min 10817us max 11902us 767.212us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 17250 events, 2999.83 avg, min 1657us max 4343us 150.440us rms uavcan: cycle time: 17250 events, 351362us elapsed, 20.37us avg, min 12us max 1214us 125.788us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 147 events, 732366us elapsed, 4982.08us avg, min 865us max 58993us 7242.543us rms logger_sd_write: 487 events, 1646658us elapsed, 3381.23us avg, min 5us max 58184us 9706.561us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 5 events, 7999898.40 avg, min 9999484us max 10000008us 224.967us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 8889 events, 1555342us elapsed, 174.97us avg, min 138us max 799us 184.589us rms gyro_fft: cycle interval: 20467 events, 2528.23 avg, min 1972us max 3067us 55.721us rms gyro_fft: cycle: 20467 events, 1764642us elapsed, 86.22us avg, min 7us max 830us 315.557us rms navigator: 1100 events, 105343us elapsed, 95.77us avg, min 9us max 36973us 1235.114us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10344 events, 5001.99 avg, min 4114us max 6133us 169.085us rms mavlink: tx run elapsed: 10344 events, 1353415us elapsed, 130.84us avg, min 76us max 1376us 310.883us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15910 events, 3252.34 avg, min 2102us max 8838us 608.701us rms mavlink: tx run elapsed: 15910 events, 7124091us elapsed, 447.77us avg, min 86us max 6278us 2028.383us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4978 events, 10392.15 avg, min 9094us max 61000us 2141.803us rms mavlink: tx run elapsed: 4978 events, 2731089us elapsed, 548.63us avg, min 79us max 51250us 8677.789us rms mag_bias_estimator: cycle: 42 events, 633us elapsed, 15.07us avg, min 9us max 85us 857.120us rms land_detector: cycle: 5117 events, 51746us elapsed, 10.11us avg, min 8us max 126us 13.494us rms mc_pos_control: cycle time: 5117 events, 106969us elapsed, 20.90us avg, min 4us max 105us 33.249us rms flight_mode_manager: cycle: 2587 events, 60338us elapsed, 23.32us avg, min 3us max 156us 372.740us rms mc_hover_thrust_estimator: cycle time: 4838 events, 17896us elapsed, 3.70us avg, min 1us max 83us 6.741us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 10234 events, 109403us elapsed, 10.69us avg, min 7us max 75us 17.638us rms mc_rate_control: cycle: 40660 events, 350427us elapsed, 8.62us avg, min 7us max 17us 3.110us rms control_allocator: cycle: 40660 events, 956781us elapsed, 23.53us avg, min 20us max 38us 8.226us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5117 events, 921718us elapsed, 180.13us avg, min 85us max 1121us 252.838us rms ekf2: ECL update: 5117 events, 1910us elapsed, 0.37us avg, min 1us max 71us 3.562us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5759 events, 1000150us elapsed, 173.67us avg, min 85us max 702us 234.997us rms ekf2: ECL update: 5760 events, 1984us elapsed, 0.34us avg, min 0us max 20us 5.354us rms pwm_out: interval: 173 events, 298265.92 avg, min 299490us max 300510us 118.575us rms pwm_out: cycle: 173 events, 727us elapsed, 4.20us avg, min 2us max 142us 22.294us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 476 events, 106773us elapsed, 224.31us avg, min 154us max 1099us 406.383us rms commander: cycle: 4705 events, 330841us elapsed, 70.32us avg, min 22us max 1136us 315.219us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 2424 events, 61463us elapsed, 25.36us avg, min 17us max 167us 42.143us rms vehicle_gps_position: cycle: 415 events, 3503us elapsed, 8.44us avg, min 6us max 86us 26.918us rms vehicle_air_data: cycle: 3299 events, 53638us elapsed, 16.26us avg, min 10us max 132us 49.395us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 40661 events, 510288us elapsed, 12.55us avg, min 11us max 34us 4.249us rms sensors: 10234 events, 255558us elapsed, 24.97us avg, min 18us max 128us 53.107us rms battery_status: 5176 events, 79079us elapsed, 15.28us avg, min 10us max 796us 91.931us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 4398 events, 6001061us elapsed, 1364.50us avg, min 1325us max 1511us 128.681us rms ll40ls: comms errors: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4398 events, 934050us elapsed, 212.38us avg, min 205us max 347us 62.818us rms ms5611: read: 4398 events, 2615318us elapsed, 594.66us avg, min 587us max 711us 51.258us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events board_adc: sample: 31056 events, 283417us elapsed, 9.13us avg, min 6us max 817us 69.212us rms manual_control: interval: 1394 events, 37032.76 avg, min 3510us max 200081us 39192.660us rms manual_control: cycle: 1394 events, 21863us elapsed, 15.68us avg, min 8us max 553us 56.970us rms rc_update: valid data interval: 2528 events, 20467.37 avg, min 12468us max 29270us 1494.548us rms rc_update: cycle interval: 2528 events, 20467.37 avg, min 12468us max 29270us 1494.216us rms rc_update: cycle: 2528 events, 40707us elapsed, 16.10us avg, min 12us max 492us 36.253us rms control latency: 20616 events, 8988310us elapsed, 435.99us avg, min 383us max 1705us 471.627us rms px4io: interface write: 20618 events, 4957002us elapsed, 240.42us avg, min 124us max 373us 37.420us rms px4io: interface read: 15090 events, 4269010us elapsed, 282.90us avg, min 139us max 666us 497.774us rms px4io: interval: 20616 events, 2510.26 avg, min 295us max 9008us 436.012us rms px4io: cycle: 20616 events, 9558498us elapsed, 463.64us avg, min 248us max 8939us 2060.132us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 35708 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 35708 events, 9102787us elapsed, 254.92us avg, min 121us max 662us 329.080us rms rgbled: led_control message missed: 1 events load_mon: cycle: 104 events, 11054us elapsed, 106.29us avg, min 63us max 1637us 289.558us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 292 events, 86517us elapsed, 296.29us avg, min 15us max 36951us 2598.401us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 6us elapsed, 2.00us avg, min 1us max 3us 90.973us rms param: get: 5952 events param: find: 9993 events param: export: 1 events, 11352us elapsed, 11352.00us avg, min 11352us max 11352us infus rms