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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Flight after auto tuning
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:57 |
| Dropouts: | 12 (3.83 s) |
| Vehicle Life Flight Time: | 1 hours 38 minutes 23 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
| Distance: | 78.6 m |
| Max Altitude Difference: | 9 m |
| Average Speed: | 2.5 km/h |
| Max Speed: | 17.6 km/h |
| Max Speed Horizontal: | 17.6 km/h |
| Max Speed Up: | 5.9 km/h |
| Max Speed Down: | 3.6 km/h |
| Max Tilt Angle: | 28.2 deg |
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Console Output
us 4 rotation 10 icm45686 #1 on SPI bus 4 rotation 6 icm45686 #2 on SPI bus 1 rotation 3 ak09916 #0 on I2C bus 4 address 0xC rotation 13 ms5611 #1 on SPI bus 1 ekf2 [628:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Benewake TFmini Rangefinder on /dev/ttyS2 Conflicting config for /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS1 @ 921600B Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 2880 B/s on /dev/ttyS5 @ 57600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node WARN [timesync] RTT too high for timesync: 65254 ms WARN [timesync] RTT too high for timesync: 155278 ms WARN [timesync] RTT too high for timesync: 245251 ms WARN [timesync] RTT too high for timesync: 335254 ms WARN [timesync] RTT too high for timesync: 425247 ms WARN [timesync] RTT too high for timesync: 515250 ms WARN [timesync] RTT too high for timesync: 605238 ms WARN [timesync] RTT too high for timesync: 695235 ms WARN [timesync] RTT too high for timesync: 785232 ms WARN [timesync] RTT too high for timesync: 875260 ms WARN [timesync] RTT too high for timesync: 965238 ms WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: height estimate not stable WARN [health_and_arming_checks] Preflight Fail: height estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [timesync] RTT too high for timesync: 1055232 ms WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal 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 WARN [timesync] RTT too high for timesync: 1145221 ms WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-29/16_20_48.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-29/16_20_48.ulg INFO [commander] Takeoff detected WARN [timesync] RTT too high for timesync: 1235228 ms INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [vehicle_imu] ACC 1 (3408162) offset committed: [-0.094 0.018 0.034]->[-0.043 0.004 0.073]) INFO [vehicle_imu] ACC 0 (3407906) offset committed: [-0.118 0.037 0.101]->[-0.045 0.110 0.068]) INFO [vehicle_imu] ACC 2 (3407882) offset committed: [-0.071 -0.046 0.127]->[-0.047 0.193 0.146]) INFO [logger] closed logfile, bytes written: 8074484 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-29/16_22_29.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-29/16_22_29.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 621414 40.484 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 604/ 1232 255 (255) w:sem 2 888 mavlink_rcv_if3 3 0.338 1524/ 4616 175 (175) w:sem 4 254 wq:hp_default 10 1.065 1372/ 1872 237 (237) w:sem 2 269 dataman 0 0.012 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.038 1108/ 1896 205 (205) w:sem 2 330 wq:SPI4 79 7.968 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 77 7.792 2500/ 3120 255 (255) w:sem 2 343 wq:SPI1 63 6.349 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.136 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 33 3.298 1284/ 2216 242 (242) w:sem 2 614 wq:INS0 38 3.883 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 36 3.640 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 36 3.662 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.664 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 6 0.675 1924/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.217 1516/ 4616 175 (175) w:sem 4 698 wq:ttyS2 2 0.225 872/ 1704 232 (232) w:sem 2 815 mavlink_if1 12 1.275 1948/ 2704 100 (100) w:sig 4 816 mavlink_rcv_if1 4 0.467 1716/ 4616 175 (175) w:sem 4 844 mavlink_if2 54 5.484 1948/ 2704 100 (100) READY 4 849 mavlink_rcv_if2 2 0.229 1516/ 4616 175 (175) READY 4 886 mavlink_if3 25 2.532 1972/ 2704 100 (100) w:sig 4 1061 log_writer_file 11 1.166 692/ 1144 60 ( 60) READY 4 924 navigator 0 0.084 1180/ 1896 105 (105) w:sem 6 1049 logger 50 5.063 2972/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.726 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 5 running, 24 sleeping CPU usage: 57.99% tasks, 1.52% sched, 40.48% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1284.737s total, 621.415s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 673482 34.664 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 82 8.249 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 604/ 1232 255 (255) w:sem 2 888 mavlink_rcv_if3 3 0.348 1524/ 4616 175 (175) w:sem 4 254 wq:hp_default 10 1.050 1372/ 1872 237 (237) w:sem 2 269 dataman 0 0.011 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 1 0.099 1108/ 1896 205 (205) w:sem 2 330 wq:SPI4 79 7.978 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 76 7.682 2500/ 3120 255 (255) w:sem 2 343 wq:SPI1 63 6.359 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.134 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 33 3.371 1284/ 2216 242 (242) w:sem 2 614 wq:INS0 39 3.990 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 37 3.715 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 36 3.688 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.647 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 7 0.768 1924/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.217 1516/ 4616 175 (175) w:sem 4 698 wq:ttyS2 2 0.221 872/ 1704 232 (232) w:sem 2 815 mavlink_if1 13 1.347 1972/ 2704 100 (100) w:sig 4 816 mavlink_rcv_if1 5 0.574 1716/ 4616 175 (175) READY 4 844 mavlink_if2 57 5.696 1948/ 2704 100 (100) READY 4 849 mavlink_rcv_if2 2 0.247 1516/ 4616 175 (175) w:sem 4 886 mavlink_if3 26 2.611 1972/ 2704 100 (100) w:sig 4 1061 log_writer_file 8 0.805 692/ 1144 60 ( 60) w:sem 4 924 navigator 0 0.084 1180/ 1896 105 (105) w:sem 6 1049 logger 21 2.172 2972/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.741 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 4 running, 25 sleeping CPU usage: 63.81% tasks, 1.53% sched, 34.66% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1401.210s total, 673.483s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events 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: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 6 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 47102 events, 2147.83 avg, min 18us max 17950us 1128.000us rms uavcan: cycle time: 47102 events, 2624971us elapsed, 55.73us avg, min 11us max 1214us 270.337us 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: 134 events, 1147689us elapsed, 8564.84us avg, min 4us max 16302us 3062.046us rms logger_sd_write: 1866 events, 33119396us elapsed, 17748.87us avg, min 6us max 1361016us 44335.328us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1075 events, 84930.28 avg, min 61us max 10000065us 803080.375us rms navigator: 2063 events, 4802629us elapsed, 2327.98us avg, min 10us max 1152654us 37980.391us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 20195 events, 5008.86 avg, min 4158us max 61819us 551.191us rms mavlink: tx run elapsed: 20195 events, 3478378us elapsed, 172.24us avg, min 95us max 1266us 240.239us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 32603 events, 3102.62 avg, min 2160us max 46335us 498.810us rms mavlink: tx run elapsed: 32603 events, 7978766us elapsed, 244.72us avg, min 107us max 43563us 494.940us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10102 events, 10012.77 avg, min 9279us max 65792us 696.073us rms mavlink: tx run elapsed: 10102 events, 1916064us elapsed, 189.67us avg, min 103us max 1333us 224.361us rms tfmini: read: 15545 events, 191402us elapsed, 12.31us avg, min 2us max 1017us 121.562us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 20197 events, 5008.37 avg, min 4090us max 44215us 492.028us rms mavlink: tx run elapsed: 20197 events, 766167us elapsed, 37.93us avg, min 22us max 1154us 110.726us rms mag_bias_estimator: cycle: 1316 events, 58434us elapsed, 44.40us avg, min 10us max 248us 74.925us rms land_detector: cycle: 10118 events, 140402us elapsed, 13.88us avg, min 10us max 229us 41.716us rms mc_pos_control: cycle time: 10118 events, 337697us elapsed, 33.38us avg, min 25us max 218us 51.179us rms flight_mode_manager: cycle: 5059 events, 196616us elapsed, 38.86us avg, min 28us max 223us 167.104us rms mc_hover_thrust_estimator: cycle time: 10118 events, 39640us elapsed, 3.92us avg, min 1us max 125us 10.628us rms mc_autotune_attitude_control: cycle time: 49401 events, 101608us elapsed, 2.06us avg, min 1us max 355us 4.220us rms mc_att_control: cycle: 20235 events, 352436us elapsed, 17.42us avg, min 8us max 121us 20.599us rms mc_rate_control: cycle: 80431 events, 966031us elapsed, 12.01us avg, min 8us max 66us 4.798us rms control_allocator: cycle: 80431 events, 1929847us elapsed, 23.99us avg, min 20us max 174us 11.834us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 10118 events, 1861993us elapsed, 184.03us avg, min 102us max 1012us 289.765us rms ekf2: ECL update: 10117 events, 4587us elapsed, 0.45us avg, min 1us max 38us 2.426us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 10117 events, 1787599us elapsed, 176.69us avg, min 104us max 1009us 249.478us rms ekf2: ECL update: 10117 events, 4328us elapsed, 0.42us avg, min 0us max 108us 4.374us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 10117 events, 1691936us elapsed, 167.24us avg, min 102us max 768us 228.147us rms ekf2: ECL update: 10118 events, 4586us elapsed, 0.45us avg, min 0us max 103us 3.926us rms pwm_out: interval: 80431 events, 1257.87 avg, min 60us max 9974us 644.130us rms pwm_out: cycle: 80431 events, 1220181us elapsed, 15.17us avg, min 12us max 83us 5.393us rms control latency: 80432 events, 34963516us elapsed, 434.70us avg, min 149us max 8900us 1800.279us rms commander: preflight check: 929 events, 407001us elapsed, 438.11us avg, min 269us max 2041us 433.254us rms commander: cycle: 9172 events, 900979us elapsed, 98.23us avg, min 31us max 2082us 501.627us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 8095 events, 276337us elapsed, 34.14us avg, min 19us max 534us 86.408us rms vehicle_gps_position: cycle: 506 events, 5822us elapsed, 11.51us avg, min 7us max 174us 44.195us rms vehicle_air_data: cycle: 7554 events, 180617us elapsed, 23.91us avg, min 13us max 203us 36.721us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 80433 events, 1217618us elapsed, 15.14us avg, min 12us max 388us 6.055us rms sensors: 20238 events, 776925us elapsed, 38.39us avg, min 16us max 5843us 98.912us rms battery_status: 10118 events, 151554us elapsed, 14.98us avg, min 12us max 187us 17.230us rms ms5611: com_err: 0 events ms5611: measure: 10081 events, 41895us elapsed, 4.16us avg, min 3us max 118us 8.527us rms ms5611: read: 10081 events, 147501us elapsed, 14.63us avg, min 11us max 141us 15.777us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 10071 events, 55069us elapsed, 5.47us avg, min 4us max 173us 23.849us rms ms5611: read: 10071 events, 197598us elapsed, 19.62us avg, min 12us max 190us 37.817us rms board_adc: sample: 70826 events, 773990us elapsed, 10.93us avg, min 7us max 179us 61.380us rms manual_control: interval: 1130 events, 89371.11 avg, min 6407us max 200629us 62223.191us rms manual_control: cycle: 1130 events, 15795us elapsed, 13.98us avg, min 10us max 390us 62.102us rms rc_update: valid data interval: 4719 events, 21436.15 avg, min 12235us max 35567us 1901.350us rms rc_update: cycle interval: 4719 events, 21436.15 avg, min 12239us max 35572us 1900.609us rms rc_update: cycle: 4719 events, 75808us elapsed, 16.06us avg, min 12us max 269us 23.334us rms control latency: 40312 events, 16883699us elapsed, 418.83us avg, min 382us max 1701us 282.270us rms px4io: interface write: 40330 events, 9385043us elapsed, 232.71us avg, min 122us max 332us 23.227us rms px4io: interface read: 28458 events, 7787931us elapsed, 273.66us avg, min 135us max 658us 545.669us rms px4io: interval: 40312 events, 2509.78 avg, min 307us max 8817us 390.019us rms px4io: cycle: 40312 events, 17969191us elapsed, 445.75us avg, min 244us max 8724us 2242.300us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 68788 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 68788 events, 16877551us elapsed, 245.36us avg, min 118us max 650us 358.226us rms load_mon: cycle: 203 events, 35133us elapsed, 173.07us avg, min 97us max 374us 245.006us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 515 events, 4747700us elapsed, 9218.83us avg, min 18us max 1152516us 75612.539us rms dma_alloc: 7 events param: set: 47 events, 2547us elapsed, 54.19us avg, min 1us max 231us 79.431us rms param: get: 26732 events param: find: 33307 events param: export: 3 events, 195104us elapsed, 65034.67us avg, min 58704us max 73182us 7407.996us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events 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: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 2 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 54734 events, 2141.94 avg, min 17us max 3936us 1125.222us rms uavcan: cycle time: 54734 events, 2704308us elapsed, 49.41us avg, min 11us max 1483us 260.033us 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: 204 events, 1816178us elapsed, 8902.83us avg, min 4us max 16084us 3891.876us rms logger_sd_write: 2855 events, 51163788us elapsed, 17920.77us avg, min 6us max 1603120us 58811.957us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 11 events, 9090909.00 avg, min 9999997us max 10000003us 1.549us rms navigator: 2366 events, 7147309us elapsed, 3020.84us avg, min 10us max 1371225us 56175.340us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 23430 events, 5003.23 avg, min 4121us max 6889us 175.748us rms mavlink: tx run elapsed: 23430 events, 4209702us elapsed, 179.67us avg, min 96us max 1572us 236.623us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 38614 events, 3035.90 avg, min 2141us max 6410us 273.225us rms mavlink: tx run elapsed: 38613 events, 9466331us elapsed, 245.16us avg, min 107us max 3349us 482.609us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11721 events, 10000.71 avg, min 9132us max 11622us 136.239us rms mavlink: tx run elapsed: 11721 events, 2148189us elapsed, 183.28us avg, min 103us max 1325us 220.935us rms tfmini: read: 17973 events, 213676us elapsed, 11.89us avg, min 2us max 1066us 118.678us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 23433 events, 5002.58 avg, min 4091us max 7315us 199.132us rms mavlink: tx run elapsed: 23433 events, 933968us elapsed, 39.86us avg, min 22us max 1213us 111.728us rms mag_bias_estimator: cycle: 25 events, 440us elapsed, 17.60us avg, min 14us max 39us 554.637us rms land_detector: cycle: 11724 events, 179026us elapsed, 15.27us avg, min 10us max 171us 40.400us rms mc_pos_control: cycle time: 11724 events, 404891us elapsed, 34.54us avg, min 26us max 200us 50.353us rms flight_mode_manager: cycle: 5862 events, 230227us elapsed, 39.27us avg, min 28us max 224us 156.108us rms mc_hover_thrust_estimator: cycle time: 11724 events, 73240us elapsed, 6.25us avg, min 1us max 137us 12.608us 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: 23448 events, 285065us elapsed, 12.16us avg, min 9us max 88us 19.770us rms mc_rate_control: cycle: 93216 events, 985352us elapsed, 10.57us avg, min 8us max 26us 4.656us rms control_allocator: cycle: 93216 events, 2231488us elapsed, 23.94us avg, min 20us max 43us 11.509us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 11724 events, 2376729us elapsed, 202.72us avg, min 103us max 954us 295.758us rms ekf2: ECL update: 11724 events, 4629us elapsed, 0.39us avg, min 0us max 56us 2.407us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 11724 events, 2095907us elapsed, 178.77us avg, min 102us max 986us 256.393us rms ekf2: ECL update: 11724 events, 4919us elapsed, 0.42us avg, min 0us max 23us 4.112us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 11724 events, 2346615us elapsed, 200.15us avg, min 102us max 1000us 235.855us rms ekf2: ECL update: 11724 events, 6477us elapsed, 0.55us avg, min 0us max 133us 4.538us rms pwm_out: interval: 93216 events, 1257.71 avg, min 61us max 9990us 642.140us rms pwm_out: cycle: 93216 events, 1411138us elapsed, 15.14us avg, min 12us max 28us 5.240us rms control latency: 93216 events, 40334893us elapsed, 432.70us avg, min 151us max 8904us 1746.252us rms commander: preflight check: 1069 events, 480639us elapsed, 449.62us avg, min 273us max 1915us 434.179us rms commander: cycle: 10648 events, 1077998us elapsed, 101.24us avg, min 30us max 2166us 489.963us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 9380 events, 313534us elapsed, 33.43us avg, min 19us max 198us 83.590us rms vehicle_gps_position: cycle: 586 events, 7622us elapsed, 13.01us avg, min 7us max 148us 43.813us rms vehicle_air_data: cycle: 8752 events, 208273us elapsed, 23.80us avg, min 13us max 136us 35.706us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 93217 events, 1405450us elapsed, 15.08us avg, min 12us max 43us 5.858us rms sensors: 23448 events, 848265us elapsed, 36.18us avg, min 24us max 187us 92.023us rms battery_status: 11725 events, 171797us elapsed, 14.65us avg, min 12us max 168us 16.940us rms ms5611: com_err: 0 events ms5611: measure: 11683 events, 48673us elapsed, 4.17us avg, min 3us max 49us 8.091us rms ms5611: read: 11683 events, 170649us elapsed, 14.61us avg, min 11us max 134us 15.192us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 11670 events, 60191us elapsed, 5.16us avg, min 4us max 122us 22.981us rms ms5611: read: 11670 events, 225440us elapsed, 19.32us avg, min 12us max 144us 36.631us rms board_adc: sample: 82075 events, 890990us elapsed, 10.86us avg, min 7us max 155us 57.516us rms manual_control: interval: 1733 events, 67560.79 avg, min 18us max 200102us 50671.672us rms manual_control: cycle: 1733 events, 25038us elapsed, 14.45us avg, min 10us max 810us 56.795us rms rc_update: valid data interval: 5461 events, 21467.68 avg, min 12605us max 35499us 1863.605us rms rc_update: cycle interval: 5461 events, 21467.68 avg, min 12580us max 35502us 1863.282us rms rc_update: cycle: 5461 events, 89138us elapsed, 16.32us avg, min 12us max 142us 22.975us rms control latency: 46719 events, 19508949us elapsed, 417.58us avg, min 384us max 1714us 276.866us rms px4io: interface write: 46719 events, 10886899us elapsed, 233.03us avg, min 123us max 326us 22.574us rms px4io: interface read: 32829 events, 8994725us elapsed, 273.99us avg, min 135us max 640us 530.783us rms px4io: interval: 46718 events, 2509.51 avg, min 309us max 8811us 400.056us rms px4io: cycle: 46718 events, 20809806us elapsed, 445.43us avg, min 244us max 8722us 2176.512us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 79549 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 79548 events, 19538864us elapsed, 245.62us avg, min 119us max 636us 347.744us rms load_mon: cycle: 234 events, 41741us elapsed, 178.38us avg, min 97us max 545us 239.613us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 589 events, 7089585us elapsed, 12036.65us avg, min 19us max 1371164us 111900.297us rms dma_alloc: 2 events param: set: 3 events, 29us elapsed, 9.67us avg, min 1us max 26us 381.199us rms param: get: 19036 events param: find: 34685 events param: export: 1 events, 70361us elapsed, 70361.00us avg, min 70361us max 70361us infus rms