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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Malta Gozo Ramla Bay 2.3.19 - Platschi flying in high wind speed conditions
| Airframe: | 2200 |
| Hardware: | PX4FMU_V4 |
| Software Version: | 2786d39b branch: searchwing18 |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | 02-03-2019 15:35 |
| Logging Duration: | 0:35:40 |
| Dropouts: | 91 (30 s) |
| Vehicle Life Flight Time: | 3 hours 5 minutes 52 seconds |
| Vehicle UUID: | 003E002C3137511434373939 (Platschi1) |
| Wind Speed: | Gale |
| Flight Rating: | Good |
| Feedback: | We estimated the wind speed speed conditions at ramla bay at about 5 beaufort. Platschi was started with autostart and landed in stabilized mode. The flight behaviour in wind conditions was very good. |
| Distance: | 47.56 km |
| Max Altitude Difference: | 166 m |
| Average Speed: | 80.1 km/h |
| Max Speed: | 176.5 km/h |
| Max Speed Horizontal: | 176.4 km/h |
| Max Speed Up: | 51.9 km/h |
| Max Speed Down: | 49.1 km/h |
| Max Tilt Angle: | 125.5 deg |
| Max Rotation Speed: | 668.6 deg/s |
| Average Current: | 12.0 A |
| Max Current: | 51.5 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 392772 48.003 548/ 748 0 ( 0) READY 3 1 hpwork 12935 1.696 872/ 1780 249 (249) w:sig 8 2 lpwork 1070 0.099 1016/ 1780 50 ( 50) w:sig 8 3 init 13409 0.000 1760/ 2580 100 (100) w:sem 3 105 dataman 374 0.000 728/ 1180 90 ( 90) w:sem 4 109 gps 1713 0.199 968/ 1580 220 (220) w:sem 5 156 sensors 40414 4.690 1344/ 1964 249 (249) w:sem 18 158 commander 7934 1.197 2208/ 3212 140 (140) READY 29 159 commander_low_prio 26 0.000 616/ 2996 50 ( 50) w:sem 29 171 fmu 22693 3.293 880/ 1324 251 (251) w:sem 9 175 mavlink_if0 42591 5.988 1792/ 2540 100 (100) READY 36 176 mavlink_rcv_if0 3796 0.598 1304/ 2836 175 (175) w:sem 36 181 mavlink_if1 15010 1.996 1720/ 2564 100 (100) READY 36 182 mavlink_rcv_if1 4195 0.499 1544/ 2836 175 (175) w:sem 36 186 frsky_telemetry 19224 2.694 912/ 1188 104 (104) READY 12 200 mavlink_if2 7885 1.097 1720/ 2532 100 (100) READY 31 202 mavlink_rcv_if2 3715 0.499 1304/ 2836 175 (175) w:sem 31 344 log_writer_file 518 1.197 760/ 1068 60 ( 60) w:sem 41 281 ekf2 99459 13.672 4608/ 6572 250 (250) w:sem 20 285 fw_att_controol 26379 3.792 952/ 1460 251 (251) w:sem 13 293 fw_pos_control_l1 7228 0.998 1000/ 1764 250 (250) w:sem 16 302 navigator 1782 0.199 1056/ 1764 105 (105) READY 15 340 logger 13794 6.187 3072/ 3540 245 (245) RUN 41 Processes: 23 total, 8 running, 15 sleeping, max FDs: 54 CPU usage: 50.60% tasks, 1.40% sched, 48.00% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 732.833s total, 392.772s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 1310150 32.467 548/ 748 0 ( 0) READY 3 1 hpwork 49128 1.798 872/ 1780 249 (249) w:sig 8 2 lpwork 4060 4.395 1040/ 1780 50 ( 50) w:sig 8 3 init 13409 0.000 1760/ 2580 100 (100) w:sem 3 105 dataman 1092 5.294 728/ 1180 90 ( 90) w:sem 4 109 gps 6781 0.299 968/ 1580 220 (220) w:sem 5 156 sensors 138644 5.094 1344/ 1964 249 (249) w:sem 18 158 commander 30962 1.098 2208/ 3212 140 (140) READY 29 159 commander_low_prio 106 0.000 616/ 2996 50 ( 50) w:sem 29 171 fmu 93179 3.096 880/ 1324 251 (251) w:sem 9 175 mavlink_if0 156372 5.794 1792/ 2540 100 (100) READY 39 176 mavlink_rcv_if0 14998 0.599 1304/ 2836 175 (175) w:sem 39 181 mavlink_if1 55807 2.097 1760/ 2564 100 (100) w:sig 39 182 mavlink_rcv_if1 15240 0.599 1544/ 2836 175 (175) READY 39 186 frsky_telemetry 76930 2.697 912/ 1188 104 (104) w:sem 12 200 mavlink_if2 30830 1.098 1792/ 2532 100 (100) w:sig 34 202 mavlink_rcv_if2 14567 0.499 1304/ 2836 175 (175) w:sem 34 344 log_writer_file 25218 1.198 760/ 1068 60 ( 60) w:sem 43 281 ekf2 495386 13.586 4608/ 6572 250 (250) w:sem 20 285 fw_att_controol 102505 3.896 952/ 1460 251 (251) w:sem 13 293 fw_pos_control_l1 50608 0.999 1296/ 1764 250 (250) w:sem 16 302 navigator 20334 5.094 1056/ 1764 105 (105) w:sem 15 340 logger 143184 6.193 3072/ 3540 245 (245) RUN 43 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 65.43% tasks, 2.10% sched, 32.47% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 2871.771s total, 1310.151s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 16 events, 122507us elapsed, 7656us avg, min 5476us max 13575us 2838.499us rms logger_sd_write: 175 events, 2158356us elapsed, 12333us avg, min 10us max 39504us 87406.391us rms navigator: 1389 events, 217782us elapsed, 156us avg, min 24us max 7263us 28936.957us rms land_detector_cycle: 3357 events, 79111us elapsed, 23us avg, min 18us max 640us 57.506us rms fw l1 control: 3269 events, 610835us elapsed, 186us avg, min 114us max 731us 169.257us rms fwa_nano: 0 events fwa_nani: 17283 events fwa_dt: 17283 events, 1861605us elapsed, 107us avg, min 80us max 436us 111.218us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 6159 events, 1157696us elapsed, 187us avg, min 51us max 3154us 1130.250us rms mavlink_txe: 0 events mavlink_el: 6799 events, 1711664us elapsed, 251us avg, min 93us max 3384us 952.610us rms mavlink_txe: 0 events mavlink_el: 20303 events, 6187734us elapsed, 304us avg, min 98us max 8368us 1319.029us rms fmu control latency: 17352 events, 9733482us elapsed, 560us avg, min 226us max 6315us 1449.631us rms stack_check: 209 events, 4443us elapsed, 21us avg, min 1us max 227us 309.042us rms sensors: 17296 events, 17395166us elapsed, 1005us avg, min 517us max 3277us 1071.656us rms mpu9250_dupe: 17329 events mpu9250_reset: 0 events mpu9250_good_trans: 69647 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 86976 events, 5539931us elapsed, 63us avg, min 42us max 81us 36.182us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 2 events mpu9250_mag_duplicates: 61951 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 979 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 17297 events mpu6k_reset: 0 events mpu6k_good_trans: 69679 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 86977 events, 5921257us elapsed, 68us avg, min 46us max 89us 40.304us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 2 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 3010 events, 94990us elapsed, 31us avg, min 22us max 467us 80.676us rms lis3mdl_read: 4500 events, 8927074us elapsed, 1983us avg, min 1373us max 4543us 1733.874us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc_samples: 62622 events, 186355us elapsed, 2us avg, min 2us max 4us 0.763us rms ms5611_com_err: 0 events ms5611_measure: 6345 events, 77691us elapsed, 12us avg, min 9us max 439us 44.888us rms ms5611_read: 6345 events, 161743us elapsed, 25us avg, min 14us max 2041us 88.947us rms dma_alloc: 1 events param_set: 1 events, 12us elapsed, 12us avg, min 12us max 12us Infinityus rms param_get: 864 events, 7706us elapsed, 8us avg, min 4us max 1031us 129.039us rms param_find: 231 events, 1932us elapsed, 8us avg, min 3us max 88us 139.741us rms param_export: 1 events, 83835us elapsed, 83835us avg, min 83835us max 83835us Infinityus rms
Post Flight:
logger_sd_fsync: 2028 events, 24576235us elapsed, 12118us avg, min 747us max 663370us 41660.715us rms logger_sd_write: 21378 events, 313125999us elapsed, 14647us avg, min 10us max 1473166us 35604.668us rms navigator: 42233 events, 70770573us elapsed, 1675us avg, min 29us max 1272795us 21487.176us rms land_detector_cycle: 103064 events, 2592481us elapsed, 25us avg, min 18us max 739us 23.345us rms fw l1 control: 106961 events, 38749872us elapsed, 362us avg, min 46us max 984us 136.753us rms fwa_nano: 0 events fwa_nani: 532228 events fwa_dt: 532228 events, 54945586us elapsed, 103us avg, min 77us max 452us 41.791us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 180096 events, 36013286us elapsed, 199us avg, min 53us max 7649us 417.092us rms mavlink_txe: 0 events mavlink_el: 202236 events, 58085927us elapsed, 287us avg, min 94us max 6930us 495.575us rms mavlink_txe: 0 events mavlink_el: 590027 events, 206992588us elapsed, 350us avg, min 96us max 9133us 669.738us rms fmu control latency: 577102 events, 647600893us elapsed, 1122us avg, min 224us max 6951us 1513.656us rms stack_check: 6212 events, 166270us elapsed, 26us avg, min 1us max 2171us 113.342us rms sensors: 532229 events, 639623900us elapsed, 1201us avg, min 588us max 4611us 731.085us rms mpu9250_dupe: 533129 events mpu9250_reset: 0 events mpu9250_good_trans: 2141814 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 2674943 events, 170219810us elapsed, 63us avg, min 42us max 82us 12.919us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 1905065 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 29833 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 532233 events mpu6k_reset: 0 events mpu6k_good_trans: 2142711 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 2674944 events, 181941857us elapsed, 68us avg, min 46us max 90us 14.387us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 90827 events, 2775079us elapsed, 30us avg, min 22us max 762us 30.559us rms lis3mdl_read: 135447 events, 290345570us elapsed, 2143us avg, min 1371us max 6565us 945.391us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc_samples: 1925964 events, 5736676us elapsed, 2us avg, min 2us max 4us 0.260us rms ms5611_com_err: 0 events ms5611_measure: 188757 events, 2265766us elapsed, 12us avg, min 9us max 578us 18.235us rms ms5611_read: 188757 events, 4415776us elapsed, 23us avg, min 14us max 2742us 29.623us rms dma_alloc: 0 events param_set: 6 events, 34us elapsed, 5us avg, min 4us max 12us 182.504us rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 178380us elapsed, 178380us avg, min 178380us max 178380us Infinityus rms