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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | HIL Quadcopter X Simulation (1001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:23 |
| Vehicle Life Flight Time: | 31 minutes 24 seconds |
| Vehicle UUID: | 000600000000313638323131510e003f002a |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 0.4 km/h |
| Max Speed Horizontal: | 0.2 km/h |
| Max Speed Up: | 0.1 km/h |
| Max Speed Down: | 0.4 km/h |
| Max Tilt Angle: | 1.9 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE 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 16:02:34 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000313638323131510e003f002a 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 1420 bytes, decoded 1420 bytes (INT32:40, FLOAT:33) 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/1001_rc_quad_x.hil ERROR [param] Parameter HIL_ACT_FUNC1 not found. ERROR [param] Parameter HIL_ACT_FUNC2 not found. ERROR [param] Parameter HIL_ACT_FUNC3 not found. ERROR [param] Parameter HIL_ACT_FUNC4 not found. INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes INFO [px4io] IO FW CRC match ekf2 [375:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Conflicting config for /dev/ttyS0 INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Too many arming check events (1, 14 > 14). Not reporting all WARN [health_and_arming_checks] Preflight Fail: Accel Sensor 0 missing WARN [health_and_arming_checks] Preflight Fail: barometer 0 missing WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: Gyro Sensor 0 missing WARN [health_and_arming_checks] Preflight Fail: Compass Sensor 0 missing WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-01-10/14_05_19.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-01-10/14_05_19.ulg INFO [commander] Disarmed by auto preflight disarming INFO [logger] closed logfile, bytes written: 487823 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-01-10/14_05_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-01-10/14_05_58.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-01-10/14_06_06.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 366069 INFO [logger] Opened full log file: /fs/microsd/log/2024-01-10/14_06_06.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 92861 39.695 272/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 34 1.774 1108/ 1576 50 ( 50) w:sem 0 971 wq:INS0 69 3.553 4316/ 5976 241 (241) w:sem 1 4 wq:manager 0 0.000 424/ 1232 255 (255) w:sem 1 278 wq:hp_default 5 0.277 1068/ 1872 237 (237) w:sem 1 293 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 296 wq:lp_default 1 0.078 956/ 1896 205 (205) w:sem 1 351 commander 7 0.398 1428/ 3184 140 (140) w:sig 5 348 wq:nav_and_controllers 53 2.735 1444/ 2216 242 (242) w:sem 1 349 wq:rate_ctrl 36 1.861 2308/ 3120 255 (255) w:sem 1 953 log_writer_file 11 0.582 612/ 1144 60 ( 60) w:sem 4 425 mavlink_if0 12 0.618 1728/ 2768 100 (100) w:sig 4 426 mavlink_rcv_if0 4 0.206 1460/ 4616 175 (175) w:sem 4 878 mavlink_if1 20 1.073 1860/ 2704 100 (100) w:sig 4 879 mavlink_rcv_if1 3 0.167 1460/ 4616 175 (175) READY 4 909 navigator 1 0.070 1056/ 1896 105 (105) w:sem 6 949 logger 46 2.395 2924/ 3616 230 (230) RUN 4 966 mavlink_if2 95 4.886 1964/ 2800 100 (100) READY 4 967 mavlink_rcv_if2 47 2.450 1708/ 4616 175 (175) w:sem 4 Processes: 20 total, 4 running, 16 sleeping CPU usage: 23.13% tasks, 37.17% sched, 39.69% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 106.905s total, 92.862s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 110984 3.070 272/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 69 0.280 1108/ 1576 50 ( 50) w:sem 0 971 wq:INS0 874 3.534 4316/ 5976 241 (241) w:sem 1 4 wq:manager 0 0.000 424/ 1232 255 (255) w:sem 1 278 wq:hp_default 77 0.313 1068/ 1872 237 (237) w:sem 1 293 dataman 2 0.009 852/ 1280 90 ( 90) w:sem 4 296 wq:lp_default 8 0.035 956/ 1896 205 (205) w:sem 1 351 commander 100 0.404 1428/ 3184 140 (140) w:sig 5 348 wq:nav_and_controllers 673 2.718 1444/ 2216 242 (242) w:sem 1 349 wq:rate_ctrl 460 1.861 2308/ 3120 255 (255) w:sem 1 953 log_writer_file 97 0.392 612/ 1144 60 ( 60) w:sem 4 425 mavlink_if0 152 0.616 1728/ 2768 100 (100) w:sig 4 426 mavlink_rcv_if0 50 0.203 1460/ 4616 175 (175) w:sem 4 878 mavlink_if1 267 1.080 1860/ 2704 100 (100) w:sig 4 879 mavlink_rcv_if1 42 0.169 1460/ 4616 175 (175) w:sem 4 909 navigator 17 0.072 1056/ 1896 105 (105) w:sem 6 949 logger 300 1.215 2924/ 3616 230 (230) RUN 4 966 mavlink_if2 1220 4.930 1964/ 2800 100 (100) w:sig 4 967 mavlink_rcv_if2 607 2.456 1708/ 4616 175 (175) w:sem 4 Processes: 20 total, 2 running, 18 sleeping CPU usage: 20.29% tasks, 76.64% sched, 3.07% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 129.715s total, 110.985s idle
Performance Counters
Pre Flight:
gyro_fft: gyro data gap: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_gps_position messages missed: 20 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 857 events, 117469us elapsed, 137.07us avg, min 111us max 392us 109.139us rms ekf2: ECL update: 1087 events, 541us elapsed, 0.49us avg, min 1us max 4us 1.426us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2593 events, 3001.35 avg, min 2286us max 6545us 173.180us rms mavlink: tx run elapsed: 2593 events, 403263us elapsed, 155.52us avg, min 104us max 1026us 299.638us 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: 22 events, 158237us elapsed, 7192.59us avg, min 1937us max 11375us 4354.130us rms logger_sd_write: 66 events, 1010551us elapsed, 15311.38us avg, min 8us max 73287us 21492.820us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.002us rms gyro_fft: FFT: 45 events, 6871us elapsed, 152.69us avg, min 151us max 158us 7.093us rms gyro_fft: cycle interval: 486 events, 15995.03 avg, min 12942us max 18749us 282.199us rms gyro_fft: cycle: 486 events, 10819us elapsed, 22.26us avg, min 7us max 167us 122.902us rms navigator: 166 events, 44049us elapsed, 265.36us avg, min 10us max 12313us 14292.235us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 779 events, 9986.94 avg, min 9416us max 10622us 151.728us rms mavlink: tx run elapsed: 779 events, 81636us elapsed, 104.80us avg, min 92us max 758us 325.446us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1557 events, 4998.39 avg, min 4191us max 7809us 162.263us rms mavlink: tx run elapsed: 1557 events, 43972us elapsed, 28.24us avg, min 20us max 811us 125.963us rms mag_bias_estimator: cycle: 48 events, 621us elapsed, 12.94us avg, min 10us max 20us 44.801us rms land_detector: cycle: 857 events, 9594us elapsed, 11.19us avg, min 10us max 68us 4.948us rms mc_pos_control: cycle time: 857 events, 5752us elapsed, 6.71us avg, min 6us max 12us 21.777us rms flight_mode_manager: cycle: 389 events, 1611us elapsed, 4.14us avg, min 3us max 7us 224.428us rms mc_hover_thrust_estimator: cycle time: 857 events, 883us elapsed, 1.03us avg, min 1us max 8us 0.772us 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: 1944 events, 33953us elapsed, 17.47us avg, min 16us max 37us 6.109us rms mc_rate_control: cycle: 1936 events, 21271us elapsed, 10.99us avg, min 9us max 18us 3.423us rms control_allocator: cycle: 1936 events, 45066us elapsed, 23.28us avg, min 19us max 32us 11.236us rms commander: preflight check: 71 events, 3510us elapsed, 49.44us avg, min 43us max 385us 527.695us rms commander: cycle: 708 events, 31895us elapsed, 45.05us avg, min 28us max 699us 252.406us rms vehicle_magnetometer: cycle: 648 events, 12261us elapsed, 18.92us avg, min 16us max 25us 14.286us rms vehicle_gps_position: cycle: 59 events, 322us elapsed, 5.46us avg, min 2us max 8us 8.324us rms vehicle_air_data: cycle: 324 events, 4415us elapsed, 13.63us avg, min 12us max 19us 13.612us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 1938 events, 22984us elapsed, 11.86us avg, min 4us max 20us 7.598us rms sensors: 1946 events, 40506us elapsed, 20.82us avg, min 14us max 70us 72.568us rms manual_control: interval: 210 events, 36824.10 avg, min 1184us max 200015us 38456.609us rms manual_control: cycle: 210 events, 2276us elapsed, 10.84us avg, min 10us max 16us 7.832us rms rc_update: valid data interval: 341 events, 22736.35 avg, min 13211us max 31028us 2244.677us rms rc_update: cycle interval: 341 events, 22736.35 avg, min 13210us max 31029us 2244.683us rms rc_update: cycle: 341 events, 5701us elapsed, 16.72us avg, min 14us max 23us 13.674us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface read: 2092 events, 564281us elapsed, 269.73us avg, min 135us max 601us 268.001us rms px4io: interval: 1937 events, 4028.58 avg, min 932us max 20029us 547.343us rms px4io: cycle: 1936 events, 574675us elapsed, 296.84us avg, min 3us max 8292us 1512.983us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 2092 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 2092 events, 556847us elapsed, 266.18us avg, min 132us max 596us 267.093us rms load_mon: cycle: 16 events, 1058us elapsed, 66.13us avg, min 61us max 72us 38.476us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 42 events, 41561us elapsed, 989.55us avg, min 19us max 12289us 28383.396us rms dma_alloc: 3 events param: set: 3 events, 54us elapsed, 18.00us avg, min 1us max 49us 40.424us rms param: get: 1989 events param: find: 216 events param: export: 1 events, 18143us elapsed, 18143.00us avg, min 18143us max 18143us infus rms
Post Flight:
gyro_fft: gyro data gap: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_gps_position messages missed: 57 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2479 events, 345750us elapsed, 139.47us avg, min 111us max 419us 76.366us rms ekf2: ECL update: 3407 events, 1686us elapsed, 0.49us avg, min 0us max 5us 0.955us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7859 events, 3000.88 avg, min 2202us max 4204us 157.365us rms mavlink: tx run elapsed: 7859 events, 1247613us elapsed, 158.75us avg, min 103us max 1055us 201.419us 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: 60 events, 514592us elapsed, 8576.53us avg, min 2354us max 14994us 3822.228us rms logger_sd_write: 196 events, 2876225us elapsed, 14674.62us avg, min 6us max 65064us 16423.678us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666666.67 avg, min 10000000us max 10000000us 0.017us rms gyro_fft: FFT: 138 events, 21055us elapsed, 152.57us avg, min 151us max 157us 4.356us rms gyro_fft: cycle interval: 1471 events, 16018.93 avg, min 13252us max 19098us 334.893us rms gyro_fft: cycle: 1471 events, 32885us elapsed, 22.36us avg, min 7us max 168us 83.889us rms navigator: 495 events, 158149us elapsed, 319.49us avg, min 9us max 14780us 8432.485us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2359 events, 9995.78 avg, min 9323us max 10657us 136.108us rms mavlink: tx run elapsed: 2359 events, 268850us elapsed, 113.97us avg, min 92us max 971us 202.713us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4718 events, 4998.87 avg, min 4073us max 5927us 150.032us rms mavlink: tx run elapsed: 4718 events, 131771us elapsed, 27.93us avg, min 20us max 669us 81.233us rms mag_bias_estimator: cycle: 42 events, 539us elapsed, 12.83us avg, min 1us max 21us 48.053us rms land_detector: cycle: 2479 events, 27557us elapsed, 11.12us avg, min 10us max 34us 3.016us rms mc_pos_control: cycle time: 2479 events, 16562us elapsed, 6.68us avg, min 6us max 12us 12.814us rms flight_mode_manager: cycle: 1179 events, 4842us elapsed, 4.11us avg, min 3us max 9us 128.802us rms mc_hover_thrust_estimator: cycle time: 2479 events, 2573us elapsed, 1.04us avg, min 1us max 4us 0.506us 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: 5886 events, 105299us elapsed, 17.89us avg, min 15us max 40us 3.731us rms mc_rate_control: cycle: 5863 events, 65473us elapsed, 11.17us avg, min 9us max 20us 2.122us rms control_allocator: cycle: 5863 events, 137076us elapsed, 23.38us avg, min 19us max 33us 7.040us rms commander: preflight check: 216 events, 9649us elapsed, 44.67us avg, min 42us max 92us 301.128us rms commander: cycle: 2145 events, 90877us elapsed, 42.37us avg, min 29us max 789us 150.734us rms vehicle_magnetometer: cycle: 1962 events, 37485us elapsed, 19.11us avg, min 16us max 40us 8.306us rms vehicle_gps_position: cycle: 179 events, 1022us elapsed, 5.71us avg, min 2us max 16us 5.333us rms vehicle_air_data: cycle: 981 events, 13384us elapsed, 13.64us avg, min 12us max 33us 7.947us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 5864 events, 69711us elapsed, 11.89us avg, min 4us max 18us 4.410us rms sensors: 5887 events, 122476us elapsed, 20.80us avg, min 15us max 70us 41.739us rms manual_control: interval: 779 events, 30110.15 avg, min 8058us max 200157us 26271.674us rms manual_control: cycle: 779 events, 8174us elapsed, 10.49us avg, min 9us max 16us 4.126us rms rc_update: valid data interval: 1033 events, 22795.70 avg, min 13188us max 31244us 2240.541us rms rc_update: cycle interval: 1033 events, 22795.70 avg, min 13188us max 31243us 2240.565us rms rc_update: cycle: 1033 events, 17920us elapsed, 17.35us avg, min 13us max 23us 8.076us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface read: 6269 events, 1703409us elapsed, 271.72us avg, min 135us max 629us 217.542us rms px4io: interval: 5863 events, 4022.49 avg, min 278us max 10564us 445.318us rms px4io: cycle: 5863 events, 1736515us elapsed, 296.18us avg, min 3us max 8333us 1155.039us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6269 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6269 events, 1681032us elapsed, 268.15us avg, min 132us max 624us 216.972us rms load_mon: cycle: 47 events, 2977us elapsed, 63.34us avg, min 60us max 79us 22.258us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 130 events, 150744us elapsed, 1159.57us avg, min 21us max 14755us 16310.975us rms dma_alloc: 2 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 4us 40.453us rms param: get: 290 events param: find: 216 events param: export: 1 events, 17206us elapsed, 17206.00us avg, min 17206us max 17206us infus rms