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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Z4-00023 Test Doc Battery Params Alta X
| Airframe: | 4511 |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | v1.4.0 (c6734d10) branch: ff-release/v1.4.0 |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:58 |
| Vehicle Life Flight Time: | 17 minutes 8 seconds |
| Vehicle UUID: | 000100000000203234505048501000300032 |
| Distance: | 20.6 m |
| Max Altitude Difference: | 6 m |
| Average Speed: | 0.6 km/h |
| Max Speed: | 10.5 km/h |
| Max Speed Horizontal: | 1.1 km/h |
| Max Speed Up: | 10.5 km/h |
| Max Speed Down: | 2.5 km/h |
| Max Tilt Angle: | 6.3 deg |
| Max Rotation Speed: | 35.5 deg/s |
| Average Current: | 64.2 A |
| Max Current: | 100.1 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 72551 41.375 516/ 748 0 ( 0) READY 3 1 hpwork 3533 2.293 712/ 1780 249 (249) w:sig 13 2 lpwork 1030 0.199 984/ 1780 50 ( 50) w:sig 10 3 init 1627 0.000 1952/ 2604 100 (100) w:sem 3 17 dataman 112 0.000 752/ 1180 90 ( 90) w:sem 4 74 FF_CANRead 998 0.797 848/ 1476 100 (100) w:sem 4 75 FF_CANWrite 2270 1.595 1144/ 1676 252 (252) w:sem 7 126 px4io 2479 1.694 952/ 1484 252 (252) w:sem 11 178 sensors 10558 6.380 1424/ 1964 249 (249) w:sem 22 180 commander 2043 1.395 1552/ 3212 140 (140) w:sig 31 181 commander_low_prio 4 0.000 560/ 2996 50 ( 50) w:sem 31 263 gps 869 0.697 936/ 1516 220 (220) w:sem 5 294 mavlink_if0 6612 4.386 1656/ 2484 100 (100) READY 37 296 mavlink_rcv_if0 1698 1.296 1496/ 2836 175 (175) READY 37 334 fmu 4179 2.991 720/ 1324 252 (252) w:sem 8 349 ekf2 21831 15.254 4576/ 6572 250 (250) w:sem 20 356 mc_att_control 5248 4.187 856/ 1660 251 (251) w:sem 19 361 mc_pos_control 670 0.398 1056/ 1860 250 (250) w:sem 16 368 navigator 330 0.299 976/ 1764 105 (105) w:sem 16 407 log_writer_file 345 1.395 792/ 1148 60 ( 60) READY 43 403 logger 3492 7.278 3056/ 3644 245 (245) RUN 43 409 mavlink_if1 6147 3.888 1608/ 2524 100 (100) READY 32 411 mavlink_rcv_if1 1022 0.797 1576/ 2836 175 (175) READY 32 Processes: 23 total, 7 running, 16 sleeping, max FDs: 54 CPU usage: 57.23% tasks, 1.40% sched, 41.38% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 152.360s total, 72.551s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 118986 30.969 516/ 748 0 ( 0) READY 3 1 hpwork 6335 2.497 712/ 1780 249 (249) w:sig 13 2 lpwork 1343 11.288 984/ 1780 50 ( 50) w:sig 10 3 init 1627 0.000 1952/ 2604 100 (100) w:sem 3 17 dataman 145 0.000 752/ 1180 90 ( 90) w:sem 4 74 FF_CANRead 1733 0.599 848/ 1476 100 (100) w:sem 4 75 FF_CANWrite 4100 1.498 1144/ 1676 252 (252) w:sem 7 126 px4io 4433 1.798 952/ 1484 252 (252) w:sem 11 178 sensors 18323 6.993 1424/ 1964 249 (249) w:sem 22 180 commander 3862 1.298 1552/ 3212 140 (140) w:sig 31 181 commander_low_prio 8 0.000 560/ 2996 50 ( 50) w:sem 31 263 gps 1532 0.499 936/ 1516 220 (220) w:sem 5 294 mavlink_if0 11445 4.095 1680/ 2484 100 (100) w:sig 38 296 mavlink_rcv_if0 3033 1.198 1496/ 2836 175 (175) w:sem 38 334 fmu 7532 2.997 720/ 1324 252 (252) w:sem 8 349 ekf2 41415 15.084 4576/ 6572 250 (250) w:sem 20 356 mc_att_control 10122 4.095 856/ 1660 251 (251) w:sem 19 361 mc_pos_control 2103 0.399 1152/ 1860 250 (250) w:sem 19 368 navigator 607 0.199 1072/ 1764 105 (105) READY 16 407 log_writer_file 2024 1.398 792/ 1148 60 ( 60) READY 44 403 logger 11855 7.192 3056/ 3644 245 (245) RUN 44 409 mavlink_if1 10587 3.696 1632/ 2524 100 (100) READY 33 411 mavlink_rcv_if1 1759 0.599 1576/ 2836 175 (175) w:sem 33 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 67.43% tasks, 1.60% sched, 30.97% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 269.563s total, 118.987s idle
Performance Counters
Pre Flight:
mavlink_int: 21737 events, 3530.77 avg, min 2071us max 42363us 995.923us rms mavlink_el: 21737 events, 3556187us elapsed, 163.60us avg, min 50us max 11827us 452.098us 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: 42 events, 602321us elapsed, 14340.98us avg, min 8us max 24036us 6200.638us rms logger_sd_write: 308 events, 7483158us elapsed, 24295.97us avg, min 11us max 104657us 13922.086us rms navigator: 1534 events, 828697us elapsed, 540.22us avg, min 28us max 31763us 6960.208us rms land_detector_cycle: 3686 events, 231795us elapsed, 62.89us avg, min 35us max 669us 81.206us rms mc_att_control: 19238 events, 5018441us elapsed, 260.86us avg, min 186us max 507us 53.345us rms EKF2 update: 19238 events, 5831007us elapsed, 303.10us avg, min 19us max 2811us 501.811us rms EKF2 data acquisition: 19238 events, 2966299us elapsed, 154.19us avg, min 62us max 593us 104.028us rms fmu control latency: 22682 events, 8510258us elapsed, 375.20us avg, min 127us max 4109us 714.557us rms mavlink_int: 14095 events, 5444.97 avg, min 4147us max 44627us 943.214us rms mavlink_el: 14095 events, 4558369us elapsed, 323.40us avg, min 108us max 4216us 541.351us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 19239 events, 17972820us elapsed, 934.19us avg, min 226us max 4109us 682.635us rms adc_samples: 76790 events, 211437us elapsed, 2.75us avg, min 2us max 3us 0.600us rms ms5611_com_err: 0 events ms5611_measure: 5931 events, 67770us elapsed, 11.43us avg, min 6us max 611us 43.560us rms ms5611_read: 5931 events, 158747us elapsed, 26.77us avg, min 11us max 657us 67.047us rms ms5611_com_err: 0 events ms5611_measure: 5931 events, 74141us elapsed, 12.50us avg, min 6us max 659us 48.888us rms ms5611_read: 5931 events, 155811us elapsed, 26.27us avg, min 11us max 637us 68.598us rms mpu9250_dupe: 19829 events mpu9250_reset: 0 events mpu9250_good_trans: 76167 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 95996 events, 6065317us elapsed, 63.18us avg, min 43us max 80us 14.481us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 67604 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1025 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 11230 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 7680 events, 186812us elapsed, 24.32us avg, min 24us max 25us 0.647us rms lsm303d_acc_read: 73236 events, 2342672us elapsed, 31.99us avg, min 21us max 37us 6.599us rms l3gd20_dupe: 49422 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 107549 events, 3185936us elapsed, 29.62us avg, min 22us max 39us 8.826us rms mpu9250_dupe: 19947 events mpu9250_reset: 0 events mpu9250_good_trans: 76176 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 96123 events, 6363952us elapsed, 66.21us avg, min 43us max 98us 19.761us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 67765 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1033 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 5938 events, 10613201us elapsed, 1787.34us avg, min 1373us max 6321us 810.052us rms io control latency: 3841 events, 7674263us elapsed, 1997.99us avg, min 191us max 4869us 1593.284us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 3841 events, 8521702us elapsed, 2218.62us avg, min 264us max 2934us 879.505us rms io_txns: 23010 events, 8044629us elapsed, 349.61us avg, min 151us max 848us 175.662us rms stack_check: 224 events, 7314us elapsed, 32.65us avg, min 1us max 1568us 206.842us rms dma_alloc: 1 events param_set: 3 events, 20us elapsed, 6.67us avg, min 4us max 11us 1149.839us rms param_get: 1099 events, 17836us elapsed, 16.23us avg, min 4us max 1798us 146.050us rms param_find: 157 events, 1620us elapsed, 10.32us avg, min 3us max 84us 48.424us rms param_export: 1 events, 265395us elapsed, 265395.00us avg, min 265395us max 265395us Infinityus rms
Post Flight:
mavlink_int: 32417 events, 3646.30 avg, min 2068us max 13295us 1038.864us rms mavlink_el: 32417 events, 5759793us elapsed, 177.68us avg, min 50us max 6661us 524.140us 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: 225 events, 3184465us elapsed, 14153.18us avg, min 7us max 50513us 7403.734us rms logger_sd_write: 1610 events, 37875204us elapsed, 23524.97us avg, min 11us max 68129us 11236.390us rms navigator: 2363 events, 2347010us elapsed, 993.23us avg, min 28us max 33542us 6853.370us rms land_detector_cycle: 5673 events, 406571us elapsed, 71.67us avg, min 35us max 737us 90.652us rms mc_att_control: 29609 events, 7792081us elapsed, 263.17us avg, min 186us max 569us 56.633us rms EKF2 update: 29609 events, 10583024us elapsed, 357.43us avg, min 19us max 2876us 599.296us rms EKF2 data acquisition: 29609 events, 4506644us elapsed, 152.21us avg, min 62us max 696us 112.081us rms fmu control latency: 34869 events, 13539175us elapsed, 388.29us avg, min 127us max 4039us 829.103us rms mavlink_int: 21250 events, 5562.43 avg, min 4120us max 15007us 938.738us rms mavlink_el: 21250 events, 7371626us elapsed, 346.90us avg, min 99us max 5317us 653.771us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 29610 events, 29198663us elapsed, 986.11us avg, min 217us max 4223us 805.657us rms adc_samples: 118220 events, 325735us elapsed, 2.76us avg, min 2us max 3us 0.648us rms ms5611_com_err: 0 events ms5611_measure: 9087 events, 108852us elapsed, 11.98us avg, min 6us max 725us 48.459us rms ms5611_read: 9087 events, 248216us elapsed, 27.32us avg, min 11us max 758us 75.816us rms ms5611_com_err: 0 events ms5611_measure: 9087 events, 132455us elapsed, 14.58us avg, min 6us max 700us 59.889us rms ms5611_read: 9087 events, 242985us elapsed, 26.74us avg, min 11us max 818us 75.205us rms mpu9250_dupe: 29565 events mpu9250_reset: 0 events mpu9250_good_trans: 118219 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 147785 events, 9355029us elapsed, 63.30us avg, min 43us max 80us 15.557us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 105166 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1343 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 17333 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 11823 events, 287568us elapsed, 24.32us avg, min 24us max 25us 0.701us rms lsm303d_acc_read: 112600 events, 3602274us elapsed, 31.99us avg, min 21us max 38us 7.125us rms l3gd20_dupe: 76078 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 165358 events, 4899259us elapsed, 29.63us avg, min 22us max 39us 9.526us rms mpu9250_dupe: 29595 events mpu9250_reset: 0 events mpu9250_good_trans: 118194 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 147789 events, 9810874us elapsed, 66.38us avg, min 43us max 98us 21.390us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 105084 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1643 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 9088 events, 16264377us elapsed, 1789.65us avg, min 1373us max 14436us 863.239us rms io control latency: 5905 events, 11792950us elapsed, 1997.11us avg, min 194us max 4694us 1721.071us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 5906 events, 13037293us elapsed, 2207.47us avg, min 264us max 3014us 956.059us rms io_txns: 35161 events, 12313260us elapsed, 350.20us avg, min 150us max 806us 189.511us rms stack_check: 345 events, 14030us elapsed, 40.67us avg, min 1us max 3085us 257.955us rms dma_alloc: 0 events param_set: 3 events, 19us elapsed, 6.33us avg, min 4us max 11us 1149.846us rms param_get: 141 events, 1345us elapsed, 9.54us avg, min 5us max 144us 409.417us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 259045us elapsed, 259045.00us avg, min 259045us max 259045us Infinityus rms