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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: | 0:00:41 |
| Vehicle Life Flight Time: | 26 minutes 43 seconds |
| Vehicle UUID: | 000600000000313638323131510e003f002a |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.0 km/h |
| Max Speed: | 0.0 km/h |
| Max Speed Horizontal: | 0.0 km/h |
| Max Speed Up: | 0.0 km/h |
| Max Speed Down: | 0.0 km/h |
| Max Tilt Angle: | 0.0 deg |
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Console Output
data] BARO #0 failed: TIMEOUT! ERROR [health_and_arming_checks] angular velocity no longer valid (timeout) WARN [health_and_arming_checks] Preflight Fail: No valid data from Accel 0 WARN [health_and_arming_checks] Preflight Fail: No valid data from Baro 0 WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: No valid data from Gyro 0 WARN [health_and_arming_checks] Preflight Fail: No valid data from Compass 0 WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] Calibration: Disabling RC input WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] Calibration: Restoring RC input WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: height estimate not stable WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [manual_control] Arm stick gesture disabled if arm switch in use INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-01-10/02_33_53.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-01-10/02_33_53.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 121843 73.276 292/ 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 1453 wq:INS0 38 3.845 4316/ 5976 241 (241) w:sem 1 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 1 278 wq:hp_default 3 0.370 1128/ 1872 237 (237) w:sem 1 293 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 296 wq:lp_default 0 0.031 980/ 1896 205 (205) w:sem 1 330 wq:ttyS3 4 0.443 1108/ 1704 231 (231) w:sem 1 348 wq:nav_and_controllers 32 3.228 1248/ 2216 242 (242) w:sem 1 349 wq:rate_ctrl 17 1.770 2308/ 3120 255 (255) w:sem 1 351 commander 4 0.401 1508/ 3184 140 (140) w:sig 5 1429 log_writer_file 6 0.671 612/ 1144 60 ( 60) w:sem 4 443 mavlink_if0 6 0.608 1728/ 2768 100 (100) w:sig 4 446 mavlink_rcv_if0 2 0.209 1508/ 4616 175 (175) w:sem 4 1353 mavlink_if1 10 1.073 1900/ 2704 100 (100) w:sig 4 1355 mavlink_rcv_if1 1 0.170 1508/ 4616 175 (175) w:sem 4 1388 navigator 0 0.066 1076/ 1896 105 (105) w:sem 6 1427 logger 35 3.534 2772/ 3616 230 (230) RUN 4 1446 mavlink_if2 49 4.994 1932/ 2800 100 (100) READY 4 1447 mavlink_rcv_if2 46 4.618 1732/ 4616 175 (175) w:sem 4 Processes: 21 total, 3 running, 18 sleeping CPU usage: 26.05% tasks, 0.67% sched, 73.28% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 155.794s total, 121.844s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 153213 72.209 292/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 32 3.255 1116/ 1576 50 ( 50) w:sem 0 1453 wq:INS0 39 3.926 4316/ 5976 241 (241) w:sem 1 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 1 278 wq:hp_default 3 0.371 1128/ 1872 237 (237) w:sem 1 293 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 296 wq:lp_default 1 0.173 980/ 1896 205 (205) w:sem 1 330 wq:ttyS3 4 0.443 1108/ 1704 231 (231) w:sem 1 348 wq:nav_and_controllers 33 3.363 1248/ 2216 242 (242) w:sem 1 349 wq:rate_ctrl 17 1.788 2308/ 3120 255 (255) w:sem 1 351 commander 3 0.382 1508/ 3184 140 (140) w:sig 5 1429 log_writer_file 3 0.371 612/ 1144 60 ( 60) w:sem 4 443 mavlink_if0 6 0.606 1884/ 2768 100 (100) w:sig 4 446 mavlink_rcv_if0 2 0.208 1508/ 4616 175 (175) w:sem 4 1353 mavlink_if1 11 1.109 1900/ 2704 100 (100) w:sig 4 1355 mavlink_rcv_if1 1 0.172 1508/ 4616 175 (175) w:sem 4 1388 navigator 0 0.070 1076/ 1896 105 (105) w:sem 6 1427 logger 10 1.083 2772/ 3616 230 (230) RUN 4 1446 mavlink_if2 51 5.171 1932/ 2800 100 (100) READY 4 1447 mavlink_rcv_if2 46 4.632 1732/ 4616 175 (175) READY 4 Processes: 21 total, 4 running, 17 sleeping CPU usage: 27.14% tasks, 0.65% sched, 72.21% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 196.797s total, 153.214s idle
Performance Counters
Pre Flight:
gyro_fft: gyro data gap: 1 events ekf2: vehicle_magnetometer messages missed: 538 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 638 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 12520 events, 1935147us elapsed, 154.56us avg, min 111us max 418us 67.641us rms ekf2: ECL update: 12521 events, 6622us elapsed, 0.52us avg, min 0us max 10us 0.641us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 51147 events, 3002.37 avg, min 2197us max 12211us 191.542us rms mavlink: tx run elapsed: 51147 events, 7828280us elapsed, 153.05us avg, min 87us max 1173us 63.863us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7716 events, 19994.82 avg, min 71us max 20605us 239.187us rms gyro_fft: FFT: 1164 events, 184657us elapsed, 158.64us avg, min 154us max 175us 4.185us rms gyro_fft: cycle interval: 12522 events, 12286.60 avg, min 8839us max 500009us 11600.608us rms gyro_fft: cycle: 12522 events, 288667us elapsed, 23.05us avg, min 2us max 187us 46.444us rms navigator: 3177 events, 60866us elapsed, 19.16us avg, min 9us max 3333us 72.077us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15432 events, 10002.53 avg, min 9107us max 18914us 197.300us rms mavlink: tx run elapsed: 15432 events, 1804417us elapsed, 116.93us avg, min 76us max 1029us 83.853us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 30866 events, 5002.56 avg, min 4035us max 13048us 204.902us rms mavlink: tx run elapsed: 30866 events, 943206us elapsed, 30.56us avg, min 20us max 1011us 50.743us rms mag_bias_estimator: cycle: 7724 events, 171705us elapsed, 22.23us avg, min 20us max 107us 4.564us rms land_detector: cycle: 12597 events, 152266us elapsed, 12.09us avg, min 8us max 98us 1.198us rms mc_pos_control: cycle time: 12555 events, 328690us elapsed, 26.18us avg, min 1us max 242us 3.399us rms flight_mode_manager: cycle: 7511 events, 251950us elapsed, 33.54us avg, min 4us max 457us 20.678us rms mc_hover_thrust_estimator: cycle time: 12512 events, 13366us elapsed, 1.07us avg, min 1us max 10us 0.313us 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: 24984 events, 265576us elapsed, 10.63us avg, min 8us max 157us 2.558us rms mc_rate_control: cycle: 50080 events, 506291us elapsed, 10.11us avg, min 8us max 107us 1.382us rms control_allocator: cycle: 50162 events, 1155258us elapsed, 23.03us avg, min 9us max 171us 3.976us rms commander: preflight check: 1413 events, 101266us elapsed, 71.67us avg, min 37us max 3993us 157.719us rms commander: cycle: 14033 events, 792501us elapsed, 56.47us avg, min 25us max 4263us 86.368us rms vehicle_magnetometer: cycle: 50168 events, 868831us elapsed, 17.32us avg, min 4us max 243us 2.688us rms vehicle_gps_position: cycle: 7123 events, 51110us elapsed, 7.18us avg, min 2us max 17us 0.555us rms vehicle_air_data: cycle: 50168 events, 640206us elapsed, 12.76us avg, min 4us max 183us 2.042us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 50499 events, 607916us elapsed, 12.04us avg, min 4us max 258us 2.471us rms sensors: 25497 events, 604032us elapsed, 23.69us avg, min 9us max 2983us 28.146us rms manual_control: interval: 2076 events, 74345.23 avg, min 927us max 200457us 64914.266us rms manual_control: cycle: 2076 events, 23587us elapsed, 11.36us avg, min 7us max 382us 8.412us rms rc_update: valid data interval: 7095 events, 21750.19 avg, min 21518us max 29129us 1018.861us rms rc_update: cycle interval: 7101 events, 21750.23 avg, min 21518us max 29129us 1018.708us rms rc_update: cycle: 7101 events, 108936us elapsed, 15.34us avg, min 10us max 167us 5.829us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 49 events, 10448us elapsed, 213.22us avg, min 120us max 1417us 201.772us rms px4io: interface read: 42825 events, 11988676us elapsed, 279.95us avg, min 135us max 1960us 162.204us rms px4io: interval: 7102 events, 21748.20 avg, min 9963us max 29215us 1029.304us rms px4io: cycle: 7102 events, 12289373us elapsed, 1730.41us avg, min 3us max 9910us 1021.524us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 42874 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 42874 events, 11842541us elapsed, 276.22us avg, min 116us max 1956us 161.952us rms load_mon: cycle: 309 events, 19514us elapsed, 63.15us avg, min 1us max 161us 8.977us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 123 events, 41837us elapsed, 340.14us avg, min 18us max 18587us 1706.872us rms dma_alloc: 20 events param: set: 61 events, 770us elapsed, 12.62us avg, min 2us max 39us 8.779us rms param: get: 21909 events param: find: 5561 events param: export: 8 events, 141758us elapsed, 17719.75us avg, min 17222us max 18273us 358.748us rms
Post Flight:
gyro_fft: gyro data gap: 0 events ekf2: vehicle_magnetometer messages missed: 139 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3476 events, 909027us elapsed, 261.52us avg, min 113us max 441us 167.560us rms ekf2: ECL update: 3477 events, 1757us elapsed, 0.50us avg, min 0us max 8us 1.388us 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: 13906 events, 3000.49 avg, min 2122us max 4027us 173.325us rms mavlink: tx run elapsed: 13906 events, 2082808us elapsed, 149.78us avg, min 105us max 1113us 131.517us 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: 108 events, 930042us elapsed, 8611.50us avg, min 1808us max 16617us 2703.869us rms logger_sd_write: 282 events, 4179219us elapsed, 14819.93us avg, min 6us max 69029us 4472.402us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4 events, 7499999.75 avg, min 9999974us max 10000025us 20.616us rms gyro_fft: FFT: 327 events, 52159us elapsed, 159.51us avg, min 154us max 175us 9.090us rms gyro_fft: cycle interval: 3476 events, 12001.59 avg, min 11659us max 17287us 111.674us rms gyro_fft: cycle: 3476 events, 81977us elapsed, 23.58us avg, min 7us max 184us 99.864us rms navigator: 882 events, 217276us elapsed, 246.34us avg, min 9us max 17288us 4061.420us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4173 events, 9999.18 avg, min 9109us max 11001us 207.387us rms mavlink: tx run elapsed: 4173 events, 511199us elapsed, 122.50us avg, min 91us max 1014us 189.390us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8345 events, 5000.19 avg, min 4036us max 6007us 220.474us rms mavlink: tx run elapsed: 8345 events, 258817us elapsed, 31.01us avg, min 20us max 953us 111.085us rms mag_bias_estimator: cycle: 51 events, 1139us elapsed, 22.33us avg, min 1us max 24us 56.808us rms land_detector: cycle: 3476 events, 40557us elapsed, 11.67us avg, min 10us max 62us 2.617us rms mc_pos_control: cycle time: 3476 events, 55982us elapsed, 16.11us avg, min 6us max 37us 12.228us rms flight_mode_manager: cycle: 2087 events, 33588us elapsed, 16.09us avg, min 4us max 165us 41.497us rms mc_hover_thrust_estimator: cycle time: 3476 events, 3541us elapsed, 1.02us avg, min 1us max 10us 0.662us 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: 6953 events, 104152us elapsed, 14.98us avg, min 8us max 31us 6.826us rms mc_rate_control: cycle: 13905 events, 151403us elapsed, 10.89us avg, min 8us max 26us 3.067us rms control_allocator: cycle: 13905 events, 322325us elapsed, 23.18us avg, min 19us max 40us 8.234us rms commander: preflight check: 382 events, 20305us elapsed, 53.15us avg, min 42us max 890us 310.037us rms commander: cycle: 3794 events, 186231us elapsed, 49.09us avg, min 28us max 975us 179.949us rms vehicle_magnetometer: cycle: 13905 events, 270205us elapsed, 19.43us avg, min 16us max 32us 5.588us rms vehicle_gps_position: cycle: 1986 events, 14230us elapsed, 7.17us avg, min 6us max 12us 1.154us rms vehicle_air_data: cycle: 13905 events, 175111us elapsed, 12.59us avg, min 11us max 26us 4.187us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 13905 events, 168110us elapsed, 12.09us avg, min 11us max 25us 4.851us rms sensors: 6955 events, 148592us elapsed, 21.36us avg, min 14us max 77us 53.951us rms manual_control: interval: 1026 events, 40633.84 avg, min 1306us max 200530us 43927.617us rms manual_control: cycle: 1026 events, 11225us elapsed, 10.94us avg, min 9us max 23us 12.016us rms rc_update: valid data interval: 1918 events, 21747.59 avg, min 21521us max 29042us 1023.163us rms rc_update: cycle interval: 1918 events, 21747.59 avg, min 21521us max 29043us 1023.173us rms rc_update: cycle: 1918 events, 31426us elapsed, 16.38us avg, min 13us max 31us 11.442us 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: 11558 events, 3202275us elapsed, 277.06us avg, min 135us max 1138us 349.902us rms px4io: interval: 1918 events, 21747.61 avg, min 21520us max 29257us 1021.311us rms px4io: cycle: 1918 events, 3289553us elapsed, 1715.10us avg, min 1516us max 9021us 2214.555us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 11558 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 11558 events, 3160072us elapsed, 273.41us avg, min 132us max 1133us 349.485us rms load_mon: cycle: 83 events, 5344us elapsed, 64.39us avg, min 60us max 89us 18.277us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 229 events, 203531us elapsed, 888.78us avg, min 18us max 17263us 7990.568us rms dma_alloc: 2 events param: set: 3 events, 46us elapsed, 15.33us avg, min 2us max 40us 52.626us rms param: get: 396 events param: find: 180 events param: export: 1 events, 18320us elapsed, 18320.00us avg, min 18320us max 18320us infus rms