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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | MICOAIR_H743_AIO |
| Software Version: | 18b93885 branch: main_v1154 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:26 |
| Vehicle Life Flight Time: | 1 hours 45 minutes 56 seconds |
| Vehicle UUID: | 000600000000373537383233510d003a003a |
| Distance: | 27.8 m |
| Max Altitude Difference: | 11 m |
| Average Speed: | 3.1 km/h |
| Max Speed: | 11.9 km/h |
| Max Speed Horizontal: | 6.4 km/h |
| Max Speed Up: | 5.7 km/h |
| Max Speed Down: | 11.8 km/h |
| Max Tilt Angle: | 41.8 deg |
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Console Output
HW arch: MICOAIR_H743_AIO PX4 git-hash: 18b93885ca5f51ffd1b5f05d4702767e9a5ffb36 PX4 version: 1.15.4 0 (17761280) PX4 git-branch: main_v1154 OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Jun 22 2025 18:02:39 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000373537383233510d003a003a MCU: STM32H7[4|5]xxx, rev. V 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/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors bmi088_accel #0 on SPI bus 2 rotation 6 bmi088_gyro #0 on SPI bus 2 rotation 6 bmi270 #0 on SPI bus 2 dps310 #0 on I2C bus 2 address 0x76 WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 6684690 ekf2 [632:237] Starting Main GPS on /dev/ttyS2 Starting CRSF RC Input Driver on /dev/ttyS5 WARN [SerialImpl] Using non-standard baudrate: 420000 INFO [crsf_rc] Crsf serial opened sucessfully Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS3 @ 115200B WARN [mavlink] hardware flow control not supported Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Onboard, data rate: 5760 B/s on /dev/ttyS0 @ 115200B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS1 @ 921600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [rc_input] RC scan: CRSF RC input locked Board extras: /etc/init.d/rc.board_extras INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-06-28/02_42_43.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-06-28/02_42_43.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 8926 40.609 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 3 5 wq:lp_default 0 0.030 1356/ 1896 205 (205) w:sem 3 366 wq:hp_default 21 2.156 1092/ 2776 237 (237) w:sem 3 390 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 409 wq:SPI2 132 13.238 1604/ 2368 252 (252) w:sem 3 413 wq:I2C2 1 0.162 792/ 2312 245 (245) w:sem 3 555 wq:nav_and_controllers 28 2.869 1460/ 2216 242 (242) w:sem 3 556 wq:rate_ctrl 44 4.397 2332/ 3120 255 (255) w:sem 3 559 wq:INS0 36 3.651 3660/ 5976 241 (241) w:sem 3 567 wq:INS1 44 4.435 3660/ 5976 240 (240) w:sem 3 570 commander 4 0.497 1548/ 3192 140 (140) w:sig 5 703 gps 0 0.029 1204/ 1936 205 (205) w:sem 4 723 wq:ttyS5 0 0.021 1040/ 1704 229 (229) w:sem 3 798 mavlink_if0 9 0.991 1932/ 2704 100 (100) w:sig 5 807 mavlink_rcv_if0 90 9.077 1352/ 4776 175 (175) w:sem 5 840 mavlink_if1 38 3.825 1916/ 2704 100 (100) READY 5 841 mavlink_rcv_if1 1 0.164 1324/ 4776 175 (175) w:sem 5 880 mavlink_if2 51 5.104 1980/ 2704 100 (100) READY 5 881 mavlink_rcv_if2 2 0.219 1684/ 4776 175 (175) w:sem 5 914 wq:ttyS4 6 0.613 988/ 1704 230 (230) READY 3 924 navigator 0 0.082 1532/ 2104 105 (105) w:sem 11 1045 logger 42 4.276 3100/ 3616 230 (230) RUN 4 1051 log_writer_file 8 0.862 612/ 1144 60 ( 60) w:sem 4 1076 wq:uavcan 7 0.758 2252/ 3600 236 (236) w:sem 3 Processes: 27 total, 5 running, 22 sleeping CPU usage: 57.46% tasks, 1.93% sched, 40.61% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 18.879s total, 8.926s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 20708 39.611 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 3 5 wq:lp_default 19 1.952 1356/ 1896 205 (205) w:sem 3 366 wq:hp_default 24 2.425 1092/ 2776 237 (237) w:sem 3 390 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 409 wq:SPI2 135 13.581 1604/ 2368 252 (252) w:sem 3 413 wq:I2C2 1 0.166 792/ 2312 245 (245) w:sem 3 555 wq:nav_and_controllers 34 3.438 1460/ 2216 242 (242) w:sem 3 556 wq:rate_ctrl 54 5.413 2332/ 3120 255 (255) w:sem 3 559 wq:INS0 30 3.070 3660/ 5976 241 (241) w:sem 3 567 wq:INS1 44 4.474 3660/ 5976 240 (240) w:sem 3 570 commander 5 0.510 1548/ 3192 140 (140) w:sig 5 703 gps 0 0.029 1204/ 1936 205 (205) w:sem 4 723 wq:ttyS5 0 0.017 1040/ 1704 229 (229) w:sem 3 798 mavlink_if0 10 1.062 1932/ 2704 100 (100) w:sig 5 807 mavlink_rcv_if0 91 9.154 1352/ 4776 175 (175) READY 5 840 mavlink_if1 39 3.950 1916/ 2704 100 (100) READY 5 841 mavlink_rcv_if1 1 0.177 1324/ 4776 175 (175) w:sem 5 880 mavlink_if2 51 5.174 1980/ 2704 100 (100) READY 5 881 mavlink_rcv_if2 2 0.201 1684/ 4776 175 (175) w:sem 5 914 wq:ttyS4 6 0.627 988/ 1704 230 (230) w:sem 3 924 navigator 0 0.090 1532/ 2104 105 (105) w:sem 11 1045 logger 16 1.649 3100/ 3616 230 (230) RUN 4 1051 log_writer_file 4 0.485 620/ 1144 60 ( 60) w:sem 4 1076 wq:uavcan 7 0.774 2252/ 3600 236 (236) w:sem 3 Processes: 27 total, 5 running, 22 sleeping CPU usage: 58.43% tasks, 1.96% sched, 39.61% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 44.650s total, 20.708s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 7958us elapsed, 7958.00us avg, min 7958us max 7958us infus rms vehicle_optical_flow: cycle: 3452 events, 90180us elapsed, 26.12us avg, min 14us max 203us 16.860us rms uavcan: cycle interval: 5861 events, 2998.79 avg, min 142us max 4017us 145.146us rms uavcan: cycle time: 5861 events, 111126us elapsed, 18.96us avg, min 8us max 812us 34.517us rms tap_esc: 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 25us elapsed, 25.00us avg, min 25us max 25us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms geofence_dm_cache_miss: 0 events 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: 1 events, 213008us elapsed, 213008.00us avg, min 213008us max 213008us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 881 events, 19978.85 avg, min 62us max 41355us 1366.586us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 823 events, 140066us elapsed, 170.19us avg, min 132us max 653us 53.666us rms gyro_fft: cycle interval: 5931 events, 3004.63 avg, min 1742us max 4104us 277.347us rms gyro_fft: cycle: 5931 events, 195235us elapsed, 32.92us avg, min 6us max 661us 65.787us rms DatamanClient: sync: 1 events, 24157us elapsed, 24157.00us avg, min 24157us max 24157us nanus rms navigator: 381 events, 21432us elapsed, 56.25us avg, min 18us max 8409us 430.232us rms rc_input: publish interval: 4209 events, 4233.72 avg, min 887us max 35005us 1206.985us rms rc_input: cycle time: 4449 events, 74524us elapsed, 16.75us avg, min 4us max 519us 23.163us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5894 events, 3026.03 avg, min 2220us max 36130us 499.872us rms mavlink: tx run elapsed: 5894 events, 1396413us elapsed, 236.92us avg, min 82us max 3272us 156.259us rms DatamanClient: sync: 3 events, 1488us elapsed, 496.00us avg, min 27us max 831us 418.415us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5899 events, 3025.50 avg, min 2136us max 36569us 505.592us rms mavlink: tx run elapsed: 5899 events, 1046067us elapsed, 177.33us avg, min 78us max 2782us 116.754us rms DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1780 events, 10026.87 avg, min 9107us max 43501us 830.819us rms mavlink: tx run elapsed: 1780 events, 306191us elapsed, 172.02us avg, min 66us max 3095us 159.647us rms DatamanClient: sync: 4 events, 557us elapsed, 139.25us avg, min 33us max 235us 110.894us rms crsf_rc: publish interval: 171 events, 103935.14 avg, min 90790us max 121590us 1751.923us rms crsf_rc: cycle interval: 172 events, 103941.39 avg, min 90789us max 121571us 1746.414us rms mag_bias_estimator: cycle: 883 events, 3826us elapsed, 4.33us avg, min 2us max 705us 24.356us rms land_detector: cycle: 1766 events, 20950us elapsed, 11.86us avg, min 9us max 113us 7.425us rms mc_pos_control: cycle time: 1767 events, 49199us elapsed, 27.84us avg, min 21us max 171us 12.052us rms flight_mode_manager: cycle: 897 events, 47450us elapsed, 52.90us avg, min 25us max 588us 84.978us rms mc_hover_thrust_estimator: cycle time: 1766 events, 2205us elapsed, 1.25us avg, min 1us max 54us 3.245us 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: 2229 events, 23352us elapsed, 10.48us avg, min 7us max 174us 7.187us rms mc_rate_control: cycle: 11921 events, 106580us elapsed, 8.94us avg, min 7us max 76us 1.617us rms control_allocator: cycle: 11922 events, 247179us elapsed, 20.73us avg, min 17us max 134us 3.158us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1771 events, 328856us elapsed, 185.69us avg, min 81us max 956us 104.748us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1767 events, 298741us elapsed, 169.07us avg, min 80us max 449us 74.508us rms pwm_out: interval: 61 events, 290174.54 avg, min 108us max 300588us 38393.227us rms pwm_out: cycle: 61 events, 347us elapsed, 5.69us avg, min 2us max 54us 9.936us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 11923 events, 182777us elapsed, 15.33us avg, min 13us max 69us 1.738us rms control latency: 11922 events, 1417459us elapsed, 118.89us avg, min 101us max 249us 17.487us rms commander: preflight check: 165 events, 29417us elapsed, 178.28us avg, min 91us max 1084us 122.962us rms commander: cycle: 1626 events, 145436us elapsed, 89.44us avg, min 29us max 1216us 113.844us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 3 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_air_data: cycle: 497 events, 7958us elapsed, 16.01us avg, min 4us max 159us 15.315us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 11936 events, 140905us elapsed, 11.81us avg, min 9us max 30us 1.498us rms sensors: 3533 events, 101996us elapsed, 28.87us avg, min 17us max 1193us 29.858us rms battery_status: 1793 events, 25213us elapsed, 14.06us avg, min 7us max 738us 33.516us rms dps310: comm errors: 0 events dps310: read: 1150 events, 798635us elapsed, 694.47us avg, min 401us max 1393us 407.016us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 1 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 1 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 1 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 5403 events, 22539us elapsed, 4.17us avg, min 2us max 3479us 48.595us rms manual_control: interval: 3888 events, 4634.06 avg, min 887us max 200090us 4769.902us rms manual_control: cycle: 3888 events, 60394us elapsed, 15.53us avg, min 9us max 967us 34.958us rms rc_update: valid data interval: 4183 events, 4234.28 avg, min 887us max 35001us 1206.727us rms rc_update: cycle interval: 4209 events, 4233.71 avg, min 887us max 35005us 1207.120us rms rc_update: cycle: 4209 events, 97679us elapsed, 23.21us avg, min 8us max 794us 42.808us rms load_mon: cycle: 37 events, 4234us elapsed, 114.43us avg, min 1us max 849us 137.065us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 1831us elapsed, 261.57us avg, min 7us max 470us 151.067us rms dma_alloc: 8 events param: set: 135 events, 2144us elapsed, 15.88us avg, min 4us max 32us 7.257us rms param: get: 11740 events param: find: 4142 events param: export: 1 events, 2708us elapsed, 2708.00us avg, min 2708us max 2708us infus rms
Post Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 5678 events, 147168us elapsed, 25.92us avg, min 13us max 197us 22.379us rms uavcan: cycle interval: 8838 events, 2999.66 avg, min 1843us max 4136us 144.438us rms uavcan: cycle time: 8838 events, 159186us elapsed, 18.01us avg, min 10us max 922us 41.707us rms tap_esc: 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms geofence_dm_cache_miss: 0 events 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: 71 events, 379442us elapsed, 5344.25us avg, min 4us max 35746us 5452.145us rms logger_sd_write: 230 events, 3195938us elapsed, 13895.38us avg, min 7us max 114485us 10607.126us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000000.00 avg, min 10000000us max 10000000us 0.000us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 1218 events, 215431us elapsed, 176.87us avg, min 130us max 762us 73.776us rms gyro_fft: cycle interval: 9398 events, 2820.59 avg, min 723us max 4134us 605.160us rms gyro_fft: cycle: 9398 events, 300259us elapsed, 31.95us avg, min 5us max 773us 83.902us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 560 events, 20377us elapsed, 36.39us avg, min 19us max 467us 356.984us rms rc_input: publish interval: 6318 events, 4194.67 avg, min 1888us max 16034us 902.847us rms rc_input: cycle time: 6627 events, 115063us elapsed, 17.36us avg, min 4us max 1066us 33.936us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8789 events, 3015.35 avg, min 2189us max 19495us 289.626us rms mavlink: tx run elapsed: 8789 events, 2085676us elapsed, 237.31us avg, min 98us max 2439us 191.106us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8789 events, 3015.50 avg, min 2173us max 19405us 291.165us rms mavlink: tx run elapsed: 8788 events, 1606284us elapsed, 182.78us avg, min 88us max 2998us 158.488us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2648 events, 10007.93 avg, min 9141us max 20511us 317.525us rms mavlink: tx run elapsed: 2648 events, 490943us elapsed, 185.40us avg, min 79us max 6206us 218.211us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms crsf_rc: publish interval: 253 events, 104173.89 avg, min 101828us max 105638us 578.612us rms crsf_rc: cycle interval: 253 events, 104173.89 avg, min 101828us max 105641us 592.785us rms mag_bias_estimator: cycle: 34 events, 167us elapsed, 4.91us avg, min 2us max 51us 126.231us rms land_detector: cycle: 2623 events, 31018us elapsed, 11.83us avg, min 8us max 128us 10.235us rms mc_pos_control: cycle time: 2623 events, 46663us elapsed, 17.79us avg, min 5us max 103us 17.716us rms flight_mode_manager: cycle: 1325 events, 26596us elapsed, 20.07us avg, min 3us max 121us 72.756us rms mc_hover_thrust_estimator: cycle time: 1228 events, 3827us elapsed, 3.12us avg, min 1us max 85us 6.378us 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: 5242 events, 80176us elapsed, 15.29us avg, min 7us max 127us 10.461us rms mc_rate_control: cycle: 17819 events, 167545us elapsed, 9.40us avg, min 7us max 19us 1.922us rms control_allocator: cycle: 17819 events, 364800us elapsed, 20.47us avg, min 17us max 37us 3.915us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2638 events, 541911us elapsed, 205.42us avg, min 84us max 1047us 139.130us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 2621 events, 483603us elapsed, 184.51us avg, min 84us max 444us 97.739us rms pwm_out: interval: 89 events, 296629.16 avg, min 299363us max 300619us 159.906us rms pwm_out: cycle: 89 events, 379us elapsed, 4.26us avg, min 2us max 48us 9.888us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 17819 events, 287345us elapsed, 16.13us avg, min 13us max 25us 2.203us rms control latency: 17819 events, 2167776us elapsed, 121.66us avg, min 103us max 319us 23.021us rms commander: preflight check: 241 events, 39872us elapsed, 165.44us avg, min 89us max 822us 146.950us rms commander: cycle: 2408 events, 236725us elapsed, 98.31us avg, min 32us max 3776us 166.519us 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_air_data: cycle: 745 events, 12774us elapsed, 17.15us avg, min 6us max 152us 19.999us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 17821 events, 213143us elapsed, 11.96us avg, min 10us max 191us 2.371us rms sensors: 5243 events, 144145us elapsed, 27.49us avg, min 18us max 182us 27.291us rms battery_status: 2651 events, 33467us elapsed, 12.62us avg, min 7us max 697us 36.334us rms dps310: comm errors: 0 events dps310: read: 1697 events, 1179463us elapsed, 695.03us avg, min 401us max 1517us 527.343us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 0 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 7953 events, 26601us elapsed, 3.34us avg, min 2us max 1023us 44.272us rms manual_control: interval: 5720 events, 4633.22 avg, min 1888us max 47998us 2022.724us rms manual_control: cycle: 5720 events, 86890us elapsed, 15.19us avg, min 9us max 988us 42.375us rms rc_update: valid data interval: 6318 events, 4194.69 avg, min 1888us max 15952us 903.767us rms rc_update: cycle interval: 6318 events, 4194.69 avg, min 1888us max 16034us 903.438us rms rc_update: cycle: 6318 events, 147913us elapsed, 23.41us avg, min 10us max 970us 56.354us rms load_mon: cycle: 53 events, 6054us elapsed, 114.23us avg, min 64us max 656us 164.632us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 5us elapsed, 1.67us avg, min 1us max 3us 59.409us rms param: get: 1853 events param: find: 3311 events param: export: 1 events, 16808us elapsed, 16808.00us avg, min 16808us max 16808us infus rms