Do you need help with interpreting the plots?
See here.
PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL Tuning
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:42 |
| Dropouts: | 7 (6 s) |
| Vehicle Life Flight Time: | 1 hours 59 minutes 54 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | Multicopter Phase, Position Mode |
| Distance: | 195.5 m |
| Max Altitude Difference: | 16 m |
| Average Speed MC: | 4.4 km/h |
| Max Speed: | 25.5 km/h |
| Max Speed Horizontal: | 25.5 km/h |
| Max Speed Up: | 4.4 km/h |
| Max Speed Down: | 4.7 km/h |
| Max Tilt Angle: | 20.5 deg |
Loading Plots...
Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 2e8918da66af37922ededee1cc2d2efffec4cfb2 FW version: Release 1.12.3 (17564671) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: bf660cba2af81f055002b3817c87b1f63a78fd09 Build datetime: Sep 6 2021 16:34:11 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003735343732305103001e0021 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 3333 bytes, decoded 3333 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ms4525_airspeed #0 on I2C bus 2 (external) address 0x28 Board extras: /etc/init.d/rc.board_mavlink ERROR [mavlink] offboard mission init failed (-1) INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [439:100] INFO [ekf2] starting instance 0, IMU:0 (3670050), MAG:0 (0) INFO [ekf2] starting instance 1, IMU:1 (2621474), MAG:0 (0) INFO [ekf2] starting instance 2, IMU:2 (2424842), MAG:0 (0) INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.1.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [ekf2] starting instance 3, IMU:0 (3670050), MAG:1 (8944899) INFO [ekf2] starting instance 4, IMU:1 (2621474), MAG:1 (8944899) INFO [ekf2] starting instance 5, IMU:2 (2424842), MAG:1 (8944899) uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node WARN [commander] Switching to Position is currently not available. INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-21/13_06_48.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-21/13_06_48.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 28775 60.320 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 332/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 415 wq:INS1 43 4.315 4460/ 6004 240 (240) w:sem 3 28 wq:hp_default 8 0.800 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 14 1.439 1248/ 1924 205 (205) w:sem 3 206 wq:uavcan 13 1.391 1960/ 3628 236 (236) w:sem 3 219 wq:SPI4 39 3.984 1640/ 2340 250 (250) w:sem 3 225 wq:SPI1 18 1.814 1576/ 2340 253 (253) w:sem 3 298 wq:I2C2 3 0.351 848/ 2340 245 (245) w:sem 3 303 wq:nav_and_controllers 31 3.118 1356/ 2244 242 (242) w:sem 3 304 wq:rate_ctrl 23 2.339 1440/ 1956 255 (255) w:sem 3 305 wq:INS0 43 4.347 4460/ 6004 241 (241) w:sem 3 310 commander 3 0.361 1236/ 3220 140 (140) w:sig 5 317 mavlink_if1 4 0.426 1724/ 2796 100 (100) w:sig 4 318 mavlink_rcv_if1 1 0.151 1388/ 4460 175 (175) w:sem 4 365 gps 0 0.031 1036/ 1684 205 (205) w:sem 4 403 mavlink_if2 6 0.691 1772/ 2740 100 (100) w:sig 4 404 mavlink_rcv_if2 1 0.173 1588/ 4460 175 (175) w:sem 4 423 px4io 20 2.067 1008/ 1484 237 (237) w:sem 4 425 wq:INS2 42 4.295 4460/ 6004 239 (239) w:sem 3 499 log_writer_file 10 1.039 604/ 1172 60 ( 60) w:sem 4 460 navigator 0 0.055 1144/ 1772 105 (105) w:sem 6 492 logger 52 5.254 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 38.45% tasks, 1.23% sched, 60.32% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 43.547s total, 28.775s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 126246 59.434 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 24 2.430 1124/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 415 wq:INS1 44 4.408 4460/ 6004 240 (240) w:sem 3 28 wq:hp_default 8 0.807 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.009 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 18 1.871 1248/ 1924 205 (205) w:sem 3 206 wq:uavcan 14 1.445 1960/ 3628 236 (236) w:sem 3 219 wq:SPI4 39 3.985 1640/ 2340 250 (250) w:sem 3 225 wq:SPI1 18 1.813 1576/ 2340 253 (253) w:sem 3 298 wq:I2C2 3 0.355 848/ 2340 245 (245) w:sem 3 303 wq:nav_and_controllers 31 3.137 1356/ 2244 242 (242) w:sem 3 304 wq:rate_ctrl 23 2.341 1440/ 1956 255 (255) w:sem 3 305 wq:INS0 44 4.480 4460/ 6004 241 (241) w:sem 3 310 commander 5 0.542 1244/ 3220 140 (140) w:sig 5 317 mavlink_if1 4 0.454 1772/ 2796 100 (100) w:sig 4 318 mavlink_rcv_if1 2 0.257 1388/ 4460 175 (175) w:sem 4 365 gps 0 0.028 1036/ 1684 205 (205) w:sem 4 403 mavlink_if2 7 0.725 1772/ 2740 100 (100) w:sig 4 404 mavlink_rcv_if2 1 0.184 1588/ 4460 175 (175) w:sem 4 423 px4io 20 2.046 1008/ 1484 237 (237) w:sem 4 425 wq:INS2 44 4.424 4460/ 6004 239 (239) w:sem 3 499 log_writer_file 7 0.706 620/ 1172 60 ( 60) w:sem 4 460 navigator 0 0.065 1144/ 1772 105 (105) w:sem 6 492 logger 28 2.851 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 39.37% tasks, 1.20% sched, 59.43% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 205.293s total, 126.247s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3619 events, 452512us elapsed, 125.04us avg, min 71us max 873us 79.102us rms ekf2: ECL update: 3887 events, 7690us elapsed, 1.98us avg, min 1us max 102us 2.213us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3633 events, 468021us elapsed, 128.82us avg, min 72us max 974us 90.267us rms ekf2: ECL update: 3910 events, 7739us elapsed, 1.98us avg, min 1us max 41us 1.948us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3639 events, 404055us elapsed, 111.03us avg, min 71us max 355us 41.317us rms ekf2: ECL update: 3738 events, 9433us elapsed, 2.52us avg, min 1us max 60us 2.655us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 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, 155138us elapsed, 155138.00us avg, min 155138us max 155138us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2081 events, 19980.78 avg, min 57us max 29426us 554.610us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 3888 events, 632428us elapsed, 162.66us avg, min 124us max 1144us 85.954us rms gyro_fft: cycle interval: 5565 events, 7505.88 avg, min 5673us max 39243us 605.711us rms gyro_fft: cycle: 5565 events, 899081us elapsed, 161.56us avg, min 11us max 1402us 223.904us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4067 events, 533054us elapsed, 131.07us avg, min 74us max 890us 82.273us rms ekf2: ECL update: 4481 events, 10536us elapsed, 2.35us avg, min 1us max 341us 5.304us rms navigator: 865 events, 114674us elapsed, 132.57us avg, min 8us max 90406us 3076.874us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4067 events, 542779us elapsed, 133.46us avg, min 75us max 1055us 46.291us rms ekf2: ECL update: 4485 events, 11265us elapsed, 2.51us avg, min 1us max 47us 2.280us rms land_detector: cycle: 4090 events, 44093us elapsed, 10.78us avg, min 8us max 142us 4.965us rms fw_pos_control_l1: cycle: 2035 events, 23481us elapsed, 11.54us avg, min 5us max 293us 7.715us rms fw_att_control: cycle: 7513 events, 161391us elapsed, 21.48us avg, min 19us max 311us 5.208us rms mc_hover_thrust_estimator: cycle time: 2530 events, 2395us elapsed, 0.94us avg, min 1us max 25us 1.141us rms mc_pos_control: cycle time: 4080 events, 63210us elapsed, 15.49us avg, min 4us max 155us 10.696us rms flight_mode_manager: cycle: 2035 events, 33543us elapsed, 16.48us avg, min 4us max 435us 15.307us rms mc_att_control: cycle: 7513 events, 88875us elapsed, 11.83us avg, min 7us max 229us 5.955us rms mc_rate_control: cycle: 16724 events, 124851us elapsed, 7.47us avg, min 6us max 81us 1.011us rms vtol_att_control: cycle: 16724 events, 303766us elapsed, 18.16us avg, min 10us max 882us 7.706us rms airspeed_selector: elapsed: 408 events, 6344us elapsed, 15.55us avg, min 13us max 271us 12.842us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 4068 events, 450230us elapsed, 110.68us avg, min 71us max 355us 40.423us rms ekf2: ECL update: 4295 events, 11275us elapsed, 2.63us avg, min 1us max 46us 1.988us rms pwm_out: interval: 4187 events, 9997.85 avg, min 34us max 24111us 857.570us rms pwm_out: cycle: 4186 events, 56642us elapsed, 13.53us avg, min 3us max 323us 5.132us rms control latency: 3756 events, 9638067us elapsed, 2566.05us avg, min 2232us max 5330us 641.665us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events io control latency: 16650 events, 11814583us elapsed, 709.58us avg, min 440us max 2898us 231.385us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 16654 events, 12293442us elapsed, 738.17us avg, min 232us max 25371us 733.002us rms io_txns: 45821 events, 11942267us elapsed, 260.63us avg, min 116us max 2835us 120.755us 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: 4164 events, 10019.70 avg, min 9167us max 40424us 518.115us rms mavlink: tx run elapsed: 4164 events, 328388us elapsed, 78.86us avg, min 51us max 2247us 71.510us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8318 events, 5017.10 avg, min 4056us max 36124us 425.828us rms mavlink: tx run elapsed: 8318 events, 178268us elapsed, 21.43us avg, min 12us max 1140us 37.949us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 3622 events, 65712us elapsed, 18.14us avg, min 5us max 299us 12.006us rms vehicle_gps_position: cycle: 191 events, 1616us elapsed, 8.46us avg, min 2us max 122us 9.402us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events battery_status: 4206 events, 52451us elapsed, 12.47us avg, min 10us max 456us 12.891us rms vehicle_air_data: cycle: 3135 events, 34750us elapsed, 11.08us avg, min 7us max 94us 3.225us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 8411 events, 295393us elapsed, 35.12us avg, min 11us max 3069us 63.491us rms aspd_com_err: 0 events aspd_read: 3932 events, 1889550us elapsed, 480.56us avg, min 476us max 595us 12.932us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4195 events, 14427us elapsed, 3.44us avg, min 3us max 8us 0.553us rms ms5611: read: 4194 events, 47350us elapsed, 11.29us avg, min 9us max 56us 1.077us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4192 events, 15766us elapsed, 3.76us avg, min 3us max 43us 2.135us rms ms5611: read: 4191 events, 56882us elapsed, 13.57us avg, min 9us max 73us 4.600us rms board_adc: sample: 29533 events, 220273us elapsed, 7.46us avg, min 2us max 3482us 25.232us rms rc_update: valid data interval: 1197 events, 21203.15 avg, min 13374us max 29468us 1734.455us rms rc_update: cycle interval: 1199 events, 21202.91 avg, min 13375us max 29468us 1733.492us rms rc_update: cycle: 1199 events, 18153us elapsed, 15.14us avg, min 8us max 1200us 43.110us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 18162 events, 2325.25 avg, min 18us max 7154us 1080.868us rms uavcan: cycle time: 18162 events, 715483us elapsed, 39.39us avg, min 11us max 6355us 88.486us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 85 events, 6423us elapsed, 75.56us avg, min 1us max 375us 39.635us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 141 events, 130169us elapsed, 923.18us avg, min 14us max 90378us 7967.377us rms dma_alloc: 22 events param: set: 152 events, 2661us elapsed, 17.51us avg, min 1us max 91us 10.567us rms param: get: 36935 events param: find: 33261 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16255 events, 3136649us elapsed, 192.97us avg, min 72us max 2983us 241.633us rms ekf2: ECL update: 16999 events, 35006us elapsed, 2.06us avg, min 1us max 504us 5.092us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16254 events, 3309583us elapsed, 203.62us avg, min 73us max 2784us 260.325us rms ekf2: ECL update: 17000 events, 34485us elapsed, 2.03us avg, min 1us max 65us 2.331us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16254 events, 2829610us elapsed, 174.09us avg, min 72us max 952us 179.897us rms ekf2: ECL update: 16255 events, 33935us elapsed, 2.09us avg, min 1us max 58us 2.076us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 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: 317 events, 2432495us elapsed, 7673.49us avg, min 3us max 177900us 9712.407us rms logger_sd_write: 3928 events, 56518599us elapsed, 14388.65us avg, min 4us max 3567727us 67731.266us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 16 events, 9374945.56 avg, min 9998675us max 10001324us 559.029us rms gyro_fft: gyro FIFO data gap: 5 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 15169 events, 2644504us elapsed, 174.34us avg, min 124us max 3934us 155.548us rms gyro_fft: cycle interval: 21584 events, 7530.23 avg, min 18us max 13525us 780.026us rms gyro_fft: cycle: 21584 events, 3731598us elapsed, 172.89us avg, min 2us max 4466us 290.722us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16255 events, 3208272us elapsed, 197.37us avg, min 75us max 3053us 233.719us rms ekf2: ECL update: 16999 events, 43193us elapsed, 2.54us avg, min 1us max 701us 10.334us rms navigator: 3277 events, 8441768us elapsed, 2576.07us avg, min 7us max 3354462us 67846.875us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16254 events, 3443297us elapsed, 211.84us avg, min 76us max 3051us 244.831us rms ekf2: ECL update: 17000 events, 45938us elapsed, 2.70us avg, min 1us max 95us 3.211us rms land_detector: cycle: 16254 events, 181621us elapsed, 11.17us avg, min 9us max 92us 5.342us rms fw_pos_control_l1: cycle: 8127 events, 99041us elapsed, 12.19us avg, min 10us max 101us 6.732us rms fw_att_control: cycle: 32509 events, 700074us elapsed, 21.53us avg, min 20us max 68us 4.765us rms mc_hover_thrust_estimator: cycle time: 16254 events, 58161us elapsed, 3.58us avg, min 0us max 86us 2.607us rms mc_pos_control: cycle time: 16254 events, 396476us elapsed, 24.39us avg, min 21us max 128us 8.460us rms flight_mode_manager: cycle: 8127 events, 236929us elapsed, 29.15us avg, min 25us max 131us 10.580us rms mc_att_control: cycle: 32509 events, 275244us elapsed, 8.47us avg, min 7us max 72us 3.986us rms mc_rate_control: cycle: 65018 events, 528452us elapsed, 8.13us avg, min 6us max 15us 0.861us rms vtol_att_control: cycle: 65018 events, 1583284us elapsed, 24.35us avg, min 17us max 37us 5.061us rms airspeed_selector: elapsed: 1625 events, 23608us elapsed, 14.53us avg, min 13us max 40us 6.901us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16254 events, 2841686us elapsed, 174.83us avg, min 72us max 945us 182.957us rms ekf2: ECL update: 16255 events, 44193us elapsed, 2.72us avg, min 2us max 42us 1.754us rms pwm_out: interval: 16255 events, 9999.25 avg, min 7348us max 12392us 770.997us rms pwm_out: cycle: 16255 events, 218495us elapsed, 13.44us avg, min 12us max 20us 2.722us rms control latency: 16255 events, 41803296us elapsed, 2571.72us avg, min 2165us max 5346us 716.318us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events io control latency: 63990 events, 52071059us elapsed, 813.74us avg, min 450us max 3939us 420.404us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 63990 events, 51514420us elapsed, 805.04us avg, min 231us max 12993us 937.173us rms io_txns: 181742 events, 49947322us elapsed, 274.83us avg, min 118us max 4821us 199.604us 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: 16225 events, 10017.25 avg, min 9101us max 14647us 233.499us rms mavlink: tx run elapsed: 16225 events, 1332704us elapsed, 82.14us avg, min 57us max 3948us 111.788us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 32310 events, 5030.48 avg, min 4020us max 12448us 339.947us rms mavlink: tx run elapsed: 32310 events, 733497us elapsed, 22.70us avg, min 12us max 4003us 74.940us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 14499 events, 271144us elapsed, 18.70us avg, min 7us max 149us 11.449us rms vehicle_gps_position: cycle: 811 events, 6646us elapsed, 8.19us avg, min 6us max 130us 8.267us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 16255 events, 215437us elapsed, 13.25us avg, min 10us max 2119us 28.924us rms vehicle_air_data: cycle: 12116 events, 134360us elapsed, 11.09us avg, min 7us max 83us 3.001us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 32509 events, 1061511us elapsed, 32.65us avg, min 23us max 172us 33.183us rms aspd_com_err: 0 events aspd_read: 15195 events, 7308727us elapsed, 481.00us avg, min 476us max 631us 15.582us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 16175 events, 55819us elapsed, 3.45us avg, min 3us max 9us 0.624us rms ms5611: read: 16175 events, 183496us elapsed, 11.34us avg, min 9us max 18us 1.020us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 16154 events, 60190us elapsed, 3.73us avg, min 3us max 44us 2.229us rms ms5611: read: 16154 events, 220637us elapsed, 13.66us avg, min 9us max 76us 5.249us rms board_adc: sample: 113785 events, 880198us elapsed, 7.74us avg, min 2us max 3399us 31.406us rms rc_update: valid data interval: 7650 events, 21244.47 avg, min 9986us max 33803us 1889.955us rms rc_update: cycle interval: 7650 events, 21244.47 avg, min 9986us max 33803us 1889.564us rms rc_update: cycle: 7650 events, 131073us elapsed, 17.13us avg, min 10us max 3531us 76.644us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 71072 events, 2287.04 avg, min 18us max 8415us 1168.985us rms uavcan: cycle time: 71072 events, 2795847us elapsed, 39.34us avg, min 11us max 4625us 103.878us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 325 events, 26461us elapsed, 81.42us avg, min 67us max 694us 57.750us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 841 events, 8375061us elapsed, 9958.46us avg, min 14us max 3354387us 133711.047us rms dma_alloc: 0 events param: set: 3 events, 8us elapsed, 2.67us avg, min 0us max 6us 91.866us rms param: get: 556 events param: find: 274 events param: export: 1 events, 36211us elapsed, 36211.00us avg, min 36211us max 36211us infus rms