Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Dual antenna GPS and standard GPS together 2
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4FMU_V5 (V500) |
| Software Version: | 9887c463 branch: A700-dual_gps |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:35 |
| Vehicle Life Flight Time: | 3 hours 37 minutes 30 seconds |
| Vehicle UUID: | 001E00223038510938333933 (IF700) |
| Wind Speed: | Breeze |
| Flight Rating: | Good |
| Distance: | 235.2 m |
| Max Altitude Difference: | 10 m |
| Average Speed: | 4.1 km/h |
| Max Speed: | 14.1 km/h |
| Max Speed Horizontal: | 13.1 km/h |
| Max Speed Up: | 13.1 km/h |
| Max Speed Down: | 10.3 km/h |
| Max Tilt Angle: | 21.9 deg |
| Max Rotation Speed: | 163.7 deg/s |
| Average Current: | 11.3 A |
| Max Current: | 30.9 A |
Loading Plots...
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 4546 61.238 484/ 748 0 ( 0) READY 3 1 hpwork 106 2.097 792/ 1780 249 (249) w:sig 16 2 lpwork 9 0.399 672/ 1780 50 ( 50) w:sig 10 3 init 18667 0.799 1816/ 2684 100 (100) w:sem 3 360 px4flow 2 0.099 648/ 1164 100 (100) w:sig 3 12 dataman 3 0.000 752/ 1180 90 ( 90) w:sem 4 116 gps 9 0.199 992/ 1556 220 (220) w:sem 5 117 gps 2 0.000 1112/ 1556 220 (220) w:sig 5 170 sensors 4504 3.496 1140/ 1964 249 (249) w:sem 17 173 commander 22 0.799 1192/ 3212 140 (140) w:sig 31 174 commander_low_prio 0 0.000 536/ 2996 50 ( 50) w:sem 31 182 mavlink_if0 1 0.000 1280/ 2532 100 (100) w:sig 4 190 mavlink_if0 39 1.198 1536/ 2572 100 (100) w:sig 23 191 mavlink_rcv_if0 10 0.399 1104/ 2836 175 (175) w:sem 23 239 fmu 39 1.698 888/ 1324 251 (251) w:sem 8 312 ekf2 115 5.694 4528/ 6572 250 (250) w:sem 22 314 mc_att_control 77 3.196 824/ 1660 251 (251) w:sem 17 316 mc_pos_control 4 0.199 784/ 1876 250 (250) w:sem 10 325 navigator 71 0.000 936/ 1764 105 (105) w:sem 16 345 logger 589 3.696 3040/ 3540 245 (245) RUN 32 356 vmount 12 0.599 968/ 1868 100 (100) w:sem 10 358 log_writer_file 70 0.000 536/ 1148 60 ( 60) w:sem 32 Processes: 22 total, 2 running, 20 sleeping, max FDs: 54 CPU usage: 24.58% tasks, 14.19% sched, 61.24% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 7.365s total, 4.547s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 150160 67.000 484/ 748 0 ( 0) READY 3 1 hpwork 4822 2.100 792/ 1780 249 (249) w:sig 16 2 lpwork 399 3.299 944/ 1780 50 ( 50) w:sig 10 3 init 18667 0.000 1816/ 2684 100 (100) w:sem 3 12 dataman 44 0.100 752/ 1180 90 ( 90) w:sem 4 116 gps 341 0.100 992/ 1556 220 (220) w:sem 5 117 gps 685 0.300 1144/ 1556 220 (220) w:sem 5 170 sensors 11889 3.400 1140/ 1964 249 (249) w:sem 17 173 commander 2058 0.800 1560/ 3212 140 (140) w:sig 31 174 commander_low_prio 3 0.000 552/ 2996 50 ( 50) w:sem 31 190 mavlink_if0 3026 1.200 1752/ 2572 100 (100) w:sig 38 191 mavlink_rcv_if0 682 0.300 1104/ 2836 175 (175) w:sem 38 239 fmu 3962 1.900 888/ 1324 251 (251) w:sem 8 312 ekf2 15831 6.900 4528/ 6572 250 (250) w:sem 22 314 mc_att_control 7111 3.200 824/ 1660 251 (251) w:sem 17 316 mc_pos_control 2724 0.500 896/ 1876 250 (250) w:sem 14 325 navigator 312 0.100 936/ 1764 105 (105) w:sem 16 345 logger 7820 3.299 3040/ 3540 245 (245) RUN 40 356 vmount 1360 0.700 976/ 1868 100 (100) w:sem 10 358 log_writer_file 10086 4.099 576/ 1148 60 ( 60) w:sem 40 Processes: 20 total, 2 running, 18 sleeping, max FDs: 54 CPU usage: 32.30% tasks, 0.70% sched, 67.00% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 221.992s total, 150.161s idle
Performance Counters
Pre Flight:
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 navigator: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector_cycle: 69 events, 2412us elapsed, 34.96us avg, min 20us max 711us 83.447us rms mc_att_control: 357 events, 38279us elapsed, 107.22us avg, min 94us max 757us 34.606us rms EKF2 update: 358 events, 17961us elapsed, 50.17us avg, min 2us max 651us 101.479us rms EKF2 data acquisition: 358 events, 24508us elapsed, 68.46us avg, min 38us max 1359us 71.907us rms fmu control latency: 441 events, 127632us elapsed, 289.41us avg, min 179us max 3422us 305.865us rms mavlink_el: 92 events, 12736us elapsed, 138.43us avg, min 58us max 900us 159.190us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 490 events, 115309us elapsed, 235.32us avg, min 52us max 4054us 214.865us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 153 events, 131879us elapsed, 861.95us avg, min 824us max 1690us 108.911us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 213 events, 183792us elapsed, 862.87us avg, min 828us max 1712us 86.300us rms bmi055_gyro_bad_registers: 1 events bmi055_gyro_bad_transfers: 1 events bmi055_gyro_measure_interval: 5742 events, 799.92 avg, min 761us max 1168us 12.284us rms bmi055_gyro_read: 5711 events, 200853us elapsed, 35.17us avg, min 32us max 41us 1.760us rms bmi055_accel_duplicates: 1124 events bmi055_accel_bad_registers: 1 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 5767 events, 799.93 avg, min 788us max 1168us 5.046us rms bmi055_accel_read: 5735 events, 178392us elapsed, 31.11us avg, min 20us max 41us 5.496us rms mpu6k_duplicates: 1159 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 5780 events, 799.93 avg, min 751us max 1178us 25.406us rms mpu6k_read: 5763 events, 291867us elapsed, 50.64us avg, min 36us max 71us 7.759us rms adc_samples: 2364 events, 4882us elapsed, 2.07us avg, min 1us max 3us 0.250us rms ms5611_com_err: 0 events ms5611_measure: 437 events, 1890us elapsed, 4.32us avg, min 3us max 49us 4.146us rms ms5611_read: 436 events, 4785us elapsed, 10.97us avg, min 7us max 58us 3.698us rms rc_input publish interval: 464 events, 10082.00 avg, min 4164us max 31001us 2022.136us rms rc_input cycle time: 991 events, 15004us elapsed, 15.14us avg, min 6us max 268us 14.294us rms stack_check: 9 events, 58us elapsed, 6.44us avg, min 1us max 10us 2.877us rms dma_alloc: 4 events param_set: 158 events, 6256us elapsed, 39.59us avg, min 4us max 75us 19.848us rms param_get: 2159 events, 8599us elapsed, 3.98us avg, min 2us max 512us 15.659us rms param_find: 733 events, 3405us elapsed, 4.65us avg, min 1us max 67us 5.764us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 202 events, 2371125us elapsed, 11738.24us avg, min 2634us max 633667us 58344.859us rms logger_sd_write: 1870 events, 23564835us elapsed, 12601.52us avg, min 7us max 1119841us 30870.996us rms navigator: 4157 events, 3200352us elapsed, 769.87us avg, min 17us max 1105971us 20171.242us rms land_detector_cycle: 10410 events, 437072us elapsed, 41.99us avg, min 22us max 151us 20.859us rms mc_att_control: 53846 events, 6058852us elapsed, 112.52us avg, min 64us max 191us 9.798us rms EKF2 update: 53846 events, 8357516us elapsed, 155.21us avg, min 13us max 1422us 224.298us rms EKF2 data acquisition: 53846 events, 4345125us elapsed, 80.70us avg, min 38us max 231us 25.141us rms fmu control latency: 75261 events, 28797080us elapsed, 382.63us avg, min 180us max 2642us 347.217us rms mavlink_el: 21533 events, 2934449us elapsed, 136.28us avg, min 61us max 2128us 93.257us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 53847 events, 24782844us elapsed, 460.25us avg, min 158us max 1842us 294.357us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 10005 events, 9499473us elapsed, 949.47us avg, min 823us max 2955us 260.076us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 10006 events, 9362826us elapsed, 935.72us avg, min 827us max 3585us 222.267us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 269541 events, 800.00 avg, min 740us max 859us 16.077us rms bmi055_gyro_read: 269541 events, 9787051us elapsed, 36.31us avg, min 32us max 43us 1.884us rms bmi055_accel_duplicates: 52630 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 269542 events, 800.00 avg, min 741us max 859us 7.102us rms bmi055_accel_read: 269542 events, 8647137us elapsed, 32.08us avg, min 20us max 41us 5.827us rms mpu6k_duplicates: 54200 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 269542 events, 800.00 avg, min 734us max 866us 24.836us rms mpu6k_read: 269542 events, 14280075us elapsed, 52.98us avg, min 36us max 72us 9.116us rms adc_samples: 258756 events, 536076us elapsed, 2.07us avg, min 1us max 3us 0.266us rms ms5611_com_err: 0 events ms5611_measure: 20012 events, 106171us elapsed, 5.31us avg, min 3us max 270us 9.626us rms ms5611_read: 20012 events, 277271us elapsed, 13.86us avg, min 8us max 283us 15.495us rms rc_input publish interval: 21425 events, 10064.43 avg, min 3240us max 17699us 1797.628us rms rc_input cycle time: 44190 events, 760094us elapsed, 17.20us avg, min 5us max 295us 24.148us rms stack_check: 712 events, 8279us elapsed, 11.63us avg, min 1us max 1035us 48.430us rms dma_alloc: 0 events param_set: 7 events, 99us elapsed, 14.14us avg, min 2us max 67us 104.250us rms param_get: 233 events, 869us elapsed, 3.73us avg, min 2us max 65us 48.261us rms param_find: 115 events, 597us elapsed, 5.19us avg, min 2us max 95us 17.877us rms param_export: 2 events, 85479us elapsed, 42739.50us avg, min 41960us max 43519us 1102.359us rms