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PX4 Quadrotor | Open PID Analysis |
Log1
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V2) |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:41 |
| Dropouts: | 96 (7 s) |
| Vehicle Life Flight Time: | 18 minutes 38 seconds |
| Vehicle UUID: | 000100000000323636373036510c004e002a |
| Max Altitude Difference: | 1 m |
| Max Tilt Angle: | 13.8 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 223262 33.877 208/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 1060/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 3 1349 mavlink_rcv_if0 3 0.397 1500/ 4616 175 (175) w:sem 4 223 wq:hp_default 14 1.467 1088/ 1872 237 (237) w:sem 3 238 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 246 wq:lp_default 0 0.074 1020/ 1896 205 (205) w:sem 3 268 wq:ttyS4 8 0.861 1060/ 1704 230 (230) w:sem 3 285 wq:I2C2 0 0.075 700/ 2312 245 (245) w:sem 3 309 wq:SPI1 163 16.322 1668/ 2368 253 (253) w:sem 3 504 wq:nav_and_controllers 49 4.904 1332/ 2216 242 (242) w:sem 3 505 wq:rate_ctrl 124 12.431 2316/ 3120 255 (255) w:sem 3 506 wq:INS0 105 10.537 4292/ 5976 241 (241) w:sem 3 519 commander 14 1.406 1548/ 3192 140 (140) w:sig 5 1293 gps 0 0.097 1236/ 1936 205 (205) w:sem 4 1342 mavlink_if0 21 2.191 1964/ 2704 100 (100) READY 4 1384 navigator 1 0.156 1260/ 1896 105 (105) w:sem 6 1426 logger 128 12.808 3500/ 3616 230 (230) RUN 4 1428 log_writer_file 4 0.483 700/ 1144 60 ( 60) w:sem 4 Processes: 21 total, 3 running, 18 sleeping CPU usage: 64.21% tasks, 1.91% sched, 33.88% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 479.107s total, 223.263s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 241955 38.353 208/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 53 5.322 1060/ 1576 50 ( 50) READY 4 3 nsh_main 0 0.000 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 3 1349 mavlink_rcv_if0 4 0.455 1500/ 4616 175 (175) READY 4 223 wq:hp_default 14 1.415 1088/ 1872 237 (237) w:sem 3 238 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 246 wq:lp_default 1 0.143 1020/ 1896 205 (205) READY 3 268 wq:ttyS4 9 0.933 1060/ 1704 230 (230) w:sem 3 285 wq:I2C2 0 0.060 700/ 2312 245 (245) w:sem 3 309 wq:SPI1 163 16.308 1668/ 2368 253 (253) w:sem 3 504 wq:nav_and_controllers 49 4.981 1332/ 2216 242 (242) w:sem 3 505 wq:rate_ctrl 122 12.263 2316/ 3120 255 (255) w:sem 3 506 wq:INS0 105 10.487 4292/ 5976 241 (241) w:sem 3 519 commander 15 1.572 1548/ 3192 140 (140) w:sig 5 1293 gps 0 0.083 1236/ 1936 205 (205) w:sig 3 1342 mavlink_if0 25 2.552 1964/ 2704 100 (100) w:sig 4 1384 navigator 1 0.152 1260/ 1896 105 (105) w:sem 6 1426 logger 26 2.630 3500/ 3616 230 (230) RUN 4 1428 log_writer_file 3 0.380 700/ 1144 60 ( 60) w:sem 4 Processes: 21 total, 5 running, 16 sleeping CPU usage: 59.74% tasks, 1.91% sched, 38.35% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 519.361s total, 241.956s idle
Performance Counters
Pre Flight:
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: 100 events, 19203452us elapsed, 192034.52us avg, min 2863us max 212235us 95404.039us rms logger_sd_write: 397 events, 11925716us elapsed, 30039.59us avg, min 14us max 303655us 122750.523us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6 events, 8333383.33 avg, min 9999764us max 10000472us 229.875us rms navigator: 1358 events, 69197us elapsed, 50.96us avg, min 25us max 1166us 284.891us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6370 events, 10263.12 avg, min 9240us max 47131us 862.872us rms mavlink: tx run elapsed: 6370 events, 2887612us elapsed, 453.31us avg, min 220us max 5401us 1050.207us rms mag_bias_estimator: cycle: 174 events, 9595us elapsed, 55.14us avg, min 1us max 491us 541.502us rms land_detector: cycle: 5821 events, 207079us elapsed, 35.57us avg, min 25us max 567us 109.604us rms mc_pos_control: cycle time: 5821 events, 88295us elapsed, 15.17us avg, min 10us max 397us 93.316us rms flight_mode_manager: cycle: 3271 events, 40990us elapsed, 12.53us avg, min 9us max 354us 105.234us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 11624 events, 585003us elapsed, 50.33us avg, min 38us max 410us 70.715us rms mc_rate_control: cycle: 49216 events, 1155184us elapsed, 23.47us avg, min 19us max 48us 8.054us rms control_allocator: cycle: 49216 events, 3145260us elapsed, 63.91us avg, min 55us max 102us 21.332us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 8 events ekf2: ECL full update: 5821 events, 2017837us elapsed, 346.65us avg, min 188us max 1379us 601.043us rms ekf2: ECL update: 5803 events, 3920us elapsed, 0.67us avg, min 1us max 212us 6.520us rms pwm_out: interval: 49217 events, 1329.24 avg, min 194us max 2887us 320.543us rms pwm_out: cycle: 49217 events, 1621703us elapsed, 32.95us avg, min 28us max 57us 8.202us rms control latency: 49218 events, 8813030us elapsed, 179.06us avg, min 161us max 260us 25.759us rms commander: preflight check: 620 events, 536501us elapsed, 865.32us avg, min 428us max 21824us 2579.736us rms commander: cycle: 5857 events, 1360711us elapsed, 232.32us avg, min 57us max 22843us 1262.152us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 6236 events, 290554us elapsed, 46.59us avg, min 36us max 313us 101.726us rms vehicle_gps_position: cycle: 218 events, 1999us elapsed, 9.17us avg, min 5us max 305us 50.526us rms vehicle_air_data: cycle: 4677 events, 220217us elapsed, 47.09us avg, min 31us max 331us 117.691us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 49220 events, 1274865us elapsed, 25.90us avg, min 23us max 49us 8.718us rms sensors: 11634 events, 953627us elapsed, 81.97us avg, min 52us max 421us 142.060us rms battery_status: 6542 events, 245941us elapsed, 37.59us avg, min 21us max 1522us 256.148us rms lsm303d: acc_dupe: 11251 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 6236 events, 174203us elapsed, 27.94us avg, min 22us max 50us 9.426us rms lsm303d: acc_read: 62314 events, 1748036us elapsed, 28.05us avg, min 21us max 56us 10.981us rms l3gd20: dupe: 42287 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 91510 events, 11049544us elapsed, 120.75us avg, min 22us max 303us 242.591us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 6236 events, 43469us elapsed, 6.97us avg, min 6us max 26us 3.812us rms ms5611: read: 6236 events, 123162us elapsed, 19.75us avg, min 11us max 37us 13.480us rms board_adc: sample: 65430 events, 473860us elapsed, 7.24us avg, min 4us max 1850us 108.310us rms rgbled: led_control message missed: 590 events manual_control: interval: 2051 events, 31857.84 avg, min 17927us max 200030us 24018.221us rms manual_control: cycle: 2051 events, 74807us elapsed, 36.47us avg, min 21us max 2025us 202.203us rms rc_update: valid data interval: 2948 events, 22190.43 avg, min 21245us max 54927us 1715.532us rms rc_update: cycle interval: 2948 events, 22190.43 avg, min 21244us max 54930us 1719.768us rms rc_update: cycle: 2948 events, 143379us elapsed, 48.64us avg, min 23us max 1472us 271.235us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 5 events, 874us elapsed, 174.80us avg, min 147us max 193us 915.247us rms px4io: interface read: 14343 events, 5468610us elapsed, 381.27us avg, min 147us max 3364us 889.007us rms px4io: interval: 2948 events, 22190.52 avg, min 21245us max 54973us 1716.836us rms px4io: cycle: 2948 events, 5916625us elapsed, 2007.00us avg, min 1236us max 13047us 4038.825us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 14348 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 14348 events, 5258441us elapsed, 366.49us avg, min 129us max 3354us 874.385us rms load_mon: cycle: 131 events, 42878us elapsed, 327.31us avg, min 172us max 1621us 1438.932us 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: 3 events param: set: 3 events, 11us elapsed, 3.67us avg, min 2us max 6us 237.895us rms param: get: 7167 events param: find: 9658 events param: export: 1 events, 30420us elapsed, 30420.00us avg, min 30420us max 30420us nanus rms
Post Flight:
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: 63 events, 12266210us elapsed, 194701.75us avg, min 67261us max 219442us 122448.078us rms logger_sd_write: 251 events, 7525180us elapsed, 29980.80us avg, min 14us max 194173us 161972.469us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4 events, 7500007.50 avg, min 9999891us max 10000178us 122.145us rms navigator: 856 events, 41215us elapsed, 48.15us avg, min 25us max 1282us 371.446us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3983 events, 10230.11 avg, min 9232us max 24256us 612.869us rms mavlink: tx run elapsed: 3983 events, 1772978us elapsed, 445.14us avg, min 220us max 14252us 1389.998us rms mag_bias_estimator: cycle: 13 events, 539us elapsed, 41.46us avg, min 1us max 95us 2056.162us rms land_detector: cycle: 3637 events, 130857us elapsed, 35.98us avg, min 24us max 402us 144.387us rms mc_pos_control: cycle time: 3658 events, 54993us elapsed, 15.03us avg, min 10us max 350us 120.102us rms flight_mode_manager: cycle: 2050 events, 25372us elapsed, 12.38us avg, min 9us max 348us 134.659us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 7304 events, 363553us elapsed, 49.77us avg, min 38us max 405us 91.928us rms mc_rate_control: cycle: 30818 events, 723994us elapsed, 23.49us avg, min 19us max 48us 10.585us rms control_allocator: cycle: 30818 events, 1975536us elapsed, 64.10us avg, min 55us max 99us 28.065us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 3658 events, 1260205us elapsed, 344.51us avg, min 188us max 1305us 775.644us rms ekf2: ECL update: 3647 events, 3010us elapsed, 0.82us avg, min 0us max 257us 9.811us rms pwm_out: interval: 30819 events, 1330.45 avg, min 195us max 2912us 321.111us rms pwm_out: cycle: 30819 events, 1013262us elapsed, 32.88us avg, min 28us max 55us 10.774us rms control latency: 30820 events, 5524650us elapsed, 179.26us avg, min 162us max 266us 33.870us rms commander: preflight check: 390 events, 336750us elapsed, 863.46us avg, min 428us max 12913us 3344.693us rms commander: cycle: 3678 events, 865890us elapsed, 235.42us avg, min 63us max 12978us 1646.929us 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_magnetometer: cycle: 3908 events, 181351us elapsed, 46.41us avg, min 36us max 292us 133.373us rms vehicle_gps_position: cycle: 137 events, 838us elapsed, 6.12us avg, min 5us max 57us 63.983us rms vehicle_air_data: cycle: 2931 events, 135983us elapsed, 46.39us avg, min 31us max 328us 154.924us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 30823 events, 798139us elapsed, 25.89us avg, min 23us max 51us 11.423us rms sensors: 7309 events, 591567us elapsed, 80.94us avg, min 53us max 481us 181.465us rms battery_status: 4101 events, 149405us elapsed, 36.43us avg, min 21us max 1482us 333.838us rms lsm303d: acc_dupe: 7073 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 3908 events, 108932us elapsed, 27.87us avg, min 22us max 51us 12.365us rms lsm303d: acc_read: 39057 events, 1095504us elapsed, 28.05us avg, min 21us max 57us 14.455us rms l3gd20: dupe: 26534 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 57359 events, 6927201us elapsed, 120.77us avg, min 23us max 300us 319.501us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 3908 events, 27041us elapsed, 6.92us avg, min 6us max 21us 4.997us rms ms5611: read: 3908 events, 77172us elapsed, 19.75us avg, min 11us max 43us 17.736us rms board_adc: sample: 41010 events, 301093us elapsed, 7.34us avg, min 4us max 2046us 142.858us rms rgbled: led_control message missed: 387 events manual_control: interval: 1315 events, 31086.19 avg, min 21286us max 198279us 22258.861us rms manual_control: cycle: 1315 events, 49992us elapsed, 38.02us avg, min 22us max 1773us 270.847us rms rc_update: valid data interval: 1848 events, 22168.25 avg, min 21246us max 34250us 1545.219us rms rc_update: cycle interval: 1848 events, 22168.25 avg, min 21246us max 34252us 1545.828us rms rc_update: cycle: 1848 events, 94117us elapsed, 50.93us avg, min 24us max 2307us 360.223us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 3 events, 566us elapsed, 188.67us avg, min 135us max 270us 1296.336us rms px4io: interface read: 8953 events, 3419132us elapsed, 381.90us avg, min 144us max 2816us 1171.991us rms px4io: interval: 1848 events, 22168.14 avg, min 21246us max 34014us 1557.881us rms px4io: cycle: 1848 events, 3708744us elapsed, 2006.90us avg, min 1237us max 13444us 5318.780us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 8956 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 8956 events, 3291170us elapsed, 367.48us avg, min 125us max 2804us 1152.908us rms load_mon: cycle: 82 events, 22411us elapsed, 273.30us avg, min 172us max 1418us 1832.398us 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, 9us elapsed, 3.00us avg, min 2us max 5us 237.902us rms param: get: 3334 events param: find: 6078 events param: export: 1 events, 28620us elapsed, 28620.00us avg, min 28620us max 28620us nanus rms