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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Neue Servogestänge
| Airframe: | 2200 |
| Hardware: | PX4_FMU_V4 |
| Software Version: | v1.9.2 (10690587) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:16:42 |
| Dropouts: | 49 (13 s) |
| Vehicle Life Flight Time: | 5 minutes 32 seconds |
| Vehicle UUID: | 000100000000303136353036510600430033 (Peter 2) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Pilot error) |
| Distance: | 20.08 km |
| Max Altitude Difference: | 112 m |
| Average Speed: | 72.2 km/h |
| Max Speed: | 107.4 km/h |
| Max Speed Horizontal: | 107.4 km/h |
| Max Speed Up: | 36.5 km/h |
| Max Speed Down: | 40.6 km/h |
| Max Tilt Angle: | 172.1 deg |
| Max Rotation Speed: | 1131.8 deg/s |
| Average Current: | 12.4 A |
| Max Current: | 48.5 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 315553 45.400 516/ 748 0 ( 0) READY 3 1 hpwork 15992 2.600 736/ 1780 249 (249) w:sig 12 2 lpwork 774 0.100 1072/ 1780 50 ( 50) w:sig 8 3 init 1572 0.000 1896/ 2604 100 (100) w:sem 3 16 dataman 132 0.000 752/ 1180 90 ( 90) w:sem 4 153 sensors 35896 5.800 1160/ 1964 249 (249) w:sem 17 155 commander 7140 1.300 1536/ 3212 140 (140) w:sig 29 156 commander_low_prio 16 0.000 656/ 2996 50 ( 50) w:sem 29 215 gps 1854 0.400 944/ 1516 220 (220) w:sem 5 238 mavlink_if0 12078 1.900 1760/ 2484 100 (100) w:sig 37 239 mavlink_rcv_if0 3466 0.600 1576/ 2836 175 (175) w:sem 37 246 mavlink_if1 37469 6.000 1792/ 2492 100 (100) READY 37 248 mavlink_rcv_if1 3155 0.600 1160/ 2836 175 (175) w:sem 37 264 fmu 9124 1.500 992/ 1324 252 (252) w:sem 7 333 ekf2 72734 11.600 4576/ 6572 250 (250) w:sem 20 338 fw_att_controol 17771 3.000 848/ 1460 251 (251) w:sem 14 340 fw_pos_control_l1 2678 0.500 736/ 1764 250 (250) w:sem 16 350 navigator 1321 0.200 1096/ 1764 105 (105) w:sem 16 410 log_writer_file 1231 1.300 792/ 1148 60 ( 60) w:sem 35 369 mavlink_if2 36312 6.100 1656/ 2540 100 (100) READY 37 371 mavlink_rcv_if2 3838 0.700 1152/ 2836 175 (175) w:sem 37 381 frsky_telemetry 17771 3.299 960/ 1220 104 (104) READY 12 396 logger 11672 5.900 3048/ 3644 245 (245) RUN 35 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 53.40% tasks, 1.20% sched, 45.40% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 619.116s total, 315.553s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 736911 41.058 516/ 748 0 ( 0) READY 3 1 hpwork 41310 2.597 736/ 1780 249 (249) w:sig 12 2 lpwork 1962 3.596 1072/ 1780 50 ( 50) w:sig 8 3 init 1572 0.000 1896/ 2604 100 (100) w:sem 3 16 dataman 382 0.299 752/ 1180 90 ( 90) w:sem 4 153 sensors 92364 5.994 1160/ 1964 249 (249) w:sem 17 155 commander 18282 1.198 1536/ 3212 140 (140) w:sig 29 156 commander_low_prio 43 0.000 656/ 2996 50 ( 50) w:sem 29 215 gps 4756 0.299 944/ 1516 220 (220) w:sem 5 238 mavlink_if0 30559 1.798 1760/ 2484 100 (100) READY 42 239 mavlink_rcv_if0 8517 0.599 1576/ 2836 175 (175) w:sem 42 246 mavlink_if1 94369 6.393 1792/ 2492 100 (100) READY 42 248 mavlink_rcv_if1 8169 0.499 1272/ 2836 175 (175) w:sem 42 264 fmu 24082 1.498 992/ 1324 252 (252) w:sem 7 333 ekf2 230823 11.788 4576/ 6572 250 (250) w:sem 20 338 fw_att_controol 44854 2.997 848/ 1460 251 (251) w:sem 14 340 fw_pos_control_l1 19275 0.399 1176/ 1764 250 (250) w:sem 16 350 navigator 5926 0.399 1156/ 1764 105 (105) w:sem 16 410 log_writer_file 13317 1.198 792/ 1148 60 ( 60) w:sem 39 369 mavlink_if2 91496 6.093 1688/ 2540 100 (100) READY 42 371 mavlink_rcv_if2 9839 0.699 1272/ 2836 175 (175) w:sem 42 381 frsky_telemetry 46731 3.096 960/ 1220 104 (104) READY 12 396 logger 69036 5.894 3048/ 3644 245 (245) RUN 39 Processes: 23 total, 6 running, 17 sleeping, max FDs: 54 CPU usage: 57.34% tasks, 1.60% sched, 41.06% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1620.033s total, 736.911s 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: 234 events, 1339486us elapsed, 5724.30us avg, min 8us max 12655us 2596.681us rms logger_sd_write: 979 events, 13608454us elapsed, 13900.36us avg, min 11us max 1104845us 41080.215us rms mavlink_int: 133143 events, 3327.13 avg, min 2123us max 32356us 668.638us rms mavlink_el: 133143 events, 33719059us elapsed, 253.25us avg, min 107us max 7111us 408.384us rms navigator: 8831 events, 3041322us elapsed, 344.39us avg, min 29us max 1017951us 11768.137us rms land_detector_cycle: 21410 events, 640031us elapsed, 29.89us avg, min 19us max 269us 41.540us rms fw_l1_control: 22143 events, 1250330us elapsed, 56.47us avg, min 41us max 255us 46.873us rms fwa_nano: 0 events fwa_nani: 110518 events fwa_dt: 110518 events, 17179704us elapsed, 155.45us avg, min 146us max 401us 10.000us rms EKF2 update: 110518 events, 27449780us elapsed, 248.37us avg, min 18us max 1634us 339.216us rms EKF2 data acquisition: 110518 events, 30875332us elapsed, 279.37us avg, min 251us max 767us 47.241us rms fmu control latency: 110518 events, 52160986us elapsed, 471.97us avg, min 390us max 794us 36.934us rms mavlink_int: 133148 events, 3326.99 avg, min 2125us max 32518us 663.572us rms mavlink_el: 133148 events, 35229167us elapsed, 264.59us avg, min 109us max 3375us 383.445us rms mavlink_int: 43619 events, 10155.53 avg, min 9123us max 38655us 526.242us rms mavlink_el: 43619 events, 9936673us elapsed, 227.81us avg, min 105us max 3362us 300.311us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 110519 events, 89218337us elapsed, 807.27us avg, min 379us max 2684us 446.825us rms adc_samples: 398700 events, 1205628us elapsed, 3.02us avg, min 2us max 4us 0.254us rms ms5611_com_err: 0 events ms5611_measure: 37088 events, 524272us elapsed, 14.14us avg, min 9us max 261us 29.836us rms ms5611_read: 37088 events, 831479us elapsed, 22.42us avg, min 14us max 2121us 35.299us rms mpu9250_dupe: 114061 events mpu9250_reset: 0 events mpu9250_good_trans: 439699 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 553760 events, 33715889us elapsed, 60.89us avg, min 42us max 78us 11.899us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 391135 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 6021 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 112219 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 553761 events, 800.00 avg, min 735us max 869us 7.027us rms mpu6k_read: 553762 events, 37556538us elapsed, 67.82us avg, min 46us max 90us 14.859us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 37088 events, 38221228us elapsed, 1030.56us avg, min 868us max 11182us 289.444us rms rc_input publish interval: 49219 events, 9000.60 avg, min 3062us max 19422us 1977.847us rms rc_input cycle time: 91462 events, 3680634us elapsed, 40.24us avg, min 10us max 311us 55.700us rms stack_check: 1283 events, 30960us elapsed, 24.13us avg, min 1us max 1320us 83.986us rms dma_alloc: 1 events param_set: 1 events, 13us elapsed, 13.00us avg, min 13us max 13us Infinityus rms param_get: 822 events, 7199us elapsed, 8.76us avg, min 4us max 1240us 125.193us rms param_find: 115 events, 927us elapsed, 8.06us avg, min 4us max 152us 45.762us rms param_export: 1 events, 76319us elapsed, 76319.00us avg, min 76319us max 76319us Infinityus 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: 2277 events, 15656312us elapsed, 6875.85us avg, min 8us max 335055us 10564.151us rms logger_sd_write: 10014 events, 146273515us elapsed, 14606.90us avg, min 11us max 1156475us 39250.309us rms mavlink_int: 285112 events, 3514.09 avg, min 2114us max 10613us 979.053us rms mavlink_el: 285112 events, 80299103us elapsed, 281.64us avg, min 98us max 7230us 515.438us rms navigator: 19758 events, 26933176us elapsed, 1363.15us avg, min 29us max 1056354us 23277.664us rms land_detector_cycle: 48492 events, 1471792us elapsed, 30.35us avg, min 20us max 663us 45.036us rms fw_l1_control: 50081 events, 14966694us elapsed, 298.85us avg, min 41us max 786us 194.290us rms fwa_nano: 0 events fwa_nani: 250210 events fwa_dt: 250210 events, 36994055us elapsed, 147.85us avg, min 131us max 415us 17.737us rms EKF2 update: 250210 events, 100659829us elapsed, 402.30us avg, min 18us max 3407us 618.377us rms EKF2 data acquisition: 250210 events, 67824683us elapsed, 271.07us avg, min 237us max 853us 45.948us rms fmu control latency: 250211 events, 117826903us elapsed, 470.91us avg, min 378us max 1569us 63.243us rms mavlink_int: 285101 events, 3514.23 avg, min 2117us max 12731us 972.723us rms mavlink_el: 285101 events, 81949789us elapsed, 287.44us avg, min 102us max 6243us 487.299us rms mavlink_int: 96263 events, 10407.98 avg, min 9113us max 16739us 940.577us rms mavlink_el: 96263 events, 22961356us elapsed, 238.53us avg, min 97us max 5776us 373.272us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 250211 events, 241869972us elapsed, 966.66us avg, min 362us max 4251us 726.517us rms adc_samples: 901737 events, 2718540us elapsed, 3.01us avg, min 2us max 4us 0.259us rms ms5611_com_err: 0 events ms5611_measure: 83505 events, 1202286us elapsed, 14.40us avg, min 9us max 593us 34.118us rms ms5611_read: 83505 events, 1957444us elapsed, 23.44us avg, min 14us max 2459us 39.221us rms mpu9250_dupe: 250407 events mpu9250_reset: 0 events mpu9250_good_trans: 1002010 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 1252417 events, 76361495us elapsed, 60.97us avg, min 42us max 78us 12.746us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 892617 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 13824 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 251271 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 1252419 events, 800.00 avg, min 734us max 866us 7.962us rms mpu6k_read: 1252419 events, 84983595us elapsed, 67.86us avg, min 46us max 90us 15.967us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 83506 events, 84293041us elapsed, 1009.42us avg, min 868us max 11953us 307.553us rms rc_input publish interval: 111308 events, 9001.44 avg, min 3044us max 21819us 2149.753us rms rc_input cycle time: 201442 events, 7907443us elapsed, 39.25us avg, min 10us max 834us 60.232us rms stack_check: 2912 events, 94821us elapsed, 32.56us avg, min 1us max 4015us 148.464us rms dma_alloc: 0 events param_set: 6 events, 166us elapsed, 27.67us avg, min 3us max 137us 196.925us rms param_get: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 80941us elapsed, 80941.00us avg, min 80941us max 80941us Infinityus rms