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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Black Cube (fmu v3) - v1.12.0-beta1 - Multicopter
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | 935c5df7 |
| OS Version: | NuttX, v10.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:39 |
| Vehicle Life Flight Time: | 2 hours 37 minutes 49 seconds |
| Vehicle UUID: | 000100000000383938303138510b00430034 (F450 Frame) |
| Wind Speed: | Gale |
| Flight Rating: | Good |
| Feedback: | there is a problem with the logger. logger starts but does not give an output for some of the tests. the reason is unknown |
| Distance: | 26.8 m |
| Max Altitude Difference: | 4 m |
| Average Speed: | 2.5 km/h |
| Max Speed: | 6.0 km/h |
| Max Speed Horizontal: | 6.0 km/h |
| Max Speed Up: | 3.6 km/h |
| Max Speed Down: | 3.3 km/h |
| Max Tilt Angle: | 17.8 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 6890 10.770 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 0 0.000 996/ 1620 50 ( 50) w:sig 3 3 init 0 0.022 2300/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 428/ 1260 255 (255) w:sem 3 554 log_writer_file 5 0.580 620/ 1172 60 ( 60) w:sem 4 20 wq:hp_default 16 1.659 1276/ 1900 237 (237) w:sem 3 24 dataman 0 0.019 796/ 1204 90 ( 90) w:sem 4 26 wq:lp_default 0 0.055 1300/ 1700 205 (205) READY 3 29 wq:I2C1 10 1.068 924/ 2340 246 (246) w:sem 3 201 wq:SPI1 73 7.329 1556/ 2340 253 (253) w:sem 3 206 wq:SPI4 181 18.123 1588/ 2340 250 (250) w:sem 3 268 wq:I2C2 13 1.309 872/ 2340 245 (245) w:sem 3 271 wq:nav_and_controllers 81 8.112 1308/ 2164 242 (242) w:sem 3 272 wq:rate_ctrl 63 6.381 1580/ 1924 255 (255) w:sem 3 278 commander 5 0.552 1332/ 3220 140 (140) w:sig 5 359 gps 2 0.217 1036/ 1684 205 (205) w:sem 4 407 mavlink_if1 11 1.196 1660/ 2340 100 (100) READY 4 409 mavlink_rcv_if1 2 0.274 3300/ 4700 175 (175) READY 4 437 px4io 52 5.263 1052/ 1484 237 (237) w:sem 4 493 navigator 2 0.231 1300/ 1772 105 (105) w:sem 6 475 wq:INS0 139 13.945 4404/ 6004 241 (241) w:sem 3 550 logger 174 17.446 2884/ 3644 230 (230) RUN 4 Processes: 23 total, 5 running, 18 sleeping, max FDs: 12 CPU usage: 83.79% tasks, 5.44% sched, 10.77% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 21.459s total, 6.890s idle
Performance Counters
Pre Flight:
vehicle_gps_position: cycle: 85 events, 2869us elapsed, 33.75us avg, min 19us max 373us 46.322us rms 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: 9 events, 84458us elapsed, 9384.22us avg, min 10us max 24105us 9543.997us rms temperature_compensation: 20 events, 12080us elapsed, 604.00us avg, min 27us max 11128us 2477.707us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 15561 events, 1249.96 avg, min 527us max 1971us 10.053us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 15561 events, 1249.96 avg, min 527us max 1971us 10.053us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 14447 events, 1346.51 avg, min 255us max 4037us 306.791us rms vehicle_imu: accel data gap: 2 events vehicle_imu: accel update interval: 14987 events, 1297.88 avg, min 569us max 4275us 470.352us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 15569 events, 1249.92 avg, min 999us max 1495us 34.691us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 15569 events, 1249.92 avg, min 999us max 1495us 34.691us rms navigator: 387 events, 68509us elapsed, 177.03us avg, min 22us max 8812us 609.255us rms land_detector: cycle: 1907 events, 62144us elapsed, 32.59us avg, min 13us max 693us 48.091us rms mc_pos_control: cycle time: 1903 events, 43339us elapsed, 22.77us avg, min 1us max 458us 37.900us rms flight_mode_manager: cycle: 949 events, 17000us elapsed, 17.91us avg, min 9us max 241us 29.261us 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: 2706 events, 123428us elapsed, 45.61us avg, min 32us max 1275us 34.919us rms ekf2: ECL full update: 1897 events, 1189186us elapsed, 626.88us avg, min 221us max 2400us 328.733us rms ekf2: ECL update: 1988 events, 23565us elapsed, 11.85us avg, min 1us max 292us 19.204us rms mc_rate_control: cycle: 15469 events, 324933us elapsed, 21.01us avg, min 15us max 590us 6.053us rms pwm_out: interval: 1056 events, 18528.39 avg, min 130us max 30389us 4667.198us rms pwm_out: cycle: 1056 events, 77818us elapsed, 73.69us avg, min 8us max 3622us 185.835us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 9269 events, 5826323us elapsed, 628.58us avg, min 349us max 1548us 247.898us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 9281 events, 5802251us elapsed, 625.18us avg, min 263us max 32709us 1085.079us rms io_txns: 15817 events, 5162900us elapsed, 326.41us avg, min 126us max 3494us 246.885us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 1850 events, 10429.44 avg, min 9386us max 169256us 4571.068us rms mavlink: tx run elapsed: 1850 events, 712061us elapsed, 384.90us avg, min 139us max 55039us 1299.021us rms 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 battery_status: 1997 events, 62128us elapsed, 31.11us avg, min 19us max 435us 33.337us rms vehicle_magnetometer: cycle: 2501 events, 282677us elapsed, 113.03us avg, min 32us max 1830us 88.244us rms vehicle_air_data: cycle: 1489 events, 71723us elapsed, 48.17us avg, min 20us max 342us 44.327us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 3939 events, 487535us elapsed, 123.77us avg, min 24us max 4687us 85.685us rms rm3100: read: 1654 events, 2023244us elapsed, 1223.24us avg, min 1142us max 2494us 78.953us rms rm3100: range_errors: 0 events rm3100: conf_errors: 0 events rm3100: comms_errors: 0 events hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 2508 events, 2377341us elapsed, 947.90us avg, min 865us max 2770us 168.634us rms mpu9250: DRDY missed: 0 events mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1994 events, 16220us elapsed, 8.13us avg, min 6us max 83us 7.125us rms ms5611: read: 1994 events, 32147us elapsed, 16.12us avg, min 11us max 162us 10.204us rms lsm303d: acc_dupe: 3654 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 1913 events, 49477us elapsed, 25.86us avg, min 22us max 138us 10.971us rms lsm303d: acc_read: 19120 events, 578691us elapsed, 30.27us avg, min 21us max 135us 11.694us rms l3gd20: dupe: 13168 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 28080 events, 842728us elapsed, 30.01us avg, min 23us max 127us 11.664us rms mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2000 events, 14776us elapsed, 7.39us avg, min 6us max 26us 1.710us rms ms5611: read: 1999 events, 37925us elapsed, 18.97us avg, min 11us max 109us 5.215us rms board_adc: sample: 20170 events, 81962us elapsed, 4.06us avg, min 2us max 270us 10.093us rms rc_update: valid data interval: 921 events, 21255.40 avg, min 8588us max 33719us 2275.725us rms rc_update: cycle interval: 922 events, 21288.40 avg, min 8588us max 51679us 2480.758us rms rc_update: cycle: 922 events, 65916us elapsed, 71.49us avg, min 27us max 2316us 165.479us rms load_mon: cycle: 41 events, 7580us elapsed, 184.88us avg, min 3us max 813us 135.837us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 41 events, 230039us elapsed, 5610.71us avg, min 46us max 122292us 22269.637us rms dma_alloc: 4 events param: set: 251 events, 25502us elapsed, 101.60us avg, min 4us max 198us 54.294us rms param: get: 9885 events param: find: 7777 events param: export: 1 events, 78221us elapsed, 78221.00us avg, min 78221us max 78221us nanus rms