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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:37 |
| Dropouts: | 24 (14 s) |
| Vehicle Life Flight Time: | 8 minutes 34 seconds |
| Vehicle UUID: | 000600000000333838393032511900390025 |
| Distance: | 3.36 km |
| Max Altitude Difference: | 37 m |
| Average Speed: | 55.3 km/h |
| Max Speed: | 94.1 km/h |
| Max Speed Horizontal: | 94.1 km/h |
| Max Speed Up: | 19.4 km/h |
| Max Speed Down: | 11.5 km/h |
| Max Tilt Angle: | 52.4 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: 99c40407ffd7ac184e2d7b4b293f36f10fe561ef PX4 version: Release 1.15.4 (17761535) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Mar 20 2025 22:39:33 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000333838393032511900390025 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3893 bytes, decoded 3893 bytes (INT32:82, FLOAT:104) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/2100_standard_plane INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm45686 #0 on SPI bus 4 rotation 10 icm45686 #1 on SPI bus 4 rotation 6 icm45686 #2 on SPI bus 1 rotation 3 ak09916 #0 on I2C bus 4 address 0xC rotation 13 ms5611 #1 on SPI bus 1 ms4525do #0 on I2C bus 2 address 0x28 hmc5883 #0 on I2C bus 1 address 0x1E WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3407906 ekf2 [782:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: OSD, data rate: 2880 B/s on /dev/ttyS1 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0 WARN [logger] Too many subscriptions, failed to add: sensor_gyro_fifo 0 WARN [logger] Too many subscriptions, failed to add: sensor_accel_fifo 0 WARN [logger] Too many subscriptions, failed to add: mavlink_tunnel 0 INFO [logger] Logging FIFO data: increasing task prio and logging rate NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error INFO [fw_autotune_attitude_control] Autotune started WARN [fw_autotune_attitude_control] Autotune aborted before finishing INFO [fw_autotune_attitude_control] Autotune returned to idle INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/17_08_02.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/17_08_02.ulg INFO [MulticopterThrowLaunch] Throw detected, motors will start once falling INFO [MulticopterThrowLaunch] Throw and fall detected, starting motors
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 105113 37.398 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.042 1452/ 1896 205 (205) w:sem 1 1269 log_writer_file 15 1.502 612/ 1144 60 ( 60) READY 4 406 wq:hp_default 8 0.887 1252/ 2776 237 (237) w:sem 1 424 dataman 3 0.305 884/ 1376 90 ( 90) w:sem 5 491 wq:SPI1 44 4.456 1816/ 2368 253 (253) w:sem 1 477 wq:SPI4 46 4.663 1816/ 2368 250 (250) w:sem 1 478 wq:rate_ctrl 44 4.460 2740/ 3120 255 (255) w:sem 1 495 wq:I2C4 1 0.138 904/ 2312 243 (243) w:sem 1 602 wq:I2C2 4 0.417 808/ 2312 245 (245) w:sem 1 668 wq:I2C1 5 0.531 904/ 2312 246 (246) w:sem 1 761 wq:nav_and_controllers 43 4.365 1396/ 2216 242 (242) w:sem 1 763 wq:INS0 72 7.201 3660/ 5976 241 (241) w:sem 1 767 wq:INS1 67 6.782 3660/ 5976 240 (240) w:sem 1 774 wq:INS2 70 7.050 3660/ 5976 239 (239) w:sem 1 777 commander 6 0.659 1656/ 3192 140 (140) READY 5 814 mavlink_if0 6 0.628 1828/ 2768 100 (100) w:sig 5 816 mavlink_rcv_if0 3 0.338 1324/ 4776 175 (175) w:sem 5 938 gps 1 0.118 1188/ 1936 205 (205) w:sem 4 1031 mavlink_if1 12 1.267 1932/ 2704 100 (100) w:sig 5 1036 mavlink_rcv_if1 2 0.251 1684/ 4776 175 (175) READY 5 1073 mavlink_if2 10 1.043 1956/ 2712 100 (100) w:sig 5 1074 mavlink_rcv_if2 1 0.187 1324/ 4776 175 (175) READY 5 1139 navigator 3 0.330 1668/ 2104 105 (105) w:sem 11 1268 logger 136 13.617 3100/ 3616 236 (236) RUN 4 Processes: 28 total, 6 running, 22 sleeping CPU usage: 61.24% tasks, 1.36% sched, 37.40% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 200.541s total, 105.114s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 364us elapsed, 364.00us avg, min 364us max 364us nanus 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: 1 events, 167208us elapsed, 167208.00us avg, min 167208us max 167208us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 64us elapsed, 64.00us avg, min 64us max 64us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 33us elapsed, 33.00us avg, min 33us max 33us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 126 events, 224343us elapsed, 1780.50us avg, min 34us max 161719us 14738.063us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 9938 events, 20014.67 avg, min 102us max 181370us 1674.528us rms DatamanClient: sync: 1 events, 12494us elapsed, 12494.00us avg, min 12494us max 12494us infus rms navigator: 4099 events, 118185us elapsed, 28.83us avg, min 15us max 15699us 247.377us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 39780 events, 5004.88 avg, min 4096us max 118684us 622.653us rms mavlink: tx run elapsed: 39780 events, 1927535us elapsed, 48.45us avg, min 35us max 493us 17.936us rms DatamanClient: sync: 1 events, 138us elapsed, 138.00us avg, min 138us max 138us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 19893 events, 10008.84 avg, min 9183us max 119289us 838.022us rms mavlink: tx run elapsed: 19893 events, 2526415us elapsed, 127.00us avg, min 88us max 721us 23.491us rms DatamanClient: sync: 65 events, 28627us elapsed, 440.42us avg, min 30us max 2908us 846.601us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 39799 events, 5005.22 avg, min 4107us max 118927us 625.512us rms mavlink: tx run elapsed: 39799 events, 1132956us elapsed, 28.47us avg, min 22us max 4356us 24.582us rms DatamanClient: sync: 4 events, 4660us elapsed, 1165.00us avg, min 39us max 4163us 2000.877us rms mag_bias_estimator: cycle: 9943 events, 203908us elapsed, 20.51us avg, min 13us max 223us 3.729us rms land_detector: cycle: 19924 events, 149754us elapsed, 7.52us avg, min 6us max 191us 3.110us rms fw_autotune_attitude_control: cycle time: 852 events, 1946us elapsed, 2.28us avg, min 1us max 349us 16.284us rms airspeed_selector: elapsed: 1978 events, 41234us elapsed, 20.85us avg, min 16us max 92us 12.249us rms fw_pos_control: cycle: 9963 events, 201711us elapsed, 20.25us avg, min 10us max 426us 7.867us rms fw_att_control: cycle: 39552 events, 960118us elapsed, 24.27us avg, min 17us max 449us 12.362us rms fw_rate_control: cycle: 79499 events, 5212857us elapsed, 65.57us avg, min 19us max 173us 6.132us rms control_allocator: cycle: 158799 events, 2531565us elapsed, 15.94us avg, min 8us max 90us 5.204us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 19926 events, 18720445us elapsed, 939.50us avg, min 125us max 3176us 689.488us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 19927 events, 4813206us elapsed, 241.54us avg, min 124us max 879us 121.966us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 19929 events, 4889336us elapsed, 245.34us avg, min 124us max 823us 124.625us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 19929 events, 8950665us elapsed, 449.13us avg, min 122us max 4084us 309.761us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 19930 events, 4828805us elapsed, 242.29us avg, min 121us max 901us 125.377us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 19931 events, 6393419us elapsed, 320.78us avg, min 126us max 961us 132.329us rms pwm_out: interval: 666 events, 299099.19 avg, min 113us max 300062us 11620.372us rms pwm_out: cycle: 666 events, 2961us elapsed, 4.45us avg, min 3us max 58us 2.632us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 1921 events, 547632us elapsed, 285.08us avg, min 188us max 10025us 268.084us rms commander: cycle: 17811 events, 6123699us elapsed, 343.82us avg, min 36us max 10233us 563.266us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 25151 events, 746944us elapsed, 29.70us avg, min 17us max 753us 16.388us rms vehicle_gps_position: cycle: 986 events, 36511us elapsed, 37.03us avg, min 2us max 145us 42.706us rms vehicle_air_data: cycle: 14891 events, 341739us elapsed, 22.95us avg, min 13us max 283us 13.597us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 79530 events, 1511569us elapsed, 19.01us avg, min 15us max 61us 1.025us rms sensors: 39863 events, 1591478us elapsed, 39.92us avg, min 25us max 2794us 37.950us rms battery_status: 19931 events, 300405us elapsed, 15.07us avg, min 13us max 590us 7.718us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 25151 events, 23627958us elapsed, 939.44us avg, min 884us max 1855us 150.280us rms ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 15108 events, 14534319us elapsed, 962.03us avg, min 954us max 1077us 16.461us rms ms5611: com_err: 0 events ms5611: measure: 19876 events, 80853us elapsed, 4.07us avg, min 3us max 56us 1.797us rms ms5611: read: 19875 events, 282718us elapsed, 14.22us avg, min 11us max 84us 3.152us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 1 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 19863 events, 99395us elapsed, 5.00us avg, min 4us max 100us 6.422us rms ms5611: read: 19862 events, 360563us elapsed, 18.15us avg, min 12us max 126us 7.926us rms board_adc: sample: 139594 events, 376410us elapsed, 2.70us avg, min 2us max 3710us 10.170us rms manual_control: interval: 6827 events, 29214.40 avg, min 14057us max 200510us 17065.535us rms manual_control: cycle: 6827 events, 84316us elapsed, 12.35us avg, min 11us max 257us 5.436us rms rc_update: valid data interval: 9250 events, 21545.98 avg, min 14073us max 40533us 1976.182us rms rc_update: cycle interval: 9255 events, 21549.53 avg, min 14074us max 54739us 2005.414us rms rc_update: cycle: 9255 events, 141257us elapsed, 15.26us avg, min 8us max 160us 5.445us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 79529 events, 18470754us elapsed, 232.25us avg, min 120us max 284us 4.632us rms px4io: interface read: 44806 events, 11529084us elapsed, 257.31us avg, min 135us max 598us 161.437us rms px4io: interval: 79510 events, 2508.51 avg, min 269us max 50093us 361.491us rms px4io: cycle: 79510 events, 31570546us elapsed, 397.06us avg, min 90us max 10153us 483.480us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 124335 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 124335 events, 29465869us elapsed, 236.99us avg, min 117us max 593us 97.630us rms load_mon: cycle: 399 events, 48308us elapsed, 121.07us avg, min 2us max 297us 22.312us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 195 events, 246572us elapsed, 1264.47us avg, min 6us max 161681us 11861.699us rms dma_alloc: 5 events param: set: 187 events, 4439us elapsed, 23.74us avg, min 6us max 58us 11.464us rms param: get: 45560 events param: find: 67416 events param: export: 1 events, 31508us elapsed, 31508.00us avg, min 31508us max 31508us infus rms