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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic 250 Racer Quadrotor x (4050) |
| Hardware: | PX4_FMU_V4 |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:04:49 |
| Dropouts: | 483 (41 s) |
| Vehicle Life Flight Time: | 1 hours 1 minutes 14 seconds |
| Vehicle UUID: | 000100000000363735323039510c0024002e |
| Distance: | 22.0 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.3 km/h |
| Max Speed: | 1.4 km/h |
| Max Speed Horizontal: | 0.6 km/h |
| Max Speed Up: | 1.4 km/h |
| Max Speed Down: | 1.2 km/h |
| Max Tilt Angle: | 3.2 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 43493 8.264 232/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.004 1092/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2316/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 1478 mavlink_rcv_if0 3 0.377 1500/ 4616 175 (175) w:sem 4 45 wq:hp_default 12 1.279 1088/ 1872 237 (237) w:sem 4 406 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 408 wq:lp_default 1 0.102 1076/ 1896 205 (205) w:sem 4 443 wq:SPI2 5 0.596 840/ 2368 252 (252) w:sem 4 453 wq:SPI1 156 15.600 1764/ 2368 253 (253) w:sem 4 604 wq:nav_and_controllers 50 5.002 1428/ 2216 242 (242) w:sem 4 606 wq:rate_ctrl 168 16.837 2508/ 3120 255 (255) w:sem 4 607 wq:INS0 159 15.928 4292/ 5976 241 (241) w:sem 4 617 commander 10 1.068 1636/ 3192 140 (140) READY 5 1015 gps 1 0.106 1236/ 1936 205 (205) w:sem 4 1469 mavlink_if0 20 2.082 1964/ 2704 100 (100) w:sig 4 1593 log_writer_file 6 0.695 692/ 1144 60 ( 60) READY 4 1490 mavlink_if1 75 7.514 1964/ 2712 100 (100) READY 4 1491 mavlink_rcv_if1 80 8.049 1788/ 4616 175 (175) READY 4 1518 wq:ttyS4 6 0.662 844/ 1704 230 (230) READY 4 1524 navigator 1 0.173 1348/ 1896 105 (105) READY 6 1589 logger 131 13.110 3500/ 3616 230 (230) RUN 4 Processes: 23 total, 8 running, 15 sleeping CPU usage: 89.19% tasks, 2.55% sched, 8.26% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 209.538s total, 43.494s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 87423 4.693 232/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 77 7.730 1092/ 1576 60 ( 50) w:sem 4 3 nsh_main 0 0.000 2316/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 1478 mavlink_rcv_if0 5 0.520 1500/ 4616 175 (175) READY 4 45 wq:hp_default 13 1.300 1088/ 1872 237 (237) w:sem 4 406 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 408 wq:lp_default 3 0.389 1076/ 1896 205 (205) w:sem 4 443 wq:SPI2 6 0.603 840/ 2368 252 (252) w:sem 4 453 wq:SPI1 158 15.802 1764/ 2368 253 (253) w:sem 4 604 wq:nav_and_controllers 50 5.038 1428/ 2216 242 (242) w:sem 4 606 wq:rate_ctrl 169 16.902 2508/ 3120 255 (255) w:sem 4 607 wq:INS0 165 16.503 4292/ 5976 241 (241) w:sem 4 617 commander 10 1.061 1636/ 3192 140 (140) READY 5 1015 gps 1 0.119 1236/ 1936 205 (205) w:sem 4 1469 mavlink_if0 27 2.708 1964/ 2704 100 (100) READY 4 1593 log_writer_file 6 0.696 692/ 1144 60 ( 60) w:sem 4 1490 mavlink_if1 97 9.727 1964/ 2712 100 (100) READY 4 1491 mavlink_rcv_if1 90 8.999 1788/ 4616 175 (175) READY 4 1518 wq:ttyS4 8 0.835 844/ 1704 230 (230) READY 4 1524 navigator 1 0.193 1348/ 1896 105 (105) w:sem 6 1589 logger 35 3.513 3500/ 3616 230 (230) RUN 4 Processes: 23 total, 8 running, 15 sleeping CPU usage: 92.64% tasks, 2.67% sched, 4.69% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 498.417s total, 87.424s idle
Performance Counters
Pre Flight:
ekf2: vehicle_visual_odometry messages missed: 46 events 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: 112 events, 5289607us elapsed, 47228.63us avg, min 13us max 735377us 121607.688us rms logger_sd_write: 603 events, 11620808us elapsed, 19271.66us avg, min 16us max 294164us 49074.145us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2045 events, 44371.75 avg, min 74us max 10000784us 492997.438us rms navigator: 2086 events, 139703us elapsed, 66.97us avg, min 25us max 2795us 181.561us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 24889 events, 761120us elapsed, 30.58us avg, min 12us max 3518us 158.656us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 19022 events, 5247.51 avg, min 2325us max 93996us 2095.842us rms mavlink: tx run elapsed: 19022 events, 37803125us elapsed, 1987.34us avg, min 266us max 88344us 2284.662us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9222 events, 10823.32 avg, min 9249us max 94483us 1893.655us rms mavlink: tx run elapsed: 9222 events, 6984558us elapsed, 757.38us avg, min 222us max 8639us 1059.124us rms mag_bias_estimator: cycle: 2238 events, 216238us elapsed, 96.62us avg, min 1us max 4449us 600.495us rms land_detector: cycle: 9931 events, 401782us elapsed, 40.46us avg, min 24us max 536us 71.869us rms mc_pos_control: cycle time: 9931 events, 271373us elapsed, 27.33us avg, min 12us max 759us 74.441us rms flight_mode_manager: cycle: 4992 events, 61128us elapsed, 12.25us avg, min 8us max 374us 644.988us rms mc_hover_thrust_estimator: cycle time: 1319 events, 7661us elapsed, 5.81us avg, min 1us max 590us 42.623us rms mc_att_control: cycle: 19860 events, 838672us elapsed, 42.23us avg, min 18us max 670us 50.311us rms mc_rate_control: cycle: 79454 events, 2233397us elapsed, 28.11us avg, min 20us max 120us 10.508us rms control_allocator: cycle: 79454 events, 5877272us elapsed, 73.97us avg, min 56us max 593us 23.775us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 9931 events, 9424177us elapsed, 948.97us avg, min 189us max 3370us 640.092us rms ekf2: ECL update: 9929 events, 8745us elapsed, 0.88us avg, min 0us max 477us 10.009us rms pwm_out: interval: 333 events, 299099.80 avg, min 296768us max 302913us 1002.494us rms pwm_out: cycle: 333 events, 7760us elapsed, 23.30us avg, min 6us max 656us 201.923us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 79457 events, 3848997us elapsed, 48.44us avg, min 38us max 145us 14.762us rms control latency: 79457 events, 40716812us elapsed, 512.44us avg, min 429us max 1472us 116.941us rms commander: preflight check: 964 events, 629725us elapsed, 653.24us avg, min 186us max 6157us 1054.755us rms commander: cycle: 8663 events, 3307990us elapsed, 381.85us avg, min 62us max 6279us 843.772us rms vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 2 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_gps_position: cycle: 332 events, 4051us elapsed, 12.20us avg, min 5us max 517us 46.304us rms vehicle_air_data: cycle: 7429 events, 478320us elapsed, 64.39us avg, min 32us max 589us 102.019us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 79459 events, 3429534us elapsed, 43.16us avg, min 35us max 429us 13.572us rms sensors: 19863 events, 1910876us elapsed, 96.20us avg, min 53us max 11140us 142.119us rms battery_status: 9983 events, 418825us elapsed, 41.95us avg, min 19us max 3190us 193.873us rms mpu9250_ak09916: magnetic sensor overflow: 0 events mpu9250_ak8963: bad transfer: 0 events mpu9250_ak8963: bad register: 0 events mpu9250: DRDY missed: 1 events mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events lis3mdl: read: 7940 events, 215696us elapsed, 27.17us avg, min 22us max 83us 8.917us rms lis3mdl: range_errors: 0 events lis3mdl: conf_errors: 0 events lis3mdl: comms_errors: 0 events ms5611: com_err: 0 events ms5611: measure: 9908 events, 149737us elapsed, 15.11us avg, min 9us max 529us 36.308us rms ms5611: read: 9908 events, 323921us elapsed, 32.69us avg, min 14us max 2262us 73.611us rms board_adc: sample: 89874 events, 815060us elapsed, 9.07us avg, min 4us max 4171us 97.913us rms manual_control: interval: 496 events, 200648.67 avg, min 200020us max 204132us 679.835us rms manual_control: cycle: 496 events, 13290us elapsed, 26.79us avg, min 13us max 393us 73.248us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 199 events, 109918us elapsed, 552.35us avg, min 192us max 4256us 869.481us 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: 12 events, 939us elapsed, 78.25us avg, min 2us max 718us 227.478us rms param: get: 5149 events param: find: 4669 events param: export: 1 events, 138667us elapsed, 138667.00us avg, min 138667us max 138667us nanus rms
Post Flight:
ekf2: vehicle_visual_odometry messages missed: 75 events 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: 503 events, 25665757us elapsed, 51025.36us avg, min 12us max 603114us 121849.523us rms logger_sd_write: 2869 events, 70579012us elapsed, 24600.56us avg, min 14us max 815479us 65629.484us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 41 events, 6834629.71 avg, min 103us max 10001286us 4574171.000us rms navigator: 6042 events, 430181us elapsed, 71.20us avg, min 25us max 5868us 201.755us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 72340 events, 2155267us elapsed, 29.79us avg, min 12us max 4199us 143.874us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 54913 events, 5273.14 avg, min 2279us max 25293us 1953.422us rms mavlink: tx run elapsed: 54913 events, 109456276us elapsed, 1993.27us avg, min 266us max 20657us 2204.922us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 26473 events, 10937.97 avg, min 9244us max 21623us 1490.337us rms mavlink: tx run elapsed: 26472 events, 21709170us elapsed, 820.08us avg, min 221us max 10453us 1165.896us rms mag_bias_estimator: cycle: 63 events, 13789us elapsed, 218.87us avg, min 1us max 3063us 3660.556us rms land_detector: cycle: 28812 events, 1126249us elapsed, 39.09us avg, min 25us max 549us 62.737us rms mc_pos_control: cycle time: 28812 events, 608540us elapsed, 21.12us avg, min 12us max 531us 55.691us rms flight_mode_manager: cycle: 14480 events, 175735us elapsed, 12.14us avg, min 8us max 396us 379.331us rms mc_hover_thrust_estimator: cycle time: 1215 events, 5785us elapsed, 4.76us avg, min 1us max 85us 44.941us rms mc_att_control: cycle: 57624 events, 1678103us elapsed, 29.12us avg, min 18us max 660us 41.688us rms mc_rate_control: cycle: 230497 events, 6658453us elapsed, 28.89us avg, min 20us max 91us 10.437us rms control_allocator: cycle: 230497 events, 17037489us elapsed, 73.92us avg, min 56us max 177us 22.738us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 28812 events, 27656772us elapsed, 959.90us avg, min 188us max 3624us 648.975us rms ekf2: ECL update: 28812 events, 27128us elapsed, 0.94us avg, min 0us max 600us 9.721us rms pwm_out: interval: 965 events, 299689.13 avg, min 297002us max 302520us 793.321us rms pwm_out: cycle: 967 events, 15133us elapsed, 15.65us avg, min 7us max 767us 127.193us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 230769 events, 11365426us elapsed, 49.25us avg, min 39us max 127us 14.584us rms control latency: 230769 events, 118563104us elapsed, 513.77us avg, min 431us max 1007us 109.370us rms commander: preflight check: 2798 events, 1863072us elapsed, 665.86us avg, min 186us max 5973us 993.154us rms commander: cycle: 25185 events, 10145607us elapsed, 402.84us avg, min 62us max 7262us 823.763us 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_gps_position: cycle: 966 events, 13182us elapsed, 13.65us avg, min 5us max 436us 52.772us rms vehicle_air_data: cycle: 21570 events, 1418108us elapsed, 65.74us avg, min 32us max 615us 98.036us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 230771 events, 9940834us elapsed, 43.08us avg, min 35us max 115us 13.076us rms sensors: 57692 events, 5632537us elapsed, 97.63us avg, min 53us max 1422us 92.671us rms battery_status: 28995 events, 1346850us elapsed, 46.45us avg, min 19us max 4436us 190.342us rms mpu9250_ak09916: magnetic sensor overflow: 0 events mpu9250_ak8963: bad transfer: 0 events mpu9250_ak8963: bad register: 0 events mpu9250: DRDY missed: 0 events mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events lis3mdl: read: 23056 events, 631372us elapsed, 27.38us avg, min 22us max 90us 8.878us rms lis3mdl: range_errors: 0 events lis3mdl: conf_errors: 0 events lis3mdl: comms_errors: 0 events ms5611: com_err: 0 events ms5611: measure: 28762 events, 454581us elapsed, 15.80us avg, min 9us max 517us 38.078us rms ms5611: read: 28762 events, 908912us elapsed, 31.60us avg, min 14us max 2604us 62.614us rms board_adc: sample: 260964 events, 2415639us elapsed, 9.26us avg, min 4us max 4813us 86.597us rms manual_control: interval: 1442 events, 200861.08 avg, min 200020us max 204087us 691.722us rms manual_control: cycle: 1442 events, 44401us elapsed, 30.79us avg, min 13us max 2346us 107.939us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 579 events, 279662us elapsed, 483.01us avg, min 191us max 3824us 719.990us 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: 1 events param: set: 3 events, 12us elapsed, 4.00us avg, min 3us max 6us 533.486us rms param: get: 5866 events param: find: 11455 events param: export: 1 events, 122750us elapsed, 122750.00us avg, min 122750us max 122750us nanus rms