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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
| Airframe: | 13037 |
| Hardware: | CUAV_X7PRO |
| Software Version: | 2144543d branch: x7_merge |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:02:03 |
| Dropouts: | 35 (0.33 s) |
| Vehicle Life Flight Time: | 2 hours 48 minutes 26 seconds |
| Vehicle UUID: | 000600000000343535343139510f004e0026 |
| Distance: | 2.98 km |
| Max Altitude Difference: | 58 m |
| Average Speed MC: | 1.9 km/h |
| Average Speed FW: | 127.5 km/h |
| Max Speed: | 135.6 km/h |
| Max Speed Horizontal: | 135.6 km/h |
| Max Speed Up: | 7.3 km/h |
| Max Speed Down: | 13.8 km/h |
| Max Tilt Angle: | 13.0 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUAV_X7PRO FW git-hash: 2144543d9e52bd9e1c3248697ffc08936def68e9 FW version: 1.11.0 0 (17498112) FW git-branch: x7_merge OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: a68ef5c9fbd4a319ea431b538cb3652cfc664fb8 Build datetime: Nov 20 2020 15:20:07 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000343535343139510f004e0026 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes INFO [commander] Mission #3 loaded, 5 WPs, curr: 0 INFO [uavcan] Node ID 1, bitrate 1000000 uavcan_stm32: Bitrate 1000000 mode 0 uavcan_stm32: First initialization uavcan_stm32: Initing iface 0... uavcan_stm32: Timings: quanta/bit: 8, sample point location: 87.5% uavcan_stm32: Timings: presc=1 sjw=0 bs1=5 bs2=0 uavcan_stm32: Initing iface 1... uavcan_stm32: Timings: quanta/bit: 8, sample point location: 87.5% uavcan_stm32: Timings: presc=1 sjw=0 bs1=5 bs2=0 uavcan_stm32: CAN drv init OK INFO [uavcan] sensor bridge 'baro' init ok INFO [uavcan] sensor bridge 'mag' init ok INFO [uavcan] sensor bridge 'gnss' init ok INFO [uavcan] sensor bridge 'flow' init ok INFO [uavcan] sensor bridge 'battery' init ok INFO [uavcan] sensor bridge 'airspeed' init ok INFO [uavcan] sensor bridge 'differential_pressure' init ok INFO [uavcan] sensor bridge 'beep' init ok INFO [uavcan] sensor bridge 'range' init ok Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: HITL, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [init] Mixer: /etc/mixers/vtol_ar36b.main.mix on /dev/pwm_output0 ERROR [param] Parameter SENS_EN_PX4FLOW not found ERROR [param] Parameter TEL_BST_EN not found INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. WARN [airspeed_selector] Airspeed: switched from sensor -1 to 1 INFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] 48069029: EKF aligned, (baro hgt, IMU buf: 21, OBS buf: 16) INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] starting GPS fusion WARN [navigator] First waypoint too far away: 919 meters, 900 max. WARN [navigator] First waypoint too far away: 919 meters, 900 max. WARN [navigator] mission check failed WARN [mc_pos_control] Auto activation failed with error: Activation Failed WARN [mc_pos_control] Position-Ctrl activation failed with error: Activation Failed WARN [mc_pos_control] Altitude-Ctrl activation failed with error: Activation Failed INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2020-12-16/08_03_25.ulg INFO [logger] Opened full log file: /fs/microsd/log/2020-12-16/08_03_25.ulg INFO [commander] Takeoff detected
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 51712 83.233 272/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 42 0.000 1104/ 1612 50 ( 50) w:sig 3 3 init 766 0.000 1976/ 2924 100 (100) w:sem 3 4 wq:manager 0 0.000 384/ 1252 255 (255) w:sem 4 282 log_writer_file 9 0.399 608/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 27 0.000 836/ 1700 205 (205) w:sem 4 18 wq:hp_default 14 0.000 1184/ 1900 240 (240) w:sem 4 20 dataman 1 0.000 768/ 1204 90 ( 90) w:sem 4 142 wq:nav_and_controllers 658 4.790 5288/ 7196 241 (241) w:sem 4 143 wq:rate_ctrl 220 1.197 1124/ 1660 255 (255) w:sem 4 147 commander 242 0.399 1480/ 3204 140 (140) w:sig 6 149 commander_low_prio 0 0.000 716/ 2996 50 ( 50) w:sem 6 157 wq:uavcan 448 0.898 2000/ 2996 239 (239) w:sem 4 160 uavcan fw srv 373 0.698 1104/ 5996 120 (120) w:sem 4 164 mavlink_if0 274 0.998 1504/ 2556 100 (100) w:sig 4 216 mavlink_if1 307 0.499 2008/ 2484 100 (100) READY 4 217 mavlink_rcv_if1 452 0.898 2624/ 4068 175 (175) READY 4 230 wq:UART5 123 0.199 720/ 1396 233 (233) w:sem 4 240 wq:attitude_ctrl 62 0.698 1212/ 1668 242 (242) w:sem 4 248 navigator 6 0.000 1184/ 1764 105 (105) w:sem 5 269 logger 114 1.596 2800/ 3644 230 (230) RUN 4 283 mavlink_rcv_if0 543 2.894 2700/ 4068 175 (175) w:sem 4 Processes: 23 total, 4 running, 19 sleeping, max FDs: 15 CPU usage: 16.17% tasks, 0.59% sched, 83.23% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 56.700s total, 51.713s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 154292 80.719 272/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 84 4.195 1104/ 1612 50 ( 50) w:sig 3 3 init 766 0.000 1976/ 2924 100 (100) w:sem 3 4 wq:manager 0 0.000 384/ 1252 255 (255) w:sem 4 282 log_writer_file 421 0.399 608/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 66 0.000 836/ 1700 205 (205) w:sem 4 18 wq:hp_default 49 0.000 1184/ 1900 240 (240) w:sem 4 20 dataman 10 0.000 768/ 1204 90 ( 90) w:sem 4 142 wq:nav_and_controllers 6115 3.896 5288/ 7196 241 (241) w:sem 4 143 wq:rate_ctrl 1722 1.098 1124/ 1660 255 (255) w:sem 4 147 commander 666 0.499 1480/ 3204 140 (140) w:sig 6 149 commander_low_prio 1 0.000 716/ 2996 50 ( 50) w:sem 6 157 wq:uavcan 1551 0.899 2016/ 2996 239 (239) w:sem 4 160 uavcan fw srv 1224 0.699 1104/ 5996 120 (120) w:sem 4 164 mavlink_if0 1419 0.599 1584/ 2556 100 (100) w:sig 4 216 mavlink_if1 956 0.499 2120/ 2484 100 (100) READY 4 217 mavlink_rcv_if1 1449 0.899 2624/ 4068 175 (175) READY 4 230 wq:UART5 407 0.299 720/ 1396 233 (233) w:sem 4 240 wq:attitude_ctrl 835 0.599 1212/ 1668 242 (242) w:sem 4 248 navigator 67 0.099 1184/ 1764 105 (105) w:sem 5 269 logger 1785 1.398 2800/ 3644 230 (230) RUN 4 283 mavlink_rcv_if0 3890 2.697 2700/ 4068 175 (175) w:sem 4 Processes: 23 total, 4 running, 19 sleeping, max FDs: 15 CPU usage: 18.78% tasks, 0.50% sched, 80.72% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 178.920s total, 154.292s idle
Performance Counters
Pre Flight:
vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 4661 events, 3404.89 avg, min 1026us max 72099us 4326.497us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 4661 events, 3404.92 avg, min 1026us max 72099us 4326.491us rms vehicle_air_data: cycle: 4635 events, 35031us elapsed, 7.56us avg, min 6us max 59us 1.201us 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: 12 events, 144880us elapsed, 12073.33us avg, min 4us max 73703us 20727.969us rms navigator: 241 events, 83706us elapsed, 347.33us avg, min 5us max 70058us 4527.805us rms land_detector: cycle: 1659 events, 12653us elapsed, 7.63us avg, min 5us max 125us 3.237us rms fw_pos_control_l1: cycle: 356 events, 4004us elapsed, 11.25us avg, min 9us max 348us 17.982us rms fw_att_control: cycle: 1260 events, 60581us elapsed, 48.08us avg, min 22us max 396us 18.340us rms mc_hover_thrust_estimator: cycle time: 11 events, 117us elapsed, 10.64us avg, min 5us max 50us 13.801us rms mc_pos_control: cycle time: 357 events, 4654us elapsed, 13.04us avg, min 6us max 905us 60.043us rms mc_att_control: cycle: 1260 events, 18776us elapsed, 14.90us avg, min 7us max 229us 6.210us rms mc_rate_control: cycle: 2779 events, 24573us elapsed, 8.84us avg, min 7us max 255us 4.742us rms vtol_att_control: cycle: 3033 events, 34934us elapsed, 11.52us avg, min 2us max 366us 7.662us rms airspeed_selector: elapsed: 537 events, 5055us elapsed, 9.41us avg, min 5us max 280us 13.793us rms ekf2: update: 2092 events, 196841us elapsed, 94.09us avg, min 1us max 408us 75.885us rms control latency: 2592 events, 3898859us elapsed, 1504.19us avg, min 52us max 10163us 2220.878us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 13576 events, 46864us elapsed, 3.45us avg, min 2us max 16us 0.707us rms mavlink: send_start tx buffer full: 8 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5423 events, 9998.72 avg, min 9077us max 11634us 88.064us rms mavlink: tx run elapsed: 5423 events, 286369us elapsed, 52.81us avg, min 37us max 815us 23.747us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 17937 events, 3000.39 avg, min 2030us max 5037us 86.443us rms mavlink: tx run elapsed: 17937 events, 159523us elapsed, 8.89us avg, min 6us max 531us 7.326us rms uavcan: cycle interval: 18115 events, 3000.00 avg, min 1754us max 7246us 42.091us rms uavcan: cycle time: 18115 events, 312903us elapsed, 17.27us avg, min 13us max 7243us 54.380us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 6230 events, 87499us elapsed, 14.04us avg, min 7us max 293us 9.446us rms rc_update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 109 events, 3843us elapsed, 35.26us avg, min 1us max 101us 8.683us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 44 events, 102706us elapsed, 2334.23us avg, min 15us max 70041us 10740.072us rms dma_alloc: 7 events param_set: 168 events, 3049us elapsed, 18.15us avg, min 1us max 34us 9.397us rms param_get: 14212 events, 20414us elapsed, 1.44us avg, min 1us max 56us 1.335us rms param_find: 11718 events, 20610us elapsed, 1.76us avg, min 1us max 364us 3.705us rms param_export: 1 events, 51361us elapsed, 51361.00us avg, min 51361us max 51361us infus rms
Post Flight:
vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 33599 events, 3666.76 avg, min 1946us max 65315us 3962.839us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 33599 events, 3666.76 avg, min 1946us max 65315us 3962.839us rms vehicle_air_data: cycle: 33599 events, 252354us elapsed, 7.51us avg, min 6us max 17us 1.002us 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: 329 events, 1751120us elapsed, 5322.55us avg, min 2us max 25725us 2582.628us rms logger_sd_write: 1028 events, 9219823us elapsed, 8968.70us avg, min 3us max 64330us 6187.109us rms navigator: 2401 events, 321430us elapsed, 133.87us avg, min 4us max 49161us 2007.870us rms land_detector: cycle: 12243 events, 98382us elapsed, 8.04us avg, min 6us max 24us 1.753us rms fw_pos_control_l1: cycle: 5971 events, 164797us elapsed, 27.60us avg, min 9us max 122us 12.871us rms fw_att_control: cycle: 20846 events, 1216227us elapsed, 58.34us avg, min 23us max 97us 13.515us rms mc_hover_thrust_estimator: cycle time: 2257 events, 11871us elapsed, 5.26us avg, min 4us max 11us 1.161us rms mc_pos_control: cycle time: 5971 events, 135580us elapsed, 22.71us avg, min 5us max 85us 26.845us rms mc_att_control: cycle: 20846 events, 95024us elapsed, 4.56us avg, min 2us max 14us 2.933us rms mc_rate_control: cycle: 22586 events, 197347us elapsed, 8.74us avg, min 7us max 15us 1.875us rms vtol_att_control: cycle: 27242 events, 309953us elapsed, 11.38us avg, min 1us max 51us 6.403us rms airspeed_selector: elapsed: 1232 events, 28038us elapsed, 22.76us avg, min 13us max 43us 11.791us rms ekf2: update: 20846 events, 2111367us elapsed, 101.28us avg, min 5us max 590us 101.973us rms control latency: 20580 events, 77844211us elapsed, 3782.52us avg, min 52us max 10760us 2209.595us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 30806 events, 108415us elapsed, 3.52us avg, min 2us max 36us 0.907us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 12322 events, 9999.18 avg, min 9079us max 10922us 118.573us rms mavlink: tx run elapsed: 12323 events, 652343us elapsed, 52.94us avg, min 36us max 862us 53.749us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 41075 events, 2999.97 avg, min 2039us max 3935us 125.462us rms mavlink: tx run elapsed: 41075 events, 1016902us elapsed, 24.76us avg, min 6us max 829us 35.064us rms uavcan: cycle interval: 41076 events, 2999.93 avg, min 2318us max 3682us 72.059us rms uavcan: cycle time: 41076 events, 792439us elapsed, 19.29us avg, min 13us max 181us 38.954us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 22494 events, 500993us elapsed, 22.27us avg, min 8us max 31us 5.850us rms rc_update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 247 events, 10687us elapsed, 43.27us avg, min 39us max 61us 6.845us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 661 events, 294031us elapsed, 444.83us avg, min 16us max 49146us 3817.537us rms dma_alloc: 0 events param_set: 3 events, 10us elapsed, 3.33us avg, min 1us max 7us 85.930us rms param_get: 297 events, 402us elapsed, 1.35us avg, min 1us max 2us 9.262us rms param_find: 294 events, 482us elapsed, 1.64us avg, min 1us max 3us 23.434us rms param_export: 1 events, 52951us elapsed, 52951.00us avg, min 52951us max 52951us infus rms