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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Hexarotor x geometry Hexarotor x (6001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.15.1 (93eef0c7) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:10:28 |
| Dropouts: | 26 (22 s) |
| Vehicle Life Flight Time: | 18 hours 14 minutes 29 seconds |
| Vehicle UUID: | 00060000000031363832313151130044004a |
| Distance: | 813.2 m |
| Max Altitude Difference: | 33 m |
| Average Speed: | 4.6 km/h |
| Max Speed: | 17.7 km/h |
| Max Speed Horizontal: | 15.0 km/h |
| Max Speed Up: | 10.9 km/h |
| Max Speed Down: | 10.7 km/h |
| Max Tilt Angle: | 175.6 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE PX4 git-hash: 93eef0c78719a9ac972d46593262c76c978ed3c4 PX4 version: Release 1.15.1 (17760767) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Oct 16 2024 17:00:02 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 00060000000031363832313151130044004a 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 3654 bytes, decoded 3654 bytes (INT32:94, FLOAT:82) 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/6001_hexa_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_ncp5623c #0 on I2C bus 2 address 0x39 rgbled_ncp5623c #1 on I2C bus 1 address 0x39 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ist8310 #0 on I2C bus 2 address 0xE ist8310 #1 on I2C bus 1 address 0xE WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3670050 ekf2 [715:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Secondary GPS on /dev/ttyS5 Starting Main GPS on /dev/ttyS2 Starting FrSky Telemetry on /dev/ttyS1 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [frsky_telemetry] sending FrSky SmartPort telemetry WARN [health_and_arming_checks] Preflight Fail: Global position required WARN [health_and_arming_checks] Preflight Fail: Press safety button first WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: Global position required WARN [health_and_arming_checks] Preflight Fail: Press safety button first INFO [gps] u-blox firmware version: HPG 1.30 INFO [gps] u-blox protocol version: 27.30 INFO [gps] u-blox module: ZED-F9P INFO [gps] u-blox firmware version: HPG 1.30 INFO [gps] u-blox protocol version: 27.30 INFO [gps] u-blox module: ZED-F9P WARN [health_and_arming_checks] Preflight Fail: Global position required WARN [health_and_arming_checks] Preflight Fail: Press safety button first WARN [health_and_arming_checks] Preflight Fail: Global position required WARN [health_and_arming_checks] Preflight Fail: Press safety button first INFO [gps] u-blox firmware version: HPG 1.30 INFO [gps] u-blox protocol version: 27.30 INFO [gps] u-blox module: ZED-F9P WARN [health_and_arming_checks] Preflight Fail: Global position required WARN [health_and_arming_checks] Preflight Fail: Global position required INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-22/19_44_47.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-22/19_44_47.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 41563 51.720 184/ 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 0.000 428/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.037 1452/ 1896 205 (205) w:sem 1 1168 log_writer_file 13 1.320 612/ 1144 60 ( 60) w:sem 4 351 wq:hp_default 6 0.636 1112/ 2776 237 (237) w:sem 1 375 dataman 7 0.712 1068/ 1376 90 ( 90) w:sem 5 382 wq:I2C2 1 0.193 896/ 2312 245 (245) w:sem 1 390 wq:I2C1 1 0.190 932/ 2312 246 (246) w:sem 1 443 wq:SPI1 36 3.614 1588/ 2368 253 (253) w:sem 1 428 wq:SPI4 80 8.022 1608/ 2368 250 (250) w:sem 1 429 wq:rate_ctrl 77 7.727 2500/ 3120 255 (255) w:sem 1 696 wq:nav_and_controllers 29 2.926 1224/ 2216 242 (242) w:sem 1 697 wq:INS0 39 3.917 3660/ 5976 241 (241) w:sem 1 698 wq:INS1 33 3.308 3660/ 5976 240 (240) w:sem 1 700 wq:INS2 34 3.480 3660/ 5976 239 (239) w:sem 1 711 commander 6 0.616 1524/ 3192 140 (140) w:sig 5 750 mavlink_if0 6 0.692 1884/ 2768 100 (100) w:sig 5 751 mavlink_rcv_if0 2 0.234 1324/ 4776 175 (175) w:sem 5 853 gps 0 0.060 1104/ 1896 205 (205) w:sem 4 854 gps 1 0.190 1188/ 1896 205 (205) w:sem 4 906 frsky_telemetry 11 1.127 812/ 1296 104 (104) READY 5 969 mavlink_if1 12 1.256 1916/ 2704 100 (100) w:sig 5 971 mavlink_rcv_if1 2 0.284 1324/ 4776 175 (175) w:sem 5 1042 navigator 7 0.704 1644/ 2104 105 (105) w:sem 11 1149 logger 56 5.635 3100/ 3616 230 (230) RUN 4 Processes: 27 total, 3 running, 24 sleeping CPU usage: 46.89% tasks, 1.39% sched, 51.72% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 70.074s total, 41.564s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 363us elapsed, 363.00us avg, min 363us max 363us 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, 165817us elapsed, 165817.00us avg, min 165817us max 165817us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 30us elapsed, 30.00us avg, min 30us max 30us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 66us elapsed, 66.00us avg, min 66us max 66us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 255 events, 29987us elapsed, 117.60us avg, min 31us max 2785us 232.201us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3393 events, 20212.39 avg, min 133us max 759575us 12726.277us rms DatamanClient: sync: 1 events, 7880us elapsed, 7880.00us avg, min 7880us max 7880us nanus rms navigator: 1458 events, 79688us elapsed, 54.66us avg, min 14us max 32854us 861.129us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6854 events, 10031.24 avg, min 9133us max 101410us 1229.326us rms mavlink: tx run elapsed: 6854 events, 1194231us elapsed, 174.24us avg, min 84us max 2505us 131.870us rms DatamanClient: sync: 1 events, 33us elapsed, 33.00us avg, min 33us max 33us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13713 events, 5019.74 avg, min 4039us max 100433us 915.165us rms mavlink: tx run elapsed: 13713 events, 587534us elapsed, 42.85us avg, min 23us max 1766us 69.334us rms DatamanClient: sync: 4 events, 2766us elapsed, 691.50us avg, min 38us max 2377us 1129.210us rms mag_bias_estimator: cycle: 3397 events, 93320us elapsed, 27.47us avg, min 1us max 1251us 60.178us rms land_detector: cycle: 6901 events, 92588us elapsed, 13.42us avg, min 10us max 169us 9.760us rms mc_pos_control: cycle time: 6902 events, 218769us elapsed, 31.70us avg, min 25us max 247us 13.800us rms flight_mode_manager: cycle: 3444 events, 144994us elapsed, 42.10us avg, min 29us max 1044us 54.611us rms mc_hover_thrust_estimator: cycle time: 6901 events, 8004us elapsed, 1.16us avg, min 1us max 52us 1.998us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 13603 events, 181384us elapsed, 13.33us avg, min 9us max 181us 9.547us rms mc_rate_control: cycle: 54863 events, 526263us elapsed, 9.59us avg, min 8us max 83us 1.108us rms control_allocator: cycle: 54863 events, 1428439us elapsed, 26.04us avg, min 22us max 191us 2.953us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 6490 events, 1895149us elapsed, 292.01us avg, min 100us max 1797us 182.439us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 5903 events, 1756966us elapsed, 297.64us avg, min 98us max 1550us 163.339us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 6903 events, 1726612us elapsed, 250.12us avg, min 133us max 627us 90.456us rms pwm_out: interval: 54865 events, 1255.37 avg, min 61us max 16104us 646.655us rms pwm_out: cycle: 54865 events, 715697us elapsed, 13.04us avg, min 11us max 39us 1.280us rms control latency: 54864 events, 26568523us elapsed, 484.26us avg, min 217us max 8911us 511.198us rms commander: preflight check: 632 events, 186502us elapsed, 295.10us avg, min 95us max 2673us 255.501us rms commander: cycle: 6241 events, 619372us elapsed, 99.24us avg, min 36us max 2949us 154.423us 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_gps_position: cycle: 736 events, 15670us elapsed, 21.29us avg, min 2us max 182us 27.047us rms vehicle_air_data: cycle: 5121 events, 116386us elapsed, 22.73us avg, min 13us max 191us 11.703us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 54890 events, 834655us elapsed, 15.21us avg, min 12us max 43us 1.372us rms sensors: 13808 events, 530719us elapsed, 38.44us avg, min 20us max 3566us 63.299us rms battery_status: 6890 events, 153695us elapsed, 22.31us avg, min 13us max 942us 52.804us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 6854 events, 27468us elapsed, 4.01us avg, min 3us max 107us 1.830us rms ms5611: read: 6853 events, 94520us elapsed, 13.79us avg, min 11us max 129us 4.364us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 6834 events, 30447us elapsed, 4.46us avg, min 4us max 111us 2.402us rms ms5611: read: 6833 events, 117238us elapsed, 17.16us avg, min 12us max 149us 5.045us rms board_adc: sample: 48279 events, 170535us elapsed, 3.53us avg, min 2us max 3710us 23.448us rms manual_control: interval: 651 events, 105819.19 avg, min 1717us max 201176us 68464.477us rms manual_control: cycle: 651 events, 11769us elapsed, 18.08us avg, min 10us max 743us 49.994us rms rc_update: valid data interval: 3159 events, 21793.78 avg, min 13224us max 29890us 1821.035us rms rc_update: cycle interval: 3163 events, 21804.62 avg, min 13224us max 55263us 1925.692us rms rc_update: cycle: 3163 events, 59894us elapsed, 18.94us avg, min 10us max 1163us 34.633us rms control latency: 27436 events, 13736291us elapsed, 500.67us avg, min 449us max 1757us 151.602us rms px4io: interface write: 27460 events, 6401499us elapsed, 233.12us avg, min 121us max 343us 8.643us rms px4io: interface read: 19194 events, 5220532us elapsed, 271.99us avg, min 135us max 626us 152.369us rms px4io: interval: 27441 events, 2513.95 avg, min 310us max 50084us 570.712us rms px4io: cycle: 27441 events, 12117007us elapsed, 441.57us avg, min 81us max 12092us 632.212us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 46654 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 46654 events, 11427821us elapsed, 244.95us avg, min 117us max 623us 99.685us rms rgbled: led_control message missed: 0 events rgbled: led_control message missed: 0 events load_mon: cycle: 139 events, 17809us elapsed, 128.12us avg, min 2us max 801us 116.020us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 260 events, 27110us elapsed, 104.27us avg, min 6us max 3316us 399.661us rms dma_alloc: 5 events param: set: 176 events, 4060us elapsed, 23.07us avg, min 6us max 48us 10.986us rms param: get: 21090 events param: find: 19985 events param: export: 1 events, 26383us elapsed, 26383.00us avg, min 26383us max 26383us infus rms