Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open PID Analysis |
| Airframe: | 4011 |
| Hardware: | PX4FMU_V2 (V2) |
| Software Version: | v1.8.1 (82aa24ad) |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:19 |
| Vehicle Life Flight Time: | 3 hours 17 minutes 20 seconds |
| Vehicle UUID: | 003F00223036510B32363637 |
| Distance: | 9.1 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.2 km/h |
| Max Speed: | 5.2 km/h |
| Max Speed Horizontal: | 5.2 km/h |
| Max Speed Up: | 1.3 km/h |
| Max Speed Down: | 2.1 km/h |
| Max Tilt Angle: | 29.9 deg |
| Max Rotation Speed: | 184.7 deg/s |
Loading Plots...
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 310345 44.900 504/ 748 0 ( 0) READY 3 1 hpwork 24057 3.700 816/ 1780 249 (249) w:sig 17 2 lpwork 2612 0.200 944/ 1780 50 ( 50) w:sig 10 3 init 14225 0.000 2120/ 2484 100 (100) w:sem 3 92 dataman 151 0.000 728/ 1180 90 ( 90) w:sem 4 100 gps 2034 0.100 1096/ 1580 220 (220) w:sem 5 148 sensors 36087 5.200 1152/ 1964 249 (249) w:sem 16 150 commander 7800 1.100 2120/ 3212 140 (140) w:sig 29 151 commander_low_prio 26 0.000 640/ 2996 50 ( 50) w:sem 29 159 px4io 24043 3.600 1040/ 1484 251 (251) w:sem 11 172 mavlink_if0 17632 2.400 1720/ 2572 100 (100) w:sig 37 173 mavlink_rcv_if0 3074 0.400 1216/ 2836 175 (175) w:sem 37 181 mavlink_if1 78579 12.000 1792/ 2508 100 (100) READY 39 184 mavlink_rcv_if1 14118 1.200 1728/ 2836 175 (175) w:sem 39 334 log_writer_file 2019 1.100 784/ 1068 60 ( 60) w:sem 41 286 ekf2 64247 9.800 4608/ 6572 250 (250) w:sem 20 294 mc_att_control 22203 3.400 880/ 1660 251 (251) w:sem 16 296 mc_pos_control 17232 2.600 984/ 1876 250 (250) w:sem 12 299 navigator 1045 0.200 936/ 1764 105 (105) READY 15 330 logger 18545 6.599 3072/ 3540 245 (245) RUN 41 Processes: 20 total, 4 running, 16 sleeping, max FDs: 54 CPU usage: 53.60% tasks, 1.50% sched, 44.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 654.522s total, 310.345s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 317761 36.563 504/ 748 0 ( 0) READY 3 1 hpwork 24704 3.496 816/ 1780 249 (249) w:sig 17 2 lpwork 2683 3.896 944/ 1780 50 ( 50) READY 10 3 init 14225 0.000 2120/ 2484 100 (100) w:sem 3 92 dataman 151 0.000 728/ 1180 90 ( 90) w:sem 4 100 gps 2091 0.799 1096/ 1580 220 (220) w:sem 5 148 sensors 36960 5.294 1152/ 1964 249 (249) w:sem 16 150 commander 8007 1.098 2120/ 3212 140 (140) w:sig 29 151 commander_low_prio 26 0.000 640/ 2996 50 ( 50) w:sem 29 159 px4io 24690 3.796 1040/ 1484 251 (251) w:sem 11 172 mavlink_if0 18070 2.597 1720/ 2572 100 (100) w:sig 37 173 mavlink_rcv_if0 3158 0.399 1216/ 2836 175 (175) w:sem 37 181 mavlink_if1 80657 11.888 1792/ 2508 100 (100) READY 39 184 mavlink_rcv_if1 14502 2.097 1728/ 2836 175 (175) READY 39 334 log_writer_file 2206 0.999 784/ 1068 60 ( 60) w:sem 41 286 ekf2 66085 12.687 4608/ 6572 250 (250) w:sem 20 294 mc_att_control 22807 3.596 880/ 1660 251 (251) w:sem 16 296 mc_pos_control 17776 2.697 984/ 1876 250 (250) w:sem 12 299 navigator 1072 0.199 936/ 1764 105 (105) w:sem 15 330 logger 19649 6.393 3072/ 3540 245 (245) RUN 41 Processes: 20 total, 5 running, 15 sleeping, max FDs: 54 CPU usage: 61.94% tasks, 1.50% sched, 36.56% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 671.998s total, 317.762s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 22 events, 891380us elapsed, 40517us avg, min 38229us max 47403us 13474.151us rms logger_sd_write: 269 events, 11643721us elapsed, 43285us avg, min 11us max 184133us 74528.203us rms navigator: 897 events, 31223us elapsed, 34us avg, min 22us max 1347us 408.657us rms land_detector_cycle: 2174 events, 117975us elapsed, 54us avg, min 34us max 483us 130.934us rms mc_att_control: 11210 events, 1150493us elapsed, 102us avg, min 76us max 336us 111.748us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 12260 events, 7762893us elapsed, 633us avg, min 117us max 19730us 2402.895us rms mavlink_txe: 902 events mavlink_el: 4378 events, 1380735us elapsed, 315us avg, min 107us max 3507us 1253.040us rms io control latency: 11260 events, 2532608us elapsed, 224us avg, min 170us max 505us 157.457us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 11260 events, 7536844us elapsed, 669us avg, min 265us max 2755us 2909.908us rms io_txns: 22686 events, 6942183us elapsed, 306us avg, min 136us max 716us 392.032us rms stack_check: 150 events, 3168us elapsed, 21us avg, min 1us max 336us 396.715us rms sensors: 11261 events, 8240290us elapsed, 731us avg, min 358us max 2680us 1042.652us rms ll40ls_i2c_zero_resets: 0 events ll40ls_i2c_resets: 0 events ll40ls_i2c_comms_errors: 0 events ll40ls_i2c_read: 874 events, 753341us elapsed, 861us avg, min 525us max 3256us 1898.340us rms lsm303d_acc_dupe: 7467 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 4508 events, 109619us elapsed, 24us avg, min 24us max 26us 1.768us rms lsm303d_acc_read: 42932 events, 1419809us elapsed, 33us avg, min 21us max 39us 20.788us rms l3gd20_dupe: 29830 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 63047 events, 1889042us elapsed, 29us avg, min 22us max 40us 26.796us rms mpu6k_duplicates: 11285 events mpu6k_reset: 0 events mpu6k_good_trans: 45063 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 56349 events, 3153266us elapsed, 55us avg, min 33us max 80us 51.940us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 1 events adc_samples: 45080 events, 124304us elapsed, 2us avg, min 2us max 3us 1.626us rms ms5611_com_err: 0 events ms5611_measure: 4120 events, 43293us elapsed, 10us avg, min 6us max 301us 65.053us rms ms5611_read: 4120 events, 90115us elapsed, 21us avg, min 11us max 386us 78.886us rms dma_alloc: 1 events param_set: 3 events, 57us elapsed, 19us avg, min 4us max 46us 313.725us rms param_get: 764 events, 5322us elapsed, 6us avg, min 4us max 95us 179.508us rms param_find: 128 events, 2689us elapsed, 21us avg, min 3us max 1535us 351.730us rms param_export: 1 events, 95395us elapsed, 95395us avg, min 95395us max 95395us Infinityus rms
Post Flight:
logger_sd_fsync: 18 events, 863259us elapsed, 47958us avg, min 35685us max 152076us 30262.383us rms logger_sd_write: 209 events, 9350056us elapsed, 44737us avg, min 11us max 200608us 88276.031us rms navigator: 370 events, 12361us elapsed, 33us avg, min 22us max 319us 637.661us rms land_detector_cycle: 894 events, 53945us elapsed, 60us avg, min 36us max 445us 207.885us rms mc_att_control: 4617 events, 479131us elapsed, 103us avg, min 76us max 300us 176.831us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 5016 events, 3095566us elapsed, 617us avg, min 117us max 5625us 3809.951us rms mavlink_txe: 309 events mavlink_el: 1785 events, 574358us elapsed, 321us avg, min 107us max 3750us 1994.225us rms io control latency: 4618 events, 1047409us elapsed, 226us avg, min 171us max 441us 249.554us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 4618 events, 3086004us elapsed, 668us avg, min 266us max 2775us 4607.566us rms io_txns: 9299 events, 2843820us elapsed, 305us avg, min 149us max 721us 621.006us rms stack_check: 59 events, 880us elapsed, 14us avg, min 1us max 55us 636.015us rms sensors: 4619 events, 3496179us elapsed, 756us avg, min 367us max 3079us 1661.425us rms ll40ls_i2c_zero_resets: 0 events ll40ls_i2c_resets: 0 events ll40ls_i2c_comms_errors: 0 events ll40ls_i2c_read: 358 events, 336919us elapsed, 941us avg, min 524us max 3231us 3018.114us rms lsm303d_acc_dupe: 3048 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 1849 events, 44990us elapsed, 24us avg, min 24us max 25us 2.801us rms lsm303d_acc_read: 17609 events, 582517us elapsed, 33us avg, min 21us max 39us 32.910us rms l3gd20_dupe: 12207 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 25861 events, 775199us elapsed, 29us avg, min 22us max 40us 42.426us rms mpu6k_duplicates: 4628 events mpu6k_reset: 0 events mpu6k_good_trans: 18485 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 23114 events, 1293682us elapsed, 55us avg, min 33us max 80us 82.239us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events adc_samples: 18490 events, 51006us elapsed, 2us avg, min 2us max 3us 2.574us rms ms5611_com_err: 0 events ms5611_measure: 1687 events, 17509us elapsed, 10us avg, min 6us max 303us 102.866us rms ms5611_read: 1687 events, 39142us elapsed, 23us avg, min 11us max 342us 126.176us rms dma_alloc: 0 events param_set: 3 events, 20us elapsed, 6us avg, min 4us max 12us 313.759us rms param_get: 5 events, 26us elapsed, 5us avg, min 5us max 6us 2479.224us rms param_find: 5 events, 32us elapsed, 6us avg, min 6us max 7us 1981.895us rms param_export: 1 events, 96094us elapsed, 96094us avg, min 96094us max 96094us Infinityus rms