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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | PX4_FMU_V5 (V540) |
| Software Version: | 6ed3131e branch: turbotimber |
| OS Version: | NuttX, v10.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:10:25 |
| Vehicle Life Flight Time: | 1 hours 29 minutes 9 seconds |
| Vehicle UUID: | 0002000000003234333830395119002e003c (Turbo Timber Evolution) |
| Wind Speed: | Breeze |
| Flight Rating: | Good |
| Distance: | 5.42 km |
| Max Altitude Difference: | 287 m |
| Average Speed: | 63.2 km/h |
| Max Speed: | 104.0 km/h |
| Max Speed Horizontal: | 100.7 km/h |
| Max Speed Up: | 42.2 km/h |
| Max Speed Down: | 49.7 km/h |
| Max Tilt Angle: | 97.4 deg |
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Console Output
HW arch: PX4_FMU_V5 HW type: V540 HW version: 0x00000004 HW revision: 0x00000000 FW git-hash: 6ed3131ed08bc9275ee15fcd9b39b89c4c13d418 FW version: 1.13.0 0 (17629184) FW git-branch: turbotimber OS: NuttX OS version: Release 10.2.0 (167903487) OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83 Build datetime: Jun 10 2022 12:21:12 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0002000000003234333830395119002e003c MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2930 bytes, decoded 2930 bytes (INT32:69, FLOAT:71) 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 WARN [msp_osd] Startup INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 Loading airframe: /etc/init.d/airframes/2100_standard_plane INFO [uavcan] Node ID 1, bitrate 1000000 Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 bmi055_accel #0 on SPI bus 1 rotation 2 bmi055_gyro #0 on SPI bus 1 rotation 2 ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 ms4525do #0 on I2C bus 2 (external) address 0x28 WARN [SPI_I2C] Already running on bus 1 INFO [init] Mixer: /etc/mixers/AETRFG.main.mix on /dev/pwm_output0 INFO [init] setting PWM_AUX_OUT none ekf2 [870:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS1 @ 115200B INFO [crsf_rc] Crsf Init INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.2.0 nsh> [KINFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 INFO [gps] u-blox module: NEO-M8N-0 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-06-21/20_35_04.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-06-21/20_35_04.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27514 32.895 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.002 572/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2340/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 596/ 1256 255 (255) w:sem 5 1087 mavlink_rcv_if0 3 0.364 1316/ 4712 175 (175) w:sem 4 71 wq:lp_default 0 0.069 996/ 1920 205 (205) w:sem 5 78 wq:hp_default 87 8.714 1180/ 1904 237 (237) w:sem 5 86 wq:test1 2 0.214 1068/ 2000 255 (255) w:sem 5 92 dataman 0 0.017 828/ 1208 90 ( 90) w:sem 4 117 wq:I2C1 3 0.360 908/ 2336 246 (246) w:sem 5 429 wq:uavcan 13 1.395 1692/ 3624 236 (236) w:sem 5 473 wq:SPI1 68 6.882 1676/ 2336 253 (253) w:sem 5 488 wq:SPI4 3 0.334 884/ 2336 250 (250) w:sem 5 491 wq:I2C3 3 0.322 988/ 2336 244 (244) w:sem 5 698 wq:I2C2 7 0.760 828/ 2336 245 (245) w:sem 5 844 wq:nav_and_controllers 56 5.591 1364/ 2240 242 (242) w:sem 5 847 wq:rate_ctrl 49 4.902 2564/ 3152 255 (255) w:sem 5 848 wq:INS0 95 9.554 4252/ 6000 241 (241) w:sem 5 849 wq:INS1 88 8.805 4252/ 6000 240 (240) w:sem 5 851 commander 7 0.781 1412/ 3224 140 (140) w:sig 5 989 gps 1 0.182 1220/ 1680 205 (205) w:sem 4 1086 mavlink_if0 62 6.258 1844/ 2728 100 (100) READY 4 1254 log_writer_file 7 0.726 604/ 1176 60 ( 60) w:sem 4 1125 wq:ttyS4 13 1.373 948/ 1632 230 (230) READY 5 1143 navigator 1 0.162 1124/ 1920 105 (105) w:sem 6 1226 logger 71 7.098 2900/ 3648 230 (230) RUN 4 Processes: 27 total, 4 running, 23 sleeping CPU usage: 64.87% tasks, 2.24% sched, 32.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 67.656s total, 27.515s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 43078us elapsed, 43078.00us avg, min 43078us max 43078us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3279 events, 19988.11 avg, min 697us max 23176us 484.773us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 12321 events, 5184787us elapsed, 420.81us avg, min 299us max 2288us 221.537us rms gyro_fft: cycle interval: 13154 events, 4991.53 avg, min 3277us max 9779us 293.769us rms gyro_fft: cycle: 13154 events, 5582098us elapsed, 424.37us avg, min 19us max 2312us 244.497us rms navigator: 1331 events, 157541us elapsed, 118.36us avg, min 21us max 3797us 261.503us rms crsf_rc: publish interval: 14176 events, 4632.26 avg, min 4074us max 60376us 900.655us rms crsf_rc: cycle interval: 14176 events, 4632.30 avg, min 4074us max 60276us 908.015us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 18954 events, 3466.52 avg, min 2197us max 63493us 1582.097us rms mavlink: tx run elapsed: 18954 events, 7590298us elapsed, 400.46us avg, min 149us max 20893us 456.872us rms mag_bias_estimator: cycle: 3288 events, 178745us elapsed, 54.36us avg, min 1us max 2341us 164.764us rms land_detector: cycle: 6534 events, 98783us elapsed, 15.12us avg, min 11us max 278us 8.221us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms airspeed_selector: elapsed: 648 events, 23711us elapsed, 36.59us avg, min 23us max 271us 20.391us rms fw_pos_control_l1: cycle: 3255 events, 98780us elapsed, 30.35us avg, min 15us max 262us 10.552us rms fw_att_control: cycle: 11877 events, 2490122us elapsed, 209.66us avg, min 168us max 825us 29.886us rms control_allocator: cycle: 23885 events, 687920us elapsed, 28.80us avg, min 14us max 193us 10.583us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 6520 events, 1894326us elapsed, 290.54us avg, min 150us max 3149us 255.155us rms ekf2: ECL update: 6688 events, 30563us elapsed, 4.57us avg, min 1us max 129us 3.597us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 6515 events, 1596458us elapsed, 245.04us avg, min 151us max 1066us 105.085us rms ekf2: ECL update: 6684 events, 31302us elapsed, 4.68us avg, min 2us max 91us 3.580us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 6529 events, 1726079us elapsed, 264.37us avg, min 153us max 3180us 207.597us rms ekf2: ECL update: 6683 events, 40053us elapsed, 5.99us avg, min 1us max 107us 4.113us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 6524 events, 1614127us elapsed, 247.41us avg, min 153us max 980us 103.958us rms ekf2: ECL update: 6677 events, 46257us elapsed, 6.93us avg, min 2us max 213us 6.602us rms pwm_out: interval: 23892 events, 2762.17 avg, min 38us max 50261us 4287.517us rms pwm_out: cycle: 23892 events, 701135us elapsed, 29.35us avg, min 20us max 1414us 10.052us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 128 events, 2192754us elapsed, 17130.89us avg, min 1580us max 21359us 2173.370us rms commander: cycle: 5706 events, 3097225us elapsed, 542.80us avg, min 69us max 21501us 2590.292us 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_magnetometer: cycle: 3092 events, 196323us elapsed, 63.49us avg, min 40us max 2107us 46.081us rms vehicle_gps_position: cycle: 326 events, 5634us elapsed, 17.28us avg, min 5us max 71us 8.425us rms vehicle_air_data: cycle: 4932 events, 159514us elapsed, 32.34us avg, min 22us max 277us 18.515us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 26450 events, 950956us elapsed, 35.95us avg, min 15us max 416us 3.858us rms sensors: 13226 events, 834277us elapsed, 63.08us avg, min 26us max 5356us 76.613us rms battery_status: 6602 events, 258277us elapsed, 39.12us avg, min 23us max 2809us 109.242us 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: 5009 events, 4750364us elapsed, 948.37us avg, min 931us max 1218us 27.446us 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 ms5611: com_err: 0 events ms5611: measure: 6605 events, 29163us elapsed, 4.42us avg, min 3us max 131us 5.024us rms ms5611: read: 6604 events, 106373us elapsed, 16.11us avg, min 7us max 154us 10.151us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 1 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 1 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 79584 events, 425297us elapsed, 5.34us avg, min 3us max 3539us 37.992us rms manual_control: interval: 1703 events, 38867.42 avg, min 2490us max 201648us 58273.727us rms manual_control: cycle: 1703 events, 58254us elapsed, 34.21us avg, min 11us max 2485us 132.190us rms rc_update: valid data interval: 12467 events, 5258.31 avg, min 4087us max 60369us 1794.514us rms rc_update: cycle interval: 14176 events, 4632.28 avg, min 4078us max 60344us 903.779us rms rc_update: cycle: 14176 events, 554701us elapsed, 39.13us avg, min 15us max 2601us 131.828us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 22338 events, 2970.31 avg, min 32us max 24757us 746.098us rms uavcan: cycle time: 22338 events, 925076us elapsed, 41.41us avg, min 13us max 3352us 122.734us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rgbled: led_control message missed: 0 events load_mon: cycle: 133 events, 22968us elapsed, 172.69us avg, min 3us max 3715us 361.017us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 257 events, 165832us elapsed, 645.26us avg, min 35us max 57314us 3808.537us rms rgbled: led_control message missed: 0 events dma_alloc: 7 events param: set: 140 events, 4926us elapsed, 35.19us avg, min 3us max 74us 17.708us rms param: get: 10397 events param: find: 6858 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms