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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard VTOL Standard VTOL (13000) |
| Hardware: | PX4_FMU_V5 (V5006000) |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:04:12 |
| Vehicle Life Flight Time: | 28 minutes 34 seconds |
| Vehicle UUID: | 00020000000036323635303351060040003d |
| Distance: | 2.81 km |
| Max Altitude Difference: | 157 m |
| Average Speed MC: | 5.6 km/h |
| Average Speed FW: | 72.6 km/h |
| Max Speed: | 100.0 km/h |
| Max Speed Horizontal: | 99.6 km/h |
| Max Speed Up: | 13.4 km/h |
| Max Speed Down: | 8.9 km/h |
| Max Tilt Angle: | 40.1 deg |
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Console Output
0x000 PX4 git-hash: 1dacb4cdef2d7145754fc788fa8dc482eed74b40 PX4 version: Release 1.14.3 (17695743) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: May 30 2024 03:29:42 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 00020000000036323635303351060040003d 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 3799 bytes, decoded 3799 bytes (INT32:74, FLOAT:108) 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/13000_generic_vtol_standard INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes INFO [px4io] PX4IO Not Supported Board sensors: /etc/init.d/rc.board_sensors icm20602 #0 on SPI bus 1 rotation 2 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 (external) address 0xE rotation 10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) ms4525do #0 on I2C bus 2 (external) address 0x28 ekf2 [1206:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 115200B INFO [rc_input] RC scan: SBUS RC input locked INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 INFO [navigator] Mission #3 loaded, 11 WPs NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [vehicle_magnetometer] MAG switch from #0 -> #1 uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [uavcan:125:] GPS 1: probing for NMEA at 230400 baud INFO [uavcan:125:] GPS 1: detected NMEA INFO [uavcan:125:] NMEA "UM982" "R4.10Build11826" "2023/11/24" INFO [commander] [cal] calibration started: 2 airspeed WARN [commander] [cal] Ensure sensor is not measuring wind INFO [commander] [cal] progress <3> INFO [commander] [cal] progress <7> INFO [commander] [cal] progress <11> INFO [commander] [cal] progress <15> INFO [commander] [cal] progress <19> INFO [commander] [cal] progress <23> INFO [commander] [cal] progress <26> INFO [commander] [cal] progress <30> INFO [commander] [cal] progress <34> INFO [commander] [cal] progress <38> INFO [commander] [cal] progress <42> INFO [commander] [cal] progress <46> INFO [commander] [cal] progress <49> INFO [commander] [cal] progress <53> INFO [commander] [cal] progress <57> INFO [commander] [cal] progress <61> INFO [commander] [cal] progress <65> INFO [commander] [cal] progress <69> INFO [commander] [cal] progress <73> INFO [commander] [cal] progress <76> INFO [commander] [cal] Offset of -10 Pascal WARN [commander] [cal] Blow into front of pitot without touching INFO [commander] [cal] Create air pressure! (got 0, wanted: 50 Pa) INFO [commander] [cal] Create air pressure! (got 18, wanted: 50 Pa) INFO [commander] [cal] Positive pressure: OK (50 Pa) INFO [commander] [cal] progress <100> INFO [commander] [cal] calibration done: airspeed INFO [commander] Connection to ground station lost INFO [commander] GCS connection regained WARN [commander] Connection to mission computer lost INFO [commander] Connection to ground station lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: Vehicle is not in multicopter mode INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-14/09_06_20.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-14/09_06_20.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 126807 33.679 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.001 1044/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2364/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 4 1527 log_writer_file 7 0.761 628/ 1144 60 ( 60) READY 4 62 wq:lp_default 0 0.063 1052/ 1896 205 (205) w:sem 4 69 wq:hp_default 17 1.711 1148/ 1872 237 (237) w:sem 4 870 dataman 0 0.020 852/ 1280 90 ( 90) w:sem 4 923 wq:SPI1 86 8.669 1740/ 2368 253 (253) w:sem 4 936 wq:SPI4 3 0.317 988/ 2368 250 (250) w:sem 4 938 wq:I2C3 2 0.262 1052/ 2312 244 (244) w:sem 4 1031 wq:I2C2 6 0.610 852/ 2312 245 (245) w:sem 4 1196 wq:nav_and_controllers 83 8.379 1292/ 2216 242 (242) w:sem 4 1197 wq:rate_ctrl 96 9.617 2572/ 3120 255 (255) w:sem 4 1199 wq:INS0 61 6.097 4316/ 5976 241 (241) w:sem 4 1200 wq:INS1 57 5.759 4316/ 5976 240 (240) w:sem 4 1201 wq:INS2 58 5.868 4316/ 5976 239 (239) w:sem 4 1203 commander 12 1.250 1464/ 3192 140 (140) w:sig 5 1323 gps 0 0.056 1236/ 1936 205 (205) w:sem 4 1401 mavlink_if0 21 2.171 1972/ 2704 100 (100) READY 4 1402 mavlink_rcv_if0 5 0.570 1668/ 4616 175 (175) READY 4 1439 wq:ttyS4 6 0.644 1012/ 1704 230 (230) READY 4 1460 navigator 1 0.156 1332/ 1896 105 (105) w:sem 6 1526 logger 92 9.228 2932/ 3616 230 (230) RUN 4 1545 wq:uavcan 22 2.200 3140/ 3600 236 (236) w:sem 4 Processes: 26 total, 6 running, 20 sleeping CPU usage: 64.42% tasks, 1.90% sched, 33.68% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 281.958s total, 126.807s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 230038 28.468 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 94 9.424 1044/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2364/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 4 1527 log_writer_file 7 0.706 644/ 1144 60 ( 60) w:sem 4 62 wq:lp_default 1 0.172 1052/ 1896 205 (205) w:sem 4 69 wq:hp_default 18 1.856 1148/ 1872 237 (237) w:sem 4 870 dataman 0 0.092 852/ 1280 90 ( 90) w:sem 4 923 wq:SPI1 88 8.879 1740/ 2368 253 (253) w:sem 4 936 wq:SPI4 3 0.314 988/ 2368 250 (250) w:sem 4 938 wq:I2C3 2 0.257 1052/ 2312 244 (244) w:sem 4 1031 wq:I2C2 6 0.601 852/ 2312 245 (245) w:sem 4 1196 wq:nav_and_controllers 82 8.295 1428/ 2216 242 (242) w:sem 4 1197 wq:rate_ctrl 94 9.495 2572/ 3120 255 (255) w:sem 4 1199 wq:INS0 62 6.210 4316/ 5976 241 (241) w:sem 4 1200 wq:INS1 57 5.779 4316/ 5976 240 (240) w:sem 4 1201 wq:INS2 59 5.932 4316/ 5976 239 (239) w:sem 4 1203 commander 13 1.388 1464/ 3192 140 (140) w:sig 5 1323 gps 0 0.063 1236/ 1936 205 (205) w:sem 4 1401 mavlink_if0 24 2.450 1972/ 2704 100 (100) READY 4 1402 mavlink_rcv_if0 11 1.125 1708/ 4616 175 (175) w:sem 4 1439 wq:ttyS4 7 0.744 1012/ 1704 230 (230) READY 4 1460 navigator 1 0.188 1564/ 1896 105 (105) w:sem 6 1526 logger 32 3.266 2932/ 3616 230 (230) RUN 4 1545 wq:uavcan 22 2.250 3140/ 3600 236 (236) w:sem 4 Processes: 26 total, 4 running, 22 sleeping CPU usage: 69.49% tasks, 2.04% sched, 28.47% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 533.107s total, 230.038s idle
Performance Counters
Pre Flight:
ekf2: airspeed messages missed: 9 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 uavcan: gnss: moving baseline data rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 128410 events, 2180.46 avg, min 22us max 15921us 1271.020us rms uavcan: cycle time: 128410 events, 7871412us elapsed, 61.30us avg, min 14us max 15910us 174.683us 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 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, 29852us elapsed, 29852.00us avg, min 29852us max 29852us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 13999 events, 20003.01 avg, min 112us max 81462us 656.388us rms navigator: 5812 events, 392478us elapsed, 67.53us avg, min 17us max 15259us 242.239us rms rc_input: publish interval: 18669 events, 15001.32 avg, min 983us max 71276us 1887.333us rms rc_input: cycle time: 69966 events, 1628705us elapsed, 23.28us avg, min 8us max 4543us 95.854us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 27875 events, 10049.13 avg, min 9216us max 72789us 544.863us rms mavlink: tx run elapsed: 27875 events, 8425503us elapsed, 302.26us avg, min 157us max 5087us 167.208us rms mag_bias_estimator: cycle: 13335 events, 518943us elapsed, 38.92us avg, min 1us max 2420us 106.853us rms land_detector: cycle: 28013 events, 670669us elapsed, 23.94us avg, min 18us max 690us 11.018us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 14020 events, 621103us elapsed, 44.30us avg, min 25us max 314us 14.243us rms fw_att_control: cycle: 55904 events, 1483056us elapsed, 26.53us avg, min 19us max 328us 13.687us rms fw_rate_control: cycle: 112056 events, 8481278us elapsed, 75.69us avg, min 4us max 332us 34.915us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 28014 events, 55158us elapsed, 1.97us avg, min 1us max 84us 2.686us rms mc_pos_control: cycle time: 28015 events, 428430us elapsed, 15.29us avg, min 10us max 599us 8.567us rms flight_mode_manager: cycle: 14021 events, 170206us elapsed, 12.14us avg, min 6us max 2178us 65.429us rms mc_att_control: cycle: 55905 events, 2725369us elapsed, 48.75us avg, min 5us max 461us 26.053us rms mc_rate_control: cycle: 112069 events, 2065588us elapsed, 18.43us avg, min 5us max 195us 3.471us rms vtol_att_control: cycle: 112069 events, 4566747us elapsed, 40.75us avg, min 5us max 290us 4.176us rms airspeed_selector: elapsed: 2791 events, 106857us elapsed, 38.29us avg, min 28us max 382us 35.021us rms control_allocator: cycle: 112067 events, 7771248us elapsed, 69.34us avg, min 55us max 666us 11.259us rms ekf2: vehicle_magnetometer messages missed: 5 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 28012 events, 8898612us elapsed, 317.67us avg, min 155us max 4300us 293.866us rms ekf2: ECL update: 28013 events, 19837us elapsed, 0.70us avg, min 1us max 618us 3.979us rms ekf2: vehicle_magnetometer messages missed: 5 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 27987 events, 8850675us elapsed, 316.24us avg, min 155us max 3440us 283.414us rms ekf2: ECL update: 27988 events, 19919us elapsed, 0.71us avg, min 1us max 404us 2.766us rms ekf2: vehicle_magnetometer messages missed: 5 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 4 events ekf2: ECL full update: 28020 events, 7469998us elapsed, 266.60us avg, min 153us max 1068us 124.886us rms ekf2: ECL update: 28020 events, 19048us elapsed, 0.68us avg, min 0us max 72us 1.790us rms pwm_out: interval: 112070 events, 2502.47 avg, min 476us max 49431us 143.859us rms pwm_out: cycle: 112069 events, 3886328us elapsed, 34.68us avg, min 28us max 317us 3.067us rms control latency: 112068 events, 26215675294us elapsed, 233926.50us avg, min 563us max 11438107us 1313310.250us rms commander: preflight check: 2718 events, 2681692us elapsed, 986.64us avg, min 442us max 5605us 597.755us rms commander: cycle: 24998 events, 5945713us elapsed, 237.85us avg, min 51us max 5685us 428.942us 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 7061 events, 515549us elapsed, 73.01us avg, min 30us max 2095us 54.750us rms vehicle_gps_position: cycle: 1401 events, 26779us elapsed, 19.11us avg, min 4us max 352us 23.126us rms vehicle_air_data: cycle: 20953 events, 747888us elapsed, 35.69us avg, min 23us max 412us 36.797us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 112100 events, 4517814us elapsed, 40.30us avg, min 18us max 379us 2.925us rms sensors: 56053 events, 4247724us elapsed, 75.78us avg, min 29us max 7149us 69.612us rms battery_status: 28048 events, 1111639us elapsed, 39.63us avg, min 23us max 3257us 111.375us 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: 21053 events, 21188250us elapsed, 1006.42us avg, min 928us max 1306us 108.459us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 27951 events, 142178us elapsed, 5.09us avg, min 3us max 329us 13.245us rms ms5611: read: 27950 events, 482211us elapsed, 17.25us avg, min 7us max 348us 23.163us 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 icm20602: DRDY missed: 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 board_adc: sample: 336756 events, 1971246us elapsed, 5.85us avg, min 3us max 3358us 42.835us rms manual_control: interval: 2320 events, 120932.89 avg, min 6188us max 202281us 69817.352us rms manual_control: cycle: 2320 events, 71582us elapsed, 30.85us avg, min 13us max 1872us 81.556us rms rc_update: valid data interval: 18662 events, 15000.69 avg, min 992us max 71278us 1883.412us rms rc_update: cycle interval: 18669 events, 15001.31 avg, min 985us max 71278us 1889.168us rms rc_update: cycle: 18669 events, 834369us elapsed, 44.69us avg, min 20us max 2346us 109.490us rms load_mon: cycle: 562 events, 141964us elapsed, 252.60us avg, min 3us max 3506us 311.035us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1588 events, 251961us elapsed, 158.67us avg, min 32us max 95701us 2407.746us rms rgbled: led_control message missed: 0 events dma_alloc: 22 events param: set: 183 events, 8750us elapsed, 47.81us avg, min 3us max 94us 24.603us rms param: get: 70100 events param: find: 91691 events param: export: 1 events, 36670us elapsed, 36670.00us avg, min 36670us max 36670us infus rms
Post Flight:
ekf2: airspeed messages missed: 18 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 uavcan: gnss: moving baseline data rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 110767 events, 2274.96 avg, min 22us max 19431us 1251.440us rms uavcan: cycle time: 110767 events, 6702811us elapsed, 60.51us avg, min 13us max 4988us 249.645us 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 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: 706 events, 2999752us elapsed, 4248.94us avg, min 8us max 12728us 2499.055us rms logger_sd_write: 2736 events, 7778378us elapsed, 2842.97us avg, min 10us max 25174us 1260.721us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 25 events, 9600008.36 avg, min 9998396us max 10001577us 652.460us rms navigator: 5255 events, 523957us elapsed, 99.71us avg, min 17us max 11058us 389.318us rms rc_input: publish interval: 16801 events, 14997.11 avg, min 1693us max 34310us 1860.341us rms rc_input: cycle time: 62952 events, 1495288us elapsed, 23.75us avg, min 8us max 3451us 138.644us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 25072 events, 10049.89 avg, min 9234us max 48187us 413.672us rms mavlink: tx run elapsed: 25072 events, 7799880us elapsed, 311.10us avg, min 196us max 7152us 255.784us rms mag_bias_estimator: cycle: 6 events, 229us elapsed, 38.17us avg, min 1us max 96us 5518.151us rms land_detector: cycle: 25177 events, 597167us elapsed, 23.72us avg, min 18us max 145us 15.123us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 12600 events, 1225900us elapsed, 97.29us avg, min 32us max 734us 60.180us rms fw_att_control: cycle: 50354 events, 1920201us elapsed, 38.13us avg, min 19us max 217us 26.054us rms fw_rate_control: cycle: 100708 events, 6710787us elapsed, 66.64us avg, min 47us max 187us 41.148us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 18881 events, 165913us elapsed, 8.79us avg, min 1us max 210us 6.991us rms mc_pos_control: cycle time: 25177 events, 972411us elapsed, 38.62us avg, min 11us max 197us 28.138us rms flight_mode_manager: cycle: 12600 events, 594623us elapsed, 47.19us avg, min 6us max 752us 82.436us rms mc_att_control: cycle: 50354 events, 903552us elapsed, 17.94us avg, min 5us max 173us 33.187us rms mc_rate_control: cycle: 100710 events, 2051651us elapsed, 20.37us avg, min 16us max 78us 4.323us rms vtol_att_control: cycle: 100710 events, 4190486us elapsed, 41.61us avg, min 28us max 129us 7.090us rms airspeed_selector: elapsed: 2520 events, 127544us elapsed, 50.61us avg, min 23us max 712us 57.523us rms control_allocator: cycle: 100710 events, 6971062us elapsed, 69.22us avg, min 56us max 657us 16.213us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 1 events ekf2: IMU message missed: 5 events ekf2: ECL full update: 25169 events, 8878395us elapsed, 352.75us avg, min 194us max 4524us 453.500us rms ekf2: ECL update: 25170 events, 17217us elapsed, 0.68us avg, min 1us max 73us 4.372us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 25147 events, 9284343us elapsed, 369.20us avg, min 195us max 3431us 447.190us rms ekf2: ECL update: 25148 events, 17922us elapsed, 0.71us avg, min 1us max 78us 3.261us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 25177 events, 7391834us elapsed, 293.59us avg, min 192us max 1218us 188.768us rms ekf2: ECL update: 25178 events, 17532us elapsed, 0.69us avg, min 1us max 96us 2.730us rms pwm_out: interval: 100711 events, 2502.19 avg, min 1595us max 3380us 29.148us rms pwm_out: cycle: 100711 events, 3518230us elapsed, 34.93us avg, min 32us max 293us 4.371us rms control latency: 100711 events, 63177940us elapsed, 627.32us avg, min 567us max 1483us 1385384.250us rms commander: preflight check: 2455 events, 2618865us elapsed, 1066.75us avg, min 491us max 6416us 943.464us rms commander: cycle: 22362 events, 5899563us elapsed, 263.82us avg, min 60us max 6750us 668.111us 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: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 6288 events, 450282us elapsed, 71.61us avg, min 46us max 451us 76.926us rms vehicle_gps_position: cycle: 1260 events, 24543us elapsed, 19.48us avg, min 13us max 350us 34.767us rms vehicle_air_data: cycle: 18825 events, 669101us elapsed, 35.54us avg, min 22us max 421us 53.515us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 100712 events, 4067636us elapsed, 40.39us avg, min 35us max 228us 4.183us rms sensors: 50357 events, 3583250us elapsed, 71.16us avg, min 44us max 7062us 81.030us rms battery_status: 25200 events, 1014392us elapsed, 40.25us avg, min 23us max 3246us 163.194us 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: 18899 events, 19073835us elapsed, 1009.25us avg, min 928us max 1312us 159.526us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 25099 events, 132795us elapsed, 5.29us avg, min 3us max 346us 20.870us rms ms5611: read: 25099 events, 433293us elapsed, 17.26us avg, min 7us max 371us 33.916us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 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: 0 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: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: 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 board_adc: sample: 302400 events, 1764277us elapsed, 5.83us avg, min 3us max 4407us 62.999us rms manual_control: interval: 2006 events, 125568.67 avg, min 6071us max 201662us 66386.219us rms manual_control: cycle: 2006 events, 52209us elapsed, 26.03us avg, min 16us max 1227us 99.951us rms rc_update: valid data interval: 16801 events, 14997.11 avg, min 1324us max 34676us 1867.296us rms rc_update: cycle interval: 16801 events, 14997.11 avg, min 1693us max 34313us 1862.538us rms rc_update: cycle: 16801 events, 789678us elapsed, 47.00us avg, min 25us max 4348us 174.288us rms load_mon: cycle: 504 events, 141243us elapsed, 280.24us avg, min 141us max 2748us 472.357us rms dataman: write: 3 events, 8776us elapsed, 2925.33us avg, min 2434us max 3277us 438.511us rms dataman: read: 1446 events, 181391us elapsed, 125.44us avg, min 33us max 6337us 2546.166us rms rgbled: led_control message missed: 0 events dma_alloc: 4 events param: set: 18 events, 473us elapsed, 26.28us avg, min 2us max 309us 109.852us rms param: get: 53648 events param: find: 80562 events param: export: 2 events, 86790us elapsed, 43395.00us avg, min 43085us max 43705us 438.416us rms