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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
QGroundControl Session
| Airframe: | 4009 |
| Hardware: | MODALAI_FC_V1 (V110) |
| Software Version: | 6a3911b2 branch: modalai-1.11-fcv2 |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:20 |
| Dropouts: | 435 (12 s) |
| Vehicle Life Flight Time: | 1 hours 10 minutes 5 seconds |
| Vehicle UUID: | 000200000000203331354e30500f001c0027 |
| Feedback: | None Given |
| Distance: | 7.8 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.4 km/h |
| Max Speed: | 3.4 km/h |
| Max Speed Horizontal: | 3.4 km/h |
| Max Speed Up: | 0.5 km/h |
| Max Speed Down: | 2.5 km/h |
| Max Tilt Angle: | 10.7 deg |
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Console Output
8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity ERROR [mavlink] Estimator source 8 not supported. Unable to publish pose and velocity
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 36519 30.339 248/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 0 0.000 344/ 1612 50 ( 50) w:sig 3 3 init 1261 0.000 1976/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 424/ 1252 255 (255) w:sem 4 20 wq:hp_default 599 0.798 1144/ 1900 240 (240) w:sem 4 31 wq:I2C1 671 0.698 928/ 1468 246 (246) w:sem 4 24 wq:lp_default 33 0.000 836/ 1700 205 (205) w:sem 4 144 wq:I2C3 183 0.199 892/ 1468 244 (244) w:sem 4 150 wq:SPI2 4489 5.888 1736/ 2332 252 (252) w:sem 4 153 wq:SPI1 3804 4.990 1664/ 2332 253 (253) w:sem 4 161 wq:I2C4 259 0.299 876/ 1468 243 (243) w:sem 4 201 wq:nav_and_controllers 10322 14.071 5288/ 7196 241 (241) w:sem 4 202 wq:rate_ctrl 7845 10.479 1240/ 1660 255 (255) w:sem 4 206 commander 1037 0.798 1592/ 3212 140 (140) w:sig 6 207 commander_low_prio 1 0.000 716/ 2996 50 ( 50) w:sem 6 254 gps 141 0.199 936/ 1676 205 (205) w:sig 4 295 mavlink_if1 1105 1.497 1872/ 2484 100 (100) w:sig 4 296 mavlink_rcv_if1 277 0.299 2552/ 4068 175 (175) w:sem 4 304 mavlink_if2 5443 7.285 1968/ 2484 100 (100) READY 4 305 mavlink_rcv_if2 8155 15.469 3032/ 4068 175 (175) READY 4 311 wq:UART5 596 0.798 1000/ 1396 233 (233) w:sem 4 331 wq:attitude_ctrl 496 0.698 1288/ 1668 242 (242) w:sem 4 341 navigator 69 0.099 924/ 1764 105 (105) w:sem 5 365 logger 382 3.592 2888/ 3644 230 (230) RUN 4 366 log_writer_file 6 0.000 472/ 1164 60 ( 60) w:sem 4 Processes: 26 total, 4 running, 22 sleeping, max FDs: 15 CPU usage: 68.16% tasks, 1.50% sched, 30.34% idle DMA Memory: 5120 total, 0 used 0 peak Uptime: 85.773s total, 36.515s idle
Performance Counters
Pre Flight:
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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 105 events, 4958us elapsed, 47.22us avg, min 12us max 1831us 304.665us rms land_detector: cycle: 515 events, 11409us elapsed, 22.15us avg, min 14us max 372us 76.975us rms mc_pos_control: cycle time: 259 events, 27227us elapsed, 105.12us avg, min 67us max 1194us 197.636us rms mc_hover_thrust_estimator: cycle time: 259 events, 3305us elapsed, 12.76us avg, min 4us max 283us 39.217us rms mc_att_control: cycle: 1031 events, 24524us elapsed, 23.79us avg, min 15us max 107us 39.437us rms mc_rate_control: cycle: 4123 events, 83070us elapsed, 20.15us avg, min 14us max 56us 17.607us rms ekf2: update: 1035 events, 376682us elapsed, 363.94us avg, min 11us max 1810us 1593.779us rms dshot: cycle: 4514 events, 265161us elapsed, 58.74us avg, min 44us max 102us 34.858us rms control latency: 4537 events, 1371519us elapsed, 302.30us avg, min 210us max 1453us 776.563us rms rc_input: publish interval: 377 events, 13963.01 avg, min 10366us max 17675us 2026.869us rms rc_input: cycle time: 1322 events, 22979us elapsed, 17.38us avg, min 5us max 1791us 209.380us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1560 events, 3398.28 avg, min 2140us max 7172us 750.343us rms mavlink: tx run elapsed: 1569 events, 858348us elapsed, 547.07us avg, min 91us max 4718us 1960.671us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 529 events, 10102.01 avg, min 9171us max 13369us 463.580us rms mavlink: tx run elapsed: 529 events, 132172us elapsed, 249.85us avg, min 80us max 3316us 747.436us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 4324 events, 1252.85 avg, min 1109us max 1365us 16.943us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 4340 events, 1252.84 avg, min 1109us max 1365us 16.970us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 4300 events, 1265.81 avg, min 1175us max 1365us 12.348us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 4320 events, 1265.81 avg, min 1175us max 1365us 12.397us rms vehicle_air_data: cycle: 127 events, 5068us elapsed, 39.91us avg, min 15us max 304us 167.948us rms sensors: 1084 events, 60792us elapsed, 56.08us avg, min 40us max 177us 73.220us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 485 events, 419841us elapsed, 865.65us avg, min 846us max 1694us 242.434us rms bmp388: comms errors: 0 events bmp388: measure: 128 events, 149762us elapsed, 1170.02us avg, min 1075us max 1495us 310.637us rms bmp388: read: 129 events, 124961us elapsed, 968.69us avg, min 931us max 1217us 196.025us rms 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 icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events voxlpm: comms_errors: 0 events voxlpm: sample: 57 events, 89682us elapsed, 1573.37us avg, min 1475us max 1821us 354.937us rms voxlpm: comms_errors: 0 events voxlpm: sample: 57 events, 92095us elapsed, 1615.70us avg, min 1482us max 1992us 370.597us rms adc: sample: 2865 events, 13655us elapsed, 4.77us avg, min 2us max 2175us 109.816us rms rc_update: 411 events, 65003us elapsed, 158.16us avg, min 83us max 1842us 613.518us rms load_mon: cycle: 12 events, 575us elapsed, 47.92us avg, min 41us max 76us 940.166us rms dma_alloc: 0 events param_set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_get: 795 events, 5422us elapsed, 6.82us avg, min 2us max 1001us 199.736us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms