Do you need help with interpreting the plots?
See here.
PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard VTOL Standard VTOL (13000) |
| Hardware: | PX4_FMU_V6X (V6X001) |
| Software Version: | v1.16.0 (6ea35391) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:55 |
| Vehicle Life Flight Time: | 1 hours 33 minutes 13 seconds |
| Vehicle UUID: | 0006000000003037363035325104002d004d |
| Distance: | 670.8 m |
| Max Altitude Difference: | 206 m |
| Average Speed MC: | 13.1 km/h |
| Average Speed FW: | 93.0 km/h |
| Max Speed: | 185.9 km/h |
| Max Speed Horizontal: | 91.1 km/h |
| Max Speed Up: | 50.5 km/h |
| Max Speed Down: | 180.0 km/h |
| Max Tilt Angle: | 110.4 deg |
Loading Plots...
Console Output
HW arch: PX4_FMU_V6X HW type: V6X HW FMUM ID: 0x001 HW BASE ID: 0x002 PX4 git-hash: 6ea3539157ca358c70a515878b77077af7d4611d PX4 version: Release 1.16.0 (17826047) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 886acbbdb4f061e5c0ce1a76afbcfa7cb7df9849 Build datetime: Aug 6 2025 15:04:36 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003037363035325104002d004d MCU: STM32H7[4|5]xxx, rev. V INFO [bsondump] DECODED_SIZE:5 SAVED_SIZE:-1 INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3970 bytes, decoded 3970 bytes (INT32:96, FLOAT:96) 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 128528 bytes Board sensors: /etc/init.d/rc.board_sensors bmi088_accel #0 on SPI bus 3 rotation 4 bmi088_gyro #0 on SPI bus 3 rotation 4 icm42688p #0 on SPI bus 2 rotation 6 icm20649 #0 on SPI bus 1 rotation 14 rm3100 #0 on I2C bus 4 address 0x20 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) icp201xx #0 on I2C bus 4 (external) address 0x64 icp201xx #1 on I2C bus 2 (external) address 0x63 ekf2 [624:237] INFO [px4io] IO FW CRC match Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS7 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 115200B Starting MAVLink on ethernet INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [cdcacm_autostart] Starting CDC/ACM autostart WARN [mavlink] no broadcasting address found INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 ERROR [battery] Could not find parameter with name BAT4_V_EMPTY ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Preflight Fail: Airspeed selector module down INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. uavcan_differential_pressure adding channel for topic differential_pressure node 125... uavcan_differential_pressure node 125 instance 0 ok uavcan_differential_pressure node 125 topic differential_pressure instance 0 ok INFO [airspeed_selector] Airspeed sensor healthy, start using again (-1, 1) uavcan_battery adding channel for topic battery_status node 51... uavcan_battery node 51 instance 0 ok uavcan_battery node 51 topic battery_status instance 0 ok WARN [health_and_arming_checks] Preflight Fail: Vehicle is not in multicopter mode INFO [commander] Armed by RC switch INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-09-10/03_19_35.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-09-10/03_19_35.ulg INFO [commander] Disarmed by RC switch INFO [logger] closed logfile, bytes written: 555296 INFO [commander] Armed by RC switch INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-09-10/03_20_37.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-09-10/03_20_37.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 89082 64.856 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2324/ 3144 100 (100) w:sem 4 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.030 1444/ 3472 205 (205) w:sem 5 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.000 588/ 2024 49 ( 49) w:sem 4 1402 log_writer_file 5 0.510 700/ 1144 60 ( 60) w:sem 4 60 wq:hp_default 7 0.749 980/ 2776 237 (237) w:sem 5 266 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 335 wq:I2C0 0 0.001 788/ 2312 247 (247) w:sem 5 345 wq:SPI0 0 0.001 788/ 2368 254 (254) w:sem 5 365 wq:SPI3 27 2.749 1328/ 2368 251 (251) w:sem 5 392 wq:SPI2 17 1.731 1808/ 2368 252 (252) w:sem 5 414 wq:SPI1 17 1.788 1520/ 2368 253 (253) w:sem 5 445 wq:I2C4 4 0.450 972/ 2312 243 (243) w:sem 5 467 wq:I2C2 1 0.182 972/ 2312 245 (245) w:sem 5 617 wq:nav_and_controllers 31 3.132 1420/ 2216 242 (242) w:sem 5 619 wq:rate_ctrl 37 3.788 2556/ 3120 255 (255) w:sem 5 620 wq:INS0 47 4.719 3628/ 5976 241 (241) w:sem 5 632 wq:ttyS5 15 1.522 1108/ 1704 229 (229) w:sem 5 662 commander 5 0.503 1540/ 3192 140 (140) w:sig 5 942 gps 3 0.385 1180/ 1936 205 (205) w:sem 4 1040 mavlink_if0 11 1.153 1940/ 3048 100 (100) w:sig 5 1041 mavlink_rcv_if0 1 0.164 2372/ 6104 175 (175) w:sem 5 1140 mavlink_if1 30 3.093 2012/ 3048 100 (100) w:sig 5 1141 mavlink_rcv_if1 1 0.192 2428/ 6104 175 (175) w:sem 5 1215 navigator 0 0.079 1640/ 2144 105 (105) w:sem 11 1394 logger 55 5.544 3108/ 3616 230 (230) RUN 4 1435 wq:uavcan 15 1.504 3148/ 3600 236 (236) w:sem 5 Processes: 31 total, 2 running, 29 sleeping CPU usage: 33.97% tasks, 1.17% sched, 64.86% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 124.133s total, 89.082s idle
Performance Counters
Pre Flight:
uavcan: cycle interval: 31334 events, 1985.42 avg, min 16us max 3908us 1259.279us rms uavcan: cycle time: 31334 events, 829356us elapsed, 26.47us avg, min 9us max 959us 168.942us 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 mission_dm_cache_miss: 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: 12 events, 61188us elapsed, 5099.00us avg, min 4us max 7274us 1787.265us rms logger_sd_write: 99 events, 230648us elapsed, 2329.78us avg, min 6us max 9408us 1438.386us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2613 events, 19985.46 avg, min 60us max 41942us 700.341us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 1308 events, 31970us elapsed, 24.44us avg, min 15us max 773us 373.217us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 20697 events, 3005.07 avg, min 2102us max 49670us 396.473us rms mavlink: tx run elapsed: 20697 events, 2495920us elapsed, 120.59us avg, min 77us max 2345us 128.126us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6213 events, 10010.90 avg, min 9203us max 54762us 622.563us rms mavlink: tx run elapsed: 6213 events, 940190us elapsed, 151.33us avg, min 94us max 1919us 125.177us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 3008 events, 36607us elapsed, 12.17us avg, min 2us max 667us 28.690us rms land_detector: cycle: 6222 events, 63651us elapsed, 10.23us avg, min 9us max 65us 5.956us 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: 3111 events, 53800us elapsed, 17.29us avg, min 15us max 74us 8.227us rms fw_att_control: cycle: 12438 events, 119924us elapsed, 9.64us avg, min 8us max 66us 6.859us rms fw_rate_control: cycle: 24907 events, 367384us elapsed, 14.75us avg, min 12us max 89us 14.004us 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: 6222 events, 5517us elapsed, 0.88us avg, min 1us max 33us 1.550us rms mc_pos_control: cycle time: 6222 events, 51530us elapsed, 8.28us avg, min 7us max 64us 8.009us rms flight_mode_manager: cycle: 3111 events, 12704us elapsed, 4.08us avg, min 3us max 36us 12.654us rms mc_att_control: cycle: 12438 events, 244850us elapsed, 19.69us avg, min 16us max 95us 9.506us rms mc_rate_control: cycle: 24907 events, 205863us elapsed, 8.27us avg, min 7us max 17us 1.873us rms vtol_att_control: cycle: 24907 events, 403397us elapsed, 16.20us avg, min 12us max 26us 2.421us rms airspeed_selector: elapsed: 622 events, 9909us elapsed, 15.93us avg, min 13us max 145us 23.668us rms control_allocator: cycle: 24907 events, 809517us elapsed, 32.50us avg, min 26us max 47us 6.636us rms pwm_out: interval: 24908 events, 2497.89 avg, min 2410us max 2587us 12.698us rms pwm_out: cycle: 24908 events, 341293us elapsed, 13.70us avg, min 12us max 25us 1.489us rms control latency: 24908 events, 4023306us elapsed, 161.53us avg, min 146us max 288us 191209.859us rms commander: preflight check: 566 events, 73906us elapsed, 130.58us avg, min 97us max 831us 198.362us rms commander: cycle: 5650 events, 382958us elapsed, 67.78us avg, min 33us max 940us 118.725us rms manual_control: interval: 796 events, 77917.53 avg, min 12111us max 200472us 66925.055us rms manual_control: cycle: 796 events, 11101us elapsed, 13.95us avg, min 7us max 379us 38.064us rms rc_update: valid data interval: 2861 events, 21739.13 avg, min 11618us max 37153us 2011.817us rms rc_update: cycle interval: 2861 events, 21739.13 avg, min 11619us max 37153us 2012.004us rms rc_update: cycle: 2861 events, 42265us elapsed, 14.77us avg, min 10us max 343us 29.718us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 24706 events, 5995036us elapsed, 242.66us avg, min 125us max 784us 26.927us rms px4io: interface read: 17283 events, 4956693us elapsed, 286.80us avg, min 139us max 1077us 224.432us rms px4io: interval: 24705 events, 2517.66 avg, min 250us max 23944us 502.178us rms px4io: cycle: 24704 events, 11408530us elapsed, 461.81us avg, min 246us max 10466us 970.417us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 41990 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 41989 events, 10788896us elapsed, 256.95us avg, min 122us max 1049us 148.318us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 6222 events, 903879us elapsed, 145.27us avg, min 110us max 585us 109.328us 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: 4682 events, 85554us elapsed, 18.27us avg, min 14us max 203us 16.566us rms vehicle_gps_position: cycle: 311 events, 2513us elapsed, 8.08us avg, min 6us max 130us 9.197us rms vehicle_air_data: cycle: 1867 events, 35838us elapsed, 19.20us avg, min 14us max 157us 16.580us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 24908 events, 334798us elapsed, 13.44us avg, min 11us max 21us 1.568us rms sensors: 12439 events, 423967us elapsed, 34.08us avg, min 21us max 168us 32.391us rms battery_status: 6222 events, 32168us elapsed, 5.17us avg, min 3us max 933us 25.185us rms icp201xx: bad transfer: 0 events icp201xx: read: 1866 events, 62198007us elapsed, 33332.27us avg, min 32591us max 34087us 956.293us rms icp201xx: reset: 0 events icp201xx: bad transfer: 0 events icp201xx: read: 1865 events, 62164608us elapsed, 33332.23us avg, min 31594us max 35070us 1034.270us rms icp201xx: reset: 0 events rm3100: bad transfer: 0 events rm3100: range error: 0 events rm3100: reset: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: 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 bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 49776 events, 129623us elapsed, 2.60us avg, min 2us max 585us 16.238us rms load_mon: cycle: 124 events, 11678us elapsed, 94.18us avg, min 67us max 737us 136.571us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 3 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 1 events, 3us elapsed, 3.00us avg, min 3us max 3us infus rms param: get: 9813 events param: find: 8244 events param: export: 1 events, 10916us elapsed, 10916.00us avg, min 10916us max 10916us infus rms