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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL With Wings, vibrations on one wing
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:30 |
| Vehicle Life Flight Time: | 1 hours 37 minutes 14 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Testing VTOL Multicopter hover and movement in Position mode, with wings. |
| Distance: | 12.6 m |
| Max Altitude Difference: | 6 m |
| Average Speed MC: | 1.5 km/h |
| Max Speed: | 5.8 km/h |
| Max Speed Horizontal: | 3.9 km/h |
| Max Speed Up: | 4.6 km/h |
| Max Speed Down: | 2.4 km/h |
| Max Tilt Angle: | 10.1 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 2e8918da66af37922ededee1cc2d2efffec4cfb2 FW version: Release 1.12.3 (17564671) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: bf660cba2af81f055002b3817c87b1f63a78fd09 Build datetime: Sep 6 2021 16:34:11 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003735343732305103001e0021 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 3155 bytes, decoded 3155 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults rgbled_ncp5623c #0 on I2C bus 2 (external) address 0x39 INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ist8310 #0 on I2C bus 2 (external) address 0xE ms4525_airspeed #0 on I2C bus 2 (external) address 0x28 Board extras: /etc/init.d/rc.board_mavlink ERROR [mavlink] offboard mission init failed (-1) INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [430:100] INFO [ekf2] starting instance 0, IMU:0 (3670050), MAG:0 (0) INFO [ekf2] starting instance 1, IMU:1 (2621474), MAG:0 (0) INFO [ekf2] starting instance 2, IMU:2 (2424842), MAG:0 (0) INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.1.0 nsh> [KINFO [ekf2] starting instance 3, IMU:0 (3670050), MAG:1 (589858) INFO [ekf2] starting instance 4, IMU:1 (2621474), MAG:1 (589858) INFO [ekf2] starting instance 5, IMU:2 (2424842), MAG:1 (589858) ERROR [uavcan] couldn't start parameter count: -2 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/12_11_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/12_11_12.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 38673 59.555 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 332/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 8 0.807 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.006 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 14 1.460 1248/ 1924 205 (205) w:sem 3 40 wq:I2C2 5 0.562 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 8 0.800 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 40 4.017 1640/ 2340 250 (250) w:sem 3 228 wq:SPI1 18 1.806 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 31 3.145 1356/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 23 2.360 1524/ 1956 255 (255) w:sem 3 295 wq:INS0 45 4.531 4460/ 6004 241 (241) w:sem 3 301 commander 3 0.353 1244/ 3220 140 (140) w:sig 5 308 mavlink_if1 4 0.429 1644/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 1 0.159 1328/ 4460 175 (175) w:sem 4 353 gps 1 0.100 940/ 1684 205 (205) w:sem 4 392 mavlink_if2 7 0.710 1772/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 1 0.175 1596/ 4460 175 (175) w:sem 4 408 wq:INS1 45 4.552 4460/ 6004 240 (240) w:sem 3 409 px4io 20 2.057 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 45 4.517 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 13 1.363 604/ 1172 60 ( 60) w:sem 4 446 navigator 0 0.052 1212/ 1772 105 (105) w:sem 6 479 logger 52 5.215 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 39.18% tasks, 1.26% sched, 59.55% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 59.235s total, 38.673s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 57362 58.729 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 24 2.436 1124/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 8 0.806 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 21 2.098 1248/ 1924 205 (205) w:sem 3 40 wq:I2C2 5 0.589 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 8 0.814 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 40 4.034 1640/ 2340 250 (250) w:sem 3 228 wq:SPI1 18 1.807 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 31 3.177 1356/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 23 2.370 1524/ 1956 255 (255) w:sem 3 295 wq:INS0 46 4.662 4460/ 6004 241 (241) w:sem 3 301 commander 5 0.554 1244/ 3220 140 (140) w:sig 5 308 mavlink_if1 4 0.454 1708/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 2 0.210 1328/ 4460 175 (175) w:sem 4 353 gps 1 0.104 940/ 1684 205 (205) w:sem 4 392 mavlink_if2 7 0.741 1772/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 1 0.179 1596/ 4460 175 (175) w:sem 4 408 wq:INS1 46 4.666 4460/ 6004 240 (240) w:sem 3 409 px4io 20 2.062 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 45 4.590 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 7 0.727 604/ 1172 60 ( 60) w:sem 4 446 navigator 0 0.058 1212/ 1772 105 (105) w:sem 6 479 logger 28 2.894 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 40.04% tasks, 1.23% sched, 58.73% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 89.062s total, 57.362s 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: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5600 events, 764289us elapsed, 136.48us avg, min 72us max 1121us 91.939us rms ekf2: ECL update: 5954 events, 13566us elapsed, 2.28us avg, min 1us max 602us 8.176us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5617 events, 780199us elapsed, 138.90us avg, min 72us max 959us 93.904us rms ekf2: ECL update: 5981 events, 13041us elapsed, 2.18us avg, min 1us max 64us 3.065us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5619 events, 681934us elapsed, 121.36us avg, min 71us max 387us 49.782us rms ekf2: ECL update: 5722 events, 12749us elapsed, 2.23us avg, min 1us max 49us 1.771us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer 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, 192970us elapsed, 192970.00us avg, min 192970us max 192970us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2867 events, 19996.11 avg, min 594us max 48305us 649.631us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 5358 events, 876670us elapsed, 163.62us avg, min 124us max 32322us 446.573us rms gyro_fft: cycle interval: 7664 events, 7504.87 avg, min 5359us max 32382us 612.194us rms gyro_fft: cycle: 7664 events, 1230971us elapsed, 160.62us avg, min 2us max 32378us 426.804us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5652 events, 787894us elapsed, 139.40us avg, min 75us max 1238us 94.842us rms ekf2: ECL update: 6119 events, 14087us elapsed, 2.30us avg, min 1us max 281us 4.027us rms navigator: 1199 events, 160089us elapsed, 133.52us avg, min 9us max 128297us 3705.818us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events land_detector: cycle: 5671 events, 61953us elapsed, 10.92us avg, min 8us max 138us 5.081us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 5651 events, 821025us elapsed, 145.29us avg, min 74us max 1224us 54.060us rms ekf2: ECL update: 6123 events, 16169us elapsed, 2.64us avg, min 1us max 65us 2.695us rms fw_pos_control_l1: cycle: 2826 events, 34493us elapsed, 12.21us avg, min 5us max 299us 8.176us rms fw_att_control: cycle: 10263 events, 223827us elapsed, 21.81us avg, min 20us max 363us 5.346us rms mc_hover_thrust_estimator: cycle time: 4193 events, 3528us elapsed, 0.84us avg, min 0us max 48us 1.595us rms mc_pos_control: cycle time: 5662 events, 110611us elapsed, 19.54us avg, min 4us max 181us 10.736us rms flight_mode_manager: cycle: 2826 events, 73033us elapsed, 25.84us avg, min 4us max 514us 17.188us rms mc_att_control: cycle: 10263 events, 99157us elapsed, 9.66us avg, min 7us max 298us 5.109us rms mc_rate_control: cycle: 23025 events, 173298us elapsed, 7.53us avg, min 6us max 100us 1.039us rms vtol_att_control: cycle: 23025 events, 459642us elapsed, 19.96us avg, min 10us max 874us 6.733us rms airspeed_selector: elapsed: 565 events, 9023us elapsed, 15.97us avg, min 13us max 265us 11.105us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 5651 events, 675759us elapsed, 119.58us avg, min 72us max 360us 47.628us rms ekf2: ECL update: 5862 events, 15217us elapsed, 2.60us avg, min 1us max 43us 1.656us rms pwm_out: interval: 5762 events, 9997.95 avg, min 108us max 24671us 359.673us rms pwm_out: cycle: 5761 events, 77046us elapsed, 13.37us avg, min 3us max 347us 4.772us rms control latency: 5131 events, 25085283us elapsed, 4888.97us avg, min 4558us max 5362us 84.899us 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 io control latency: 22919 events, 16944309us elapsed, 739.31us avg, min 430us max 3101us 282.316us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 22922 events, 16963029us elapsed, 740.03us avg, min 231us max 28681us 735.066us rms io_txns: 62781 events, 16442674us elapsed, 261.91us avg, min 115us max 3041us 128.425us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5737 events, 10018.13 avg, min 9101us max 39105us 450.058us rms mavlink: tx run elapsed: 5737 events, 484168us elapsed, 84.39us avg, min 51us max 1445us 71.176us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11457 events, 5017.03 avg, min 4032us max 38823us 403.370us rms mavlink: tx run elapsed: 11457 events, 247985us elapsed, 21.64us avg, min 13us max 1766us 38.506us rms mavlink: STATUSTEXT missed messages: 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_magnetometer: cycle: 5342 events, 95098us elapsed, 17.80us avg, min 5us max 509us 11.879us rms vehicle_gps_position: cycle: 449 events, 3524us elapsed, 7.85us avg, min 2us max 96us 5.219us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events battery_status: 5782 events, 91272us elapsed, 15.79us avg, min 10us max 2473us 53.951us rms vehicle_air_data: cycle: 4309 events, 48626us elapsed, 11.28us avg, min 7us max 74us 3.328us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 11562 events, 393378us elapsed, 34.02us avg, min 12us max 2979us 47.218us rms aspd_com_err: 0 events aspd_read: 5387 events, 2594069us elapsed, 481.54us avg, min 477us max 597us 13.569us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 5761 events, 19842us elapsed, 3.44us avg, min 3us max 7us 0.539us rms ms5611: read: 5760 events, 65101us elapsed, 11.30us avg, min 9us max 56us 1.036us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 5755 events, 20552us elapsed, 3.57us avg, min 3us max 27us 1.260us rms ms5611: read: 5754 events, 74633us elapsed, 12.97us avg, min 9us max 52us 2.335us rms board_adc: sample: 40551 events, 345240us elapsed, 8.51us avg, min 2us max 3483us 33.107us rms rc_update: valid data interval: 1471 events, 21189.91 avg, min 12526us max 30121us 1770.000us rms rc_update: cycle interval: 1473 events, 21188.30 avg, min 12526us max 30121us 1785.781us rms rc_update: cycle: 1473 events, 20863us elapsed, 14.16us avg, min 7us max 754us 36.624us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 19320 events, 3000.31 avg, min 161us max 8120us 373.306us rms uavcan: cycle time: 19320 events, 528109us elapsed, 27.33us avg, min 12us max 3101us 67.830us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 117 events, 9899us elapsed, 84.61us avg, min 2us max 213us 25.379us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 245 events, 170887us elapsed, 697.50us avg, min 14us max 128270us 8403.039us rms dma_alloc: 8 events param: set: 145 events, 2450us elapsed, 16.90us avg, min 1us max 92us 10.419us rms param: get: 43610 events param: find: 40447 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post 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: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3059 events, 440622us elapsed, 144.04us avg, min 73us max 1170us 161.713us rms ekf2: ECL update: 3200 events, 8204us elapsed, 2.56us avg, min 1us max 624us 17.916us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3060 events, 462559us elapsed, 151.16us avg, min 73us max 1390us 173.582us rms ekf2: ECL update: 3199 events, 7790us elapsed, 2.44us avg, min 1us max 62us 5.471us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3058 events, 393479us elapsed, 128.67us avg, min 72us max 356us 85.449us rms ekf2: ECL update: 3060 events, 6676us elapsed, 2.18us avg, min 1us max 54us 3.184us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer 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: 62 events, 416710us elapsed, 6721.13us avg, min 4479us max 9170us 1205.768us rms logger_sd_write: 795 events, 9451864us elapsed, 11889.14us avg, min 4us max 146483us 6882.313us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 43 events, 483271.02 avg, min 57us max 10000000us 2125420.000us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 2852 events, 468175us elapsed, 164.16us avg, min 124us max 1122us 618.586us rms gyro_fft: cycle interval: 4077 events, 7500.65 avg, min 5280us max 10242us 596.241us rms gyro_fft: cycle: 4077 events, 672557us elapsed, 164.96us avg, min 11us max 1470us 630.243us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3059 events, 429934us elapsed, 140.55us avg, min 75us max 898us 150.097us rms ekf2: ECL update: 3200 events, 8265us elapsed, 2.58us avg, min 1us max 725us 13.983us rms navigator: 643 events, 230836us elapsed, 359.00us avg, min 8us max 16702us 5301.270us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events land_detector: cycle: 3059 events, 34543us elapsed, 11.29us avg, min 9us max 75us 8.266us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 3060 events, 462881us elapsed, 151.27us avg, min 76us max 477us 90.316us rms ekf2: ECL update: 3199 events, 9177us elapsed, 2.87us avg, min 1us max 70us 4.993us rms fw_pos_control_l1: cycle: 1530 events, 18525us elapsed, 12.11us avg, min 10us max 98us 12.109us rms fw_att_control: cycle: 6118 events, 133450us elapsed, 21.81us avg, min 20us max 64us 7.946us rms mc_hover_thrust_estimator: cycle time: 3059 events, 8667us elapsed, 2.83us avg, min 1us max 133us 4.214us rms mc_pos_control: cycle time: 3059 events, 76416us elapsed, 24.98us avg, min 21us max 108us 16.274us rms flight_mode_manager: cycle: 1530 events, 46388us elapsed, 30.32us avg, min 25us max 88us 24.820us rms mc_att_control: cycle: 6118 events, 51298us elapsed, 8.38us avg, min 7us max 56us 7.098us rms mc_rate_control: cycle: 12237 events, 97863us elapsed, 8.00us avg, min 6us max 14us 1.617us rms vtol_att_control: cycle: 12237 events, 311088us elapsed, 25.42us avg, min 18us max 36us 9.879us rms airspeed_selector: elapsed: 306 events, 4648us elapsed, 15.19us avg, min 13us max 58us 15.576us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3059 events, 386129us elapsed, 126.23us avg, min 72us max 370us 83.026us rms ekf2: ECL update: 3059 events, 8378us elapsed, 2.74us avg, min 2us max 45us 2.889us rms pwm_out: interval: 3059 events, 9996.73 avg, min 9639us max 10442us 113.418us rms pwm_out: cycle: 3059 events, 40730us elapsed, 13.31us avg, min 12us max 18us 6.589us rms control latency: 3059 events, 14955783us elapsed, 4889.11us avg, min 4637us max 5306us 136.927us 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 io control latency: 12175 events, 9458926us elapsed, 776.91us avg, min 440us max 2858us 508.012us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 12175 events, 9532475us elapsed, 782.95us avg, min 232us max 9140us 1285.531us rms io_txns: 34679 events, 9252446us elapsed, 266.80us avg, min 117us max 1912us 219.253us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3057 events, 10002.43 avg, min 9192us max 11741us 166.082us rms mavlink: tx run elapsed: 3057 events, 251585us elapsed, 82.30us avg, min 58us max 1249us 120.096us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6109 events, 5006.13 avg, min 4019us max 7288us 214.277us rms mavlink: tx run elapsed: 6109 events, 125175us elapsed, 20.49us avg, min 12us max 1412us 64.509us rms mavlink: STATUSTEXT missed messages: 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_magnetometer: cycle: 2858 events, 51633us elapsed, 18.07us avg, min 8us max 160us 18.859us rms vehicle_gps_position: cycle: 245 events, 1833us elapsed, 7.48us avg, min 6us max 29us 7.333us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 3059 events, 48836us elapsed, 15.96us avg, min 10us max 1138us 87.739us rms vehicle_air_data: cycle: 2279 events, 25961us elapsed, 11.39us avg, min 8us max 70us 5.705us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 6118 events, 196591us elapsed, 32.13us avg, min 23us max 203us 65.272us rms aspd_com_err: 0 events aspd_read: 2859 events, 1378797us elapsed, 482.27us avg, min 477us max 627us 24.189us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 3045 events, 10486us elapsed, 3.44us avg, min 3us max 8us 0.926us rms ms5611: read: 3045 events, 34585us elapsed, 11.36us avg, min 9us max 18us 1.691us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 3039 events, 11010us elapsed, 3.62us avg, min 3us max 44us 2.372us rms ms5611: read: 3039 events, 39493us elapsed, 13.00us avg, min 9us max 36us 3.852us rms board_adc: sample: 21413 events, 184160us elapsed, 8.60us avg, min 2us max 1534us 54.550us rms rc_update: valid data interval: 1442 events, 21201.11 avg, min 13365us max 29419us 1747.389us rms rc_update: cycle interval: 1442 events, 21201.11 avg, min 13364us max 29420us 1747.295us rms rc_update: cycle: 1442 events, 20403us elapsed, 14.15us avg, min 10us max 443us 40.955us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 10198 events, 2999.71 avg, min 300us max 5689us 394.708us rms uavcan: cycle time: 10198 events, 257458us elapsed, 25.25us avg, min 14us max 1255us 117.366us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 61 events, 5802us elapsed, 95.11us avg, min 66us max 373us 60.387us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 165 events, 219946us elapsed, 1333.01us avg, min 14us max 16674us 10648.117us rms dma_alloc: 0 events param: set: 3 events, 8us elapsed, 2.67us avg, min 1us max 5us 88.437us rms param: get: 304 events param: find: 274 events param: export: 1 events, 36063us elapsed, 36063.00us avg, min 36063us max 36063us nanus rms