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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V5000000) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:21 |
| Vehicle Life Flight Time: | 7 minutes 54 seconds |
| Vehicle UUID: | 000200000000363236353033510a003b001d |
| Distance: | 44.5 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 8.1 km/h |
| Max Speed: | 32.6 km/h |
| Max Speed Horizontal: | 32.6 km/h |
| Max Speed Up: | 5.5 km/h |
| Max Speed Down: | 16.4 km/h |
| Max Tilt Angle: | 158.9 deg |
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Console Output
HW arch: PX4_FMU_V5 HW type: V5000000 HW version: 0x000 HW revision: 0x000 PX4 git-hash: 99c40407ffd7ac184e2d7b4b293f36f10fe561ef PX4 version: Release 1.15.4 (17761535) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Mar 20 2025 22:59:23 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000363236353033510a003b001d 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 2592 bytes, decoded 2592 bytes (INT32:50, FLOAT:73) 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/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_is31fl3195 #0 on I2C bus 1 (external) address 0x54 INFO [px4io] IO FW CRC match 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 (external) address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 WARN [SPI_I2C] Already running on bus 1 WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 4325386 ekf2 [1103:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS2 @ 115200B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [rc_input] RC scan: SBUS RC input locked INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Preflight Fail: Kill switch engaged sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [timesync] RTT too high for timesync: 399 ms WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-19/03_05_24.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-19/03_05_24.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 43167 19.788 272/ 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 2348/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.065 1420/ 1896 205 (205) w:sem 5 1464 log_writer_file 6 0.618 628/ 1144 60 ( 60) w:sem 4 95 wq:hp_default 13 1.357 1112/ 2776 237 (237) w:sem 5 646 dataman 0 0.002 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 3 0.310 896/ 2312 246 (246) w:sem 5 685 wq:ttyS6 7 0.748 1076/ 1704 228 (228) w:sem 5 716 wq:SPI1 108 10.864 1532/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.335 844/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.270 1076/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 61 6.112 1348/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 90 8.992 2508/ 3120 255 (255) w:sem 5 1084 wq:INS0 80 8.017 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 87 8.714 3660/ 5976 240 (240) w:sem 5 1097 commander 10 1.076 1548/ 3192 140 (140) READY 5 1204 gps 2 0.257 1228/ 1936 205 (205) w:sem 4 1294 mavlink_if0 19 1.927 1916/ 2704 100 (100) w:sig 5 1295 mavlink_rcv_if0 3 0.356 1324/ 4776 175 (175) w:sem 5 1322 mavlink_if1 53 5.364 1956/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 13 1.366 1364/ 4776 175 (175) READY 5 1360 wq:ttyS4 6 0.617 964/ 1704 230 (230) READY 5 1366 navigator 1 0.183 1652/ 2104 105 (105) w:sem 11 1461 logger 98 9.810 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.603 2268/ 3600 236 (236) w:sem 5 1521 mavlink_if2 79 7.939 1980/ 2792 100 (100) READY 5 1523 mavlink_rcv_if2 9 0.922 1604/ 4776 175 (175) w:sem 5 Processes: 30 total, 7 running, 23 sleeping CPU usage: 77.83% tasks, 2.38% sched, 19.79% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 151.647s total, 43.167s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 48561 16.261 272/ 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 2348/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 61 6.173 1420/ 1896 205 (205) w:sem 5 1464 log_writer_file 5 0.552 644/ 1144 60 ( 60) READY 4 95 wq:hp_default 13 1.345 1112/ 2776 237 (237) w:sem 5 646 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 4 0.451 896/ 2312 246 (246) w:sem 5 685 wq:ttyS6 8 0.843 1076/ 1704 228 (228) READY 5 716 wq:SPI1 108 10.878 1532/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.339 844/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.258 1076/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 62 6.212 1348/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 87 8.742 2508/ 3120 255 (255) w:sem 5 1084 wq:INS0 104 10.394 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 115 11.562 3660/ 5976 240 (240) w:sem 5 1097 commander 11 1.119 1548/ 3192 140 (140) w:sig 5 1204 gps 2 0.285 1228/ 1936 205 (205) w:sem 4 1294 mavlink_if0 19 1.983 1916/ 2704 100 (100) w:sig 5 1295 mavlink_rcv_if0 3 0.362 1324/ 4776 175 (175) w:sem 5 1322 mavlink_if1 46 4.663 1956/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 13 1.382 1364/ 4776 175 (175) w:sem 5 1360 wq:ttyS4 7 0.707 964/ 1704 230 (230) READY 5 1366 navigator 1 0.178 1652/ 2104 105 (105) w:sem 11 1461 logger 32 3.198 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.677 2268/ 3600 236 (236) w:sem 5 1521 mavlink_if2 75 7.515 1980/ 2792 100 (100) READY 5 1523 mavlink_rcv_if2 5 0.562 1604/ 4776 175 (175) READY 5 Processes: 30 total, 8 running, 22 sleeping CPU usage: 81.39% tasks, 2.35% sched, 16.26% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 172.584s total, 48.561s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 37841 events, 3693.67 avg, min 2219us max 86825us 1122.567us rms mavlink: tx run elapsed: 37841 events, 21921855us elapsed, 579.31us avg, min 171us max 83856us 783.678us rms DatamanClient: sync: 3 events, 4220us elapsed, 1406.67us avg, min 57us max 3782us 2063.468us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 1979us elapsed, 1979.00us avg, min 1979us max 1979us infus rms rtl_dm_cache_miss_land: 0 events uavcan: cycle interval: 50500 events, 2966.64 avg, min 22us max 10965us 889.818us rms uavcan: cycle time: 50500 events, 3097085us elapsed, 61.33us avg, min 14us max 8314us 183.341us 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 DatamanClient: sync: 1 events, 18632us elapsed, 18632.00us avg, min 18632us max 18632us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 93us elapsed, 93.00us avg, min 93us max 93us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 58us elapsed, 58.00us avg, min 58us max 58us nanus rms geofence_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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 18089us elapsed, 18089.00us avg, min 18089us max 18089us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7484 events, 20020.88 avg, min 609us max 146899us 1873.021us rms DatamanClient: sync: 1 events, 77375us elapsed, 77375.00us avg, min 77375us max 77375us nanus rms navigator: 3140 events, 271882us elapsed, 86.59us avg, min 40us max 3049us 155.607us rms rc_input: publish interval: 11287 events, 13277.93 avg, min 1063us max 89427us 2141.069us rms rc_input: cycle time: 37446 events, 971302us elapsed, 25.94us avg, min 8us max 3594us 106.690us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 40850 events, 3670.20 avg, min 2194us max 88247us 1191.281us rms mavlink: tx run elapsed: 40849 events, 18392404us elapsed, 450.25us avg, min 147us max 12856us 572.347us rms DatamanClient: sync: 1 events, 59us elapsed, 59.00us avg, min 59us max 59us infus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 14485 events, 10352.43 avg, min 9196us max 97042us 1374.181us rms mavlink: tx run elapsed: 14485 events, 6296232us elapsed, 434.67us avg, min 148us max 17158us 498.066us rms DatamanClient: sync: 4 events, 4051us elapsed, 1012.75us avg, min 75us max 3478us 1648.913us rms mag_bias_estimator: cycle: 7497 events, 469036us elapsed, 62.56us avg, min 1us max 2924us 177.428us rms land_detector: cycle: 16686 events, 558815us elapsed, 33.49us avg, min 20us max 366us 35.573us rms mc_pos_control: cycle time: 16686 events, 1264706us elapsed, 75.79us avg, min 2us max 731us 51.929us rms flight_mode_manager: cycle: 7507 events, 669268us elapsed, 89.15us avg, min 57us max 1617us 86.949us rms mc_hover_thrust_estimator: cycle time: 16684 events, 50654us elapsed, 3.04us avg, min 1us max 256us 10.998us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 30773 events, 758319us elapsed, 24.64us avg, min 17us max 407us 13.286us rms mc_rate_control: cycle: 100366 events, 1957380us elapsed, 19.50us avg, min 15us max 158us 2.875us rms control_allocator: cycle: 100366 events, 4467439us elapsed, 44.51us avg, min 37us max 293us 6.197us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 16706 events, 12574678us elapsed, 752.70us avg, min 186us max 7404us 427.662us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15031 events, 10520801us elapsed, 699.94us avg, min 184us max 1931us 304.908us rms pwm_out: interval: 100369 events, 1496.76 avg, min 169us max 25590us 108.663us rms pwm_out: cycle: 100368 events, 2790876us elapsed, 27.81us avg, min 23us max 181us 3.200us rms control latency: 100367 events, 20432189us elapsed, 203.57us avg, min 164us max 1546us 46.876us rms commander: preflight check: 1462 events, 976514us elapsed, 667.93us avg, min 261us max 4667us 604.500us rms commander: cycle: 13201 events, 3713599us elapsed, 281.31us avg, min 68us max 4791us 447.276us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 6990 events, 541680us elapsed, 77.49us avg, min 15us max 2571us 60.115us rms vehicle_gps_position: cycle: 1105 events, 19994us elapsed, 18.09us avg, min 4us max 275us 18.075us rms vehicle_air_data: cycle: 11202 events, 436732us elapsed, 38.99us avg, min 23us max 409us 35.612us rms vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 100399 events, 2284440us elapsed, 22.75us avg, min 18us max 376us 2.960us rms sensors: 33401 events, 2040871us elapsed, 61.10us avg, min 37us max 4355us 49.035us rms battery_status: 15026 events, 731363us elapsed, 48.67us avg, min 24us max 3775us 152.633us 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: 14943 events, 86445us elapsed, 5.78us avg, min 3us max 212us 13.449us rms ms5611: read: 14942 events, 337093us elapsed, 22.56us avg, min 7us max 236us 30.252us 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: 180432 events, 1248169us elapsed, 6.92us avg, min 3us max 3567us 56.582us rms manual_control: interval: 1182 events, 127167.44 avg, min 1821us max 202569us 65830.289us rms manual_control: cycle: 1182 events, 51067us elapsed, 43.20us avg, min 14us max 1934us 146.079us rms rc_update: valid data interval: 6500 events, 23045.33 avg, min 21646us max 97972us 2335.868us rms rc_update: cycle interval: 6506 events, 23046.73 avg, min 21647us max 97973us 2337.142us rms rc_update: cycle: 6506 events, 324217us elapsed, 49.83us avg, min 17us max 2628us 145.076us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 16 events, 3414us elapsed, 213.38us avg, min 133us max 635us 123.744us rms px4io: interface read: 39688 events, 16337986us elapsed, 411.66us avg, min 148us max 4457us 421.209us rms px4io: interval: 6525 events, 23039.92 avg, min 7304us max 96944us 2325.756us rms px4io: cycle: 6524 events, 17346201us elapsed, 2658.83us avg, min 11us max 17730us 2088.747us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 39705 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 39704 events, 15851196us elapsed, 399.23us avg, min 127us max 4450us 414.120us rms rgbled: led_control message missed: 0 events load_mon: cycle: 301 events, 71688us elapsed, 238.17us avg, min 3us max 3075us 303.559us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 8 events, 11478us elapsed, 1434.75us avg, min 15us max 3580us 1712.366us rms rgbled: led_control message missed: 0 events dma_alloc: 8 events param: set: 123 events, 3987us elapsed, 32.41us avg, min 11us max 63us 14.418us rms param: get: 29415 events param: find: 33914 events param: export: 1 events, 16119us elapsed, 16119.00us avg, min 16119us max 16119us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5808 events, 3745.99 avg, min 2221us max 103239us 1651.155us rms mavlink: tx run elapsed: 5808 events, 4136369us elapsed, 712.18us avg, min 202us max 11501us 2121.807us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events uavcan: cycle interval: 7313 events, 2978.19 avg, min 25us max 6341us 722.803us rms uavcan: cycle time: 7313 events, 422645us elapsed, 57.79us avg, min 14us max 3298us 509.114us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus 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 nanus rms geofence_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: 57 events, 561137us elapsed, 9844.51us avg, min 126us max 135923us 17285.566us rms logger_sd_write: 212 events, 1675167us elapsed, 7901.73us avg, min 11us max 127657us 12748.772us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000093.50 avg, min 10000187us max 10000187us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 456 events, 39934us elapsed, 87.57us avg, min 39us max 1948us 433.687us rms rc_input: publish interval: 1643 events, 13241.59 avg, min 3541us max 19065us 2042.495us rms rc_input: cycle time: 5442 events, 132788us elapsed, 24.40us avg, min 8us max 2410us 294.798us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5843 events, 3723.46 avg, min 2217us max 109632us 1705.846us rms mavlink: tx run elapsed: 5842 events, 2782281us elapsed, 476.25us avg, min 174us max 100646us 2073.314us rms DatamanClient: sync: 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: 2094 events, 10389.83 avg, min 9199us max 111571us 2364.646us rms mavlink: tx run elapsed: 2094 events, 976117us elapsed, 466.15us avg, min 180us max 4407us 1395.121us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 40 events, 6508us elapsed, 162.70us avg, min 18us max 2888us 2512.896us rms land_detector: cycle: 2423 events, 73485us elapsed, 30.33us avg, min 20us max 357us 97.510us rms mc_pos_control: cycle time: 2423 events, 180385us elapsed, 74.45us avg, min 51us max 765us 144.821us rms flight_mode_manager: cycle: 1089 events, 83026us elapsed, 76.24us avg, min 36us max 629us 234.108us rms mc_hover_thrust_estimator: cycle time: 2423 events, 16584us elapsed, 6.84us avg, min 1us max 203us 32.043us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 4847 events, 119227us elapsed, 24.60us avg, min 17us max 270us 35.734us rms mc_rate_control: cycle: 14541 events, 301695us elapsed, 20.75us avg, min 16us max 51us 8.089us rms control_allocator: cycle: 14541 events, 651434us elapsed, 44.80us avg, min 37us max 85us 17.482us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2423 events, 1347749us elapsed, 556.23us avg, min 187us max 2833us 1189.388us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2181 events, 1170175us elapsed, 536.53us avg, min 185us max 1639us 862.119us rms pwm_out: interval: 14542 events, 1498.46 avg, min 1225us max 1784us 74.966us rms pwm_out: cycle: 14542 events, 421348us elapsed, 28.97us avg, min 23us max 67us 9.116us rms control latency: 14542 events, 3002369us elapsed, 206.46us avg, min 168us max 450us 131.469us rms commander: preflight check: 211 events, 143985us elapsed, 682.39us avg, min 292us max 7346us 1758.231us rms commander: cycle: 1923 events, 504575us elapsed, 262.39us avg, min 72us max 8156us 1255.596us 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_magnetometer: cycle: 1020 events, 82870us elapsed, 81.25us avg, min 42us max 410us 168.993us rms vehicle_gps_position: cycle: 175 events, 3721us elapsed, 21.26us avg, min 13us max 209us 52.374us rms vehicle_air_data: cycle: 1624 events, 63886us elapsed, 39.34us avg, min 23us max 317us 100.522us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 14544 events, 330651us elapsed, 22.73us avg, min 20us max 50us 8.194us rms sensors: 4848 events, 280794us elapsed, 57.92us avg, min 38us max 348us 130.272us rms battery_status: 2179 events, 94838us elapsed, 43.52us avg, min 24us max 1798us 414.109us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2166 events, 11959us elapsed, 5.52us avg, min 3us max 200us 37.216us rms ms5611: read: 2166 events, 48016us elapsed, 22.17us avg, min 8us max 269us 84.765us 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 board_adc: sample: 26160 events, 170167us elapsed, 6.50us avg, min 3us max 3076us 156.381us rms manual_control: interval: 622 events, 34812.06 avg, min 21683us max 201758us 35979.672us rms manual_control: cycle: 622 events, 23794us elapsed, 38.25us avg, min 17us max 1412us 229.910us rms rc_update: valid data interval: 944 events, 23016.46 avg, min 21653us max 40036us 2097.739us rms rc_update: cycle interval: 944 events, 23016.45 avg, min 21653us max 40036us 2096.487us rms rc_update: cycle: 944 events, 46175us elapsed, 48.91us avg, min 23us max 1462us 394.678us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 7 events, 1032us elapsed, 147.43us avg, min 134us max 180us 196.544us rms px4io: interface read: 5831 events, 2392788us elapsed, 410.36us avg, min 148us max 4046us 1166.776us rms px4io: interval: 944 events, 23016.51 avg, min 21657us max 38891us 2080.937us rms px4io: cycle: 943 events, 2530215us elapsed, 2683.15us avg, min 1646us max 17583us 5865.985us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 5839 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 5838 events, 2320212us elapsed, 397.43us avg, min 127us max 4040us 1146.652us rms rgbled: led_control message missed: 22 events load_mon: cycle: 44 events, 12963us elapsed, 294.61us avg, min 126us max 1679us 863.224us 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 rgbled: led_control message missed: 20 events dma_alloc: 2 events param: set: 3 events, 74us elapsed, 24.67us avg, min 2us max 66us 118.179us rms param: get: 3018 events param: find: 4905 events param: export: 1 events, 17820us elapsed, 17820.00us avg, min 17820us max 17820us infus rms