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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL No Wings Test
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:20 |
| Dropouts: | 9 (6 s) |
| Vehicle Life Flight Time: | 1 hours 30 minutes 12 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | Testing Multicopter hover and movement in Position mode. |
| Distance: | 287.0 m |
| Max Altitude Difference: | 34 m |
| Average Speed MC: | 5.2 km/h |
| Max Speed: | 10.7 km/h |
| Max Speed Horizontal: | 10.7 km/h |
| Max Speed Up: | 6.2 km/h |
| Max Speed Down: | 4.1 km/h |
| Max Tilt Angle: | 16.5 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 3157 bytes, decoded 3157 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] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [gyro_calibration] gyro 2 (2424842) updating calibration, [-0.0382, -0.0149, -0.0098] -> [-0.0436, -0.0066, -0.0086] 50.0°C INFO [ekf2] 2 - resetting IMU bias INFO [ekf2] 5 - resetting IMU bias INFO [commander] Kill-switch engaged INFO [commander] Failsafe mode activated INFO [commander] Failsafe mode deactivated INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/11_14_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/11_14_12.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 267217 64.027 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 1124/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 20 0.795 1404/ 1900 237 (237) w:sem 3 32 dataman 0 0.001 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 44 1.709 1248/ 1924 205 (205) READY 3 40 wq:I2C2 14 0.559 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 20 0.785 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 104 4.015 1660/ 2340 250 (250) w:sem 3 228 wq:SPI1 47 1.803 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 81 3.126 1372/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 60 2.328 1416/ 1956 255 (255) w:sem 3 295 wq:INS0 118 4.533 4460/ 6004 241 (241) w:sem 3 301 commander 9 0.368 1252/ 3220 140 (140) w:sig 5 308 mavlink_if1 11 0.440 1772/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 5 0.192 1580/ 4460 175 (175) w:sem 4 353 gps 2 0.105 940/ 1684 205 (205) w:sem 4 392 mavlink_if2 19 0.748 1780/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 4 0.172 1588/ 4460 175 (175) w:sem 4 408 wq:INS1 118 4.552 4460/ 6004 240 (240) w:sem 3 409 px4io 53 2.057 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 117 4.484 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 4 0.165 604/ 1172 60 ( 60) READY 4 446 navigator 0 0.013 1144/ 1772 105 (105) w:sem 6 479 logger 48 1.842 2700/ 3644 230 (230) RUN 4 Processes: 26 total, 4 running, 22 sleeping, max FDs: 12 CPU usage: 34.80% tasks, 1.17% sched, 64.03% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 407.477s total, 267.217s 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: 1 events ekf2: ECL full update: 40275 events, 5499799us elapsed, 136.56us avg, min 72us max 1286us 97.615us rms ekf2: ECL update: 42219 events, 93938us elapsed, 2.23us avg, min 1us max 640us 7.615us 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: 40273 events, 5632031us elapsed, 139.85us avg, min 72us max 1333us 103.465us rms ekf2: ECL update: 42239 events, 85757us elapsed, 2.03us avg, min 1us max 523us 3.214us 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: 1 events ekf2: ECL full update: 40288 events, 4830094us elapsed, 119.89us avg, min 71us max 412us 51.695us rms ekf2: ECL update: 40393 events, 94567us elapsed, 2.34us avg, min 1us max 76us 2.281us 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, 137411us elapsed, 137411.00us avg, min 137411us max 137411us infus rms gyro_calibration: calibration updated: 1 events gyro_calibration: interval: 20198 events, 19998.02 avg, min 58us max 33143us 238.689us rms gyro_fft: gyro FIFO data gap: 5 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 37815 events, 6241609us elapsed, 165.06us avg, min 123us max 1997us 99.447us rms gyro_fft: cycle interval: 53884 events, 7501.58 avg, min 534us max 36773us 526.614us rms gyro_fft: cycle: 53884 events, 8884063us elapsed, 164.87us avg, min 2us max 2337us 225.594us 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: 40321 events, 5526371us elapsed, 137.06us avg, min 74us max 1320us 92.761us rms ekf2: ECL update: 42377 events, 102985us elapsed, 2.43us avg, min 1us max 655us 7.295us rms navigator: 8509 events, 349943us elapsed, 41.13us avg, min 8us max 94231us 1024.188us rms land_detector: cycle: 40340 events, 448517us elapsed, 11.12us avg, min 8us max 132us 4.834us 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: 40321 events, 5677710us elapsed, 140.81us avg, min 74us max 1417us 60.569us rms ekf2: ECL update: 42382 events, 109750us elapsed, 2.59us avg, min 1us max 81us 2.680us rms fw_pos_control_l1: cycle: 20162 events, 241371us elapsed, 11.97us avg, min 5us max 315us 5.749us rms fw_att_control: cycle: 79644 events, 1714791us elapsed, 21.53us avg, min 19us max 349us 4.484us rms mc_hover_thrust_estimator: cycle time: 39035 events, 45769us elapsed, 1.17us avg, min 1us max 74us 1.497us rms mc_pos_control: cycle time: 40331 events, 905772us elapsed, 22.46us avg, min 4us max 168us 7.885us rms flight_mode_manager: cycle: 20162 events, 591344us elapsed, 29.33us avg, min 4us max 511us 10.734us rms mc_att_control: cycle: 79644 events, 684463us elapsed, 8.59us avg, min 6us max 270us 3.672us rms mc_rate_control: cycle: 161704 events, 1216217us elapsed, 7.52us avg, min 6us max 97us 0.749us rms vtol_att_control: cycle: 161705 events, 3351543us elapsed, 20.73us avg, min 10us max 875us 3.166us rms airspeed_selector: elapsed: 4032 events, 64750us elapsed, 16.06us avg, min 14us max 265us 5.376us 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: 40320 events, 4801667us elapsed, 119.09us avg, min 71us max 423us 51.043us rms ekf2: ECL update: 40533 events, 105917us elapsed, 2.61us avg, min 1us max 48us 1.666us rms pwm_out: interval: 40432 events, 9999.71 avg, min 94us max 24489us 171.433us rms pwm_out: cycle: 40431 events, 533983us elapsed, 13.21us avg, min 4us max 324us 1.815us rms control latency: 39821 events, 195193287us elapsed, 4901.77us avg, min 1079us max 5408us 89.441us 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: 160979 events, 120360773us elapsed, 747.68us avg, min 442us max 2883us 281.244us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 160982 events, 121390056us elapsed, 754.06us avg, min 232us max 26458us 748.007us rms io_txns: 445429 events, 117774100us elapsed, 264.41us avg, min 115us max 3110us 127.552us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 40366 events, 10012.66 avg, min 9082us max 40698us 265.223us rms mavlink: tx run elapsed: 40366 events, 3298805us elapsed, 81.72us avg, min 49us max 2911us 73.747us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 80612 events, 5013.92 avg, min 4020us max 33935us 276.913us rms mavlink: tx run elapsed: 80612 events, 1698672us elapsed, 21.07us avg, min 12us max 1847us 41.238us 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: 37650 events, 669771us elapsed, 17.79us avg, min 5us max 673us 10.278us rms vehicle_gps_position: cycle: 3222 events, 24986us elapsed, 7.75us avg, min 2us max 119us 4.320us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events battery_status: 40452 events, 543705us elapsed, 13.44us avg, min 10us max 682us 22.462us rms vehicle_air_data: cycle: 30142 events, 345235us elapsed, 11.45us avg, min 7us max 79us 3.626us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 2 events sensors: 80902 events, 2759629us elapsed, 34.11us avg, min 12us max 2998us 23.562us rms aspd_com_err: 0 events aspd_read: 37693 events, 18129413us elapsed, 480.98us avg, min 476us max 609us 13.100us 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: 40254 events, 138191us elapsed, 3.43us avg, min 3us max 9us 0.544us rms ms5611: read: 40253 events, 453976us elapsed, 11.28us avg, min 9us max 56us 0.870us 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: 40200 events, 150296us elapsed, 3.74us avg, min 3us max 50us 2.302us rms ms5611: read: 40199 events, 523724us elapsed, 13.03us avg, min 9us max 62us 2.564us rms board_adc: sample: 283241 events, 2056454us elapsed, 7.26us avg, min 2us max 3483us 16.446us rms rc_update: valid data interval: 14141 events, 21285.62 avg, min 12454us max 29899us 1767.490us rms rc_update: cycle interval: 14143 events, 21285.66 avg, min 12454us max 29900us 1767.375us rms rc_update: cycle: 14143 events, 209193us elapsed, 14.79us avg, min 7us max 2064us 40.469us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 134885 events, 3000.09 avg, min 250us max 9993us 342.307us rms uavcan: cycle time: 134885 events, 3684872us elapsed, 27.32us avg, min 12us max 3288us 66.196us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 810 events, 66012us elapsed, 81.50us avg, min 1us max 1086us 63.681us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 2098 events, 195420us elapsed, 93.15us avg, min 14us max 94201us 2155.985us rms dma_alloc: 8 events param: set: 163 events, 2762us elapsed, 16.94us avg, min 1us max 114us 15.874us rms param: get: 131251 events param: find: 136272 events param: export: 1 events, 35984us elapsed, 35984.00us avg, min 35984us max 35984us infus rms