PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4FMU_V2 |
| Software Version: | v1.7.3 (50bd148f) |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:38 |
| Dropouts: | 101 (3.25 s) |
| Vehicle Life Flight Time: | 8 hours 48 minutes 28 seconds |
| Vehicle UUID: | 002B00443036510831353833 (Surroundrone 780) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Crashed |
| Distance: | 52.3 m |
| Max Altitude Difference: | 19 m |
| Average Speed: | 4.0 km/h |
| Max Speed: | 35.7 km/h |
| Max Speed Horizontal: | 6.9 km/h |
| Max Speed Up: | 25.9 km/h |
| Max Speed Down: | 35.2 km/h |
| Max Tilt Angle: | 77.0 deg |
| Max Rotation Speed: | 1235.0 deg/s |
| Average Current: | 18.9 A |
| Max Current: | 54.9 A |
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Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 21890 12.300 596/ 748 0 ( 0) READY 3 1 hpwork 2839 5.700 888/ 1780 249 (249) w:sig 16 2 lpwork 282 0.300 1152/ 1780 50 ( 50) READY 10 3 init 31729 0.000 1784/ 2484 100 (100) w:sem 3 91 dataman 559 0.100 720/ 1180 90 ( 90) w:sem 4 95 gps 171 0.300 1040/ 1580 220 (220) w:sig 5 148 sensors 11540 9.200 1248/ 1964 249 (249) w:sem 22 150 commander 614 1.300 2784/ 3124 140 (140) w:sig 32 151 commander_low_prio 2 0.000 552/ 2996 50 ( 50) w:sem 32 164 px4io 2117 4.099 1064/ 1484 251 (251) w:sem 11 171 mavlink_if0 1202 3.200 1688/ 2428 100 (100) READY 35 172 mavlink_rcv_if0 281 0.500 1328/ 2836 175 (175) READY 35 178 mavlink_if1 5708 14.600 1704/ 2364 100 (100) READY 36 179 mavlink_rcv_if1 592 1.000 1816/ 2836 175 (175) READY 36 233 log_writer_file 26 1.800 544/ 1068 60 ( 60) READY 49 231 logger 829 10.000 3032/ 3540 245 (245) RUN 49 313 ekf2 8736 22.400 5032/ 6572 250 (250) w:sem 18 317 mc_att_control 2102 7.100 1208/ 1676 251 (251) w:sem 17 325 mc_pos_control 1565 6.599 920/ 1876 250 (250) w:sem 12 330 navigator 120 0.300 1024/ 1772 105 (105) w:sem 16 Processes: 20 total, 8 running, 12 sleeping, max FDs: 54 CPU usage: 87.70% tasks, 0.00% sched, 12.30% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 55.793s total, 21.889s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 29652 18.681 596/ 748 0 ( 0) READY 3 1 hpwork 4921 5.994 888/ 1780 249 (249) w:sig 16 2 lpwork 419 5.194 1152/ 1780 50 ( 50) READY 10 3 init 31729 0.000 1784/ 2484 100 (100) w:sem 3 91 dataman 581 0.499 720/ 1180 90 ( 90) w:sem 4 95 gps 276 0.299 1040/ 1580 220 (220) w:sig 5 148 sensors 14393 7.992 1248/ 1964 249 (249) w:sem 22 150 commander 1061 1.198 2784/ 3124 140 (140) w:sig 32 151 commander_low_prio 5 0.099 552/ 2996 50 ( 50) w:sem 32 164 px4io 3424 3.296 1064/ 1484 251 (251) w:sem 11 171 mavlink_if0 2025 2.197 1688/ 2428 100 (100) w:sig 36 172 mavlink_rcv_if0 488 0.499 1328/ 2836 175 (175) w:sem 36 178 mavlink_if1 10100 11.588 1704/ 2364 100 (100) READY 36 179 mavlink_rcv_if1 849 0.599 1816/ 2836 175 (175) READY 36 233 log_writer_file 817 2.197 560/ 1068 60 ( 60) w:sem 51 231 logger 3758 7.692 3032/ 3540 245 (245) RUN 51 313 ekf2 16843 20.779 5032/ 6572 250 (250) w:sem 18 317 mc_att_control 4482 5.894 1208/ 1676 251 (251) w:sem 17 325 mc_pos_control 3692 3.596 1072/ 1876 250 (250) w:sem 12 330 navigator 246 0.399 1024/ 1772 105 (105) w:sem 16 Processes: 20 total, 5 running, 15 sleeping, max FDs: 54 CPU usage: 80.02% tasks, 1.30% sched, 18.68% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 93.139s total, 29.652s idle
Pre Flight:
navigator: 824 events, 414870us elapsed, 503us avg, min 26us max 86345us 3852.811us rms land_detector_cycle: 2221 events, 152874us elapsed, 68us avg, min 21us max 1507us 72.890us rms mc_att_control: 11450 events, 1430122us elapsed, 124us avg, min 20us max 591us 60.797us rms ctl_lat: 2039 events, 69370us elapsed, 34us avg, min 21us max 439us 32.779us rms logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 169731us elapsed, 56577us avg, min 55us max 91974us 49466.906us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 312 events mavlink_el: 11646 events, 7444793us elapsed, 639us avg, min 81us max 25615us 770.437us rms mavlink_txe: 26 events mavlink_el: 4348 events, 1834487us elapsed, 421us avg, min 69us max 7414us 648.984us rms io latency: 11415 events, 3224654us elapsed, 282us avg, min 154us max 705us 50.795us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 11462 events, 7805803us elapsed, 681us avg, min 261us max 18662us 783.641us rms io_txns: 23424 events, 7222815us elapsed, 308us avg, min 132us max 820us 106.521us rms stack_check: 141 events, 13667us elapsed, 96us avg, min 1us max 6351us 578.207us rms sensors: 11694 events, 14152719us elapsed, 1210us avg, min 104us max 5844us 515.178us rms ll40ls_pwm_zero_resets: 0 events ll40ls_pwm_read_errors: 8 events ll40ls_pwm_read: 927 events, 69715us elapsed, 75us avg, min 31us max 525us 69.667us rms mpu9250_dupe: 12404 events mpu9250_reset: 0 events mpu9250_good_trans: 46452 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 58856 events, 3596466us elapsed, 61us avg, min 42us max 137us 9.972us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 1 events mpu9250_mag_duplicates: 41426 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 628 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 7194 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 4723 events, 113471us elapsed, 24us avg, min 23us max 25us 0.286us rms lsm303d_acc_read: 44984 events, 1373352us elapsed, 30us avg, min 20us max 36us 4.423us rms l3gd20_dupe: 30638 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 66063 events, 1883208us elapsed, 28us avg, min 22us max 37us 5.797us rms ctrl_latency: 11433 events, 1691182us elapsed, 147us avg, min 10us max 496us 69.370us rms mpu9250_dupe: 12434 events mpu9250_reset: 0 events mpu9250_good_trans: 46616 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 59050 events, 3796746us elapsed, 64us avg, min 42us max 94us 13.583us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 1 events mpu9250_mag_duplicates: 41559 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 627 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2074 events, 3090336us elapsed, 1490us avg, min 868us max 6580us 848.090us rms adc_samples: 47150 events, 137207us elapsed, 2us avg, min 2us max 31us 0.315us rms ms5611_com_err: 0 events ms5611_measure: 4402 events, 41181us elapsed, 9us avg, min 6us max 415us 16.561us rms ms5611_read: 4401 events, 422901us elapsed, 96us avg, min 11us max 701us 76.901us rms ms5611_com_err: 0 events ms5611_measure: 4405 events, 46195us elapsed, 10us avg, min 6us max 384us 21.391us rms ms5611_read: 4404 events, 433764us elapsed, 98us avg, min 11us max 674us 79.546us rms dma_alloc: 4 events param_set: 204 events, 17311us elapsed, 84us avg, min 3us max 164us 45.877us rms param_get: 2953 events, 27228us elapsed, 9us avg, min 4us max 2388us 60.250us rms param_find: 1565 events, 16367us elapsed, 10us avg, min 3us max 955us 37.248us rms param_export: 1 events, 140835us elapsed, 140835us avg, min 140835us max 140835us NaNus rms
Post Flight:
navigator: 746 events, 3475174us elapsed, 4658us avg, min 33us max 231349us 19290.002us rms land_detector_cycle: 1835 events, 156666us elapsed, 85us avg, min 34us max 609us 115.572us rms mc_att_control: 9578 events, 1859363us elapsed, 194us avg, min 90us max 462us 92.278us rms ctl_lat: 527 events, 18603us elapsed, 35us avg, min 21us max 446us 77.525us rms logger_sd_fsync: 10 events, 149375us elapsed, 14937us avg, min 8765us max 23492us 4178.069us rms logger_sd_write: 1034 events, 27215700us elapsed, 26320us avg, min 9us max 394896us 28063.730us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 8258 events, 7934474us elapsed, 960us avg, min 101us max 18922us 1700.354us rms mavlink_txe: 8 events mavlink_el: 3361 events, 1752655us elapsed, 521us avg, min 88us max 14017us 1184.987us rms io latency: 9578 events, 3078570us elapsed, 321us avg, min 196us max 673us 79.808us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 9580 events, 5680363us elapsed, 592us avg, min 261us max 2756us 1079.895us rms io_txns: 17381 events, 5257684us elapsed, 302us avg, min 134us max 765us 165.204us rms stack_check: 130 events, 2142us elapsed, 16us avg, min 1us max 220us 603.107us rms sensors: 9580 events, 13966836us elapsed, 1457us avg, min 631us max 5538us 840.077us rms ll40ls_pwm_zero_resets: 3 events ll40ls_pwm_read_errors: 0 events ll40ls_pwm_read: 751 events, 55524us elapsed, 73us avg, min 35us max 583us 107.595us rms mpu9250_dupe: 9625 events mpu9250_reset: 0 events mpu9250_good_trans: 38329 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 47954 events, 2938734us elapsed, 61us avg, min 42us max 78us 14.765us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 34174 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 501 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 5852 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 3836 events, 92220us elapsed, 24us avg, min 23us max 25us 0.425us rms lsm303d_acc_read: 36539 events, 1115857us elapsed, 30us avg, min 20us max 36us 6.614us rms l3gd20_dupe: 24900 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 53660 events, 1530647us elapsed, 28us avg, min 22us max 37us 8.661us rms ctrl_latency: 9575 events, 1997631us elapsed, 208us avg, min 10us max 494us 112.714us rms mpu9250_dupe: 9615 events mpu9250_reset: 0 events mpu9250_good_trans: 38344 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 47959 events, 3101711us elapsed, 64us avg, min 42us max 95us 20.277us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 34201 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 517 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 1613 events, 2474621us elapsed, 1534us avg, min 870us max 6115us 1294.969us rms adc_samples: 38370 events, 111662us elapsed, 2us avg, min 2us max 3us 0.451us rms ms5611_com_err: 0 events ms5611_measure: 3400 events, 33167us elapsed, 9us avg, min 6us max 499us 26.516us rms ms5611_read: 3400 events, 330634us elapsed, 97us avg, min 11us max 690us 119.996us rms ms5611_com_err: 0 events ms5611_measure: 3399 events, 36542us elapsed, 10us avg, min 6us max 499us 34.296us rms ms5611_read: 3399 events, 344447us elapsed, 101us avg, min 11us max 745us 124.595us rms dma_alloc: 0 events param_set: 3 events, 20us elapsed, 6us avg, min 4us max 12us 462.218us rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 184363us elapsed, 184363us avg, min 184363us max 184363us NaNus rms