PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | 2d8b5613 branch: master |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:10 |
| Vehicle Life Flight Time: | 14 minutes 10 seconds |
| Vehicle UUID: | 000200000000353338373138511600410023 |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Our Pixhawk keeps creating files with name "Date Unkown" (approx. 50% of the time). We don't know why, any help would be appreciated. |
| Max Altitude Difference: | 2 m |
| Max Tilt Angle: | 67.5 deg |
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sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: 2d8b5613561ce4abb04641a0c547882afb4ccc75 FW version: 1.10.0 0 (17432576) FW git-branch: master OS: NuttX OS version: Release 7.29.0 (119341311) OS git-hash: 427238133be2b0ecd068a11e886ee8fdbc31f6dc Build datetime: Dec 16 2019 12:33:43 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 000200000000353338373138511600410023 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults ERROR [safety_button] not starting (use px4io for safety button) ERROR [safety_button] Task start failed (-1) WARN [rgbled] no RGB led on bus #1 WARN [rgbled_ncp5623c] no RGB led on bus #1 Board sensors: /etc/init.d/rc.board_sensors WARN [mpu6000] no device on bus #3 (SPI1) MPU6000 on SPI bus 1 at 0 (1000 KHz) BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz) BMI055_GYRO on SPI bus 1 at 2 (10000 KHz) INFO [ist8310] no device on bus 1 INFO [ist8310] no device on bus 2 WARN [hmc5883] no device on bus 1 (type: 2) WARN [hmc5883] no device on bus 2 (type: 2) WARN [hmc5883] no device on bus 4 (type: 2) WARN [qmc5883] no device on bus 1 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 4 (type: 2) WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [ak09916] AK09916 mag init failed ERROR [ak09916] driver start failed IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) MS5611_SPI on SPI bus 4 at 0 (20000 KHz) WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 1 MB12xx on I2C bus 1 at 0x70 (bus: 100 KHz, max: 100 KHz) ERROR [mb12xx] no sensors discovered MB12xx on I2C bus 2 at 0x70 (bus: 100 KHz, max: 100 KHz) ERROR [mb12xx] no sensors discovered MB12xx on I2C bus 4 at 0x70 (bus: 100 KHz, max: 100 KHz) INFO [mb12xx] sensor 1 at address 0x70 added INFO [mb12xx] sensor 2 at address 0x5B added INFO [mb12xx] Total sensors connected: 2 INFO [mb12xx] driver started Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS1 Conflicting config for /dev/ttyS1 Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS2 @ 921600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) WARN [load_mon] garuda_distance low on stack! (160 bytes left) WARN [commander] REJECT POSITION CONTROL INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/sess001/log001.ulg
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 7505 40.000 208/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 9 0.100 600/ 1516 50 ( 50) w:sig 8 3 init 930 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 165 wq:att_pos_ctrl 851 6.900 4768/ 6596 244 (244) w:sem 4 17 dataman 56 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 9 0.000 992/ 1700 205 (205) w:sem 4 28 wq:hp_default 136 1.100 1120/ 1500 243 (243) w:sem 4 120 wq:SPI1 3284 22.500 1048/ 1396 254 (254) w:sem 4 138 wq:I2C3 52 0.400 792/ 1244 246 (246) w:sem 4 140 wq:SPI4 46 0.300 600/ 1396 251 (251) w:sem 4 157 wq:I2C4 7 0.000 780/ 1244 245 (245) w:sem 4 164 sensors 342 2.300 1496/ 1964 237 (237) w:sem 9 167 wq:rate_ctrl 727 5.700 1248/ 1596 255 (255) w:sem 4 169 commander 165 0.700 1672/ 3212 140 (140) w:sig 6 170 commander_low_prio 0 0.000 560/ 2996 50 ( 50) w:sem 6 219 gps 10 0.100 1040/ 1620 208 (208) w:sem 4 255 mavlink_if0 845 5.600 1704/ 2492 100 (100) w:sig 4 261 mavlink_rcv_if0 63 0.200 2480/ 3964 175 (175) w:sem 4 272 px4io 410 3.299 920/ 1484 240 (240) w:sem 4 405 garuda_distance 4 0.100 820/ 980 100 (100) w:sem 5 408 navigator 14 0.200 784/ 1764 105 (105) w:sem 4 429 logger 113 2.600 3168/ 3644 233 (233) RUN 4 433 log_writer_file 55 0.000 584/ 1164 60 ( 60) READY 4 Processes: 25 total, 3 running, 22 sleeping, max FDs: 20 CPU usage: 52.10% tasks, 7.90% sched, 40.00% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 16.075s total, 7.506s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 11515 41.258 208/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 31 1.598 1016/ 1516 50 ( 50) w:sig 8 3 init 930 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 165 wq:att_pos_ctrl 1606 6.493 4768/ 6596 244 (244) w:sem 4 17 dataman 56 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 12 0.099 1064/ 1700 205 (205) w:sem 4 28 wq:hp_default 241 1.098 1120/ 1500 243 (243) w:sem 4 120 wq:SPI1 5485 22.477 1048/ 1396 254 (254) w:sem 4 138 wq:I2C3 87 0.399 792/ 1244 246 (246) w:sem 4 140 wq:SPI4 80 0.299 600/ 1396 251 (251) w:sem 4 157 wq:I2C4 13 0.000 780/ 1244 245 (245) w:sem 4 164 sensors 566 2.497 1496/ 1964 237 (237) w:sem 9 167 wq:rate_ctrl 1270 5.794 1248/ 1596 255 (255) w:sem 4 169 commander 240 0.799 1672/ 3212 140 (140) w:sig 6 170 commander_low_prio 0 0.000 560/ 2996 50 ( 50) w:sem 6 219 gps 18 0.099 1040/ 1620 208 (208) w:sem 4 255 mavlink_if0 1387 5.494 1704/ 2492 100 (100) READY 4 261 mavlink_rcv_if0 93 0.299 2480/ 3964 175 (175) w:sem 4 272 px4io 730 3.296 920/ 1484 240 (240) w:sem 4 405 garuda_distance 7 0.099 820/ 980 100 (100) w:sem 5 408 navigator 30 0.199 800/ 1764 105 (105) w:sem 4 429 logger 316 2.097 3168/ 3644 233 (233) RUN 4 433 log_writer_file 363 3.696 600/ 1164 60 ( 60) w:sem 4 Processes: 25 total, 3 running, 22 sleeping, max FDs: 20 CPU usage: 56.84% tasks, 1.90% sched, 41.26% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 25.763s total, 11.516s idle
Pre Flight:
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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 112 events, 13370us elapsed, 119.38us avg, min 60us max 1117us 138.338us rms land_detector_cycle: 578 events, 20633us elapsed, 35.70us avg, min 23us max 264us 33.221us rms mc_pos_control: cycle time: 251 events, 11856us elapsed, 47.24us avg, min 24us max 263us 54.081us rms mc_att_control: 11527 events, 371130us elapsed, 32.20us avg, min 17us max 457us 17.277us rms ekf2: update: 2885 events, 508049us elapsed, 176.10us avg, min 2us max 956us 213.110us rms fmu: cycle: 114 events, 4173us elapsed, 36.61us avg, min 2us max 429us 58.075us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 4467 events, 1092602us elapsed, 244.59us avg, min 168us max 1532us 161.298us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 4473 events, 2531787us elapsed, 566.02us avg, min 253us max 16029us 668.782us rms io_txns: 7126 events, 2357361us elapsed, 330.81us avg, min 127us max 2285us 163.406us rms mavlink_int: 3620 events, 3164.42 avg, min 2133us max 15116us 494.689us rms mavlink_el: 3620 events, 1140584us elapsed, 315.08us avg, min 79us max 2879us 294.357us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_status: 1230 events, 32866us elapsed, 26.72us avg, min 22us max 496us 20.017us rms sensors: 3067 events, 1338699us elapsed, 436.48us avg, min 68us max 2782us 291.508us rms mb12xx_sample_perf: 0 events mb12xx_comms_error: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms5611_com_err: 0 events ms5611_measure: 1251 events, 8370us elapsed, 6.69us avg, min 6us max 58us 1.655us rms ms5611_read: 1250 events, 19294us elapsed, 15.44us avg, min 10us max 84us 7.132us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 653 events, 553168us elapsed, 847.12us avg, min 835us max 1667us 55.995us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 17492 events, 841944us elapsed, 48.13us avg, min 43us max 172us 4.493us rms bmi055_accel_duplicates: 3305 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 17502 events, 626040us elapsed, 35.77us avg, min 27us max 103us 4.295us rms mpu6k_duplicates: 3537 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 17492 events, 1861429us elapsed, 106.42us avg, min 41us max 580us 41.151us rms adc_samples: 14760 events, 37554us elapsed, 2.54us avg, min 2us max 75us 1.678us rms stack_check: 70 events, 532us elapsed, 7.60us avg, min 1us max 82us 13.558us rms dma_alloc: 4 events param_set: 93 events, 2336us elapsed, 25.12us avg, min 3us max 48us 12.357us rms param_get: 3107 events, 17436us elapsed, 5.61us avg, min 2us max 873us 28.469us rms param_find: 1143 events, 6967us elapsed, 6.10us avg, min 2us max 543us 19.978us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
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: 26 events, 156218us elapsed, 6008.38us avg, min 211us max 10112us 2491.429us rms logger_sd_write: 100 events, 1252432us elapsed, 12524.32us avg, min 9us max 121008us 11165.586us rms navigator: 172 events, 21394us elapsed, 124.38us avg, min 66us max 409us 135.725us rms land_detector_cycle: 447 events, 10054us elapsed, 22.49us avg, min 10us max 265us 45.901us rms mc_pos_control: cycle time: 384 events, 3881542us elapsed, 10108.18us avg, min 27us max 46744us 15994.387us rms mc_att_control: 10678 events, 327065us elapsed, 30.63us avg, min 17us max 80us 21.252us rms ekf2: update: 1882 events, 381644us elapsed, 202.79us avg, min 12us max 933us 347.762us rms fmu: cycle: 345 events, 12122us elapsed, 35.14us avg, min 20us max 334us 51.146us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 4162 events, 1177445us elapsed, 282.90us avg, min 168us max 1541us 279.069us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 4161 events, 2555160us elapsed, 614.07us avg, min 253us max 4233us 1002.800us rms io_txns: 7164 events, 2382811us elapsed, 332.61us avg, min 128us max 2641us 253.730us rms mavlink_int: 3434 events, 3108.21 avg, min 2164us max 5545us 419.208us rms mavlink_el: 3434 events, 835100us elapsed, 243.19us avg, min 78us max 2510us 382.286us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_status: 1070 events, 28313us elapsed, 26.46us avg, min 22us max 268us 26.368us rms sensors: 2670 events, 1061274us elapsed, 397.48us avg, min 46us max 2678us 518.392us rms mb12xx_sample_perf: 0 events mb12xx_comms_error: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms5611_com_err: 0 events ms5611_measure: 1063 events, 7315us elapsed, 6.88us avg, min 6us max 14us 2.121us rms ms5611_read: 1063 events, 16537us elapsed, 15.56us avg, min 10us max 91us 9.704us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 504 events, 426494us elapsed, 846.22us avg, min 835us max 1706us 82.902us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 13369 events, 665764us elapsed, 49.80us avg, min 43us max 81us 7.243us rms bmi055_accel_duplicates: 2524 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 13368 events, 494423us elapsed, 36.99us avg, min 27us max 73us 6.828us rms mpu6k_duplicates: 2687 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 13369 events, 1560953us elapsed, 116.76us avg, min 42us max 220us 61.027us rms adc_samples: 12840 events, 34103us elapsed, 2.66us avg, min 2us max 205us 3.705us rms stack_check: 60 events, 216us elapsed, 3.60us avg, min 1us max 27us 15.234us rms dma_alloc: 0 events param_set: 3 events, 18us elapsed, 6.00us avg, min 2us max 13us 84.029us rms param_get: 22 events, 72us elapsed, 3.27us avg, min 3us max 4us 346.227us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 34085us elapsed, 34085.00us avg, min 34085us max 34085us infus rms