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PX4 Quadrotor | Open PID Analysis |
| Airframe: | PX4 Vision Dev Kit v1.5 Quadrotor x (4020) |
| Hardware: | CUAV_X7PRO |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:03 |
| Vehicle Life Flight Time: | 1 hours 7 minutes 11 seconds |
| Vehicle UUID: | 00060000000036393833303351170036004c |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 53.3 deg |
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Console Output
PWM_AUX_FUNC4 not found. INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 rm3100 #0 on SPI bus 2 ERROR [SPI_I2C] bmi088: no instance started (no device on bus?) ERROR [SPI_I2C] bmi088: no instance started (no device on bus?) icm42688p #0 on SPI bus 4 rotation 2 ms5611 #0 on SPI bus 4 ERROR [SPI_I2C] icm20649: no instance started (no device on bus?) icm20689 #1 on SPI bus 6 rotation 2 ms5611 #1 on SPI bus 6 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 2490402 ekf2 [1591:237] Starting Lanbao PSK-CM8JL65-CC5 on /dev/ttyS2 INFO [cm8jl65] successfully opened UART port /dev/ttyS2 INFO [cm8jl65] driver started Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 921600B Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: ExtVisionMin, data rate: 80000 B/s on /dev/ttyS3 @ 921600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [rc_input] RC scan: SBUS RC input locked INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [logger] [logger] /fs/microsd/log/sess101/log100.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess101/log100.ulg WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [rc_input] RC scan: SBUS RC input locked 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 [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [mavlink] exiting channel 2 serdis: Disconnected INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [commander] Arming denied: Resolve system health failures first sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver 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 [commander] GCS connection regained INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked ERROR [logger] write failed errno:28 (No space left on device), retrying ERROR [logger] write failed (28) INFO [logger] closed logfile, bytes written: 2192740 INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [rc_input] RC scan: SBUS RC input locked INFO [mavlink] exiting channel 2 serdis: Disconnected INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-30/12_21_01.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-30/12_21_01.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 42309 55.137 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 308/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.041 1452/ 1896 205 (205) w:sem 5 1983 log_writer_file 7 0.767 668/ 1144 60 ( 60) w:sem 4 94 wq:hp_default 7 0.742 1244/ 2776 237 (237) w:sem 5 1190 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 1241 wq:SPI1 33 3.340 1668/ 2368 253 (253) w:sem 5 1243 wq:SPI2 15 1.526 1044/ 2368 252 (252) w:sem 5 1258 wq:SPI4 29 2.995 1940/ 2368 250 (250) w:sem 5 1272 wq:SPI6 33 3.382 1580/ 2368 248 (248) w:sem 5 1580 wq:nav_and_controllers 25 2.530 1324/ 2216 242 (242) w:sem 5 1581 wq:rate_ctrl 50 5.089 2548/ 3120 255 (255) w:sem 5 1583 wq:INS0 44 4.460 3660/ 5976 241 (241) w:sem 5 1584 wq:INS1 43 4.340 3660/ 5976 240 (240) w:sem 5 1585 wq:INS2 43 4.384 3660/ 5976 239 (239) w:sem 5 1587 commander 5 0.520 1548/ 3192 140 (140) w:sig 5 1639 wq:ttyS2 0 0.018 796/ 1704 232 (232) w:sem 5 1710 gps 0 0.031 1204/ 1936 205 (205) w:sem 4 1780 mavlink_if0 10 1.080 1916/ 2704 100 (100) READY 5 1781 mavlink_rcv_if0 1 0.187 1324/ 4776 175 (175) w:sem 5 1810 mavlink_if1 30 3.076 1956/ 2712 100 (100) READY 5 1814 mavlink_rcv_if1 1 0.159 1324/ 4776 175 (175) w:sem 5 1850 wq:ttyS5 3 0.364 1028/ 1704 229 (229) w:sem 5 1865 navigator 0 0.063 1636/ 2104 105 (105) w:sem 11 1980 logger 47 4.744 3100/ 3616 230 (230) RUN 4 Processes: 28 total, 4 running, 24 sleeping CPU usage: 43.84% tasks, 1.02% sched, 55.14% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 74.132s total, 42.310s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 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: 129 events, 542439us elapsed, 4204.95us avg, min 4us max 35059us 3285.765us rms logger_sd_write: 507 events, 5120228us elapsed, 10099.07us avg, min 5us max 141482us 10239.952us 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 nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3579 events, 20031.90 avg, min 57us max 99352us 2158.354us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 1509 events, 33044us elapsed, 21.90us avg, min 13us max 797us 52.890us rms rc_input: publish interval: 2949 events, 24142.42 avg, min 2553us max 2528000us 111424.523us rms rc_input: cycle time: 17980 events, 173677us elapsed, 9.66us avg, min 4us max 1856us 32.515us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 23477 events, 3064.21 avg, min 2088us max 84180us 893.285us rms mavlink: tx run elapsed: 23477 events, 3332576us elapsed, 141.95us avg, min 66us max 3121us 157.130us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7171 events, 10031.85 avg, min 9308us max 90459us 1432.285us rms mavlink: tx run elapsed: 7171 events, 929798us elapsed, 129.66us avg, min 71us max 1512us 82.363us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms cm8jl65: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms cm8jl65: com_err: 0 events mag_bias_estimator: cycle: 3576 events, 55113us elapsed, 15.41us avg, min 2us max 1547us 53.302us rms land_detector: cycle: 7193 events, 79376us elapsed, 11.04us avg, min 9us max 250us 8.027us rms mc_pos_control: cycle time: 7193 events, 84215us elapsed, 11.71us avg, min 5us max 332us 13.599us rms flight_mode_manager: cycle: 3598 events, 552335us elapsed, 153.51us avg, min 3us max 953us 265.804us rms mc_hover_thrust_estimator: cycle time: 7193 events, 7879us elapsed, 1.10us avg, min 1us max 222us 2.908us 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: 13102 events, 215824us elapsed, 16.47us avg, min 8us max 247us 8.991us rms mc_rate_control: cycle: 57546 events, 470957us elapsed, 8.18us avg, min 7us max 62us 1.058us rms control_allocator: cycle: 57546 events, 1112868us elapsed, 19.34us avg, min 17us max 33us 2.392us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7199 events, 2409155us elapsed, 334.65us avg, min 204us max 2139us 194.235us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7291 events, 2295190us elapsed, 314.80us avg, min 203us max 1990us 158.545us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7193 events, 1999462us elapsed, 277.97us avg, min 204us max 765us 82.484us rms pwm_out: interval: 57546 events, 1250.29 avg, min 1192us max 1316us 5.166us rms pwm_out: cycle: 57546 events, 835354us elapsed, 14.52us avg, min 12us max 25us 1.203us rms control latency: 57546 events, 14440640us elapsed, 250.94us avg, min 242us max 314us 4.214us rms commander: preflight check: 663 events, 157282us elapsed, 237.23us avg, min 162us max 1642us 144.934us rms commander: cycle: 6506 events, 490137us elapsed, 75.34us avg, min 27us max 1764us 126.419us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 4958 events, 95339us elapsed, 19.23us avg, min 14us max 145us 12.330us rms vehicle_gps_position: cycle: 240 events, 614us elapsed, 2.56us avg, min 2us max 26us 2.614us rms vehicle_air_data: cycle: 5379 events, 114632us elapsed, 21.31us avg, min 11us max 315us 18.532us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 57546 events, 734075us elapsed, 12.76us avg, min 11us max 24us 1.154us rms sensors: 14386 events, 517080us elapsed, 35.94us avg, min 21us max 355us 25.877us rms battery_status: 7195 events, 133486us elapsed, 18.55us avg, min 12us max 1574us 51.292us rms ms5611: com_err: 0 events ms5611: measure: 7169 events, 30200us elapsed, 4.21us avg, min 3us max 137us 6.226us rms ms5611: read: 7169 events, 101675us elapsed, 14.18us avg, min 10us max 144us 10.058us rms 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 ms5611: com_err: 0 events ms5611: measure: 7172 events, 29152us elapsed, 4.06us avg, min 3us max 104us 5.901us rms ms5611: read: 7172 events, 108143us elapsed, 15.08us avg, min 9us max 315us 11.295us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events rm3100: bad transfer: 0 events rm3100: range error: 0 events rm3100: reset: 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: 86340 events, 273856us elapsed, 3.17us avg, min 2us max 1966us 24.220us rms manual_control: interval: 449 events, 160028.18 avg, min 3528us max 200868us 56895.273us rms manual_control: cycle: 449 events, 4843us elapsed, 10.79us avg, min 5us max 400us 20.199us rms rc_update: valid data interval: 2903 events, 18758.53 avg, min 2552us max 15003420us 278217.750us rms rc_update: cycle interval: 2949 events, 24142.42 avg, min 2553us max 2528000us 111424.445us rms rc_update: cycle: 2949 events, 54027us elapsed, 18.32us avg, min 9us max 761us 40.947us rms load_mon: cycle: 144 events, 14300us elapsed, 99.31us avg, min 65us max 788us 93.192us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 51137us elapsed, 10227.40us avg, min 302us max 40912us 66494.141us rms rgbled: led_control message missed: 0 events dma_alloc: 8 events param: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 115118 events param: find: 19393 events param: export: 1 events, 15775us elapsed, 15775.00us avg, min 15775us max 15775us nanus rms