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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Crash 28 Feb 2018 - altitude mode
| Airframe: | 10016 |
| Hardware: | PX4FMU_V2 |
| Software Version: | v1.7.3 (50bd148f) |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:48 |
| Vehicle Life Flight Time: | 2 minutes 12 seconds |
| Vehicle UUID: | 002F00213036510531323731 (3DR IRIS) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Indoor: PX4Flow + Teraranger One
The copter crashed at 1:12. There is a thrust drop at 1:11 while the RC commands are all normal. |
| Distance: | 20.8 m |
| Max Altitude Difference: | 11 m |
| Average Speed: | 1.5 km/h |
| Max Speed: | 18.7 km/h |
| Max Speed Horizontal: | 9.9 km/h |
| Max Speed Up: | 0.5 km/h |
| Max Speed Down: | 15.9 km/h |
| Max Tilt Angle: | 177.1 deg |
| Max Rotation Speed: | 1253.0 deg/s |
| Average Current: | 11.6 A |
| Max Current: | 26.7 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 17872 44.167 604/ 748 0 ( 0) READY 3 1 hpwork 1412 4.386 1008/ 1780 249 (249) w:sig 16 2 lpwork 164 0.199 1136/ 1780 50 ( 50) w:sig 10 3 init 13652 0.000 1664/ 2484 100 (100) w:sem 3 91 dataman 151 0.000 720/ 1180 90 ( 90) w:sem 4 95 gps 91 0.299 1032/ 1580 220 (220) w:sig 5 145 sensors 5557 5.782 1384/ 1964 249 (249) w:sem 17 147 commander 371 1.096 2584/ 3124 140 (140) w:sig 32 148 commander_low_prio 1 0.000 552/ 2996 50 ( 50) w:sem 32 156 px4io 1067 3.290 968/ 1484 251 (251) w:sem 11 168 mavlink_if0 714 1.994 1640/ 2428 100 (100) w:sig 33 169 mavlink_rcv_if0 144 0.498 1512/ 2836 175 (175) w:sem 33 175 mavlink_if1 3522 10.468 1720/ 2364 100 (100) READY 33 176 mavlink_rcv_if1 147 0.398 1656/ 2836 175 (175) w:sem 33 229 log_writer_file 101 1.096 728/ 1068 60 ( 60) w:sem 35 228 logger 800 6.081 3032/ 3540 245 (245) RUN 35 310 ekf2 3480 11.465 5424/ 6572 250 (250) w:sem 18 313 mc_att_control 1121 4.187 1208/ 1676 251 (251) w:sem 16 317 mc_pos_control 772 3.090 984/ 1876 250 (250) w:sem 12 327 navigator 47 0.099 784/ 1772 105 (105) w:sem 16 Processes: 20 total, 3 running, 17 sleeping, max FDs: 54 CPU usage: 54.44% tasks, 1.40% sched, 44.17% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 35.904s total, 17.873s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 38660 41.858 604/ 748 0 ( 0) READY 3 1 hpwork 3462 4.195 1008/ 1780 249 (249) w:sig 16 2 lpwork 272 2.497 1136/ 1780 50 ( 50) w:sig 10 3 init 13652 0.000 1664/ 2484 100 (100) w:sem 3 91 dataman 151 0.000 720/ 1180 90 ( 90) w:sem 4 95 gps 216 0.299 1032/ 1580 220 (220) w:sem 5 145 sensors 8286 5.994 1384/ 1964 249 (249) w:sem 17 147 commander 913 1.098 2584/ 3124 140 (140) w:sig 32 148 commander_low_prio 3 0.000 552/ 2996 50 ( 50) w:sem 32 156 px4io 2653 3.396 968/ 1484 251 (251) w:sem 11 168 mavlink_if0 1684 1.898 1640/ 2428 100 (100) w:sig 33 169 mavlink_rcv_if0 356 0.399 1512/ 2836 175 (175) w:sem 33 175 mavlink_if1 8556 10.589 1720/ 2364 100 (100) READY 33 176 mavlink_rcv_if1 361 0.499 1656/ 2836 175 (175) w:sem 33 229 log_writer_file 630 1.098 728/ 1068 60 ( 60) w:sem 35 228 logger 3066 4.795 3032/ 3540 245 (245) RUN 35 310 ekf2 8971 10.789 5424/ 6572 250 (250) w:sem 18 313 mc_att_control 3162 4.895 1208/ 1676 251 (251) w:sem 16 317 mc_pos_control 2565 4.295 1000/ 1876 250 (250) w:sem 12 327 navigator 127 0.199 784/ 1772 105 (105) w:sem 16 Processes: 20 total, 3 running, 17 sleeping, max FDs: 54 CPU usage: 56.94% tasks, 1.20% sched, 41.86% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 83.070s total, 38.661s idle
Performance Counters
Pre Flight:
px4f_com_err: 0 events px4f_read: 93 events, 294202us elapsed, 3163us avg, min 2652us max 4280us 793.507us rms navigator: 193 events, 7693us elapsed, 39us avg, min 26us max 402us 148.398us rms land_detector_cycle: 468 events, 25761us elapsed, 55us avg, min 34us max 429us 69.334us rms mc_att_control: 2420 events, 307534us elapsed, 127us avg, min 92us max 412us 68.114us rms ctl_lat: 433 events, 12524us elapsed, 28us avg, min 21us max 123us 42.729us rms logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 82 events, 2160771us elapsed, 26350us avg, min 9us max 138534us 25049.801us 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: 2656 events, 1527514us elapsed, 575us avg, min 113us max 4206us 1071.812us rms mavlink_txe: 0 events mavlink_el: 937 events, 239753us elapsed, 255us avg, min 94us max 2805us 575.577us rms io latency: 2421 events, 594167us elapsed, 245us avg, min 183us max 566us 91.337us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 2421 events, 1409110us elapsed, 582us avg, min 261us max 2569us 1105.556us rms io_txns: 4434 events, 1304197us elapsed, 294us avg, min 165us max 871us 190.918us rms stack_check: 33 events, 475us elapsed, 14us avg, min 1us max 108us 222.264us rms sensors: 2421 events, 2032206us elapsed, 839us avg, min 422us max 2653us 609.125us rms tr1_com_err: 0 events tr1_read: 187 events, 119795us elapsed, 640us avg, min 427us max 2068us 720.444us rms lsm303d_acc_dupe: 1583 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 970 events, 23515us elapsed, 24us avg, min 24us max 25us 0.769us rms lsm303d_acc_read: 9241 events, 286373us elapsed, 30us avg, min 21us max 36us 8.069us rms l3gd20_dupe: 6568 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 13570 events, 387539us elapsed, 28us avg, min 22us max 37us 10.407us rms ctrl_latency: 2421 events, 425760us elapsed, 175us avg, min 122us max 458us 79.865us rms mpu6k_duplicates: 2460 events mpu6k_reset: 0 events mpu6k_good_trans: 9788 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 12249 events, 654960us elapsed, 53us avg, min 33us max 76us 22.069us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 1 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 428 events, 557475us elapsed, 1302us avg, min 867us max 3433us 1001.869us rms adc_samples: 9800 events, 28602us elapsed, 2us avg, min 2us max 3us 0.481us rms ms5611_com_err: 0 events ms5611_measure: 888 events, 9307us elapsed, 10us avg, min 6us max 355us 29.597us rms ms5611_read: 888 events, 77944us elapsed, 87us avg, min 11us max 536us 105.506us rms dma_alloc: 1 events param_set: 3 events, 20us elapsed, 6us avg, min 4us max 12us 208.523us rms param_get: 765 events, 8732us elapsed, 11us avg, min 3us max 1436us 106.966us rms param_find: 114 events, 936us elapsed, 8us avg, min 3us max 67us 51.252us rms param_export: 1 events, 48695us elapsed, 48695us avg, min 48695us max 48695us Infinityus rms
Post Flight:
px4f_com_err: 0 events px4f_read: 464 events, 1490391us elapsed, 3212us avg, min 2651us max 5250us 570.155us rms navigator: 963 events, 44783us elapsed, 46us avg, min 26us max 3668us 150.864us rms land_detector_cycle: 2319 events, 135725us elapsed, 58us avg, min 37us max 355us 41.487us rms mc_att_control: 12020 events, 1595618us elapsed, 132us avg, min 94us max 447us 53.574us rms ctl_lat: 2147 events, 66106us elapsed, 30us avg, min 21us max 456us 35.032us rms logger_sd_fsync: 5 events, 105532us elapsed, 21106us avg, min 19585us max 22702us 1245.491us rms logger_sd_write: 539 events, 12423916us elapsed, 23049us avg, min 150us max 95277us 15067.822us 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: 13079 events, 7513992us elapsed, 574us avg, min 107us max 6486us 802.791us rms mavlink_txe: 0 events mavlink_el: 4661 events, 1304745us elapsed, 279us avg, min 88us max 5554us 474.436us rms io latency: 12021 events, 2998898us elapsed, 249us avg, min 183us max 624us 69.261us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 12021 events, 7013245us elapsed, 583us avg, min 261us max 2408us 772.768us rms io_txns: 22039 events, 6486174us elapsed, 294us avg, min 134us max 789us 136.020us rms stack_check: 161 events, 4139us elapsed, 25us avg, min 1us max 1106us 142.503us rms sensors: 12021 events, 10532345us elapsed, 876us avg, min 411us max 3860us 441.691us rms tr1_com_err: 0 events tr1_read: 928 events, 612795us elapsed, 660us avg, min 426us max 3430us 582.122us rms lsm303d_acc_dupe: 7874 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 4818 events, 116911us elapsed, 24us avg, min 24us max 25us 0.561us rms lsm303d_acc_read: 45885 events, 1421689us elapsed, 30us avg, min 21us max 36us 5.778us rms l3gd20_dupe: 32622 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 67388 events, 1924711us elapsed, 28us avg, min 22us max 37us 7.443us rms ctrl_latency: 12022 events, 2175656us elapsed, 180us avg, min 123us max 485us 61.966us rms mpu6k_duplicates: 12088 events mpu6k_reset: 0 events mpu6k_good_trans: 48141 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 60229 events, 3223456us elapsed, 53us avg, min 33us max 78us 15.920us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2092 events, 2747821us elapsed, 1313us avg, min 868us max 4274us 772.104us rms adc_samples: 48190 events, 140847us elapsed, 2us avg, min 2us max 3us 0.344us rms ms5611_com_err: 0 events ms5611_measure: 4348 events, 44904us elapsed, 10us avg, min 6us max 429us 23.352us rms ms5611_read: 4348 events, 371081us elapsed, 85us avg, min 11us max 559us 76.523us rms dma_alloc: 0 events param_set: 3 events, 19us elapsed, 6us avg, min 3us max 12us 208.582us 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, 50402us elapsed, 50402us avg, min 50402us max 50402us Infinityus rms