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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
stationary drone RTK/GPS drift demonstration
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.10.0 (beta) (e9c9fb82) |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:09:52 |
| Dropouts: | 14 (1.93 s) |
| Vehicle Life Flight Time: | 28 minutes 4 seconds |
| Vehicle UUID: | 0002000000003534363331385119001b002f |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Distance: | 53.2 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 0.5 km/h |
| Max Speed Horizontal: | 0.5 km/h |
| Max Speed Up: | 0.4 km/h |
| Max Speed Down: | 0.5 km/h |
| Max Tilt Angle: | 6.0 deg |
Loading Plots...
Console Output
ill... INFO [commander] [cal] detected rest position, hold still... INFO [commander] [cal] front orientation detected INFO [commander] [cal] front orientation detected INFO [commander] [cal] Hold still, measuring front side INFO [commander] [cal] front side result: [-11.2527 0.9167 -0.0340] INFO [commander] [cal] progress <34> INFO [commander] [cal] front side done, rotate to a different side INFO [commander] [cal] front side done, rotate to a different side INFO [commander] [cal] pending: back left right up INFO [commander] [cal] hold vehicle still on a pending side INFO [commander] [cal] detected rest position, hold still... INFO [commander] [cal] up orientation detected INFO [commander] [cal] up orientation detected INFO [commander] [cal] Hold still, measuring up side INFO [commander] [cal] up side result: [ -0.3214 -0.1803 9.9240] INFO [commander] [cal] progress <51> INFO [commander] [cal] up side done, rotate to a different side INFO [commander] [cal] up side done, rotate to a different side INFO [commander] [cal] pending: back left right INFO [commander] [cal] hold vehicle still on a pending side INFO [commander] [cal] detected rest position, hold still... INFO [commander] [cal] back orientation detected INFO [commander] [cal] back orientation detected INFO [commander] [cal] Hold still, measuring back side INFO [commander] [cal] back side result: [ 9.0959 -0.3318 -1.3560] INFO [commander] [cal] progress <68> INFO [commander] [cal] back side done, rotate to a different side INFO [commander] [cal] back side done, rotate to a different side INFO [commander] [cal] pending: left right INFO [commander] [cal] hold vehicle still on a pending side INFO [commander] [cal] detected rest position, hold still... INFO [commander] [cal] left orientation detected INFO [commander] [cal] left orientation detected INFO [commander] [cal] Hold still, measuring left side INFO [commander] [cal] left side result: [ -0.3236 9.9864 0.8140] INFO [commander] [cal] progress <85> INFO [commander] [cal] left side done, rotate to a different side INFO [commander] [cal] left side done, rotate to a different side INFO [commander] [cal] pending: right INFO [commander] [cal] hold vehicle still on a pending side INFO [commander] [cal] detected rest position, hold still... INFO [commander] [cal] right orientation detected INFO [commander] [cal] right orientation detected INFO [commander] [cal] Hold still, measuring right side INFO [commander] [cal] right side result: [ -1.5431 -9.6175 -0.2850] INFO [commander] [cal] progress <102> INFO [commander] [cal] right side done, rotate to a different side INFO [commander] [cal] right side done, rotate to a different side INFO [commander] found offset 0: x: -1.078404, y: 0.184447, z: 0.008025 INFO [commander] found scale 0: x: 0.950411, y: 0.993598, z: 0.976027 INFO [commander] found offset 1: x: 0.269792, y: -0.016427, z: -0.071479 INFO [commander] found scale 1: x: 0.976603, y: 0.975525, z: 0.981337 INFO [commander] [cal] calibration done: accel INFO [commander] [cal] calibration started: 2 level INFO [commander] [cal] progress <0> INFO [commander] [cal] progress <9> INFO [commander] [cal] progress <18> INFO [commander] [cal] progress <27> INFO [commander] [cal] progress <36> INFO [commander] [cal] progress <45> INFO [commander] [cal] progress <54> INFO [commander] [cal] progress <63> INFO [commander] [cal] progress <72> INFO [commander] [cal] progress <81> INFO [commander] [cal] progress <100> INFO [commander] [cal] calibration done: level INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2019-10-28/17_35_43.ulg INFO [logger] closed logfile, bytes written: 661818 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2019-10-28/17_38_34.ulg INFO [logger] closed logfile, bytes written: 662168 WARN [commander] Data link lost INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2019-10-28/17_41_03.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 305887 42.215 216/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 521 0.099 1016/ 1516 50 ( 50) w:sig 8 3 init 921 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 392/ 1252 243 (243) w:sem 3 199 wq:att_pos_ctrl 37686 6.387 4760/ 6596 244 (244) w:sem 3 17 dataman 131 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 339 0.000 780/ 1700 205 (205) w:sem 3 28 wq:hp_default 4230 0.798 1128/ 1500 243 (243) w:sem 3 139 wq:SPI1 127976 21.756 912/ 1396 254 (254) w:sem 3 154 wq:I2C3 2000 0.399 788/ 1244 246 (246) w:sem 3 157 wq:SPI4 1936 0.299 600/ 1396 251 (251) w:sem 3 198 sensors 15489 2.495 1456/ 1964 237 (237) w:sem 10 201 commander 4473 0.698 1976/ 3212 140 (140) w:sig 7 202 wq:rate_ctrl 35040 5.988 944/ 1596 255 (255) w:sem 3 204 commander_low_prio 1040 0.000 2416/ 2996 50 ( 50) w:sem 7 279 gps 993 0.199 1056/ 1620 208 (208) w:sem 4 341 mavlink_if0 19944 3.393 1680/ 2484 100 (100) READY 4 342 mavlink_rcv_if0 2508 0.399 2688/ 3916 175 (175) w:sem 4 366 px4io 18139 3.093 928/ 1484 240 (240) w:sem 4 621 navigator 495 0.099 944/ 1764 105 (105) w:sem 4 659 logger 2794 2.794 3088/ 3644 233 (233) RUN 4 667 log_writer_file 1105 6.986 824/ 1164 60 ( 60) w:sem 4 Processes: 23 total, 3 running, 20 sleeping, max FDs: 20 CPU usage: 55.89% tasks, 1.90% sched, 42.22% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 595.059s total, 305.888s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 570084 44.100 216/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 883 2.100 1016/ 1516 50 ( 50) w:sig 8 3 init 921 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 392/ 1252 243 (243) w:sem 3 199 wq:att_pos_ctrl 77319 6.300 4760/ 6596 244 (244) w:sem 3 17 dataman 211 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 449 0.000 780/ 1700 205 (205) w:sem 3 28 wq:hp_default 8480 0.700 1128/ 1500 243 (243) w:sem 3 139 wq:SPI1 255899 21.700 912/ 1396 254 (254) w:sem 3 154 wq:I2C3 4004 0.300 788/ 1244 246 (246) w:sem 3 157 wq:SPI4 3881 0.300 600/ 1396 251 (251) w:sem 3 198 sensors 29932 2.600 1456/ 1964 237 (237) w:sem 10 201 commander 9071 0.700 1976/ 3212 140 (140) w:sig 7 202 wq:rate_ctrl 70098 5.900 944/ 1596 255 (255) w:sem 3 204 commander_low_prio 1050 0.100 2416/ 2996 50 ( 50) w:sem 7 279 gps 1983 0.200 1056/ 1620 208 (208) w:sem 4 341 mavlink_if0 39280 3.299 1680/ 2484 100 (100) w:sig 4 342 mavlink_rcv_if0 4845 0.400 2688/ 3916 175 (175) w:sem 4 366 px4io 36339 3.100 928/ 1484 240 (240) w:sem 4 621 navigator 947 0.000 944/ 1764 105 (105) w:sem 4 659 logger 16008 2.300 3088/ 3644 233 (233) RUN 4 667 log_writer_file 31048 3.900 824/ 1164 60 ( 60) w:sem 4 Processes: 23 total, 2 running, 21 sleeping, max FDs: 20 CPU usage: 53.90% tasks, 2.00% sched, 44.10% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1186.230s total, 570.084s idle
Performance Counters
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: 26 events, 157887us elapsed, 6072.58us avg, min 1828us max 9633us 2797.684us rms logger_sd_write: 147 events, 1777608us elapsed, 12092.57us avg, min 2162us max 114723us 12687.925us rms navigator: 2662 events, 360126us elapsed, 135.28us avg, min 12us max 110933us 2237.701us rms land_detector_cycle: 7456 events, 107725us elapsed, 14.45us avg, min 12us max 274us 30.429us rms mc_pos_control: interval: 6214 events, 23997.29 avg, min 20066us max 27646us 756.702us rms mc_pos_control: cycle time: 6214 events, 305215us elapsed, 49.12us avg, min 19us max 1052us 136.725us rms mc_att_control: 148906 events, 4394105us elapsed, 29.51us avg, min 18us max 509us 26.971us rms ekf2: update: 37032 events, 6357988us elapsed, 171.69us avg, min 12us max 1337us 366.022us rms ekf2: interval: 37032 events, 4026.87 avg, min 249us max 7816us 159.192us rms ekf2: cycle time: 37032 events, 10795139us elapsed, 291.51us avg, min 54us max 1846us 476.236us rms px4fmu: cycle interval: 4968 events, 30011.97 avg, min 20025us max 46671us 10264.494us rms px4fmu: cycle: 4968 events, 209300us elapsed, 42.13us avg, min 22us max 449us 116.335us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 58124 events, 15785484us elapsed, 271.58us avg, min 167us max 1539us 380.385us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 58124 events, 35401874us elapsed, 609.07us avg, min 252us max 15896us 1367.797us rms io_txns: 100142 events, 33189225us elapsed, 331.42us avg, min 127us max 2714us 316.595us rms mavlink_int: 48834 events, 3052.98 avg, min 2089us max 24948us 367.724us rms mavlink_el: 48834 events, 5601045us elapsed, 114.70us avg, min 68us max 2543us 208.123us 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 vehicle_angular_velocity: sensor latency: 148908 events, 2744860us elapsed, 18.43us avg, min 15us max 45us 5.487us rms vehicle_angular_velocity: cycle time: 148908 events, 2643159us elapsed, 17.75us avg, min 12us max 77us 3.460us rms vehicle_acceleration: sensor latency: 37033 events, 6988099us elapsed, 188.70us avg, min 172us max 296us 21.845us rms vehicle_acceleration: cycle time: 37033 events, 393481us elapsed, 10.63us avg, min 8us max 79us 6.969us rms sensors: 37033 events, 17060521us elapsed, 460.68us avg, min 122us max 7597us 562.200us rms adc_samples: 178956 events, 466729us elapsed, 2.61us avg, min 2us max 258us 9.332us rms ms5611_com_err: 0 events ms5611_measure: 14826 events, 95923us elapsed, 6.47us avg, min 5us max 68us 4.517us rms ms5611_read: 14826 events, 211792us elapsed, 14.29us avg, min 10us max 91us 4.987us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 7033 events, 5960683us elapsed, 847.53us avg, min 840us max 1677us 98.897us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 186412 events, 8810296us elapsed, 47.26us avg, min 42us max 76us 6.568us rms bmi055_accel_duplicates: 37342 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 186413 events, 6590441us elapsed, 35.35us avg, min 27us max 60us 7.644us rms mpu6k_duplicates: 37503 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 186413 events, 21818710us elapsed, 117.05us avg, min 42us max 694us 77.978us rms stack_check: 432 events, 2670us elapsed, 6.18us avg, min 1us max 268us 24.693us rms dma_alloc: 1 events param_set: 2 events, 156us elapsed, 78.00us avg, min 12us max 144us 222.158us rms param_get: 2454 events, 12703us elapsed, 5.18us avg, min 2us max 780us 4075312.500us rms param_find: 311 events, 1757us elapsed, 5.65us avg, min 2us max 341us 79.299us rms param_export: 2 events, 78337us elapsed, 39168.50us avg, min 37941us max 40396us 2173.798us 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: 1412 events, 9655171us elapsed, 6837.94us avg, min 6us max 481558us 13194.213us rms logger_sd_write: 7649 events, 107067156us elapsed, 13997.54us avg, min 8us max 1233023us 42789.082us rms navigator: 10337 events, 18009593us elapsed, 1742.25us avg, min 11us max 1148142us 29845.564us rms land_detector_cycle: 29609 events, 577871us elapsed, 19.52us avg, min 12us max 288us 24.062us rms mc_pos_control: interval: 24673 events, 23999.40 avg, min 20083us max 28058us 794.104us rms mc_pos_control: cycle time: 24673 events, 4739236us elapsed, 192.08us avg, min 20us max 874us 126.958us rms mc_att_control: 593291 events, 17395935us elapsed, 29.32us avg, min 18us max 237us 18.843us rms ekf2: update: 146928 events, 25208461us elapsed, 171.57us avg, min 12us max 1341us 257.485us rms ekf2: interval: 146928 events, 4030.34 avg, min 3665us max 5091us 164.442us rms ekf2: cycle time: 146929 events, 42738367us elapsed, 290.88us avg, min 54us max 1468us 336.515us rms px4fmu: cycle interval: 19935 events, 29703.40 avg, min 20015us max 45503us 10237.708us rms px4fmu: cycle: 19935 events, 878540us elapsed, 44.07us avg, min 22us max 293us 83.111us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 230673 events, 63651366us elapsed, 275.94us avg, min 167us max 1555us 272.115us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 230673 events, 142811356us elapsed, 619.11us avg, min 252us max 3470us 975.883us rms io_txns: 397229 events, 133866216us elapsed, 337.00us avg, min 127us max 1840us 233.714us rms mavlink_int: 193615 events, 3058.45 avg, min 2083us max 5529us 366.906us rms mavlink_el: 193615 events, 21938417us elapsed, 113.31us avg, min 67us max 2669us 145.983us 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 vehicle_angular_velocity: sensor latency: 593294 events, 11178685us elapsed, 18.84us avg, min 15us max 45us 3.985us rms vehicle_angular_velocity: cycle time: 593294 events, 10515412us elapsed, 17.72us avg, min 12us max 37us 2.455us rms vehicle_acceleration: sensor latency: 146929 events, 27776236us elapsed, 189.05us avg, min 172us max 311us 15.042us rms vehicle_acceleration: cycle time: 146929 events, 1556307us elapsed, 10.59us avg, min 8us max 65us 4.770us rms sensors: 146929 events, 70248647us elapsed, 478.11us avg, min 122us max 1847us 417.169us rms adc_samples: 710616 events, 1865389us elapsed, 2.63us avg, min 2us max 275us 6.778us rms ms5611_com_err: 0 events ms5611_measure: 58870 events, 383942us elapsed, 6.52us avg, min 5us max 76us 3.403us rms ms5611_read: 58870 events, 848848us elapsed, 14.42us avg, min 10us max 87us 3.590us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 27928 events, 23707013us elapsed, 848.86us avg, min 840us max 1705us 70.464us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 740225 events, 35196063us elapsed, 47.55us avg, min 42us max 90us 4.689us rms bmi055_accel_duplicates: 148422 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 740225 events, 26177159us elapsed, 35.36us avg, min 27us max 63us 5.417us rms mpu6k_duplicates: 146930 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 740225 events, 87042878us elapsed, 117.59us avg, min 42us max 226us 55.032us rms stack_check: 1724 events, 9980us elapsed, 5.79us avg, min 1us max 267us 14.679us rms dma_alloc: 0 events param_set: 1 events, 13us elapsed, 13.00us avg, min 13us max 13us infus rms param_get: 33 events, 315us elapsed, 9.55us avg, min 2us max 223us 35680812.000us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 48515us elapsed, 48515.00us avg, min 48515us max 48515us infus rms