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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Trying offboard mode
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V540) |
| Software Version: | v1.12.0 (beta) (171c2637) branch: master |
| OS Version: | NuttX, v10.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:11 |
| Vehicle Life Flight Time: | 2 minutes 42 seconds |
| Vehicle UUID: | 00020000000035333837313851170038001e |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Entering offboard mode not successfull. This log is for forum help. |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 1.9 deg |
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Console Output
[param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 1774 bytes, decoded 1774 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) INFO [uavcan] Node ID 1, bitrate 1000000 Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 (devid=0x3c) bmi055 #0 on SPI bus 1 (devid=0x41) bmi055 #1 on SPI bus 1 (devid=0x42) ms5611 #0 on SPI bus 4 (devid=0x3d) ist8310 #0 on I2C bus 3 ist8310 #1 on I2C bus 1 (external) WARN [SPI_I2C] Already running on bus 1 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/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 2000, default: 0, alt: 50 INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] setting PWM_AUX_OUT none ekf2 [393:100] INFO [ekf2] starting instance 0, IMU:0 (3932170), MAG:0 (396825) INFO [pwm_out] instance: 0, max rate: 2000, default: 0, alt: 400 INFO [ekf2] starting instance 1, IMU:1 (4259850), MAG:0 (396825) INFO [ekf2] starting instance 2, IMU:0 (3932170), MAG:1 (396809) INFO [ekf2] starting instance 3, IMU:1 (4259850), MAG:1 (396809) Addons script: /fs/microsd/etc/extras.txt INFO [micrortps_client] UART transport: device: /dev/ttyS3; baudrate: 921600; sleep: 1ms; poll: 1ms; flow_control: No INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.0.0 nsh> [KERROR [uavcan] couldn't start parameter count: -2 WARN [PreFlightCheck] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by external command WARN [commander] Failsafe enabled: No manual control stick input INFO [commander] Failsafe mode activated INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-29/16_36_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-29/16_36_12.ulg INFO [commander] Disarmed by auto preflight disarming INFO [commander] Failsafe mode deactivated INFO [logger] closed logfile, bytes written: 501293 INFO [rc_input] RC scan: DSM RC input locked WARN [commander] Switching to Offboard is currently not available. WARN [PreFlightCheck] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-29/16_36_52.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-29/16_36_52.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by RC INFO [logger] closed logfile, bytes written: 345539 WARN [PreFlightCheck] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-29/16_37_10.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-29/16_37_10.ulg WARN [commander] Switching to Offboard is currently not available. INFO [commander] Disarmed by RC INFO [logger] closed logfile, bytes written: 297529 WARN [PreFlightCheck] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-29/16_37_38.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-29/16_37_38.ulg INFO [commander] Disarmed by RC INFO [logger] closed logfile, bytes written: 186084 WARN [PreFlightCheck] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-04-29/16_37_47.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-04-29/16_37_47.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 33576 13.390 248/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 0 0.000 1036/ 1620 50 ( 50) w:sig 3 3 init 0 0.000 2324/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 428/ 1260 255 (255) w:sem 4 444 log_writer_file 6 0.632 756/ 1172 60 ( 60) w:sem 4 26 wq:lp_default 9 0.918 1200/ 1924 205 (205) READY 4 28 wq:hp_default 17 1.795 1268/ 1900 237 (237) w:sem 4 33 dataman 0 0.000 796/ 1204 90 ( 90) w:sem 4 43 wq:I2C1 4 0.432 1036/ 2340 246 (246) w:sem 4 152 wq:uavcan 19 1.992 1852/ 3628 236 (236) w:sem 4 170 wq:SPI1 137 13.761 1676/ 2340 253 (253) w:sem 4 175 wq:SPI4 4 0.416 920/ 2340 250 (250) w:sem 4 177 wq:I2C3 3 0.390 1036/ 2340 244 (244) w:sem 4 240 wq:nav_and_controllers 82 8.266 1340/ 2244 242 (242) w:sem 4 242 wq:rate_ctrl 120 12.053 1428/ 1924 255 (255) w:sem 4 243 wq:INS0 122 12.237 4412/ 6004 241 (241) w:sem 4 247 wq:INS1 119 11.889 4412/ 6004 240 (240) w:sem 4 249 commander 9 0.941 1744/ 3220 140 (140) READY 5 300 gps 1 0.160 1060/ 1684 205 (205) w:sem 4 341 mavlink_if1 19 1.961 1852/ 2740 100 (100) READY 4 342 mavlink_rcv_if1 3 0.388 3428/ 4676 175 (175) w:sem 4 373 wq:UART4 8 0.837 1124/ 1508 230 (230) READY 4 425 micrortps_client_send 41 4.144 1812/ 2252 100 (100) READY 4 402 navigator 1 0.107 1044/ 1772 105 (105) w:sem 6 424 micrortps_client_rcv 5 0.578 2004/ 2556 100 (100) READY 4 442 logger 99 9.934 2844/ 3644 230 (230) RUN 4 Processes: 27 total, 8 running, 19 sleeping, max FDs: 12 CPU usage: 83.84% tasks, 2.77% sched, 13.39% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 146.488s total, 33.577s idle
Performance Counters
Pre Flight:
vehicle_gps_position: cycle: 43 events, 1619us elapsed, 37.65us avg, min 13us max 291us 159.404us rms 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: 4 events, 36081us elapsed, 9020.25us avg, min 2470us max 17778us 33109.441us rms logger_sd_write: 21 events, 114665us elapsed, 5460.24us avg, min 11us max 14257us 12424.390us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 864 events, 471184us elapsed, 545.35us avg, min 152us max 3320us 1898.616us rms ekf2: ECL update: 1053 events, 7773us elapsed, 7.38us avg, min 3us max 365us 158.421us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms gyro_fft: gyro FIFO data gap: 339 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 1907 events, 4475.04 avg, min 38us max 18651us 1425.566us rms gyro_fft: cycle: 1907 events, 104136us elapsed, 54.61us avg, min 3us max 2133us 895.665us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 865 events, 329653us elapsed, 381.10us avg, min 153us max 1004us 652.977us rms ekf2: ECL update: 865 events, 5419us elapsed, 6.26us avg, min 3us max 238us 27.140us rms navigator: 175 events, 10395us elapsed, 59.40us avg, min 20us max 1875us 471.728us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 865 events, 492385us elapsed, 569.23us avg, min 154us max 3247us 1952.406us rms ekf2: ECL update: 1052 events, 10610us elapsed, 10.09us avg, min 4us max 604us 160.785us rms land_detector: cycle: 865 events, 37140us elapsed, 42.94us avg, min 17us max 384us 244.505us rms mc_pos_control: cycle time: 865 events, 111713us elapsed, 129.15us avg, min 47us max 466us 285.854us rms flight_mode_manager: cycle: 432 events, 53071us elapsed, 122.85us avg, min 45us max 456us 254.673us rms mc_hover_thrust_estimator: cycle time: 865 events, 4927us elapsed, 5.70us avg, min 1us max 262us 64.725us rms mc_att_control: cycle: 1730 events, 42390us elapsed, 24.50us avg, min 14us max 152us 78.057us rms mc_rate_control: cycle: 6919 events, 147174us elapsed, 21.27us avg, min 15us max 42us 11.925us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 865 events, 306679us elapsed, 354.54us avg, min 155us max 1237us 636.961us rms ekf2: ECL update: 865 events, 6709us elapsed, 7.76us avg, min 5us max 97us 28.528us rms pwm_out: interval: 6919 events, 1249.55 avg, min 1113us max 1378us 21.522us rms pwm_out: cycle: 6919 events, 467940us elapsed, 67.63us avg, min 50us max 96us 29.362us rms control latency: 6919 events, 2259181us elapsed, 326.52us avg, min 280us max 382us 52.086us rms rc_input: publish interval: 775 events, 11003.87 avg, min 2790us max 23177us 2083.959us rms rc_input: cycle time: 2121 events, 71138us elapsed, 33.54us avg, min 7us max 3939us 585.870us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 806 events, 10576.31 avg, min 9360us max 29624us 1433.587us rms mavlink: tx run elapsed: 806 events, 416480us elapsed, 516.72us avg, min 139us max 9985us 2928.231us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 808 events, 51280us elapsed, 63.47us avg, min 25us max 462us 199.072us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 5754 events, 1502.84 avg, min 1155us max 1967us 162.619us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 5843 events, 1479.90 avg, min 1162us max 2015us 154.542us rms battery_status: 864 events, 79745us elapsed, 92.30us avg, min 25us max 3338us 910.966us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 6920 events, 1249.56 avg, min 1117us max 1382us 19.279us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 6920 events, 1249.56 avg, min 1117us max 1382us 19.279us rms vehicle_air_data: cycle: 644 events, 23066us elapsed, 35.82us avg, min 14us max 319us 169.248us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 1730 events, 116119us elapsed, 67.12us avg, min 44us max 221us 88.710us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 859 events, 6717us elapsed, 7.82us avg, min 3us max 234us 70.257us rms ms5611: read: 859 events, 22642us elapsed, 26.36us avg, min 8us max 307us 138.460us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 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: 10380 events, 145004us elapsed, 13.97us avg, min 3us max 4006us 331.218us rms rc_update: valid data interval: 775 events, 11003.86 avg, min 2795us max 23166us 2106.202us rms rc_update: cycle interval: 775 events, 11003.86 avg, min 2799us max 23171us 2091.840us rms rc_update: cycle: 775 events, 35888us elapsed, 46.31us avg, min 18us max 2247us 570.994us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 2848 events, 3036.19 avg, min 52us max 7041us 1266.784us rms uavcan: cycle time: 2848 events, 250673us elapsed, 88.02us avg, min 25us max 4449us 1040.796us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 17 events, 7196us elapsed, 423.29us avg, min 81us max 4439us 1673.355us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 1 events param: set: 1 events, 14us elapsed, 14.00us avg, min 14us max 14us infus rms param: get: 3350 events param: find: 1968 events param: export: 1 events, 60872us elapsed, 60872.00us avg, min 60872us max 60872us infus rms