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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
pixhawk 4 ground fly test first time
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.11.3 (a6274bc5) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:01 |
| Vehicle Life Flight Time: | 17 minutes 38 seconds |
| Vehicle UUID: | 000200000000303236323039510b001b0025 (Pixhawk 4 F450) |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Hello this is my first ground fly test |
| Distance: | 10.1 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 0.7 km/h |
| Max Speed Horizontal: | 0.6 km/h |
| Max Speed Up: | 0.2 km/h |
| Max Speed Down: | 0.4 km/h |
| Max Tilt Angle: | 3.1 deg |
Loading Plots...
Console Output
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: a6274bc5ed01e5c86af79f89890689c239b1d944 FW version: Release 1.11.3 (17499135) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: ec20f2e6c5cc35b2b9bbe942dea55eabb81297b6 Build datetime: Jan 1 2021 22:28:16 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 000200000000303236323039510b001b0025 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 rgbled_ncp5623c #0 on I2C bus 1 (external, equal to '-b 3') 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) ist8310 #0 on I2C bus 3 ms5611 #0 on SPI bus 4 (devid=0x3d) ist8310 #1 on I2C bus 1 (external, equal to '-b 3') 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 FrSky Telemetry on /dev/ttyS2 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B 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] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] 9153915: EKF aligned, (baro hgt, IMU buf: 18, OBS buf: 14) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-03-03/09_01_38.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-03-03/09_01_38.ulg INFO [ecl/EKF] GPS checks passed INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] starting GPS fusion INFO [commander] Disarmed by auto preflight disarming INFO [logger] closed logfile, bytes written: 353946 INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-03-03/09_01_53.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-03-03/09_01_53.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 762295 INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-03-03/09_02_28.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-03-03/09_02_28.ulg INFO [commander] Disarmed by auto preflight disarming INFO [logger] closed logfile, bytes written: 362905 INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-03-03/09_02_43.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-03-03/09_02_43.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 316315 INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-03-03/09_02_54.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-03-03/09_02_54.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 87804 51.348 236/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 60 0.000 1016/ 1612 50 ( 50) w:sig 3 3 init 925 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 400/ 1252 255 (255) w:sem 3 475 log_writer_file 2297 6.393 696/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 124 0.000 840/ 1700 205 (205) READY 3 18 wq:hp_default 2187 1.398 1216/ 1900 240 (240) w:sem 3 20 dataman 60 0.000 760/ 1204 90 ( 90) w:sem 4 30 wq:I2C1 1117 0.699 860/ 1468 246 (246) w:sem 3 135 wq:SPI1 19287 12.687 1484/ 2332 253 (253) w:sem 3 139 wq:I2C3 962 0.699 860/ 1468 244 (244) w:sem 3 141 wq:SPI4 491 0.299 992/ 2332 250 (250) w:sem 3 188 wq:nav_and_controllers 15609 10.189 5296/ 7196 241 (241) w:sem 3 189 wq:rate_ctrl 5852 3.896 1136/ 1660 255 (255) w:sem 3 200 commander 1676 0.799 1352/ 3212 140 (140) w:sig 6 201 commander_low_prio 2 0.000 840/ 2996 50 ( 50) w:sem 6 247 gps 248 0.099 944/ 1676 205 (205) w:sem 4 268 frsky_telemetry 6 0.000 688/ 1316 104 (104) w:sem 4 290 mavlink_if1 1757 1.098 1904/ 2484 100 (100) READY 4 291 mavlink_rcv_if1 574 0.299 2784/ 4068 175 (175) w:sem 4 304 px4io 5410 3.496 1080/ 1484 237 (237) w:sem 4 431 wq:attitude_ctrl 1216 0.899 1240/ 1668 242 (242) w:sem 3 438 navigator 122 0.099 1024/ 1764 105 (105) w:sem 5 472 logger 2213 2.997 2848/ 3644 230 (230) RUN 4 Processes: 25 total, 4 running, 21 sleeping, max FDs: 15 CPU usage: 46.05% tasks, 2.60% sched, 51.35% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 153.952s total, 87.805s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 153453 53.700 236/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 75 1.500 1016/ 1612 50 ( 50) w:sig 3 3 init 925 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 400/ 1252 255 (255) w:sem 3 475 log_writer_file 5855 2.000 696/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 182 0.000 840/ 1700 205 (205) w:sem 3 18 wq:hp_default 3904 1.400 1216/ 1900 240 (240) w:sem 3 20 dataman 64 0.000 760/ 1204 90 ( 90) w:sem 4 30 wq:I2C1 1889 0.700 860/ 1468 246 (246) w:sem 3 135 wq:SPI1 34464 12.700 1484/ 2332 253 (253) w:sem 3 139 wq:I2C3 1718 0.600 860/ 1468 244 (244) w:sem 3 141 wq:SPI4 874 0.300 992/ 2332 250 (250) w:sem 3 188 wq:nav_and_controllers 28072 10.400 5296/ 7196 241 (241) w:sem 3 189 wq:rate_ctrl 10590 3.800 1136/ 1660 255 (255) w:sem 3 200 commander 2604 1.200 1352/ 3212 140 (140) READY 6 201 commander_low_prio 4 0.000 840/ 2996 50 ( 50) w:sem 6 247 gps 445 0.100 944/ 1676 205 (205) w:sem 4 268 frsky_telemetry 12 0.000 688/ 1316 104 (104) w:sem 4 290 mavlink_if1 3093 1.100 1904/ 2484 100 (100) w:sig 4 291 mavlink_rcv_if1 951 0.300 2784/ 4068 175 (175) w:sem 4 304 px4io 9656 3.600 1080/ 1484 237 (237) w:sem 4 431 wq:attitude_ctrl 2305 0.900 1240/ 1668 242 (242) w:sem 3 438 navigator 224 0.100 1024/ 1764 105 (105) w:sem 5 472 logger 5741 3.100 2848/ 3644 230 (230) RUN 4 Processes: 25 total, 3 running, 22 sleeping, max FDs: 15 CPU usage: 43.80% tasks, 2.50% sched, 53.70% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 274.090s total, 153.454s 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: 23 events, 123547us elapsed, 5371.61us avg, min 3768us max 9232us 5219.462us rms logger_sd_write: 51 events, 784057us elapsed, 15373.67us avg, min 4932us max 132561us 167359.328us rms navigator: 216 events, 29719us elapsed, 137.59us avg, min 11us max 17442us 40454.629us rms land_detector: cycle: 1132 events, 24502us elapsed, 21.64us avg, min 13us max 228us 62.329us rms mc_pos_control: cycle time: 567 events, 30913us elapsed, 54.52us avg, min 10us max 306us 140.633us rms mc_hover_thrust_estimator: cycle time: 210 events, 1347us elapsed, 6.41us avg, min 4us max 224us 26.806us rms mc_att_control: cycle: 2270 events, 72974us elapsed, 32.15us avg, min 15us max 167us 69.267us rms mc_rate_control: cycle: 9078 events, 144493us elapsed, 15.92us avg, min 12us max 35us 11.446us rms ekf2: update: 2270 events, 456210us elapsed, 200.97us avg, min 11us max 1293us 762.088us rms pwm_out: interval: 965 events, 11726.21 avg, min 72us max 20243us 8736.629us rms pwm_out: cycle: 965 events, 28988us elapsed, 30.04us avg, min 21us max 201us 99.105us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 4379 events, 1712099us elapsed, 390.98us avg, min 261us max 1426us 832.600us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 4379 events, 2705594us elapsed, 617.86us avg, min 250us max 10239us 3288.870us rms io_txns: 8399 events, 2417292us elapsed, 287.81us avg, min 125us max 2317us 617.407us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1127 events, 10007.91 avg, min 9197us max 18330us 312.307us rms mavlink: tx run elapsed: 1127 events, 152768us elapsed, 135.55us avg, min 80us max 1583us 353.621us rms mavlink: send_start tx buffer full: 0 events 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_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 11315 events, 1000.69 avg, min 673us max 1311us 100.290us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 11468 events, 987.27 avg, min 679us max 1971us 98.621us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 9080 events, 1247.47 avg, min 1147us max 1350us 15.232us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 9080 events, 1247.47 avg, min 1147us max 1350us 15.232us rms vehicle_air_data: cycle: 845 events, 21334us elapsed, 25.25us avg, min 14us max 206us 356.448us rms battery_status: 1133 events, 40678us elapsed, 35.90us avg, min 23us max 1235us 244.301us rms sensors: 2270 events, 133339us elapsed, 58.74us avg, min 33us max 184us 86.518us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 1009 events, 893389us elapsed, 885.42us avg, min 838us max 1793us 244.023us rms ms5611: com_err: 0 events ms5611: measure: 1127 events, 5918us elapsed, 5.25us avg, min 3us max 121us 30.345us rms ms5611: read: 1127 events, 19747us elapsed, 17.52us avg, min 8us max 191us 58.270us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 1009 events, 875839us elapsed, 868.03us avg, min 834us max 1701us 242.190us rms bmi055_gyro: DRDY interval: 11319 events, 1000.69 avg, min 673us max 1311us 100.281us rms 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 interval: 11474 events, 987.27 avg, min 679us max 1971us 98.607us rms 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 adc: sample: 13596 events, 54375us elapsed, 4.00us avg, min 2us max 1145us 76.432us rms rc_update: 512 events, 15026us elapsed, 29.35us avg, min 20us max 206us 140.882us rms load_mon: cycle: 22 events, 885us elapsed, 40.23us avg, min 38us max 65us 526.313us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 11 events, 22993us elapsed, 2090.27us avg, min 40us max 17299us 185260.391us rms dma_alloc: 1 events param_set: 3 events, 19us elapsed, 6.33us avg, min 3us max 12us 88.167us rms param_get: 1634 events, 10213us elapsed, 6.25us avg, min 2us max 902us 105.004us rms param_find: 832 events, 4471us elapsed, 5.37us avg, min 2us max 190us 177.114us rms param_export: 1 events, 25847us elapsed, 25847.00us avg, min 25847us max 25847us nanus 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: 318 events, 1630546us elapsed, 5127.50us avg, min 5us max 14497us 2317.143us rms logger_sd_write: 646 events, 9852077us elapsed, 15250.89us avg, min 8us max 967251us 63178.309us rms navigator: 2277 events, 475890us elapsed, 209.00us avg, min 10us max 168812us 13111.080us rms land_detector: cycle: 12114 events, 229973us elapsed, 18.98us avg, min 13us max 232us 24.778us rms mc_pos_control: cycle time: 6056 events, 90684us elapsed, 14.97us avg, min 10us max 193us 45.415us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 24273 events, 925415us elapsed, 38.13us avg, min 27us max 193us 28.842us rms mc_rate_control: cycle: 97095 events, 1663207us elapsed, 17.13us avg, min 12us max 42us 4.519us rms ekf2: update: 24274 events, 5064430us elapsed, 208.64us avg, min 11us max 1379us 325.092us rms pwm_out: interval: 10419 events, 11625.24 avg, min 26us max 20679us 8747.692us rms pwm_out: cycle: 10419 events, 318322us elapsed, 30.55us avg, min 19us max 338us 36.659us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 46833 events, 18357841us elapsed, 391.99us avg, min 259us max 1709us 340.939us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 46833 events, 28764273us elapsed, 614.19us avg, min 250us max 10844us 1348.006us rms io_txns: 89311 events, 25639750us elapsed, 287.08us avg, min 125us max 2308us 256.932us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 12112 events, 10001.06 avg, min 9148us max 13941us 136.447us rms mavlink: tx run elapsed: 12112 events, 1656912us elapsed, 136.80us avg, min 81us max 1261us 143.253us rms mavlink: send_start tx buffer full: 0 events 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_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 121045 events, 1000.80 avg, min 649us max 1319us 100.554us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 122722 events, 987.13 avg, min 659us max 1982us 98.927us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 97096 events, 1247.65 avg, min 1127us max 1367us 15.238us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 97096 events, 1247.65 avg, min 1127us max 1367us 15.238us rms vehicle_air_data: cycle: 9044 events, 223841us elapsed, 24.75us avg, min 13us max 282us 111.551us rms battery_status: 12115 events, 451226us elapsed, 37.25us avg, min 22us max 1758us 107.133us rms sensors: 24274 events, 1381305us elapsed, 56.90us avg, min 32us max 237us 34.040us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 10788 events, 9530131us elapsed, 883.40us avg, min 838us max 1771us 100.022us rms ms5611: com_err: 0 events ms5611: measure: 12059 events, 63451us elapsed, 5.26us avg, min 3us max 137us 11.401us rms ms5611: read: 12059 events, 216257us elapsed, 17.93us avg, min 8us max 206us 23.488us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 10789 events, 9451374us elapsed, 876.02us avg, min 832us max 1761us 100.113us rms bmi055_gyro: DRDY interval: 121048 events, 1000.80 avg, min 649us max 1319us 100.554us rms 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 interval: 122724 events, 987.13 avg, min 659us max 1982us 98.929us rms 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 adc: sample: 145380 events, 578969us elapsed, 3.98us avg, min 2us max 1721us 33.257us rms rc_update: 5456 events, 160093us elapsed, 29.34us avg, min 20us max 794us 51.305us rms load_mon: cycle: 243 events, 18294us elapsed, 75.28us avg, min 38us max 1092us 189.017us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 119 events, 412974us elapsed, 3470.37us avg, min 39us max 168793us 56840.527us rms dma_alloc: 0 events param_set: 3 events, 18us elapsed, 6.00us avg, min 2us max 12us 88.325us rms param_get: 237 events, 2197us elapsed, 9.27us avg, min 2us max 1217us 287.396us rms param_find: 237 events, 1635us elapsed, 6.90us avg, min 2us max 460us 333.772us rms param_export: 1 events, 26449us elapsed, 26449.00us avg, min 26449us max 26449us nanus rms