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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL Transition Test
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.0 (alpha) (8df3932d) |
| OS Version: | NuttX, v10.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:04:19 |
| Dropouts: | 10 (10 s) |
| Vehicle Life Flight Time: | 2 hours 59 minutes 44 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Feedback: | Stabilized Mode Transition; Started losing altitude in FW |
| Distance: | 3.73 km |
| Max Altitude Difference: | 191 m |
| Average Speed MC: | 15.5 km/h |
| Average Speed FW: | 58.9 km/h |
| Max Speed: | 103.1 km/h |
| Max Speed Horizontal: | 101.5 km/h |
| Max Speed Up: | 23.6 km/h |
| Max Speed Down: | 41.1 km/h |
| Max Tilt Angle: | 62.7 deg |
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Console Output
/fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [628:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.2.0 nsh> [KINFO [navigator] Mission #3 loaded, 9 WPs INFO [uavcan:125:] freemem 1840 uavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [uavcan:125:GPS] Registered Topic for 0x1 0x6 INFO [uavcan:125:GPS] Registered Topic for 0x5 0x1 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x8 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x1 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x24 INFO [uavcan:125:GPS] Registered Topic for 0xA 0x4 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x7 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x61 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x4 WARN [ekf2] 0 - mag sensor ID changed 589858 -> 8944899 WARN [ekf2] 2 - mag sensor ID changed 589858 -> 8944899 WARN [ekf2] 1 - mag sensor ID changed 589858 -> 8944899 uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 81.61%(4081179/5000362) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 144 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 144 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120130/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120703/5000016) WARN [mc_pos_control] invalid setpoints INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4123175/5000403) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120030/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121153/5000357) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119149/5000054) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118065/5000017) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.39%(4119687/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121646/5000323) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120182/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120106/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121217/5000016) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 88 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118974/5000053) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120958/5000037) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.44%(4122029/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119371/5000053) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123799/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121156/5000410) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122947/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121225/5000331) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.50%(4125403/5000182) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118668/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121291/5000405) INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-26/09_57_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-26/09_57_12.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 82688 58.922 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 588/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 412/ 1256 255 (255) w:sem 1 63 wq:hp_default 46 4.680 1228/ 1904 237 (237) w:sem 1 78 dataman 0 0.051 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.034 1036/ 1920 205 (205) w:sem 1 363 wq:uavcan 16 1.600 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.849 1640/ 2336 250 (250) w:sem 1 396 wq:SPI1 21 2.192 1684/ 2336 253 (253) w:sem 1 473 wq:I2C2 3 0.375 832/ 2336 245 (245) w:sem 1 586 wq:nav_and_controllers 35 3.544 1588/ 2240 242 (242) w:sem 1 589 wq:rate_ctrl 46 4.643 1464/ 3152 255 (255) w:sem 1 597 wq:INS0 32 3.251 4292/ 6000 241 (241) w:sem 1 599 wq:INS1 30 3.058 4292/ 6000 240 (240) w:sem 1 600 wq:INS2 30 3.035 4292/ 6000 239 (239) w:sem 1 603 commander 4 0.484 1444/ 3224 140 (140) w:sig 5 678 mavlink_if0 7 0.726 1812/ 2792 100 (100) w:sig 4 681 mavlink_rcv_if0 2 0.245 1372/ 4712 175 (175) w:sem 4 776 gps 0 0.049 1204/ 1680 205 (205) w:sem 4 858 mavlink_if1 11 1.182 1852/ 2728 100 (100) w:sig 4 860 mavlink_rcv_if1 2 0.285 1716/ 4712 175 (175) w:sem 4 913 navigator 1 0.113 1100/ 1920 105 (105) w:sem 6 997 logger 41 4.169 2876/ 3648 230 (230) RUN 4 1011 log_writer_file 12 1.285 596/ 1176 60 ( 60) w:sem 4 Processes: 25 total, 2 running, 23 sleeping CPU usage: 39.86% tasks, 1.22% sched, 58.92% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 130.513s total, 82.689s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 192237us elapsed, 192237.00us avg, min 192237us max 192237us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6443 events, 19997.30 avg, min 64us max 42276us 424.478us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 24156 events, 4749015us elapsed, 196.60us avg, min 161us max 1048us 51.211us rms gyro_fft: cycle interval: 25777 events, 5005.79 avg, min 3779us max 8187us 163.852us rms gyro_fft: cycle: 25777 events, 5111250us elapsed, 198.29us avg, min 10us max 1061us 70.153us rms navigator: 2592 events, 445997us elapsed, 172.07us avg, min 12us max 183488us 3624.033us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 12771 events, 10104.20 avg, min 9116us max 31995us 783.603us rms mavlink: tx run elapsed: 12771 events, 1946979us elapsed, 152.45us avg, min 80us max 1599us 106.600us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 25322 events, 5098.51 avg, min 4036us max 27736us 997.896us rms mavlink: tx run elapsed: 25322 events, 985667us elapsed, 38.93us avg, min 22us max 1411us 55.392us rms mag_bias_estimator: cycle: 6446 events, 150533us elapsed, 23.35us avg, min 2us max 1049us 49.119us rms land_detector: cycle: 12762 events, 179839us elapsed, 14.09us avg, min 11us max 178us 6.370us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 6373 events, 100417us elapsed, 15.76us avg, min 7us max 266us 7.298us rms fw_att_control: cycle: 25237 events, 534735us elapsed, 21.19us avg, min 16us max 168us 10.751us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 10871 events, 15120us elapsed, 1.39us avg, min 1us max 68us 2.262us rms mc_pos_control: cycle time: 12746 events, 206227us elapsed, 16.18us avg, min 1us max 345us 12.979us rms flight_mode_manager: cycle: 6373 events, 139710us elapsed, 21.92us avg, min 5us max 683us 22.076us rms mc_att_control: cycle: 25237 events, 442981us elapsed, 17.55us avg, min 8us max 354us 8.966us rms mc_rate_control: cycle: 51455 events, 461155us elapsed, 8.96us avg, min 7us max 65us 0.884us rms vtol_att_control: cycle: 51315 events, 1185765us elapsed, 23.11us avg, min 2us max 242us 4.969us rms airspeed_selector: elapsed: 1278 events, 25146us elapsed, 19.68us avg, min 15us max 193us 14.325us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 26956 events, 52073us elapsed, 1.93us avg, min 1us max 935us 12.400us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 26780 events, 52444us elapsed, 1.96us avg, min 1us max 690us 11.745us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 25799 events, 48039us elapsed, 1.86us avg, min 1us max 83us 3.404us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 13311 events, 1844628us elapsed, 138.58us avg, min 81us max 1350us 106.968us rms ekf2: ECL update: 13645 events, 43904us elapsed, 3.22us avg, min 1us max 974us 11.160us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 13221 events, 1625877us elapsed, 122.98us avg, min 81us max 1189us 79.501us rms ekf2: ECL update: 13559 events, 42449us elapsed, 3.13us avg, min 1us max 78us 2.508us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 12731 events, 1779427us elapsed, 139.77us avg, min 83us max 494us 54.065us rms ekf2: ECL update: 13069 events, 54248us elapsed, 4.15us avg, min 1us max 88us 5.803us rms pwm_out: interval: 12919 events, 10001.82 avg, min 16us max 27585us 1103.794us rms pwm_out: cycle: 12919 events, 191344us elapsed, 14.81us avg, min 2us max 175us 1.851us rms control latency: 12631 events, 50093554us elapsed, 3965.92us avg, min 341us max 13272us 1349.905us rms control latency: 51189 events, 30671413us elapsed, 599.18us avg, min 586us max 3027us 14.813us rms px4io: interface write: 51206 events, 11911661us elapsed, 232.62us avg, min 120us max 331us 5.264us rms px4io: interface read: 28803 events, 6775199us elapsed, 235.23us avg, min 135us max 682us 133.397us rms px4io: interval: 51194 events, 2524.12 avg, min 885us max 45483us 455.622us rms px4io: cycle: 51194 events, 20082165us elapsed, 392.28us avg, min 4us max 8501us 480.626us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 80009 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 80009 events, 18309469us elapsed, 228.84us avg, min 116us max 679us 80.020us rms commander: preflight check: 259 events, 2600492us elapsed, 10040.51us avg, min 788us max 13133us 769.644us rms commander: cycle: 11508 events, 3471661us elapsed, 301.67us avg, min 39us max 19809us 1511.525us 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: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 8370 events, 245617us elapsed, 29.34us avg, min 4us max 706us 20.077us rms vehicle_gps_position: cycle: 636 events, 5801us elapsed, 9.12us avg, min 2us max 85us 5.502us rms vehicle_air_data: cycle: 9573 events, 205935us elapsed, 21.51us avg, min 13us max 226us 8.926us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 51495 events, 1021969us elapsed, 19.85us avg, min 8us max 222us 1.546us rms sensors: 25816 events, 1126182us elapsed, 43.62us avg, min 16us max 3167us 44.939us rms battery_status: 12926 events, 250860us elapsed, 19.41us avg, min 13us max 1092us 38.620us rms aspd_com_err: 0 events aspd_read: 12074 events, 5844158us elapsed, 484.03us avg, min 477us max 680us 19.144us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 12860 events, 53218us elapsed, 4.14us avg, min 3us max 77us 1.195us rms ms5611: read: 12859 events, 175971us elapsed, 13.68us avg, min 11us max 78us 2.245us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 12771 events, 58567us elapsed, 4.59us avg, min 4us max 67us 1.940us rms ms5611: read: 12770 events, 218181us elapsed, 17.09us avg, min 12us max 66us 3.919us rms board_adc: sample: 90552 events, 932242us elapsed, 10.30us avg, min 7us max 14780us 56.366us rms manual_control: interval: 944 events, 137008.93 avg, min 5162us max 201684us 71220.359us rms manual_control: cycle: 944 events, 10239us elapsed, 10.85us avg, min 5us max 469us 19.670us rms rc_update: valid data interval: 2770 events, 21132.95 avg, min 13222us max 36103us 1928.084us rms rc_update: cycle interval: 2776 events, 21132.39 avg, min 13221us max 36103us 1926.903us rms rc_update: cycle: 2776 events, 42870us elapsed, 15.44us avg, min 9us max 562us 18.412us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 56358 events, 2295.91 avg, min 17us max 21590us 1076.726us rms uavcan: cycle time: 56358 events, 2238602us elapsed, 39.72us avg, min 10us max 16729us 130.758us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 259 events, 34286us elapsed, 132.38us avg, min 1us max 1291us 139.310us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 4639 events, 430987us elapsed, 92.91us avg, min 17us max 183150us 2717.613us rms dma_alloc: 22 events param: set: 166 events, 3671us elapsed, 22.11us avg, min 1us max 41us 11.427us rms param: get: 19072 events param: find: 16395 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms