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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Andrew's Freefly Drone Software Engineer Challenge Flight Log
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_SITL |
| Software Version: | v1.16.0 (RC) (2c97a875) branch: main |
| OS Version: | Linux, v6.6.87 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:44 |
| Vehicle Life Flight Time: | 10 minutes 38 seconds |
| Distance: | 29.3 m |
| Max Altitude Difference: | 5 m |
| Average Speed: | 2.4 km/h |
| Max Speed: | 8.2 km/h |
| Max Speed Horizontal: | 8.2 km/h |
| Max Speed Up: | 4.6 km/h |
| Max Speed Down: | 2.8 km/h |
| Max Tilt Angle: | 16.4 deg |
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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: 236 events, 736000us elapsed, 3118.64us avg, min 4000us max 12000us 2191.549us rms logger_sd_write: 5531 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46937 events, 4001.19 avg, min 4000us max 16000us 99.403us rms mavlink: tx run elapsed: 46937 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46934 events, 4001.45 avg, min 4000us max 20000us 107.631us rms mavlink: tx run elapsed: 46934 events, 16000us elapsed, 0.34us avg, min 0us max 4000us 36.923us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46938 events, 4001.11 avg, min 4000us max 24000us 110.753us rms mavlink: tx run elapsed: 46938 events, 24000us elapsed, 0.51us avg, min 0us max 4000us 45.216us rms DatamanClient: sync: 18 events, 32000us elapsed, 1777.78us avg, min 4000us max 4000us 2045.240us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46933 events, 4001.53 avg, min 4000us max 24000us 136.905us rms mavlink: tx run elapsed: 46933 events, 48000us elapsed, 1.02us avg, min 0us max 20000us 104.433us rms DatamanClient: sync: 38 events, 4000us elapsed, 105.26us avg, min 0us max 4000us 648.886us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6897 events, 27225.75 avg, min 0us max 10000000us 268612.500us rms gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 1092 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 11739 events, 15998.30 avg, min 0us max 32000us 356.041us rms gyro_fft: cycle: 11738 events, 80000us elapsed, 6.82us avg, min 0us max 8000us 173.041us rms uxrce_dds_client: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 9 events DatamanClient: sync: 113 events, 4000us elapsed, 35.40us avg, min 4000us max 4000us 376.288us rms geofence_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 4076 events, 28000us elapsed, 6.87us avg, min 0us max 4000us 165.643us rms land_detector: cycle: 23465 events, 52000us elapsed, 2.22us avg, min 0us max 20000us 149.983us rms mc_pos_control: cycle time: 23465 events, 40000us elapsed, 1.70us avg, min 0us max 4000us 82.557us rms flight_mode_manager: cycle: 9390 events, 44000us elapsed, 4.69us avg, min 0us max 4000us 136.834us rms mc_hover_thrust_estimator: cycle time: 23465 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 46882 events, 104000us elapsed, 2.22us avg, min 0us max 4000us 94.172us rms mc_rate_control: cycle: 46935 events, 40000us elapsed, 0.85us avg, min 0us max 4000us 58.379us rms control_allocator: cycle: 46935 events, 32000us elapsed, 0.68us avg, min 0us max 4000us 52.218us rms pwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms pwm_out_sim: cycle: 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 ekf2: IMU message missed: 2 events ekf2: EKF update: 23465 events, 80000us elapsed, 3.41us avg, min 0us max 4000us 116.727us rms commander: preflight check: 1743 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 15658 events, 20000us elapsed, 1.28us avg, min 0us max 20000us 159.823us rms vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 2 events vehicle_magnetometer: cycle: 18776 events, 40000us elapsed, 2.13us avg, min 0us max 12000us 116.743us rms vehicle_gps_position: cycle: 5692 events, 8000us elapsed, 1.41us avg, min 0us max 4000us 74.973us rms vehicle_air_data: cycle: 9388 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 46937 events, 60000us elapsed, 1.28us avg, min 0us max 12000us 90.422us rms sensors: 46930 events, 444000us elapsed, 9.46us avg, min 0us max 8000us 196.047us rms manual_control: interval: 939 events, 199787.01 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 939 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms system_power_simulator: cycle: 18779 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_simulator: cycle: 18779 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 375 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 control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 46934 events, 992000us elapsed, 21.14us avg, min 0us max 28000us 337.048us rms dataman: write: 19 events, 28000us elapsed, 1473.68us avg, min 4000us max 4000us 1982.379us rms dataman: read: 158 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 6 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 25749 events param: find: 14526 events param: export: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 109 events, 940000us elapsed, 8623.85us avg, min 4000us max 24000us 4633.069us rms logger_sd_write: 2628 events, 588000us elapsed, 223.74us avg, min 0us max 4000us 919.368us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11033 events, 4002.54 avg, min 4000us max 12000us 120.391us rms mavlink: tx run elapsed: 11033 events, 8000us elapsed, 0.73us avg, min 0us max 4000us 53.850us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11030 events, 4003.63 avg, min 4000us max 8000us 126.261us rms mavlink: tx run elapsed: 11030 events, 24000us elapsed, 2.18us avg, min 0us max 4000us 120.411us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11023 events, 4006.17 avg, min 4000us max 8000us 161.514us rms mavlink: tx run elapsed: 11023 events, 60000us elapsed, 5.44us avg, min 0us max 4000us 174.508us rms DatamanClient: sync: 18 events, 92000us elapsed, 5111.11us avg, min 4000us max 12000us 3368.443us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11021 events, 4006.90 avg, min 4000us max 12000us 178.577us rms mavlink: tx run elapsed: 11021 events, 64000us elapsed, 5.81us avg, min 0us max 4000us 263.896us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6 events, 6666666.67 avg, min 0us max 10000000us 4000000.000us rms gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 258 events, 28000us elapsed, 108.53us avg, min 0us max 4000us 651.133us rms gyro_fft: cycle interval: 2761 events, 15985.51 avg, min 0us max 20000us 812.890us rms gyro_fft: cycle: 2761 events, 356000us elapsed, 128.94us avg, min 0us max 4000us 791.609us rms uxrce_dds_client: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 9 events DatamanClient: sync: 79 events, 24000us elapsed, 303.80us avg, min 4000us max 4000us 1157.845us rms geofence_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 946 events, 148000us elapsed, 156.45us avg, min 0us max 12000us 925.050us rms land_detector: cycle: 5514 events, 104000us elapsed, 18.86us avg, min 0us max 4000us 413.333us rms mc_pos_control: cycle time: 5514 events, 284000us elapsed, 51.51us avg, min 0us max 4000us 482.093us rms flight_mode_manager: cycle: 2208 events, 208000us elapsed, 94.20us avg, min 0us max 4000us 669.147us rms mc_hover_thrust_estimator: cycle time: 5514 events, 44000us elapsed, 7.98us avg, min 0us max 4000us 178.496us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 11027 events, 428000us elapsed, 38.81us avg, min 0us max 4000us 437.574us rms mc_rate_control: cycle: 11034 events, 176000us elapsed, 15.95us avg, min 0us max 4000us 279.375us rms control_allocator: cycle: 11034 events, 292000us elapsed, 26.46us avg, min 0us max 8000us 345.923us rms pwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms pwm_out_sim: cycle: 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 ekf2: IMU message missed: 0 events ekf2: EKF update: 5514 events, 800000us elapsed, 145.09us avg, min 0us max 4000us 785.738us rms commander: preflight check: 410 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 3689 events, 4000us elapsed, 1.08us avg, min 0us max 4000us 335.826us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 4417 events, 280000us elapsed, 63.39us avg, min 0us max 4000us 554.571us rms vehicle_gps_position: cycle: 1338 events, 36000us elapsed, 26.91us avg, min 0us max 4000us 361.809us rms vehicle_air_data: cycle: 2208 events, 92000us elapsed, 41.67us avg, min 0us max 4000us 406.208us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 11034 events, 252000us elapsed, 22.84us avg, min 0us max 8000us 358.505us rms sensors: 11031 events, 1540000us elapsed, 139.61us avg, min 0us max 8000us 841.613us rms manual_control: interval: 221 events, 199095.02 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 221 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms system_power_simulator: cycle: 4416 events, 4000us elapsed, 0.91us avg, min 0us max 4000us 60.194us rms battery_simulator: cycle: 4416 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 89 events, 4000us elapsed, 44.94us avg, min 0us max 4000us 423.999us rms 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 control latency: 11035 events, 5172000us elapsed, 468.69us avg, min 0us max 12000us 1475.180us rms dataman: write: 19 events, 96000us elapsed, 5052.63us avg, min 4000us max 12000us 3280.280us rms dataman: read: 86 events, 4000us elapsed, 46.51us avg, min 0us max 4000us 431.331us rms param: set: 3 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 3172 events param: find: 3362 events param: export: 1 events, 16000us elapsed, 16000.00us avg, min 16000us max 16000us -nanus rms