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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
RC loss leads to crash
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | MATEK_H743_SLIM |
| Software Version: | v1.16.0 (alpha) (9ae559e3) branch: main |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:29 |
| Vehicle Life Flight Time: | 1 hours 3 minutes 42 seconds |
| Vehicle UUID: | 000600000000393334373131511700410046 |
| Distance: | 15.4 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.5 km/h |
| Max Speed: | 11.1 km/h |
| Max Speed Horizontal: | 11.0 km/h |
| Max Speed Up: | 1.3 km/h |
| Max Speed Down: | 6.6 km/h |
| Max Tilt Angle: | 74.8 deg |
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Console Output
HW arch: MATEK_H743_SLIM PX4 git-hash: 9ae559e311f7ba236ea9fbaf1bc81ee860b14d40 PX4 version: 1.16.0 40 (17825856) PX4 git-branch: main OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 205b3100f8f63944a45faa5cfb5d3f86e904ee59 Build datetime: Jun 27 2025 18:19:39 Build uri: localhost Build variant: default Toolchain: GNU GCC, 10.2.1 20201103 (release) PX4GUID: 000600000000393334373131511700410046 MCU: STM32H7[4|5]xxx, rev. V New /fs/mtd_caldata size is: INFO [param] selected parameter default file /fs/microsd/params INFO [param] importing from '/fs/microsd/params' INFO [parameters] BSON document size 2190 bytes, decoded 2190 bytes (INT32:53, FLOAT:55) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors icm42688p #0 on SPI bus 1 rotation 12 icm42688p #1 on SPI bus 4 rotation 26 dps310 #0 on I2C bus 2 address 0x76 ERROR [SPI_I2C] qmc5883l: no instance started (no device on bus?) ist8310 #0 on I2C bus 1 address 0xE ekf2 [529:237] Starting Benewake TFmini Rangefinder on /dev/ttyS3 Starting Main GPS on /dev/ttyS1 Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS2 @ 57600B ERROR [parameters] get: param 65535 invalid INFO [cdcacm_autostart] Starting CDC/ACM autostart Board extras: /etc/init.d/rc.board_extras INFO [logger] logger started (mode=all) INFO [rc_input] RC scan: SBUS RC input locked NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver ERROR [parameters] get: param 65535 invalid INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference INFO [commander] Armed by RC switch INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-14/18_19_44.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-14/18_19_44.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27517 66.182 184/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2252/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.027 1108/ 2320 205 (205) w:sem 5 856 log_writer_file 4 0.456 604/ 1144 60 ( 60) w:sem 4 303 wq:hp_default 38 3.874 1252/ 2776 237 (237) w:sem 5 327 dataman 0 0.001 828/ 1376 90 ( 90) w:sem 5 333 wq:SPI1 31 3.196 1932/ 2368 253 (253) w:sem 5 342 wq:SPI4 31 3.112 1792/ 2368 250 (250) w:sem 5 345 wq:I2C2 1 0.162 784/ 2312 245 (245) w:sem 5 478 wq:I2C1 1 0.192 924/ 2312 246 (246) w:sem 5 522 wq:nav_and_controllers 22 2.290 1276/ 2216 242 (242) w:sem 5 523 wq:rate_ctrl 53 5.304 2476/ 3120 255 (255) w:sem 5 524 wq:INS0 43 4.354 3788/ 5976 241 (241) w:sem 5 526 wq:INS1 41 4.144 3788/ 5976 240 (240) w:sem 5 543 commander 4 0.495 1644/ 3192 140 (140) w:sig 5 604 wq:ttyS3 1 0.171 816/ 1704 231 (231) w:sem 5 659 gps 1 0.137 1196/ 1936 205 (205) w:sem 4 731 mavlink_if0 9 0.991 1860/ 2704 100 (100) READY 5 733 mavlink_rcv_if0 2 0.226 1860/ 4744 175 (175) READY 5 786 wq:ttyS4 3 0.356 932/ 1704 230 (230) READY 5 794 navigator 0 0.077 1624/ 2144 105 (105) w:sem 11 853 logger 34 3.486 3052/ 3616 230 (230) RUN 4 Processes: 25 total, 5 running, 20 sleeping CPU usage: 33.06% tasks, 0.76% sched, 66.18% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 39.413s total, 27.517s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 262us elapsed, 262.00us avg, min 262us max 262us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms rtl_dm_cache_miss_geo: 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, 771494us elapsed, 771494.00us avg, min 771494us max 771494us infus rms DatamanClient: sync: 1 events, 15522us elapsed, 15522.00us avg, min 15522us max 15522us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1907 events, 19993.75 avg, min 279us max 47855us 820.208us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 7338 events, 1130324us elapsed, 154.04us avg, min 132us max 981us 62.359us rms gyro_fft: cycle interval: 15728 events, 2473.49 avg, min 286us max 3478us 99.798us rms gyro_fft: cycle: 15728 events, 1281792us elapsed, 81.50us avg, min 2us max 992us 88.808us rms DatamanClient: sync: 1 events, 4347us elapsed, 4347.00us avg, min 4347us max 4347us infus rms navigator: 827 events, 21962us elapsed, 26.56us avg, min 17us max 574us 27.065us rms rc_input: publish interval: 4316 events, 9008.71 avg, min 436us max 35567us 1799.108us rms rc_input: cycle time: 9719 events, 88994us elapsed, 9.16us avg, min 4us max 976us 24.023us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3887 events, 10009.70 avg, min 9162us max 35717us 441.922us rms mavlink: tx run elapsed: 3887 events, 492775us elapsed, 126.78us avg, min 69us max 1629us 109.833us rms DatamanClient: sync: 6 events, 2232us elapsed, 372.00us avg, min 52us max 970us 336.033us 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 tfmini: read: 5865 events, 51145us elapsed, 8.72us avg, min 2us max 980us 32.645us rms tfmini: com_err: 0 events mag_bias_estimator: cycle: 1910 events, 19531us elapsed, 10.23us avg, min 2us max 615us 21.733us rms land_detector: cycle: 3924 events, 40338us elapsed, 10.28us avg, min 9us max 108us 3.542us rms mc_pos_control: cycle time: 3923 events, 27047us elapsed, 6.89us avg, min 1us max 206us 4.486us rms flight_mode_manager: cycle: 1941 events, 13672us elapsed, 7.04us avg, min 3us max 725us 42.865us rms mc_hover_thrust_estimator: cycle time: 3921 events, 3331us elapsed, 0.85us avg, min 1us max 26us 0.733us rms mc_att_control: cycle: 7537 events, 129951us elapsed, 17.24us avg, min 15us max 166us 3.679us rms mc_rate_control: cycle: 31514 events, 286759us elapsed, 9.10us avg, min 8us max 78us 1.073us rms control_allocator: cycle: 31514 events, 605139us elapsed, 19.20us avg, min 17us max 134us 2.180us rms pwm_out: interval: 131 events, 295421.08 avg, min 212us max 300725us 26192.381us rms pwm_out: cycle: 131 events, 750us elapsed, 5.73us avg, min 3us max 158us 15.958us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 31516 events, 493743us elapsed, 15.67us avg, min 14us max 69us 1.054us rms control latency: 31515 events, 4787350us elapsed, 151.91us avg, min 143us max 293us 3.741us rms commander: preflight check: 356 events, 56262us elapsed, 158.04us avg, min 105us max 940us 118.691us rms commander: cycle: 3540 events, 397243us elapsed, 112.22us avg, min 29us max 1958us 166.459us rms manual_control: interval: 533 events, 73066.61 avg, min 495us max 200547us 61707.773us rms manual_control: cycle: 533 events, 6778us elapsed, 12.72us avg, min 7us max 494us 32.558us rms rc_update: valid data interval: 4303 events, 9009.53 avg, min 438us max 35569us 1798.728us rms rc_update: cycle interval: 4316 events, 9008.71 avg, min 437us max 35568us 1799.210us rms rc_update: cycle: 4316 events, 60786us elapsed, 14.08us avg, min 8us max 1159us 28.022us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3883 events, 1196186us elapsed, 308.06us avg, min 131us max 1741us 180.424us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3925 events, 1074357us elapsed, 273.72us avg, min 131us max 775us 114.289us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 1800 events, 32655us elapsed, 18.14us avg, min 6us max 485us 11.842us rms vehicle_gps_position: cycle: 329 events, 3500us elapsed, 10.64us avg, min 1us max 102us 11.357us rms vehicle_air_data: cycle: 1062 events, 12563us elapsed, 11.83us avg, min 3us max 179us 11.627us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 31537 events, 412737us elapsed, 13.09us avg, min 11us max 53us 0.963us rms sensors: 7883 events, 227735us elapsed, 28.89us avg, min 19us max 1340us 28.909us rms battery_status: 3901 events, 38250us elapsed, 9.81us avg, min 7us max 910us 19.468us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events dps310: comm errors: 0 events dps310: read: 2498 events, 1641465us elapsed, 657.11us avg, min 403us max 1371us 391.678us rms icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events board_adc: sample: 27356 events, 72647us elapsed, 2.66us avg, min 2us max 3482us 23.160us rms load_mon: cycle: 79 events, 9028us elapsed, 114.28us avg, min 2us max 725us 109.127us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 3298us elapsed, 471.14us avg, min 7us max 945us 347.531us rms dma_alloc: 4 events param: set: 108 events, 1415us elapsed, 13.10us avg, min 5us max 26us 5.403us rms param: get: 12172 events param: find: 8002 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms