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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL Test Flight 2.5.22.
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.0 (alpha) (8df3932d) |
| OS Version: | NuttX, v10.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:08:57 |
| Dropouts: | 18 (16 s) |
| Vehicle Life Flight Time: | 3 hours 9 minutes 40 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Breeze |
| Flight Rating: | Unsatisfactory |
| Distance: | 7.79 km |
| Max Altitude Difference: | 168 m |
| Average Speed MC: | 6.9 km/h |
| Average Speed FW: | 80.3 km/h |
| Max Speed: | 130.0 km/h |
| Max Speed Horizontal: | 129.7 km/h |
| Max Speed Up: | 35.9 km/h |
| Max Speed Down: | 46.2 km/h |
| Max Tilt Angle: | 114.4 deg |
Loading Plots...
Console Output
82.47%(4123923/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4118008/5000106) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121221/5000252) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122891/5000306) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118887/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120457/5000015) 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 82.38%(4119458/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.46%(4123113/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.34%(4117216/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4122127/5000321) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123772/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.49%(4124563/5000060) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118367/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.46%(4123077/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.29%(4114551/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122862/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.34%(4117368/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123601/5000015) 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 82.46%(4123172/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118050/5000015) INFO [commander] Connection to ground station lost INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4119194/5000370) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121706/5000200) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122562/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4123169/5000236) INFO [commander] Data link regained INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119098/5000111) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.48%(4124069/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121695/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122670/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120578/5000208) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123786/5000062) 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 82.38%(4119601/5000393) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121115/5000109) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.46%(4123386/5000088) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121180/5000375) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120027/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4123226/5000304) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121919/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.34%(4117277/5000308) INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-29/09_47_03.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-29/09_47_03.ulg INFO [navigator] Executing Mission INFO [navigator] Takeoff to 150.0 meters above home
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 148874 58.481 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 572/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 444/ 1256 255 (255) w:sem 1 63 wq:hp_default 45 4.586 1228/ 1904 237 (237) w:sem 1 78 dataman 0 0.064 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.035 1044/ 1920 205 (205) w:sem 1 363 wq:uavcan 14 1.459 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.850 1640/ 2336 250 (250) w:sem 1 396 wq:SPI1 22 2.199 1668/ 2336 253 (253) w:sem 1 473 wq:I2C2 3 0.384 832/ 2336 245 (245) w:sem 1 586 wq:nav_and_controllers 37 3.714 1588/ 2240 242 (242) w:sem 1 589 wq:rate_ctrl 49 4.950 1464/ 3152 255 (255) w:sem 1 597 wq:INS0 32 3.270 4292/ 6000 241 (241) w:sem 1 599 wq:INS1 30 3.024 4292/ 6000 240 (240) w:sem 1 600 wq:INS2 30 3.091 4292/ 6000 239 (239) w:sem 1 603 commander 4 0.494 1604/ 3224 140 (140) w:sig 5 680 mavlink_rcv_if0 2 0.246 1372/ 4712 175 (175) w:sem 4 678 mavlink_if0 7 0.731 1860/ 2792 100 (100) w:sig 4 1008 log_writer_file 13 1.348 580/ 1176 60 ( 60) w:sem 4 777 gps 0 0.047 1204/ 1680 205 (205) w:sem 4 858 mavlink_if1 12 1.209 1852/ 2728 100 (100) w:sig 4 860 mavlink_rcv_if1 2 0.274 1716/ 4712 175 (175) w:sem 4 913 navigator 1 0.161 1344/ 1920 105 (105) w:sem 6 997 logger 41 4.174 2844/ 3648 230 (230) RUN 4 Processes: 25 total, 2 running, 23 sleeping CPU usage: 40.32% tasks, 1.20% sched, 58.48% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 234.540s total, 148.874s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 475485 48.017 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 78 7.852 1156/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 444/ 1256 255 (255) w:sem 1 63 wq:hp_default 47 4.770 1228/ 1904 237 (237) w:sem 1 78 dataman 0 0.097 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 1 0.134 1092/ 1920 205 (205) w:sem 1 363 wq:uavcan 15 1.511 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.861 1640/ 2336 250 (250) w:sem 1 396 wq:SPI1 22 2.208 1668/ 2336 253 (253) w:sem 1 473 wq:I2C2 3 0.383 832/ 2336 245 (245) w:sem 1 586 wq:nav_and_controllers 45 4.501 1588/ 2240 242 (242) w:sem 1 589 wq:rate_ctrl 50 5.003 1464/ 3152 255 (255) w:sem 1 597 wq:INS0 33 3.380 4380/ 6000 241 (241) w:sem 1 599 wq:INS1 31 3.158 4380/ 6000 240 (240) w:sem 1 600 wq:INS2 30 3.093 4380/ 6000 239 (239) w:sem 1 603 commander 31 3.190 1604/ 3224 140 (140) w:sig 5 680 mavlink_rcv_if0 5 0.598 1500/ 4712 175 (175) w:sem 4 678 mavlink_if0 7 0.700 1860/ 2792 100 (100) w:sig 4 1008 log_writer_file 7 0.712 612/ 1176 60 ( 60) w:sem 4 777 gps 0 0.047 1204/ 1680 205 (205) w:sem 4 858 mavlink_if1 11 1.129 1860/ 2728 100 (100) w:sig 4 860 mavlink_rcv_if1 6 0.671 1716/ 4712 175 (175) w:sem 4 913 navigator 1 0.170 1344/ 1920 105 (105) w:sem 6 997 logger 26 2.610 2844/ 3648 230 (230) RUN 4 Processes: 25 total, 2 running, 23 sleeping CPU usage: 50.78% tasks, 1.20% sched, 48.02% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 771.013s total, 475.485s 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, 189112us elapsed, 189112.00us avg, min 189112us max 189112us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 11645 events, 19998.66 avg, min 60us max 44348us 326.984us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 43637 events, 8444710us elapsed, 193.52us avg, min 159us max 1163us 50.729us rms gyro_fft: cycle interval: 46557 events, 5006.21 avg, min 3636us max 8334us 160.749us rms gyro_fft: cycle: 46557 events, 9113161us elapsed, 195.74us avg, min 10us max 1176us 69.157us rms navigator: 4708 events, 703452us elapsed, 149.42us avg, min 12us max 220384us 3228.982us 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: 23073 events, 10101.99 avg, min 9109us max 30660us 756.785us rms mavlink: tx run elapsed: 23073 events, 3652175us elapsed, 158.29us avg, min 79us max 1854us 112.134us 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: 45746 events, 5096.47 avg, min 4036us max 26033us 981.050us rms mavlink: tx run elapsed: 45746 events, 1930690us elapsed, 42.20us avg, min 22us max 1381us 60.578us rms mag_bias_estimator: cycle: 11648 events, 263135us elapsed, 22.59us avg, min 3us max 1282us 40.985us rms land_detector: cycle: 23152 events, 332967us elapsed, 14.38us avg, min 10us max 211us 6.788us 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: 11575 events, 181990us elapsed, 15.72us avg, min 7us max 181us 7.362us rms fw_att_control: cycle: 46159 events, 949462us elapsed, 20.57us avg, min 16us max 175us 9.584us 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: 21339 events, 29373us elapsed, 1.38us avg, min 1us max 77us 1.887us rms mc_pos_control: cycle time: 23136 events, 619223us elapsed, 26.76us avg, min 1us max 305us 10.258us rms flight_mode_manager: cycle: 11575 events, 475937us elapsed, 41.12us avg, min 4us max 610us 16.194us rms mc_att_control: cycle: 46159 events, 500098us elapsed, 10.83us avg, min 3us max 339us 5.530us rms mc_rate_control: cycle: 93029 events, 834646us elapsed, 8.97us avg, min 7us max 69us 0.857us rms vtol_att_control: cycle: 92793 events, 2512099us elapsed, 27.07us avg, min 1us max 231us 3.762us rms airspeed_selector: elapsed: 2318 events, 44854us elapsed, 19.35us avg, min 15us max 177us 12.159us 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: 48676 events, 93451us elapsed, 1.92us avg, min 1us max 704us 10.397us 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: 48359 events, 96663us elapsed, 2.00us avg, min 1us max 758us 13.107us 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: 46579 events, 92768us elapsed, 1.99us avg, min 1us max 98us 4.003us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 24171 events, 3372762us elapsed, 139.54us avg, min 82us max 1573us 111.114us rms ekf2: ECL update: 24505 events, 79125us elapsed, 3.23us avg, min 1us max 659us 8.929us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 24011 events, 2999684us elapsed, 124.93us avg, min 82us max 1369us 87.422us rms ekf2: ECL update: 24348 events, 75393us elapsed, 3.10us avg, min 1us max 77us 2.164us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 23121 events, 3292052us elapsed, 142.38us avg, min 83us max 516us 54.515us rms ekf2: ECL update: 23459 events, 84799us elapsed, 3.61us avg, min 1us max 95us 4.079us rms pwm_out: interval: 23322 events, 10001.13 avg, min 49us max 27640us 913.572us rms pwm_out: cycle: 23322 events, 346216us elapsed, 14.85us avg, min 2us max 172us 1.518us rms control latency: 23105 events, 91040773us elapsed, 3940.31us avg, min 337us max 13256us 1311.713us rms control latency: 92179 events, 55608960us elapsed, 603.27us avg, min 585us max 9098us 41.803us rms px4io: interface write: 92196 events, 21433904us elapsed, 232.48us avg, min 120us max 330us 4.183us rms px4io: interface read: 43956 events, 8953325us elapsed, 203.69us avg, min 135us max 671us 104.186us rms px4io: interval: 92184 events, 2530.34 avg, min 885us max 45503us 394.570us rms px4io: cycle: 92184 events, 32876301us elapsed, 356.64us avg, min 4us max 8535us 368.367us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 136152 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 136152 events, 29737875us elapsed, 218.42us avg, min 116us max 667us 60.526us rms commander: preflight check: 466 events, 4668928us elapsed, 10019.16us avg, min 795us max 12499us 645.747us rms commander: cycle: 20780 events, 6264442us elapsed, 301.46us avg, min 39us max 20327us 1502.970us 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: 15267 events, 448777us elapsed, 29.40us avg, min 5us max 768us 19.434us rms vehicle_gps_position: cycle: 1156 events, 11280us elapsed, 9.76us avg, min 3us max 165us 9.809us rms vehicle_air_data: cycle: 17280 events, 368581us elapsed, 21.33us avg, min 13us max 227us 8.618us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 93070 events, 1844417us elapsed, 19.82us avg, min 7us max 221us 1.316us rms sensors: 46596 events, 2000935us elapsed, 42.94us avg, min 16us max 3245us 37.224us rms battery_status: 23329 events, 439279us elapsed, 18.83us avg, min 13us max 1315us 37.671us rms aspd_com_err: 0 events aspd_read: 21790 events, 10554213us elapsed, 484.36us avg, min 477us max 710us 20.035us 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: 23203 events, 96170us elapsed, 4.14us avg, min 3us max 43us 1.168us rms ms5611: read: 23202 events, 316821us elapsed, 13.65us avg, min 11us max 80us 2.120us 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: 23047 events, 105037us elapsed, 4.56us avg, min 4us max 66us 1.670us rms ms5611: read: 23046 events, 392062us elapsed, 17.01us avg, min 12us max 91us 3.854us rms board_adc: sample: 163380 events, 1690266us elapsed, 10.35us avg, min 7us max 14779us 46.489us rms manual_control: interval: 1275 events, 183003.24 avg, min 29us max 200968us 44593.516us rms manual_control: cycle: 1275 events, 11318us elapsed, 8.88us avg, min 5us max 632us 23.290us rms rc_update: valid data interval: 1660 events, 21119.83 avg, min 13077us max 36101us 1910.004us rms rc_update: cycle interval: 1666 events, 21120.45 avg, min 13078us max 36101us 1907.568us rms rc_update: cycle: 1666 events, 26111us elapsed, 15.67us avg, min 8us max 1112us 32.789us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 102656 events, 2273.93 avg, min 17us max 21687us 1085.912us rms uavcan: cycle time: 102656 events, 4039681us elapsed, 39.35us avg, min 10us max 15376us 101.481us 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: 467 events, 53860us elapsed, 115.33us avg, min 1us max 1135us 130.688us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 8861 events, 629518us elapsed, 71.04us avg, min 17us max 188923us 2053.662us rms dma_alloc: 22 events param: set: 169 events, 3799us elapsed, 22.48us avg, min 2us max 42us 11.652us rms param: get: 28206 events param: find: 27008 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post 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: 1147 events, 8649330us elapsed, 7540.83us avg, min 4us max 484245us 14240.014us rms logger_sd_write: 11457 events, 149674622us elapsed, 13064.03us avg, min 5us max 3935801us 68652.836us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 53 events, 9811318.77 avg, min 9998957us max 10001569us 377.664us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 100622 events, 20989902us elapsed, 208.60us avg, min 160us max 2887us 82.443us rms gyro_fft: cycle interval: 107326 events, 5005.75 avg, min 324us max 10289us 238.964us rms gyro_fft: cycle: 107326 events, 22842357us elapsed, 212.83us avg, min 2us max 2908us 102.116us rms navigator: 10912 events, 24162376us elapsed, 2214.29us avg, min 11us max 3732143us 65683.656us 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: 53611 events, 10021.16 avg, min 9108us max 51243us 301.571us rms mavlink: tx run elapsed: 53611 events, 8070411us elapsed, 150.54us avg, min 95us max 4594us 144.674us 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: 106976 events, 5022.12 avg, min 4032us max 46357us 352.692us rms mavlink: tx run elapsed: 106976 events, 4544930us elapsed, 42.49us avg, min 22us max 4253us 87.073us rms mag_bias_estimator: cycle: 24 events, 997us elapsed, 41.54us avg, min 3us max 440us 926.524us rms land_detector: cycle: 53666 events, 710217us elapsed, 13.23us avg, min 10us max 152us 7.849us 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: 26862 events, 1464222us elapsed, 54.51us avg, min 12us max 242us 32.350us rms fw_att_control: cycle: 107332 events, 3078551us elapsed, 28.68us avg, min 16us max 135us 12.055us 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: 37207 events, 187433us elapsed, 5.04us avg, min 1us max 135us 3.909us rms mc_pos_control: cycle time: 53666 events, 849789us elapsed, 15.83us avg, min 5us max 171us 14.092us rms flight_mode_manager: cycle: 26862 events, 569421us elapsed, 21.20us avg, min 4us max 446us 24.115us rms mc_att_control: cycle: 107333 events, 666607us elapsed, 6.21us avg, min 2us max 115us 6.117us rms mc_rate_control: cycle: 213612 events, 2006008us elapsed, 9.39us avg, min 8us max 49us 0.988us rms vtol_att_control: cycle: 213025 events, 4184624us elapsed, 19.64us avg, min 1us max 121us 13.555us rms airspeed_selector: elapsed: 5373 events, 154964us elapsed, 28.84us avg, min 15us max 210us 19.229us 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: 112218 events, 214789us elapsed, 1.91us avg, min 1us max 2213us 14.196us 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: 111465 events, 199597us elapsed, 1.79us avg, min 1us max 759us 12.385us 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: 107333 events, 190727us elapsed, 1.78us avg, min 1us max 108us 3.998us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 56109 events, 13311540us elapsed, 237.24us avg, min 83us max 4134us 337.044us rms ekf2: ECL update: 56109 events, 202315us elapsed, 3.61us avg, min 2us max 1126us 14.265us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 55732 events, 12083840us elapsed, 216.82us avg, min 84us max 2915us 292.932us rms ekf2: ECL update: 55733 events, 186999us elapsed, 3.36us avg, min 2us max 76us 2.690us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 53666 events, 11049013us elapsed, 205.88us avg, min 84us max 1322us 214.973us rms ekf2: ECL update: 53667 events, 191017us elapsed, 3.56us avg, min 2us max 102us 4.113us rms pwm_out: interval: 53696 events, 10005.29 avg, min 16us max 21217us 1434.068us rms pwm_out: cycle: 53696 events, 790038us elapsed, 14.71us avg, min 12us max 24us 1.439us rms control latency: 53696 events, 184748737us elapsed, 3440.64us avg, min 329us max 17619us 1492.611us rms control latency: 147631 events, 92023739us elapsed, 623.34us avg, min 586us max 9188us 400.760us rms px4io: interface write: 147639 events, 34436184us elapsed, 233.25us avg, min 123us max 338us 7.130us rms px4io: interface read: 148710 events, 40616514us elapsed, 273.13us avg, min 135us max 645us 163.236us rms px4io: interval: 147632 events, 3639.13 avg, min 2060us max 13063us 1317.497us rms px4io: cycle: 147632 events, 79120959us elapsed, 535.93us avg, min 253us max 9128us 786.028us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 296350 events px4io: uarterrs: 0 events px4io: protoerrs: 2 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 296350 events, 73700754us elapsed, 248.69us avg, min 119us max 641us 117.673us rms commander: preflight check: 4 events, 73406us elapsed, 18351.50us avg, min 10638us max 40953us 17079.137us rms commander: cycle: 48702 events, 3777710us elapsed, 77.57us avg, min 41us max 41228us 1008.867us 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: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 35450 events, 1004361us elapsed, 28.33us avg, min 18us max 413us 20.923us rms vehicle_gps_position: cycle: 2687 events, 25953us elapsed, 9.66us avg, min 3us max 188us 10.093us rms vehicle_air_data: cycle: 39794 events, 847876us elapsed, 21.31us avg, min 13us max 112us 10.026us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 213613 events, 4248738us elapsed, 19.89us avg, min 18us max 110us 1.670us rms sensors: 107333 events, 4272518us elapsed, 39.81us avg, min 28us max 3304us 29.335us rms battery_status: 53725 events, 1066163us elapsed, 19.84us avg, min 13us max 3485us 58.360us rms aspd_com_err: 0 events aspd_read: 50186 events, 24261238us elapsed, 483.43us avg, min 477us max 692us 22.438us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 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: 53436 events, 220863us elapsed, 4.13us avg, min 3us max 42us 1.316us rms ms5611: read: 53436 events, 730678us elapsed, 13.67us avg, min 11us max 156us 2.629us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 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: 53060 events, 243420us elapsed, 4.59us avg, min 4us max 138us 2.204us rms ms5611: read: 53060 events, 906102us elapsed, 17.08us avg, min 12us max 180us 4.671us rms board_adc: sample: 376075 events, 3900339us elapsed, 10.37us avg, min 7us max 3517us 46.366us rms manual_control: interval: 3832 events, 140194.22 avg, min 30us max 202337us 57818.426us rms manual_control: cycle: 3832 events, 47131us elapsed, 12.30us avg, min 8us max 1464us 39.204us rms rc_update: valid data interval: 24731 events, 21723.52 avg, min 10520us max 39170us 2573.370us rms rc_update: cycle interval: 24731 events, 21723.52 avg, min 10521us max 39170us 2572.973us rms rc_update: cycle: 24731 events, 373262us elapsed, 15.09us avg, min 12us max 2384us 32.761us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 235969 events, 2276.79 avg, min 15us max 9451us 1100.282us rms uavcan: cycle time: 235969 events, 8975492us elapsed, 38.04us avg, min 9us max 4068us 103.309us 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: 1075 events, 138017us elapsed, 128.39us avg, min 74us max 2656us 195.156us rms dataman: write: 23 events, 66298us elapsed, 2882.52us avg, min 1246us max 5166us 955.919us rms dataman: read: 21069 events, 23662766us elapsed, 1123.11us avg, min 17us max 3731398us 47264.727us rms dma_alloc: 2 events param: set: 30 events, 673us elapsed, 22.43us avg, min 1us max 325us 74.519us rms param: get: 6579 events param: find: 1856 events param: export: 1 events, 43164us elapsed, 43164.00us avg, min 43164us max 43164us nanus rms