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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
New Pixhawk 1 with PX4 v1.8.0
| Airframe: | Generic Hexarotor x geometry Hexarotor x (6001) |
| Hardware: | PX4FMU_V2 (V2) |
| Software Version: | v1.8.0 (96443b3c) |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:38 |
| Vehicle Life Flight Time: | 2 minutes 4 seconds |
| Vehicle UUID: | 004200413336510C36353335 (Pixhawk-001) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Started a simple mission. Mission aborted to Descend flight mode (??) then I put it in Altitude mode but it ignored all commands and gently dropped into a bush. |
| Distance: | 78.2 m |
| Max Altitude Difference: | 12 m |
| Average Speed: | 3.6 km/h |
| Max Speed: | 19.6 km/h |
| Max Speed Horizontal: | 19.6 km/h |
| Max Speed Up: | 7.9 km/h |
| Max Speed Down: | 9.5 km/h |
| Max Tilt Angle: | 158.1 deg |
| Max Rotation Speed: | 854.6 deg/s |
| Average Current: | 7.4 A |
| Max Current: | 28.3 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 329153 55.888 504/ 748 0 ( 0) READY 3 1 hpwork 17538 3.293 880/ 1780 249 (249) w:sig 17 2 lpwork 1763 0.199 928/ 1780 50 ( 50) w:sig 10 3 init 5319 0.000 1808/ 2484 100 (100) w:sem 3 92 dataman 308 0.000 728/ 1180 90 ( 90) w:sem 4 100 gps 1317 0.199 1056/ 1580 220 (220) w:sem 5 148 sensors 28993 4.491 1336/ 1964 249 (249) w:sem 16 150 commander 5912 0.998 1944/ 3212 140 (140) w:sig 29 151 commander_low_prio 17 0.000 552/ 2996 50 ( 50) w:sem 29 159 px4io 18340 3.393 960/ 1484 251 (251) w:sem 11 172 mavlink_if0 11450 2.195 1792/ 2572 100 (100) w:sig 35 173 mavlink_rcv_if0 2959 0.499 1528/ 2836 175 (175) w:sem 35 185 mavlink_if1 5433 0.998 1784/ 2532 100 (100) w:sig 32 186 mavlink_rcv_if1 2557 0.499 1304/ 2836 175 (175) w:sem 32 334 log_writer_file 686 1.097 752/ 1068 60 ( 60) w:sem 39 285 ekf2 69365 12.974 4608/ 6572 250 (250) w:sem 20 293 mc_att_control 16868 3.193 848/ 1660 251 (251) w:sem 16 295 mc_pos_control 15327 2.994 816/ 1876 250 (250) w:sem 12 298 navigator 990 0.099 976/ 1764 105 (105) w:sem 15 329 logger 9475 5.688 3072/ 3540 245 (245) RUN 39 Processes: 20 total, 2 running, 18 sleeping, max FDs: 54 CPU usage: 42.81% tasks, 1.30% sched, 55.89% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 544.781s total, 329.154s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 381641 49.350 504/ 748 0 ( 0) READY 3 1 hpwork 20668 3.396 880/ 1780 249 (249) w:sig 17 2 lpwork 1940 2.497 944/ 1780 50 ( 50) w:sig 10 3 init 5319 0.000 1808/ 2484 100 (100) w:sem 3 92 dataman 342 0.799 728/ 1180 90 ( 90) w:sem 4 100 gps 1546 0.199 1056/ 1580 220 (220) w:sem 5 148 sensors 33444 4.795 1336/ 1964 249 (249) w:sem 16 150 commander 6975 1.098 1944/ 3212 140 (140) w:sig 29 151 commander_low_prio 20 0.000 552/ 2996 50 ( 50) w:sem 29 159 px4io 21616 3.396 960/ 1484 251 (251) w:sem 11 172 mavlink_if0 13419 1.898 1792/ 2572 100 (100) w:sig 37 173 mavlink_rcv_if0 3438 0.499 1528/ 2836 175 (175) w:sem 37 185 mavlink_if1 6468 0.999 1784/ 2532 100 (100) w:sig 33 186 mavlink_rcv_if1 3017 0.499 1304/ 2836 175 (175) w:sem 33 334 log_writer_file 1704 1.198 752/ 1068 60 ( 60) w:sem 42 285 ekf2 82005 13.086 4608/ 6572 250 (250) w:sem 20 293 mc_att_control 19920 3.096 848/ 1660 251 (251) w:sem 16 295 mc_pos_control 20108 5.494 1016/ 1876 250 (250) w:sem 12 298 navigator 1235 0.699 1088/ 1764 105 (105) w:sem 15 329 logger 14835 5.694 3072/ 3540 245 (245) RUN 42 Processes: 20 total, 2 running, 18 sleeping, max FDs: 54 CPU usage: 49.35% tasks, 1.30% sched, 49.35% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 642.007s total, 381.642s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 60 events, 955450us elapsed, 15924us avg, min 3705us max 566052us 72233.219us rms logger_sd_write: 658 events, 8696045us elapsed, 13215us avg, min 10us max 832471us 34412.066us rms navigator: 9573 events, 2431562us elapsed, 254us avg, min 28us max 634474us 7700.089us rms land_detector_cycle: 23314 events, 1291980us elapsed, 55us avg, min 35us max 391us 57.011us rms mc_att_control: 119526 events, 11199629us elapsed, 93us avg, min 77us max 215us 21.393us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 42211 events, 6945390us elapsed, 164us avg, min 49us max 3370us 334.834us rms mavlink_txe: 102 events mavlink_el: 47412 events, 11024382us elapsed, 232us avg, min 102us max 3477us 288.174us rms io control latency: 119536 events, 25079685us elapsed, 209us avg, min 171us max 366us 28.193us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 119536 events, 74681644us elapsed, 624us avg, min 265us max 2509us 723.545us rms io_txns: 241444 events, 69100703us elapsed, 286us avg, min 131us max 748us 108.148us rms stack_check: 1611 events, 34242us elapsed, 21us avg, min 1us max 1564us 99.926us rms sensors: 119536 events, 101805262us elapsed, 851us avg, min 445us max 3074us 295.584us rms lsm303d_acc_dupe: 73898 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 47985 events, 1171146us elapsed, 24us avg, min 24us max 25us 0.522us rms lsm303d_acc_read: 457003 events, 15123215us elapsed, 33us avg, min 21us max 39us 5.692us rms l3gd20_dupe: 325063 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 671123 events, 19968478us elapsed, 29us avg, min 22us max 40us 7.521us rms mpu6k_duplicates: 121399 events mpu6k_reset: 0 events mpu6k_good_trans: 478418 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 599817 events, 33445557us elapsed, 55us avg, min 33us max 81us 14.540us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 2 events adc_samples: 479850 events, 1335831us elapsed, 2us avg, min 2us max 3us 0.438us rms ms5611_com_err: 0 events ms5611_measure: 44173 events, 398254us elapsed, 9us avg, min 6us max 342us 17.492us rms ms5611_read: 44173 events, 853295us elapsed, 19us avg, min 11us max 360us 21.974us rms dma_alloc: 1 events param_set: 3 events, 22us elapsed, 7us avg, min 4us max 11us 138.257us rms param_get: 1931 events, 17044us elapsed, 8us avg, min 4us max 1702us 69.662us rms param_find: 227 events, 1730us elapsed, 7us avg, min 3us max 57us 29.817us rms param_export: 1 events, 36845us elapsed, 36845us avg, min 36845us max 36845us Infinityus rms
Post Flight:
logger_sd_fsync: 94 events, 636972us elapsed, 6776us avg, min 3409us max 11791us 57550.863us rms logger_sd_write: 1039 events, 12124318us elapsed, 11669us avg, min 14us max 107407us 28463.555us rms navigator: 1963 events, 830702us elapsed, 423us avg, min 24us max 92483us 17309.770us rms land_detector_cycle: 4772 events, 315866us elapsed, 66us avg, min 39us max 386us 139.334us rms mc_att_control: 24484 events, 2316771us elapsed, 94us avg, min 77us max 203us 51.335us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 8546 events, 1708675us elapsed, 199us avg, min 51us max 3571us 835.774us rms mavlink_txe: 0 events mavlink_el: 9644 events, 2337828us elapsed, 242us avg, min 105us max 3995us 706.217us rms io control latency: 24484 events, 5159342us elapsed, 210us avg, min 171us max 351us 67.643us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 24484 events, 15283121us elapsed, 624us avg, min 265us max 2481us 1737.129us rms io_txns: 49422 events, 14146504us elapsed, 286us avg, min 133us max 734us 259.885us rms stack_check: 327 events, 11065us elapsed, 33us avg, min 1us max 2390us 279.124us rms sensors: 24485 events, 22614776us elapsed, 923us avg, min 397us max 3471us 730.905us rms lsm303d_acc_dupe: 15135 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 9824 events, 239775us elapsed, 24us avg, min 24us max 25us 1.254us rms lsm303d_acc_read: 93563 events, 3097536us elapsed, 33us avg, min 21us max 39us 13.663us rms l3gd20_dupe: 66555 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 137400 events, 4090097us elapsed, 29us avg, min 22us max 40us 18.095us rms mpu6k_duplicates: 24744 events mpu6k_reset: 0 events mpu6k_good_trans: 98058 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 122802 events, 6846925us elapsed, 55us avg, min 33us max 81us 34.954us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events adc_samples: 98240 events, 273452us elapsed, 2us avg, min 2us max 3us 1.053us rms ms5611_com_err: 0 events ms5611_measure: 9013 events, 81345us elapsed, 9us avg, min 6us max 328us 42.114us rms ms5611_read: 9013 events, 169053us elapsed, 18us avg, min 11us max 359us 51.783us rms dma_alloc: 0 events param_set: 3 events, 21us elapsed, 7us avg, min 4us max 13us 138.355us rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 40690us elapsed, 40690us avg, min 40690us max 40690us Infinityus rms