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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Crash due to GPS?
| Airframe: | 4011 |
| Hardware: | PX4FMU_V4PRO |
| Software Version: | 3098c77c branch: stable |
| OS Version: | NuttX, v0.0.0 (RC) |
| Estimator: | LPE |
| Logging Start : | |
| Logging Duration: | 0:00:56 |
| Dropouts: | 12 (1.17 s) |
| Vehicle Life Flight Time: | 1 hours 34 minutes 20 seconds |
| Vehicle UUID: | 004300333235510B33353534 (F450_px4_pixhawk3pro) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Stabilized mode: OK
Position mode: constant rapidly increasing drift to one direction until crash. |
| Distance: | 161.8 m |
| Max Altitude Difference: | 13 m |
| Average Speed: | 12.6 km/h |
| Max Speed: | 71.7 km/h |
| Max Speed Horizontal: | 63.4 km/h |
| Max Speed Up: | 10.4 km/h |
| Max Speed Down: | 38.6 km/h |
| Max Tilt Angle: | 172.2 deg |
| Max Rotation Speed: | 1893.7 deg/s |
| Average Current: | 0.6 A |
| Max Current: | 1.1 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE 0 Idle Task 66431 53.093 604/ 748 0 ( 0) READY 1 hpwork 4777 4.391 896/ 1780 192 (192) w:sig 2 lpwork 876 0.099 656/ 1780 50 ( 50) w:sig 3 init 9366 0.000 2008/ 2484 100 (100) w:sem 239 log_writer_file 96 4.391 544/ 1060 60 ( 60) w:sem 100 gps 240 0.199 1048/ 1580 220 (220) w:sem 104 dataman 130 0.000 704/ 1180 90 ( 90) w:sem 153 sensors 5363 4.391 1464/ 1980 249 (249) w:sem 155 commander 2423 2.395 2752/ 3652 140 (140) w:sig 156 commander_low_prio 3 0.000 592/ 2996 50 ( 50) w:sem 169 px4io 3331 2.994 1080/ 1484 240 (240) w:sem 177 mavlink_if0 1485 1.297 1656/ 2436 100 (100) w:sig 178 mavlink_rcv_if0 881 0.399 1808/ 2140 175 (175) w:sem 190 mavlink_if1 1129 1.097 1656/ 2388 100 (100) w:sig 191 mavlink_rcv_if1 475 0.499 1504/ 2140 175 (175) READY 237 logger 570 6.487 3104/ 3532 245 (245) RUN 278 attitude_estimator_q 2375 2.195 1160/ 1964 250 (250) w:sem 280 lp_estimator 11076 10.179 10104/13476 250 (250) w:sem 294 mc_att_control 3545 3.493 1176/ 1676 250 (250) w:sem 298 mc_pos_control 1076 1.097 744/ 1876 250 (250) w:sem 302 navigator 163 0.099 848/ 1772 105 (105) w:sem Processes: 21 total, 3 running, 18 sleeping CPU usage: 45.71% tasks, 1.20% sched, 53.09% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 108.970s total, 66.432s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE 0 Idle Task 95992 54.900 604/ 748 0 ( 0) READY 1 hpwork 7270 4.600 896/ 1780 192 (192) READY 2 lpwork 937 0.200 656/ 1780 50 ( 50) w:sig 3 init 9366 0.000 2008/ 2484 100 (100) w:sem 239 log_writer_file 2872 3.800 544/ 1060 60 ( 60) w:sem 100 gps 361 0.200 1048/ 1580 220 (220) w:sem 104 dataman 130 0.000 704/ 1180 90 ( 90) w:sem 153 sensors 7865 4.800 1464/ 1980 249 (249) w:sem 155 commander 3725 2.300 2752/ 3652 140 (140) w:sig 156 commander_low_prio 5 0.000 592/ 2996 50 ( 50) w:sem 169 px4io 5069 3.100 1080/ 1484 240 (240) READY 177 mavlink_if0 2246 1.400 1720/ 2436 100 (100) w:sig 178 mavlink_rcv_if0 1139 0.500 1808/ 2140 175 (175) w:sem 190 mavlink_if1 1681 0.900 1656/ 2388 100 (100) w:sig 191 mavlink_rcv_if1 723 0.500 1504/ 2140 175 (175) READY 237 logger 3243 4.600 3104/ 3532 245 (245) RUN 278 attitude_estimator_q 3630 2.200 1160/ 1964 250 (250) w:sem 280 lp_estimator 16767 10.300 10104/13476 250 (250) w:sem 294 mc_att_control 5490 3.500 1176/ 1676 250 (250) w:sem 298 mc_pos_control 1810 1.100 1048/ 1876 250 (250) w:sem 302 navigator 251 0.200 848/ 1772 105 (105) w:sem Processes: 21 total, 5 running, 16 sleeping CPU usage: 44.20% tasks, 0.90% sched, 54.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 164.350s total, 95.992s idle
Performance Counters
Pre Flight:
px4f_com_err: 0 events px4f_read: 994 events, 4069774us elapsed, 4094us avg, min 3212us max 6280us 559.080us rms navigator: 2043 events, 106007us elapsed, 51us avg, min 24us max 1959us 123.775us rms mc_att_control: 25585 events, 2706112us elapsed, 105us avg, min 18us max 740us 18.039us rms ctl_lat: 4685 events, 227657us elapsed, 48us avg, min 24us max 2008us 106.767us rms logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 125260us elapsed, 41753us avg, min 10us max 68058us 36556.762us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 46 events mavlink_el: 9339 events, 1229522us elapsed, 131us avg, min 43us max 4137us 247.858us rms mavlink_txe: 110 events mavlink_el: 10395 events, 1504022us elapsed, 144us avg, min 61us max 5381us 176.158us rms io latency: 25555 events, 119421641us elapsed, 4673us avg, min 4343us max 12752us 402.958us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 25587 events, 19136637us elapsed, 747us avg, min 256us max 18539us 878.969us rms io_txns: 52370 events, 18002741us elapsed, 343us avg, min 131us max 3005us 217.406us rms stack_check: 307 events, 5204us elapsed, 16us avg, min 1us max 335us 35.740us rms sensors: 25766 events, 7462448us elapsed, 289us avg, min 76us max 10373us 208.626us rms ll40ls_pwm_zero_resets: 1 events ll40ls_pwm_read_errors: 2 events ll40ls_pwm_read: 2005 events, 148059us elapsed, 73us avg, min 28us max 2010us 148.802us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 4684 events, 5642419us elapsed, 1204us avg, min 864us max 14084us 524.197us rms lis3mdl_conf_errors: 3 events lis3mdl_range_errors: 0 events lis3mdl_comms_errors: 0 events lis3mdl_read: 4684 events, 211219us elapsed, 45us avg, min 28us max 2042us 106.958us rms mpu9250_dupe: 28171 events mpu9250_reset: 0 events mpu9250_good_trans: 104454 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 132626 events, 7539119us elapsed, 56us avg, min 39us max 73us 9.327us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 3 events mpu9250_mag_duplicates: 93107 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1429 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ctrl_latency: 25569 events, 4805664us elapsed, 187us avg, min 10us max 2048us 169.055us rms mpu6k_duplicates: 32546 events mpu6k_reset: 0 events mpu6k_good_trans: 100116 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 132662 events, 8109889us elapsed, 61us avg, min 43us max 84us 12.059us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 3 events adc_samples: 94194 events, 234813us elapsed, 2us avg, min 2us max 3us 0.500us rms ms5611_com_err: 0 events ms5611_measure: 9639 events, 135525us elapsed, 14us avg, min 5us max 2439us 62.079us rms ms5611_read: 9638 events, 994110us elapsed, 103us avg, min 10us max 2433us 162.346us rms dma_alloc: 6 events
Post Flight:
px4f_com_err: 0 events px4f_read: 538 events, 2240337us elapsed, 4164us avg, min 3488us max 6217us 956.682us rms navigator: 1150 events, 56791us elapsed, 49us avg, min 27us max 2170us 200.365us rms mc_att_control: 13977 events, 1474248us elapsed, 105us avg, min 89us max 304us 30.126us rms ctl_lat: 2541 events, 126834us elapsed, 49us avg, min 26us max 1892us 176.618us rms logger_sd_fsync: 5 events, 39639us elapsed, 7927us avg, min 7089us max 9121us 831.864us rms logger_sd_write: 498 events, 9523634us elapsed, 19123us avg, min 9us max 688085us 51124.465us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 25 events mavlink_el: 5023 events, 749007us elapsed, 149us avg, min 45us max 3380us 443.404us rms mavlink_txe: 37 events mavlink_el: 5607 events, 887922us elapsed, 158us avg, min 63us max 3814us 315.724us rms io latency: 13969 events, 65121544us elapsed, 4661us avg, min 4338us max 7442us 673.951us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 13969 events, 10770428us elapsed, 771us avg, min 256us max 5446us 1488.637us rms io_txns: 28322 events, 10139788us elapsed, 358us avg, min 132us max 2797us 378.440us rms stack_check: 184 events, 2429us elapsed, 13us avg, min 1us max 350us 57.537us rms sensors: 13978 events, 3842893us elapsed, 274us avg, min 163us max 2339us 334.303us rms ll40ls_pwm_zero_resets: 2 events ll40ls_pwm_read_errors: 0 events ll40ls_pwm_read: 1077 events, 86678us elapsed, 80us avg, min 33us max 1905us 263.993us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2489 events, 3014029us elapsed, 1210us avg, min 864us max 3505us 860.052us rms lis3mdl_conf_errors: 0 events lis3mdl_range_errors: 0 events lis3mdl_comms_errors: 0 events lis3mdl_read: 2489 events, 120178us elapsed, 48us avg, min 29us max 2029us 187.645us rms mpu9250_dupe: 14371 events mpu9250_reset: 0 events mpu9250_good_trans: 56120 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 70491 events, 4017532us elapsed, 56us avg, min 39us max 73us 15.746us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 50061 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 786 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ctrl_latency: 13977 events, 2573236us elapsed, 184us avg, min 10us max 2026us 286.843us rms mpu6k_duplicates: 15600 events mpu6k_reset: 0 events mpu6k_good_trans: 54892 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 70492 events, 4355517us elapsed, 61us avg, min 43us max 84us 20.506us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events adc_samples: 50760 events, 126438us elapsed, 2us avg, min 2us max 3us 0.845us rms ms5611_com_err: 0 events ms5611_measure: 5111 events, 66471us elapsed, 13us avg, min 5us max 2595us 108.641us rms ms5611_read: 5111 events, 643869us elapsed, 125us avg, min 10us max 2052us 301.402us rms dma_alloc: 0 events