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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Is this RTK or what?
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | v1.11.0 (beta) (1761ef39) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:24 |
| Dropouts: | 4 (0.34 s) |
| Vehicle Life Flight Time: | 2 minutes 31 seconds |
| Vehicle UUID: | 0001000000003839373034355111003d0032 (Marjory the Trash Heap) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | The world's newest pilot attempts to keep a trash heap in the air! Only fancy thing about this craft is the GPS, a Ublox ZED-F9P dual-band RTK. And therein lies the question. |
| Distance: | 19.8 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 0.9 km/h |
| Max Speed: | 7.6 km/h |
| Max Speed Horizontal: | 3.5 km/h |
| Max Speed Up: | 4.7 km/h |
| Max Speed Down: | 7.1 km/h |
| Max Tilt Angle: | 18.0 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 99243 35.229 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 61 0.000 1032/ 1612 50 ( 50) w:sig 3 3 init 1802 0.000 2200/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 416/ 1252 255 (255) w:sem 3 721 log_writer_file 15 0.998 600/ 1164 60 ( 60) w:sem 4 18 dataman 141 0.000 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 322 0.000 1232/ 1700 205 (205) w:sem 3 30 wq:hp_default 2858 1.397 1160/ 1900 240 (240) w:sem 3 151 wq:SPI1 15680 6.387 1600/ 2332 253 (253) w:sem 3 156 wq:SPI4 39734 16.167 1524/ 2332 250 (250) w:sem 3 231 wq:navigation_and_contro 45073 17.664 5080/ 7196 241 (241) w:sem 3 232 wq:rate_ctrl 6975 2.794 1088/ 1660 255 (255) w:sem 3 237 commander 2684 0.798 1600/ 3212 140 (140) w:sig 6 238 commander_low_prio 675 0.000 2264/ 2996 50 ( 50) w:sem 6 309 gps 1008 0.399 1000/ 1676 205 (205) w:sem 4 358 mavlink_if1 3671 1.397 2000/ 2484 100 (100) w:sig 4 361 mavlink_rcv_if1 1321 0.399 2816/ 4068 175 (175) READY 4 376 mavlink_if2 8014 3.093 1888/ 2484 100 (100) READY 4 377 mavlink_rcv_if2 973 0.399 2816/ 4068 175 (175) READY 4 399 px4io 7328 3.193 944/ 1484 237 (237) w:sem 4 645 wq:attitude_ctrl 2158 1.197 1248/ 1628 242 (242) w:sem 3 659 navigator 354 0.099 1136/ 1764 105 (105) READY 5 716 logger 1234 4.990 2784/ 3644 230 (230) RUN 4 Processes: 24 total, 6 running, 18 sleeping, max FDs: 15 CPU usage: 61.38% tasks, 3.39% sched, 35.23% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 249.373s total, 99.243s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 128249 31.804 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 92 3.090 1032/ 1612 50 ( 50) w:sig 3 3 init 1802 0.000 2200/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 416/ 1252 255 (255) w:sem 3 721 log_writer_file 857 0.797 616/ 1164 60 ( 60) w:sem 4 18 dataman 161 0.099 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 455 0.199 1232/ 1700 205 (205) READY 3 30 wq:hp_default 4046 1.395 1160/ 1900 240 (240) w:sem 3 151 wq:SPI1 20963 6.380 1600/ 2332 253 (253) w:sem 3 156 wq:SPI4 53119 16.151 1524/ 2332 250 (250) PEND 3 231 wq:navigation_and_contro 60767 18.644 5080/ 7196 241 (241) w:sem 3 232 wq:rate_ctrl 9343 2.791 1088/ 1660 255 (255) w:sem 3 237 commander 3357 1.395 1600/ 3212 140 (140) READY 6 238 commander_low_prio 677 0.000 2264/ 2996 50 ( 50) w:sem 6 309 gps 1349 0.398 1000/ 1676 205 (205) w:sem 4 358 mavlink_if1 4883 1.495 2000/ 2484 100 (100) READY 4 361 mavlink_rcv_if1 1658 0.398 2816/ 4068 175 (175) READY 4 376 mavlink_if2 10668 3.190 1888/ 2484 100 (100) READY 4 377 mavlink_rcv_if2 1292 0.398 2816/ 4068 175 (175) w:sem 4 399 px4io 10099 3.389 944/ 1484 237 (237) w:sem 4 645 wq:attitude_ctrl 2903 0.797 1248/ 1628 242 (242) w:sem 3 659 navigator 461 0.099 1136/ 1764 105 (105) READY 5 716 logger 4445 3.888 2784/ 3644 230 (230) RUN 4 Processes: 24 total, 9 running, 15 sleeping, max FDs: 15 CPU usage: 65.00% tasks, 3.19% sched, 31.80% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 332.448s total, 128.250s idle
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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 101559us elapsed, 33853.00us avg, min 13us max 51489us 29315.045us rms navigator: 4278 events, 567829us elapsed, 132.73us avg, min 16us max 5156us 246.335us rms land_detector_cycle: 12275 events, 241624us elapsed, 19.68us avg, min 13us max 585us 16.605us rms mc_pos_control: cycle time: 11942 events, 2414639us elapsed, 202.20us avg, min 20us max 1989us 128.477us rms mc_hover_thrust_estimator: cycle time: 8647 events, 117029us elapsed, 13.53us avg, min 7us max 565us 32.921us rms mc_att_control: cycle: 47765 events, 1813264us elapsed, 37.96us avg, min 20us max 1189us 33.353us rms mc_rate_control: cycle: 98205 events, 2267296us elapsed, 23.09us avg, min 16us max 871us 4.967us rms ekf2: update: 49102 events, 21808194us elapsed, 444.14us avg, min 1us max 2932us 542.083us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 98275 events, 2498.75 avg, min 1627us max 3362us 11.998us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 98295 events, 2498.75 avg, min 1627us max 3362us 11.997us rms pwm_out: interval: 2282 events, 107675.36 avg, min 472us max 194086302us 4062430.750us rms pwm_out: cycle: 2282 events, 111980us elapsed, 49.07us avg, min 3us max 1254us 81.993us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 59975 events, 89029894us elapsed, 1484.45us avg, min 569us max 3600us 621.964us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 59983 events, 40459796us elapsed, 674.52us avg, min 261us max 24913us 773.756us rms io_txns: 108295 events, 36158065us elapsed, 333.88us avg, min 129us max 4265us 180.771us rms mavlink: send_start tx buffer full: 31 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 48487 events, 5062.01 avg, min 4145us max 71014us 765.985us rms mavlink: tx run elapsed: 48487 events, 9671809us elapsed, 199.47us avg, min 112us max 34708us 217.792us rms mavlink: send_start tx buffer full: 75 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 24364 events, 10073.97 avg, min 9137us max 75761us 939.860us rms mavlink: tx run elapsed: 24364 events, 4301325us elapsed, 176.54us avg, min 96us max 11541us 139.945us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 183025 events, 1344.74 avg, min 30us max 4255us 397.112us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 189441 events, 1299.19 avg, min 216us max 4792us 487.959us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 98446 events, 2499.97 avg, min 2235us max 2765us 41.346us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 98446 events, 2499.97 avg, min 2235us max 2765us 41.346us rms battery_status: 24613 events, 580542us elapsed, 23.59us avg, min 1us max 741us 32.757us rms vehicle_air_data: cycle: 18334 events, 1145266us elapsed, 62.47us avg, min 36us max 1217us 49.459us rms sensors: 49215 events, 5586848us elapsed, 113.52us avg, min 47us max 1873us 46.309us rms mpu9250: DRDY interval: 98483 events, 2498.75 avg, min 1627us max 3362us 12.100us rms mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events mpu9250: transfer: 98483 events, 39385426us elapsed, 399.92us avg, min 253us max 559us 10.208us rms ms5611: com_err: 0 events ms5611: measure: 24463 events, 192584us elapsed, 7.87us avg, min 6us max 177us 8.566us rms ms5611: read: 24462 events, 375935us elapsed, 15.37us avg, min 11us max 176us 11.247us rms lsm303d: acc_dupe: 44984 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 23458 events, 721927us elapsed, 30.78us avg, min 23us max 217us 16.591us rms lsm303d: acc_read: 234564 events, 7082597us elapsed, 30.19us avg, min 21us max 245us 15.233us rms l3gd20: dupe: 160422 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 343578 events, 10152781us elapsed, 29.55us avg, min 23us max 212us 15.289us rms mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events mpu9250: transfer: 98450 events, 39686815us elapsed, 403.12us avg, min 357us max 1804us 26.617us rms ms5611: com_err: 0 events ms5611: measure: 24474 events, 175600us elapsed, 7.17us avg, min 6us max 25us 1.361us rms ms5611: read: 24473 events, 438841us elapsed, 17.93us avg, min 11us max 39us 4.221us rms adc: sample: 246380 events, 827161us elapsed, 3.36us avg, min 2us max 2062us 8.483us rms rc_update: 2279 events, 119296us elapsed, 52.35us avg, min 26us max 5326us 132.040us rms stack_check: 655 events, 14724us elapsed, 22.48us avg, min 1us max 316us 31.575us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1204 events, 427905us elapsed, 355.40us avg, min 52us max 80995us 3148.635us rms dma_alloc: 4 events param_set: 160 events, 8583us elapsed, 53.64us avg, min 3us max 116us 35.115us rms param_get: 28732 events, 337123us elapsed, 11.73us avg, min 4us max 3809us 79.328us rms param_find: 25160 events, 379713us elapsed, 15.09us avg, min 3us max 3875us 93.753us rms param_export: 2 events, 146324us elapsed, 73162.00us avg, min 71758us max 74566us 1985.512us 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: 194 events, 2783088us elapsed, 14345.81us avg, min 8us max 478988us 34921.539us rms logger_sd_write: 879 events, 15145406us elapsed, 17230.27us avg, min 10us max 345144us 16368.070us rms navigator: 1509 events, 1513720us elapsed, 1003.13us avg, min 17us max 402540us 12744.192us rms land_detector_cycle: 4205 events, 99846us elapsed, 23.74us avg, min 16us max 239us 32.647us rms mc_pos_control: cycle time: 4204 events, 1059182us elapsed, 251.95us avg, min 19us max 1920us 274.215us rms mc_hover_thrust_estimator: cycle time: 3226 events, 98604us elapsed, 30.57us avg, min 7us max 821us 88.547us rms mc_att_control: cycle: 16818 events, 642343us elapsed, 38.19us avg, min 20us max 377us 65.466us rms mc_rate_control: cycle: 33635 events, 796510us elapsed, 23.68us avg, min 16us max 59us 9.342us rms ekf2: update: 16818 events, 7966318us elapsed, 473.68us avg, min 19us max 2911us 1088.719us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 33644 events, 2499.26 avg, min 2393us max 2597us 11.472us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 33644 events, 2499.26 avg, min 2393us max 2597us 11.472us rms pwm_out: interval: 3738 events, 22490.65 avg, min 19172us max 29390us 2180.647us rms pwm_out: cycle: 3738 events, 179086us elapsed, 47.91us avg, min 26us max 3247us 111.486us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 21143 events, 31528781us elapsed, 1491.22us avg, min 554us max 4028us 1239.443us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 21143 events, 17873689us elapsed, 845.37us avg, min 265us max 6340us 1647.864us rms io_txns: 43573 events, 15734632us elapsed, 361.11us avg, min 133us max 4386us 387.079us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16635 events, 5052.02 avg, min 4162us max 16005us 393.101us rms mavlink: tx run elapsed: 16635 events, 3486044us elapsed, 209.56us avg, min 108us max 4944us 411.216us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8403 events, 10000.88 avg, min 9335us max 17372us 140.633us rms mavlink: tx run elapsed: 8403 events, 1447748us elapsed, 172.29us avg, min 95us max 2211us 259.117us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 62524 events, 1344.89 avg, min 35us max 4058us 397.212us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 64647 events, 1300.83 avg, min 250us max 4902us 490.528us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 33638 events, 2499.92 avg, min 2286us max 2712us 41.168us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 33638 events, 2499.92 avg, min 2286us max 2712us 41.168us rms battery_status: 8409 events, 200470us elapsed, 23.84us avg, min 18us max 606us 66.008us rms vehicle_air_data: cycle: 6265 events, 395817us elapsed, 63.18us avg, min 36us max 594us 98.198us rms sensors: 16820 events, 1750533us elapsed, 104.07us avg, min 46us max 387us 90.350us rms mpu9250: DRDY interval: 33647 events, 2499.26 avg, min 2393us max 2597us 11.472us rms mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events mpu9250: transfer: 33648 events, 13468711us elapsed, 400.28us avg, min 361us max 506us 20.234us rms ms5611: com_err: 0 events ms5611: measure: 8352 events, 66339us elapsed, 7.94us avg, min 6us max 165us 17.077us rms ms5611: read: 8352 events, 127284us elapsed, 15.24us avg, min 11us max 179us 21.909us rms lsm303d: acc_dupe: 15445 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 8010 events, 251136us elapsed, 31.35us avg, min 23us max 203us 33.121us rms lsm303d: acc_read: 80094 events, 2423259us elapsed, 30.26us avg, min 21us max 208us 30.204us rms l3gd20: dupe: 54787 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 117318 events, 3473104us elapsed, 29.60us avg, min 23us max 236us 30.338us rms mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events mpu9250: transfer: 33639 events, 13598582us elapsed, 404.25us avg, min 357us max 611us 52.939us rms