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PX4 Tiltrotor VTOL | Open 3D ViewOpen PID Analysis |
| Airframe: | BabyShark VTOL Standard VTOL (13014) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:14 |
| Dropouts: | 1 (0.04 s) |
| Vehicle Life Flight Time: | 3 hours 9 minutes 49 seconds |
| Vehicle UUID: | 0006000000003038353332335102004a0046 |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 3.1 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: 99c40407ffd7ac184e2d7b4b293f36f10fe561ef PX4 version: Release 1.15.4 (17761535) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Mar 20 2025 22:39:33 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003038353332335102004a0046 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 4335 bytes, decoded 4335 bytes (INT32:100, FLOAT:106) 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/13014_vtol_babyshark INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_is31fl3195 #0 on I2C bus 1 address 0x54 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm45686 #0 on SPI bus 4 rotation 10 icm45686 #1 on SPI bus 4 rotation 6 icm45686 #2 on SPI bus 1 rotation 3 ak09916 #0 on I2C bus 4 address 0xC rotation 13 ms5611 #1 on SPI bus 1 ms4525do #0 on I2C bus 2 address 0x28 ERROR [SPI_I2C] ms5525dso: no instance started (no device on bus?) ist8310 #0 on I2C bus 1 address 0xE WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3407906 ekf2 [1109:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess133/log100.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess133/log100.ulg INFO [commander] Disarmed by auto preflight disarming INFO [logger] closed logfile, bytes written: 700892 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess133/log101.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess133/log101.ulg INFO [commander] Takeoff detected WARN [failsafe] Failsafe activated INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 1119329 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess133/log102.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess133/log102.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 31186 50.702 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 1630 log_writer_file 9 0.902 612/ 1144 60 ( 60) w:sem 4 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.035 1452/ 1896 205 (205) w:sem 1 1405 mavlink_rcv_if1 2 0.210 1324/ 4776 175 (175) READY 5 671 wq:hp_default 8 0.854 1112/ 2776 237 (237) w:sem 1 695 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 717 wq:I2C1 2 0.210 896/ 2312 246 (246) w:sem 1 730 wq:ttyS3 19 1.948 1108/ 1704 231 (231) w:sem 1 750 wq:SPI4 45 4.534 1860/ 2368 250 (250) w:sem 1 764 wq:SPI1 43 4.384 1816/ 2368 253 (253) w:sem 1 776 wq:I2C4 1 0.152 980/ 2312 243 (243) w:sem 1 918 wq:I2C2 4 0.419 808/ 2312 245 (245) w:sem 1 1097 wq:nav_and_controllers 44 4.475 1244/ 2216 242 (242) w:sem 1 1098 wq:rate_ctrl 54 5.421 2548/ 3120 255 (255) w:sem 1 1099 wq:INS0 49 4.938 3660/ 5976 241 (241) w:sem 1 1100 wq:INS1 45 4.595 3660/ 5976 240 (240) w:sem 1 1103 wq:INS2 48 4.876 3660/ 5976 239 (239) w:sem 1 1105 commander 6 0.601 1524/ 3192 140 (140) READY 5 1170 mavlink_if0 7 0.707 1764/ 2768 100 (100) w:sig 5 1171 mavlink_rcv_if0 2 0.236 1324/ 4776 175 (175) w:sem 5 1301 gps 1 0.162 1188/ 1936 205 (205) w:sem 4 1403 mavlink_if1 12 1.260 1884/ 2704 100 (100) w:sig 5 1479 navigator 0 0.087 1588/ 2104 105 (105) w:sem 11 1592 logger 60 6.009 3068/ 3616 230 (230) RUN 4 1616 wq:uavcan 9 0.996 2244/ 3600 236 (236) w:sem 1 Processes: 28 total, 4 running, 24 sleeping CPU usage: 48.02% tasks, 1.28% sched, 50.70% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 55.018s total, 31.186s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 38694 46.601 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 1630 log_writer_file 4 0.454 612/ 1144 60 ( 60) w:sem 4 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 1 5 wq:lp_default 88 8.871 1452/ 1896 205 (205) READY 1 1405 mavlink_rcv_if1 1 0.199 1324/ 4776 175 (175) w:sem 5 671 wq:hp_default 8 0.882 1112/ 2776 237 (237) w:sem 1 695 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 717 wq:I2C1 3 0.348 896/ 2312 246 (246) w:sem 1 730 wq:ttyS3 19 1.992 1108/ 1704 231 (231) w:sem 1 750 wq:SPI4 45 4.523 1860/ 2368 250 (250) w:sem 1 764 wq:SPI1 43 4.383 1816/ 2368 253 (253) w:sem 1 776 wq:I2C4 1 0.151 980/ 2312 243 (243) w:sem 1 918 wq:I2C2 4 0.418 808/ 2312 245 (245) w:sem 1 1097 wq:nav_and_controllers 45 4.516 1244/ 2216 242 (242) w:sem 1 1098 wq:rate_ctrl 53 5.348 2548/ 3120 255 (255) w:sem 1 1099 wq:INS0 47 4.744 3660/ 5976 241 (241) w:sem 1 1100 wq:INS1 44 4.406 3660/ 5976 240 (240) w:sem 1 1103 wq:INS2 47 4.715 3660/ 5976 239 (239) w:sem 1 1105 commander 5 0.542 1524/ 3192 140 (140) READY 5 1170 mavlink_if0 6 0.683 1764/ 2768 100 (100) READY 5 1171 mavlink_rcv_if0 2 0.222 1324/ 4776 175 (175) w:sem 5 1301 gps 1 0.152 1188/ 1936 205 (205) w:sig 4 1403 mavlink_if1 11 1.181 1884/ 2704 100 (100) w:sig 5 1479 navigator 0 0.083 1588/ 2104 105 (105) READY 11 1592 logger 22 2.287 3068/ 3616 230 (230) RUN 4 1616 wq:uavcan 10 1.025 2244/ 3600 236 (236) w:sem 1 Processes: 28 total, 6 running, 22 sleeping CPU usage: 52.13% tasks, 1.27% sched, 46.60% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 68.153s total, 38.694s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 7955 events, 2999.62 avg, min 1779us max 4243us 415.281us rms uavcan: cycle time: 7955 events, 162489us elapsed, 20.43us avg, min 16us max 411us 22.278us 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 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: 57 events, 322935us elapsed, 5665.53us avg, min 2346us max 8223us 1746.165us rms logger_sd_write: 231 events, 3080271us elapsed, 13334.51us avg, min 6us max 176795us 20955.285us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 4999999.50 avg, min 9999999us max 9999999us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 494 events, 12914us elapsed, 26.14us avg, min 22us max 177us 76.568us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2368 events, 10061.12 avg, min 9342us max 125164us 2443.183us rms mavlink: tx run elapsed: 2368 events, 283527us elapsed, 119.73us avg, min 107us max 340us 54.357us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4734 events, 5033.79 avg, min 4239us max 124978us 1802.040us rms mavlink: tx run elapsed: 4734 events, 145182us elapsed, 30.67us avg, min 24us max 3044us 48.563us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 139 events, 33563us elapsed, 241.46us avg, min 3us max 408us 80.804us rms land_detector: cycle: 2387 events, 28167us elapsed, 11.80us avg, min 10us max 61us 5.276us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 1193 events, 20584us elapsed, 17.25us avg, min 15us max 48us 6.055us rms fw_att_control: cycle: 4774 events, 50534us elapsed, 10.59us avg, min 9us max 59us 9.161us rms fw_rate_control: cycle: 9547 events, 381583us elapsed, 39.97us avg, min 36us max 88us 6.676us 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: 2387 events, 2425us elapsed, 1.02us avg, min 1us max 30us 1.017us rms mc_pos_control: cycle time: 2387 events, 16945us elapsed, 7.10us avg, min 6us max 37us 11.793us rms flight_mode_manager: cycle: 1194 events, 5398us elapsed, 4.52us avg, min 4us max 128us 225.347us rms mc_att_control: cycle: 4774 events, 152878us elapsed, 32.02us avg, min 10us max 79us 17.262us rms mc_rate_control: cycle: 9547 events, 107848us elapsed, 11.30us avg, min 9us max 17us 1.819us rms vtol_att_control: cycle: 28641 events, 274863us elapsed, 9.60us avg, min 2us max 32us 15.122us rms airspeed_selector: elapsed: 238 events, 4184us elapsed, 17.58us avg, min 16us max 44us 6.249us rms control_allocator: cycle: 9547 events, 388712us elapsed, 40.72us avg, min 31us max 58us 10.074us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2387 events, 1762241us elapsed, 738.27us avg, min 121us max 1235us 316.273us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2387 events, 702208us elapsed, 294.18us avg, min 97us max 661us 175.570us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2387 events, 793671us elapsed, 332.50us avg, min 99us max 749us 163.482us rms pwm_out: interval: 9547 events, 2499.74 avg, min 2412us max 2582us 24.568us rms pwm_out: cycle: 9547 events, 136865us elapsed, 14.34us avg, min 13us max 23us 1.647us rms control latency: 9547 events, 2787496us elapsed, 291.98us avg, min 273us max 337us 13.316us rms commander: preflight check: 228 events, 73263us elapsed, 321.33us avg, min 187us max 1981us 597.338us rms commander: cycle: 2131 events, 368478us elapsed, 172.91us avg, min 37us max 2169us 483.112us 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: 1118 events, 36300us elapsed, 32.47us avg, min 24us max 221us 46.361us rms vehicle_gps_position: cycle: 191 events, 1622us elapsed, 8.49us avg, min 7us max 36us 9.963us rms vehicle_air_data: cycle: 1783 events, 39551us elapsed, 22.18us avg, min 14us max 117us 16.856us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 9548 events, 190086us elapsed, 19.91us avg, min 18us max 30us 1.258us rms sensors: 4774 events, 178253us elapsed, 37.34us avg, min 32us max 215us 78.940us rms battery_status: 2387 events, 35969us elapsed, 15.07us avg, min 13us max 86us 4.240us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 1810 events, 1723412us elapsed, 952.16us avg, min 946us max 1165us 25.062us rms ms5611: com_err: 0 events ms5611: measure: 2380 events, 9408us elapsed, 3.95us avg, min 3us max 9us 0.729us rms ms5611: read: 2380 events, 33291us elapsed, 13.99us avg, min 11us max 22us 2.286us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2377 events, 12306us elapsed, 5.18us avg, min 4us max 94us 12.203us rms ms5611: read: 2377 events, 41430us elapsed, 17.43us avg, min 12us max 112us 8.691us rms board_adc: sample: 16709 events, 42791us elapsed, 2.56us avg, min 2us max 23us 28.702us rms manual_control: interval: 256 events, 92812.59 avg, min 12067us max 200233us 68508.945us rms manual_control: cycle: 256 events, 4171us elapsed, 16.29us avg, min 10us max 232us 72.451us rms rc_update: valid data interval: 1111 events, 21458.63 avg, min 10400us max 32931us 2421.608us rms rc_update: cycle interval: 1111 events, 21458.63 avg, min 10400us max 32931us 2426.058us rms rc_update: cycle: 1111 events, 20892us elapsed, 18.80us avg, min 13us max 995us 54.772us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 9473 events, 2250113us elapsed, 237.53us avg, min 121us max 1516us 34.928us rms px4io: interface read: 6757 events, 1959593us elapsed, 290.01us avg, min 135us max 1847us 254.498us rms px4io: interval: 9471 events, 2519.90 avg, min 299us max 13274us 910.944us rms px4io: cycle: 9471 events, 4453521us elapsed, 470.23us avg, min 243us max 13272us 1051.522us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 16230 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 16230 events, 4130881us elapsed, 254.52us avg, min 117us max 1843us 168.954us rms rgbled: led_control message missed: 1 events load_mon: cycle: 48 events, 4617us elapsed, 96.19us avg, min 87us max 161us 32.469us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 3 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 4us 126.119us rms param: get: 7025 events param: find: 7002 events param: export: 1 events, 32105us elapsed, 32105.00us avg, min 32105us max 32105us infus rms
Post Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 4624 events, 2999.36 avg, min 1792us max 4269us 384.514us rms uavcan: cycle time: 4624 events, 93626us elapsed, 20.25us avg, min 16us max 155us 30.956us 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 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: 36 events, 206364us elapsed, 5732.33us avg, min 2645us max 8222us 2573.286us rms logger_sd_write: 153 events, 1916887us elapsed, 12528.67us avg, min 6us max 145137us 28064.104us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000000.00 avg, min 10000000us max 10000000us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 286 events, 7471us elapsed, 26.12us avg, min 22us max 294us 102.341us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1374 events, 10082.20 avg, min 9275us max 126564us 3147.565us rms mavlink: tx run elapsed: 1374 events, 246862us elapsed, 179.67us avg, min 112us max 2492us 114.714us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2747 events, 5043.59 avg, min 4254us max 121831us 2239.543us rms mavlink: tx run elapsed: 2747 events, 104531us elapsed, 38.05us avg, min 24us max 3481us 96.541us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 8 events, 121us elapsed, 15.13us avg, min 1us max 36us 358.905us rms land_detector: cycle: 1387 events, 16284us elapsed, 11.74us avg, min 10us max 46us 7.261us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 693 events, 11934us elapsed, 17.22us avg, min 15us max 59us 8.515us rms fw_att_control: cycle: 2775 events, 29417us elapsed, 10.60us avg, min 9us max 48us 12.584us rms fw_rate_control: cycle: 5549 events, 222376us elapsed, 40.07us avg, min 36us max 87us 9.870us 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: 1387 events, 1370us elapsed, 0.98us avg, min 1us max 5us 1.375us rms mc_pos_control: cycle time: 1387 events, 9740us elapsed, 7.02us avg, min 6us max 41us 15.638us rms flight_mode_manager: cycle: 694 events, 3021us elapsed, 4.35us avg, min 4us max 21us 295.671us rms mc_att_control: cycle: 2775 events, 87109us elapsed, 31.39us avg, min 19us max 85us 25.318us rms mc_rate_control: cycle: 5549 events, 61434us elapsed, 11.07us avg, min 9us max 17us 2.556us rms vtol_att_control: cycle: 16647 events, 159781us elapsed, 9.60us avg, min 2us max 31us 22.142us rms airspeed_selector: elapsed: 139 events, 2450us elapsed, 17.63us avg, min 16us max 45us 8.940us rms control_allocator: cycle: 5549 events, 228520us elapsed, 41.18us avg, min 32us max 56us 14.644us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1388 events, 906403us elapsed, 653.03us avg, min 103us max 1223us 491.745us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1387 events, 364521us elapsed, 262.81us avg, min 96us max 645us 257.734us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1387 events, 411798us elapsed, 296.90us avg, min 97us max 714us 245.950us rms pwm_out: interval: 5549 events, 2499.55 avg, min 2417us max 2587us 24.237us rms pwm_out: cycle: 5549 events, 80118us elapsed, 14.44us avg, min 13us max 22us 2.384us rms control latency: 5549 events, 1622319us elapsed, 292.36us avg, min 272us max 324us 19.142us rms commander: preflight check: 131 events, 41583us elapsed, 317.43us avg, min 188us max 2223us 851.961us rms commander: cycle: 1236 events, 208945us elapsed, 169.05us avg, min 37us max 2295us 704.450us 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: 650 events, 20491us elapsed, 31.52us avg, min 25us max 197us 63.185us rms vehicle_gps_position: cycle: 111 events, 1178us elapsed, 10.61us avg, min 7us max 161us 21.321us rms vehicle_air_data: cycle: 1036 events, 22814us elapsed, 22.02us avg, min 14us max 116us 24.920us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 5550 events, 110455us elapsed, 19.90us avg, min 18us max 27us 1.797us rms sensors: 2775 events, 102993us elapsed, 37.11us avg, min 32us max 240us 103.943us rms battery_status: 1388 events, 21023us elapsed, 15.15us avg, min 13us max 37us 6.176us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 1051 events, 1001165us elapsed, 952.58us avg, min 946us max 1143us 37.133us rms ms5611: com_err: 0 events ms5611: measure: 1383 events, 5499us elapsed, 3.98us avg, min 3us max 9us 1.061us rms ms5611: read: 1383 events, 19254us elapsed, 13.92us avg, min 11us max 20us 3.211us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1382 events, 7074us elapsed, 5.12us avg, min 4us max 97us 17.789us rms ms5611: read: 1382 events, 24238us elapsed, 17.54us avg, min 13us max 115us 13.439us rms board_adc: sample: 9716 events, 24939us elapsed, 2.57us avg, min 2us max 20us 37.648us rms manual_control: interval: 207 events, 66583.83 avg, min 12667us max 200069us 59958.563us rms manual_control: cycle: 207 events, 3364us elapsed, 16.25us avg, min 10us max 236us 83.107us rms rc_update: valid data interval: 648 events, 21396.56 avg, min 9942us max 33617us 2356.912us rms rc_update: cycle interval: 648 events, 21396.55 avg, min 9941us max 33617us 2357.419us rms rc_update: cycle: 648 events, 12690us elapsed, 19.58us avg, min 13us max 850us 81.163us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 5509 events, 1306164us elapsed, 237.10us avg, min 122us max 1411us 50.466us rms px4io: interface read: 3864 events, 1123150us elapsed, 290.67us avg, min 135us max 1884us 380.640us rms px4io: interval: 5508 events, 2518.51 avg, min 661us max 12100us 856.671us rms px4io: cycle: 5508 events, 2571069us elapsed, 466.79us avg, min 244us max 12098us 1561.903us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 9374 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 9373 events, 2385091us elapsed, 254.46us avg, min 118us max 1880us 251.723us rms rgbled: led_control message missed: 0 events load_mon: cycle: 27 events, 2735us elapsed, 101.30us avg, min 87us max 204us 49.414us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 4us 126.128us rms param: get: 2714 events param: find: 4286 events param: export: 1 events, 32009us elapsed, 32009.00us avg, min 32009us max 32009us infus rms