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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
mission start yaw right 2
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | PX4FMU_V5 (V551) |
| Software Version: | v1.8.2 (f13bbacd) branch: stable |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:08 |
| Dropouts: | 3 (0.99 s) |
| Vehicle Life Flight Time: | 22 minutes 2 seconds |
| Vehicle UUID: | 002000313138511730383233 (plane taildragger) |
| Feedback: | Attempts to correct but overshoots. This was the 1st time I saw an attempt to correct - usually it maintains course toward right side of runway. |
| Distance: | 1.43 km |
| Max Altitude Difference: | 122 m |
| Average Speed: | 39.6 km/h |
| Max Speed: | 98.0 km/h |
| Max Speed Horizontal: | 96.9 km/h |
| Max Speed Up: | 28.5 km/h |
| Max Speed Down: | 20.4 km/h |
| Max Tilt Angle: | 58.8 deg |
| Max Rotation Speed: | 1329.0 deg/s |
| Average Current: | 12.5 A |
| Max Current: | 55.4 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 17597 54.599 504/ 748 0 ( 0) READY 3 1 hpwork 495 2.200 808/ 1780 249 (249) PEND 9 2 lpwork 23 0.100 648/ 1780 50 ( 50) w:sig 8 3 init 15662 0.000 1880/ 2484 100 (100) w:sem 3 105 dataman 105 0.100 728/ 1180 90 ( 90) w:sem 4 109 gps 39 0.100 1056/ 1580 220 (220) w:sem 5 159 sensors 5703 4.700 1224/ 1964 249 (249) w:sem 19 165 commander 220 0.900 2056/ 3212 140 (140) READY 29 166 commander_low_prio 0 0.000 552/ 2996 50 ( 50) w:sem 29 175 px4io 474 2.800 952/ 1484 251 (251) w:sem 11 181 mavlink_if0 559 2.500 1712/ 2540 100 (100) w:sig 37 182 mavlink_rcv_if0 79 0.300 1304/ 2836 175 (175) w:sem 37 186 mavlink_if1 364 1.600 1712/ 2572 100 (100) w:sig 37 187 mavlink_rcv_if1 183 0.400 1528/ 2836 175 (175) w:sem 37 204 mavlink_if2 241 0.800 1712/ 2532 100 (100) w:sig 32 206 mavlink_rcv_if2 81 0.300 1304/ 2836 175 (175) w:sem 32 369 log_writer_file 84 0.000 552/ 1068 60 ( 60) w:sem 42 272 fmu 198 1.000 736/ 1324 251 (251) w:sem 7 307 ekf2 1732 9.700 4592/ 6572 250 (250) w:sem 20 311 fw_att_controol 475 3.600 904/ 1460 251 (251) w:sem 13 313 fw_pos_control_l1 54 0.300 888/ 1764 250 (250) w:sem 16 318 navigator 35 0.300 1088/ 1764 105 (105) w:sem 15 360 logger 293 4.300 3040/ 3540 245 (245) RUN 42 Processes: 23 total, 4 running, 19 sleeping, max FDs: 54 CPU usage: 36.00% tasks, 9.40% sched, 54.60% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 25.984s total, 17.598s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 87817 55.044 504/ 748 0 ( 0) READY 3 1 hpwork 3283 2.097 808/ 1780 249 (249) w:sig 9 2 lpwork 193 3.796 944/ 1780 50 ( 50) w:sig 8 3 init 15662 0.000 1880/ 2484 100 (100) w:sem 3 105 dataman 343 0.699 728/ 1180 90 ( 90) w:sem 4 109 gps 249 0.199 1056/ 1580 220 (220) w:sem 5 159 sensors 11864 5.094 1224/ 1964 249 (249) w:sem 19 165 commander 1431 0.799 2056/ 3212 140 (140) w:sig 29 166 commander_low_prio 4 0.000 552/ 2996 50 ( 50) w:sem 29 175 px4io 4056 2.697 952/ 1484 251 (251) w:sem 11 181 mavlink_if0 3573 2.497 1712/ 2540 100 (100) w:sig 41 182 mavlink_rcv_if0 558 0.399 1304/ 2836 175 (175) w:sem 41 186 mavlink_if1 2467 1.798 1712/ 2572 100 (100) w:sig 41 187 mavlink_rcv_if1 685 0.399 1528/ 2836 175 (175) w:sem 41 204 mavlink_if2 1300 0.799 1712/ 2532 100 (100) w:sig 35 206 mavlink_rcv_if2 577 0.399 1304/ 2836 175 (175) READY 35 369 log_writer_file 5605 3.596 560/ 1068 60 ( 60) w:sem 45 272 fmu 1418 0.899 736/ 1324 251 (251) w:sem 7 307 ekf2 17239 9.790 4592/ 6572 250 (250) w:sem 20 311 fw_att_controol 4487 1.998 904/ 1460 251 (251) w:sem 13 313 fw_pos_control_l1 2015 0.899 1272/ 1764 250 (250) w:sem 16 318 navigator 642 0.599 1088/ 1764 105 (105) w:sem 15 360 logger 5676 4.095 3040/ 3540 245 (245) RUN 45 Processes: 23 total, 3 running, 20 sleeping, max FDs: 54 CPU usage: 43.56% tasks, 1.40% sched, 55.04% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 153.695s total, 87.818s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms navigator: 283 events, 76002us elapsed, 268us avg, min 17us max 28012us 1735.347us rms land_detector_cycle: 959 events, 19037us elapsed, 19us avg, min 11us max 336us 20.148us rms fw l1 control: 462 events, 32740us elapsed, 70us avg, min 39us max 264us 50.910us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 3457 events, 312013us elapsed, 90us avg, min 30us max 370us 46.582us 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: 59 events mavlink_el: 1824 events, 180010us elapsed, 98us avg, min 34us max 1343us 112.443us rms mavlink_txe: 126 events mavlink_el: 2018 events, 357882us elapsed, 177us avg, min 57us max 1776us 157.187us rms mavlink_txe: 0 events mavlink_el: 3360 events, 537891us elapsed, 160us avg, min 50us max 5941us 167.119us rms io control latency: 3457 events, 1334628us elapsed, 386us avg, min 128us max 1120us 203.168us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 3748 events, 2527787us elapsed, 674us avg, min 251us max 15806us 654.250us rms io_txns: 7915 events, 2389493us elapsed, 301us avg, min 126us max 820us 108.133us rms stack_check: 50 events, 822us elapsed, 16us avg, min 1us max 184us 31.634us rms sensors: 5063 events, 3047117us elapsed, 601us avg, min 68us max 1676us 284.661us rms aspd_com_err: 0 events aspd_read: 1812 events, 1043773us elapsed, 576us avg, min 472us max 1778us 224.764us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 967 events, 914032us elapsed, 945us avg, min 835us max 2422us 213.160us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1027 events, 957466us elapsed, 932us avg, min 834us max 2555us 188.792us rms bmi055_gyro_read: 0 events bmi055_duplicates: 0 events bmi055_reset_retries: 0 events bmi055_good_transfers: 28830 events bmi055_bad_registers: 1 events bmi055_bad_transfers: 1 events bmi055_read: 28811 events, 1085403us elapsed, 37us avg, min 32us max 45us 2.255us rms bmi055_accel_read: 0 events bmi055_duplicates: 5057 events bmi055_reset_retries: 0 events bmi055_good_transfers: 23801 events bmi055_bad_registers: 1 events bmi055_bad_transfers: 0 events bmi055_read: 28838 events, 994472us elapsed, 34us avg, min 20us max 44us 6.161us rms mpu6k_duplicates: 5816 events mpu6k_reset: 0 events mpu6k_good_trans: 23052 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 28868 events, 1462148us elapsed, 50us avg, min 36us max 62us 7.232us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 7 events mpu6k_duplicates: 6031 events mpu6k_reset: 0 events mpu6k_good_trans: 22898 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 28930 events, 1518639us elapsed, 52us avg, min 36us max 71us 9.190us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 7 events adc_samples: 24468 events, 52338us elapsed, 2us avg, min 2us max 4us 0.346us rms ms5611_com_err: 0 events ms5611_measure: 2065 events, 12193us elapsed, 5us avg, min 3us max 190us 13.400us rms ms5611_read: 2064 events, 32238us elapsed, 15us avg, min 8us max 214us 18.771us rms dma_alloc: 4 events param_set: 169 events, 6968us elapsed, 41us avg, min 3us max 77us 21.167us rms param_get: 3618 events, 17459us elapsed, 4us avg, min 2us max 763us 20.944us rms param_find: 1866 events, 4678439us elapsed, 2507us avg, min 1us max 4668389us 108071.375us rms param_export: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 121 events, 1432982us elapsed, 11842us avg, min 1666us max 729218us 65768.625us rms logger_sd_write: 1211 events, 15640258us elapsed, 12915us avg, min 3769us max 1596316us 46762.594us rms navigator: 2524 events, 4040160us elapsed, 1600us avg, min 21us max 1585016us 37897.242us rms land_detector_cycle: 6236 events, 147100us elapsed, 23us avg, min 15us max 557us 25.539us rms fw l1 control: 6434 events, 1807045us elapsed, 280us avg, min 39us max 966us 162.306us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 32055 events, 2988443us elapsed, 93us avg, min 31us max 305us 44.037us 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: 11475 events, 1227858us elapsed, 107us avg, min 35us max 3042us 194.358us rms mavlink_txe: 0 events mavlink_el: 12734 events, 2453332us elapsed, 192us avg, min 70us max 3026us 210.060us rms mavlink_txe: 0 events mavlink_el: 21229 events, 3437740us elapsed, 161us avg, min 64us max 3073us 193.374us rms io control latency: 32055 events, 15062423us elapsed, 469us avg, min 129us max 1987us 358.457us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 32055 events, 19207897us elapsed, 599us avg, min 251us max 2480us 622.655us rms io_txns: 61095 events, 17961740us elapsed, 293us avg, min 134us max 716us 104.105us rms stack_check: 376 events, 4441us elapsed, 11us avg, min 1us max 652us 49.984us rms sensors: 32055 events, 26578167us elapsed, 829us avg, min 383us max 2630us 407.818us rms aspd_com_err: 0 events aspd_read: 11218 events, 7483482us elapsed, 667us avg, min 471us max 2957us 390.426us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 5609 events, 5411797us elapsed, 964us avg, min 835us max 2825us 281.679us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 5609 events, 5505051us elapsed, 981us avg, min 834us max 3484us 296.077us rms bmi055_gyro_read: 0 events bmi055_duplicates: 0 events bmi055_reset_retries: 0 events bmi055_good_transfers: 160900 events bmi055_bad_registers: 0 events bmi055_bad_transfers: 0 events bmi055_read: 160900 events, 6167381us elapsed, 38us avg, min 33us max 46us 2.419us rms bmi055_accel_read: 0 events bmi055_duplicates: 28198 events bmi055_reset_retries: 0 events bmi055_good_transfers: 132702 events bmi055_bad_registers: 0 events bmi055_bad_transfers: 0 events bmi055_read: 160900 events, 5628583us elapsed, 34us avg, min 20us max 45us 6.802us rms mpu6k_duplicates: 32166 events mpu6k_reset: 0 events mpu6k_good_trans: 128734 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 160900 events, 8165441us elapsed, 50us avg, min 36us max 63us 7.885us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events mpu6k_duplicates: 32797 events mpu6k_reset: 0 events mpu6k_good_trans: 128104 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 160901 events, 8557192us elapsed, 53us avg, min 35us max 72us 10.136us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events adc_samples: 154464 events, 329906us elapsed, 2us avg, min 2us max 3us 0.369us rms ms5611_com_err: 0 events ms5611_measure: 11218 events, 69360us elapsed, 6us avg, min 3us max 432us 15.683us rms ms5611_read: 11218 events, 181877us elapsed, 16us avg, min 8us max 713us 22.719us rms dma_alloc: 0 events param_set: 3 events, 18us elapsed, 6us avg, min 2us max 13us 194.095us 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 0.001us rms param_export: 1 events, 58357us elapsed, 58357us avg, min 58357us max 58357us NaNus rms