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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
T-Motor W/Autotune PIDs
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V6X (V6X000003) |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:41 |
| Vehicle Life Flight Time: | 22 minutes 0 seconds |
| Vehicle UUID: | 000600000000383632333131510200530035 |
| Feedback: | New frame with PID params obtained from autotune.
_P params look a bit to high |
| Distance: | 235.1 m |
| Max Altitude Difference: | 7 m |
| Average Speed: | 8.2 km/h |
| Max Speed: | 28.2 km/h |
| Max Speed Horizontal: | 28.1 km/h |
| Max Speed Up: | 6.4 km/h |
| Max Speed Down: | 3.7 km/h |
| Max Tilt Angle: | 28.7 deg |
Loading Plots...
Console Output
HW arch: PX4_FMU_V6X HW type: V6X000003 HW version: 0x000 HW revision: 0x003 PX4 git-hash: b8c541dd7277ed735139d7d1bfb829d61fbe29fb PX4 version: Release 1.14.0 (17694975) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Dec 19 2023 13:10:14 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000383632333131510200530035 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 3847 bytes, decoded 3847 bytes (INT32:56, FLOAT:130) 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/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ina226 #0 on I2C bus 1 (external) address 0x41 INFO [ina226] Failed to init INA226 on bus 2, but will try again periodically. ina226 #1 on I2C bus 2 (external) address 0x41 bmi088_accel #0 on SPI bus 3 rotation 4 bmi088_gyro #0 on SPI bus 3 rotation 4 icm42688p #0 on SPI bus 2 rotation 6 icm42670p #0 on SPI bus 1 rotation 10 bmm150 #0 on I2C bus 4 (external) address 0x10 ist8310 #0 on I2C bus 1 (external) address 0xE rotation 10 bmp388 #0 on I2C bus 4 (external) address 0x77 bmp388 #1 on I2C bus 2 (external) address 0x76 WARN [SPI_I2C] ms5611: no instance started (no device on bus?) WARN [SPI_I2C] Already running on bus 1 ekf2 [750:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 3000 B/s on /dev/ttyS6 @ 115200B Starting MAVLink on ethernet INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [rc_input] valid device required ERROR [rc_input] Task start failed (-1) INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [mavlink] no broadcasting address found WARN [health_and_arming_checks] Preflight Fail: Found 0 compass (required: 1) INFO [gps] u-blox firmware version: SPG 4.04 INFO [gps] u-blox protocol version: 32.01 INFO [gps] u-blox module: NEO-M9N ERROR [vehicle_magnetometer] MAG #1 failed: TIMEOUT! INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-12-19/13_55_01.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-12-19/13_55_01.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 13246385 WARN [health_and_arming_checks] Preflight Fail: height estimate not stable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-12-19/13_58_22.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-12-19/13_58_22.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 24326762 INFO [commander] Kill-switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-12-19/14_03_45.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-12-19/14_03_45.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 430987 60.907 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.001 1116/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 2896 100 (100) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 3 5 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 6 netinit 0 0.000 588/ 2024 49 ( 49) w:sem 4 1225 mavlink_rcv_if1 1 0.175 2628/ 5976 175 (175) w:sem 4 231 wq:hp_default 9 0.925 1372/ 1872 237 (237) w:sem 3 380 dataman 0 0.007 852/ 1280 90 ( 90) w:sem 4 382 wq:lp_default 0 0.030 1076/ 1896 205 (205) w:sem 3 399 wq:I2C1 2 0.249 1024/ 2312 246 (246) w:sem 3 491 wq:I2C2 1 0.162 840/ 2312 245 (245) w:sem 3 477 wq:rate_ctrl 52 5.195 2420/ 3120 255 (255) w:sem 3 536 wq:SPI3 31 3.140 1492/ 2368 251 (251) w:sem 3 569 wq:SPI2 28 2.881 1840/ 2368 252 (252) w:sem 3 588 wq:SPI1 19 1.922 1696/ 2368 253 (253) w:sem 3 592 wq:I2C4 2 0.200 960/ 2312 243 (243) w:sem 3 724 wq:nav_and_controllers 23 2.306 1340/ 2216 242 (242) w:sem 3 725 wq:INS0 28 2.874 4316/ 5976 241 (241) w:sem 3 726 wq:INS1 32 3.261 4316/ 5976 240 (240) w:sem 3 727 wq:INS2 30 3.039 4316/ 5976 239 (239) w:sem 3 731 commander 5 0.565 1424/ 3192 140 (140) w:sig 5 973 gps 1 0.136 1260/ 1936 205 (205) w:sem 4 1114 mavlink_if0 19 1.906 1980/ 3048 100 (100) w:sig 4 1119 mavlink_rcv_if0 1 0.184 2508/ 5976 175 (175) w:sem 4 1224 mavlink_if1 27 2.754 2052/ 3048 100 (100) READY 4 1294 navigator 0 0.064 1180/ 1896 105 (105) READY 6 1450 logger 45 4.546 2932/ 3616 230 (230) RUN 4 1489 log_writer_file 5 0.507 692/ 1144 60 ( 60) w:sem 4 1490 wq:uavcan 8 0.828 2244/ 3600 236 (236) PEND 3 Processes: 31 total, 5 running, 26 sleeping CPU usage: 37.86% tasks, 1.23% sched, 60.91% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 658.225s total, 430.988s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 494526 55.240 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 80 8.030 1116/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 2896 100 (100) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 3 5 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 6 netinit 0 0.005 588/ 2024 49 ( 49) w:sem 4 1225 mavlink_rcv_if1 1 0.185 2628/ 5976 175 (175) w:sem 4 231 wq:hp_default 9 0.903 1372/ 1872 237 (237) w:sem 3 380 dataman 0 0.008 852/ 1280 90 ( 90) w:sem 4 382 wq:lp_default 0 0.077 1076/ 1896 205 (205) w:sem 3 399 wq:I2C1 2 0.285 1024/ 2312 246 (246) w:sem 3 491 wq:I2C2 1 0.159 840/ 2312 245 (245) w:sem 3 477 wq:rate_ctrl 51 5.163 2420/ 3120 255 (255) w:sem 3 536 wq:SPI3 31 3.133 1492/ 2368 251 (251) w:sem 3 569 wq:SPI2 28 2.893 1840/ 2368 252 (252) w:sem 3 588 wq:SPI1 19 1.921 1696/ 2368 253 (253) w:sem 3 592 wq:I2C4 1 0.199 960/ 2312 243 (243) w:sem 3 724 wq:nav_and_controllers 23 2.322 1340/ 2216 242 (242) w:sem 3 725 wq:INS0 29 2.905 4316/ 5976 241 (241) w:sem 3 726 wq:INS1 32 3.287 4316/ 5976 240 (240) w:sem 3 727 wq:INS2 30 3.038 4316/ 5976 239 (239) w:sem 3 731 commander 5 0.537 1424/ 3192 140 (140) w:sig 5 973 gps 1 0.141 1260/ 1936 205 (205) w:sem 4 1114 mavlink_if0 20 2.041 1980/ 3048 100 (100) w:sig 4 1119 mavlink_rcv_if0 1 0.178 2508/ 5976 175 (175) w:sem 4 1224 mavlink_if1 28 2.882 2052/ 3048 100 (100) READY 4 1294 navigator 0 0.066 1180/ 1896 105 (105) w:sem 6 1450 logger 18 1.823 2932/ 3616 230 (230) RUN 4 1489 log_writer_file 4 0.489 692/ 1144 60 ( 60) w:sem 4 1490 wq:uavcan 8 0.846 2244/ 3600 236 (236) w:sem 3 Processes: 31 total, 3 running, 28 sleeping CPU usage: 43.52% tasks, 1.24% sched, 55.24% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 758.801s total, 494.526s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events uavcan: cycle interval: 107764 events, 2999.97 avg, min 864us max 5148us 168.639us rms uavcan: cycle time: 107764 events, 2336131us elapsed, 21.68us avg, min 13us max 2329us 58.941us 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: 560 events, 4496185us elapsed, 8028.90us avg, min 4us max 24310us 1984.680us rms logger_sd_write: 5686 events, 13895127us elapsed, 2443.74us avg, min 5us max 901889us 18144.014us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6187 events, 50638.47 avg, min 57us max 10000159us 552248.813us rms navigator: 6878 events, 1079456us elapsed, 156.94us avg, min 8us max 705768us 19239.309us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 107542 events, 3006.08 avg, min 2083us max 25477us 224.938us rms mavlink: tx run elapsed: 107542 events, 11647934us elapsed, 108.31us avg, min 69us max 3490us 128.546us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 62479 events, 5174.15 avg, min 4099us max 38082us 1453.851us rms mavlink: tx run elapsed: 62478 events, 19135518us elapsed, 306.28us avg, min 80us max 33744us 2203.750us rms mag_bias_estimator: cycle: 6216 events, 77746us elapsed, 12.51us avg, min 1us max 859us 44.397us rms land_detector: cycle: 32574 events, 361732us elapsed, 11.10us avg, min 8us max 112us 7.026us rms mc_pos_control: cycle time: 32574 events, 704423us elapsed, 21.63us avg, min 5us max 139us 14.222us rms flight_mode_manager: cycle: 16165 events, 376014us elapsed, 23.26us avg, min 3us max 257us 120.692us rms mc_hover_thrust_estimator: cycle time: 27379 events, 75880us elapsed, 2.77us avg, min 1us max 97us 3.835us rms mc_autotune_attitude_control: cycle time: 41117 events, 77571us elapsed, 1.89us avg, min 1us max 543us 9.605us rms mc_att_control: cycle: 65149 events, 738905us elapsed, 11.34us avg, min 7us max 139us 7.245us rms mc_rate_control: cycle: 258756 events, 2364277us elapsed, 9.14us avg, min 7us max 56us 2.051us rms control_allocator: cycle: 258756 events, 4995960us elapsed, 19.31us avg, min 16us max 144us 3.366us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 32292 events, 6059239us elapsed, 187.64us avg, min 84us max 2211us 189.301us rms ekf2: ECL update: 32291 events, 10900us elapsed, 0.33us avg, min 0us max 102us 3.702us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 32574 events, 5621306us elapsed, 172.57us avg, min 84us max 1355us 129.489us rms ekf2: ECL update: 32575 events, 12049us elapsed, 0.37us avg, min 0us max 374us 3.634us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 32711 events, 5464442us elapsed, 167.05us avg, min 85us max 716us 119.930us rms ekf2: ECL update: 28893 events, 9976us elapsed, 0.34us avg, min 0us max 91us 2.164us rms pwm_out: interval: 1078 events, 299720.59 avg, min 298437us max 301373us 171.480us rms pwm_out: cycle: 1078 events, 5206us elapsed, 4.83us avg, min 2us max 721us 26.085us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 2952 events, 931555us elapsed, 315.57us avg, min 210us max 10108us 283.573us rms commander: cycle: 29375 events, 2313420us elapsed, 78.75us avg, min 24us max 24472us 238.571us 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: 15139 events, 364061us elapsed, 24.05us avg, min 16us max 408us 26.793us rms vehicle_gps_position: cycle: 2586 events, 20864us elapsed, 8.07us avg, min 6us max 151us 11.901us rms vehicle_air_data: cycle: 7466 events, 154282us elapsed, 20.66us avg, min 14us max 158us 18.139us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 258756 events, 3210940us elapsed, 12.41us avg, min 10us max 115us 1.746us rms sensors: 65150 events, 1997716us elapsed, 30.66us avg, min 20us max 2978us 36.926us rms battery_status: 32329 events, 170409us elapsed, 5.27us avg, min 3us max 993us 26.543us rms bmp388: comms errors: 0 events bmp388: measure: 7466 events, 8307415us elapsed, 1112.70us avg, min 1096us max 1231us 35.100us rms bmp388: read: 7466 events, 7148991us elapsed, 957.54us avg, min 949us max 1077us 23.512us rms bmp388: comms errors: 0 events bmp388: measure: 7467 events, 8308426us elapsed, 1112.69us avg, min 1097us max 1239us 35.088us rms bmp388: read: 7467 events, 7131925us elapsed, 955.13us avg, min 948us max 1080us 22.932us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 0 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm42670p: DRDY missed: 0 events icm42670p: FIFO reset: 0 events icm42670p: FIFO overflow: 0 events icm42670p: FIFO empty: 0 events icm42670p: bad transfer: 0 events icm42670p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 128847 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 1938 events ina226_read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 3188 events, 3203865us elapsed, 1004.98us avg, min 994us max 1143us 29.936us rms board_adc: sample: 258632 events, 2450104us elapsed, 9.47us avg, min 6us max 1354us 35.809us rms manual_control: interval: 5818 events, 55532.63 avg, min 821us max 200608us 58336.977us rms manual_control: cycle: 5818 events, 76512us elapsed, 13.15us avg, min 7us max 970us 37.030us rms rc_update: valid data interval: 14559 events, 22203.90 avg, min 13458us max 30884us 1545.299us rms rc_update: cycle interval: 14559 events, 22203.90 avg, min 13458us max 30884us 1544.791us rms rc_update: cycle: 14559 events, 248914us elapsed, 17.10us avg, min 11us max 1564us 41.002us rms control latency: 128714 events, 54341313us elapsed, 422.19us avg, min 374us max 1734us 203.157us rms px4io: interface write: 128728 events, 30842735us elapsed, 239.60us avg, min 123us max 393us 15.380us rms px4io: interface read: 88067 events, 24678517us elapsed, 280.22us avg, min 139us max 684us 222.374us rms px4io: interval: 128715 events, 2511.72 avg, min 290us max 9037us 411.823us rms px4io: cycle: 128714 events, 57401300us elapsed, 445.96us avg, min 247us max 8970us 904.951us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 216795 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 216796 events, 54784841us elapsed, 252.70us avg, min 121us max 681us 144.849us rms rgbled: led_control message missed: 0 events load_mon: cycle: 646 events, 68462us elapsed, 105.98us avg, min 72us max 955us 120.501us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1715 events, 952534us elapsed, 555.41us avg, min 15us max 705704us 38515.879us rms dma_alloc: 7 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 20 events, 31us elapsed, 1.55us avg, min 1us max 4us 83.228us rms param: get: 58781 events param: find: 97107 events param: export: 3 events, 134117us elapsed, 44705.67us avg, min 42261us max 47493us 3574.414us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events uavcan: cycle interval: 33829 events, 2999.91 avg, min 697us max 5302us 196.841us rms uavcan: cycle time: 33829 events, 743502us elapsed, 21.98us avg, min 13us max 1507us 115.187us 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: 286 events, 2301855us elapsed, 8048.44us avg, min 4us max 17706us 3186.646us rms logger_sd_write: 2999 events, 6889958us elapsed, 2297.42us avg, min 5us max 21279us 25002.449us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 10 events, 9000000.00 avg, min 9999912us max 10000088us 47.584us rms navigator: 2165 events, 143989us elapsed, 66.51us avg, min 8us max 7497us 34299.098us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 33721 events, 3009.36 avg, min 2082us max 5552us 235.713us rms mavlink: tx run elapsed: 33721 events, 3630605us elapsed, 107.67us avg, min 69us max 1861us 249.867us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 19744 events, 5139.08 avg, min 4126us max 30065us 1270.604us rms mavlink: tx run elapsed: 19744 events, 5284212us elapsed, 267.64us avg, min 80us max 25714us 4130.856us rms mag_bias_estimator: cycle: 30 events, 301us elapsed, 10.03us avg, min 2us max 28us 649.967us rms land_detector: cycle: 10226 events, 108309us elapsed, 10.59us avg, min 8us max 119us 13.505us rms mc_pos_control: cycle time: 10226 events, 66772us elapsed, 6.53us avg, min 5us max 118us 25.793us rms flight_mode_manager: cycle: 5075 events, 21465us elapsed, 4.23us avg, min 3us max 86us 215.441us rms mc_hover_thrust_estimator: cycle time: 640 events, 613us elapsed, 0.95us avg, min 1us max 20us 25.114us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 20452 events, 361334us elapsed, 17.67us avg, min 13us max 101us 14.140us rms mc_rate_control: cycle: 81233 events, 729427us elapsed, 8.98us avg, min 7us max 17us 3.787us rms control_allocator: cycle: 81233 events, 1564348us elapsed, 19.26us avg, min 16us max 32us 6.436us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 10137 events, 2446831us elapsed, 241.38us avg, min 83us max 2157us 382.394us rms ekf2: ECL update: 10137 events, 3691us elapsed, 0.36us avg, min 0us max 241us 7.142us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 10226 events, 2240696us elapsed, 219.12us avg, min 84us max 1407us 265.758us rms ekf2: ECL update: 10226 events, 3520us elapsed, 0.34us avg, min 0us max 26us 6.550us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 10276 events, 2178454us elapsed, 211.99us avg, min 84us max 709us 245.900us rms ekf2: ECL update: 9158 events, 2909us elapsed, 0.31us avg, min 0us max 26us 3.906us rms pwm_out: interval: 338 events, 299112.34 avg, min 298782us max 301219us 205.711us rms pwm_out: cycle: 338 events, 1227us elapsed, 3.63us avg, min 2us max 48us 46.761us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 926 events, 295778us elapsed, 319.41us avg, min 213us max 2278us 537.509us rms commander: cycle: 9219 events, 730442us elapsed, 79.23us avg, min 26us max 2313us 445.265us 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: 4752 events, 120428us elapsed, 25.34us avg, min 16us max 164us 51.546us rms vehicle_gps_position: cycle: 811 events, 6718us elapsed, 8.28us avg, min 6us max 123us 22.774us rms vehicle_air_data: cycle: 2343 events, 47898us elapsed, 20.44us avg, min 14us max 143us 34.567us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 81234 events, 1008466us elapsed, 12.41us avg, min 10us max 31us 3.289us rms sensors: 20452 events, 614080us elapsed, 30.03us avg, min 19us max 149us 66.327us rms battery_status: 10148 events, 53180us elapsed, 5.24us avg, min 3us max 1167us 51.708us rms bmp388: comms errors: 0 events bmp388: measure: 2343 events, 2606325us elapsed, 1112.39us avg, min 1097us max 1234us 67.200us rms bmp388: read: 2343 events, 2244214us elapsed, 957.84us avg, min 949us max 1066us 45.287us rms bmp388: comms errors: 0 events bmp388: measure: 2344 events, 2607798us elapsed, 1112.54us avg, min 1097us max 1232us 67.260us rms bmp388: read: 2344 events, 2238445us elapsed, 954.97us avg, min 949us max 1069us 43.745us rms ist8310: reset: 0 events ist8310: bad transfer: 1 events ist8310: bad register: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 0 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm42670p: DRDY missed: 0 events icm42670p: FIFO reset: 0 events icm42670p: FIFO overflow: 0 events icm42670p: FIFO empty: 0 events icm42670p: bad transfer: 0 events icm42670p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 40448 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 609 events ina226_read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 1000 events, 1004875us elapsed, 1004.88us avg, min 994us max 1116us 57.245us rms board_adc: sample: 81192 events, 777512us elapsed, 9.58us avg, min 6us max 1643us 69.456us rms manual_control: interval: 3925 events, 25815.85 avg, min 14977us max 200535us 17044.898us rms manual_control: cycle: 3925 events, 51506us elapsed, 13.12us avg, min 7us max 780us 53.317us rms rc_update: valid data interval: 4570 events, 22205.83 avg, min 14978us max 37601us 1527.283us rms rc_update: cycle interval: 4570 events, 22205.83 avg, min 14977us max 37601us 1527.167us rms rc_update: cycle: 4570 events, 83422us elapsed, 18.25us avg, min 11us max 1583us 80.222us rms control latency: 40409 events, 17083640us elapsed, 422.77us avg, min 376us max 1681us 389.986us rms px4io: interface write: 40410 events, 9684162us elapsed, 239.65us avg, min 126us max 377us 29.507us rms px4io: interface read: 27606 events, 7744705us elapsed, 280.54us avg, min 139us max 670us 427.053us rms px4io: interval: 40409 events, 2511.57 avg, min 292us max 9007us 411.189us rms px4io: cycle: 40409 events, 18029081us elapsed, 446.16us avg, min 247us max 8940us 1736.415us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 68016 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 68016 events, 17196569us elapsed, 252.83us avg, min 124us max 667us 278.104us rms rgbled: led_control message missed: 0 events load_mon: cycle: 203 events, 19826us elapsed, 97.67us avg, min 72us max 648us 225.771us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 543 events, 103625us elapsed, 190.84us avg, min 15us max 7475us 68496.102us rms dma_alloc: 2 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 3 events, 48us elapsed, 16.00us avg, min 1us max 46us 257.838us rms param: get: 16712 events param: find: 30202 events param: export: 1 events, 44602us elapsed, 44602.00us avg, min 44602us max 44602us infus rms