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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Failsafe enabled: no offboard after copter has been disarmed
| Airframe: | 4040 |
| Hardware: | PX4FMU_V2 (V30) |
| Software Version: | 204b9fb4 |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:58 |
| Dropouts: | 16 (3.55 s) |
| Vehicle Life Flight Time: | 20 hours 6 minutes 30 seconds |
| Vehicle UUID: | 004700373137510233343537 (blackjack) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Distance: | 20.1 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.2 km/h |
| Max Speed: | 6.9 km/h |
| Max Speed Horizontal: | 6.9 km/h |
| Max Speed Up: | 4.4 km/h |
| Max Speed Down: | 4.1 km/h |
| Max Tilt Angle: | 12.4 deg |
| Max Rotation Speed: | 167.7 deg/s |
| Average Current: | 37.3 A |
| Max Current: | 104.6 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 72857 22.400 548/ 748 0 ( 0) READY 3 1 hpwork 9006 4.300 792/ 1780 249 (249) w:sig 17 2 lpwork 1222 0.300 944/ 1780 50 ( 50) w:sig 10 3 init 19137 0.000 1880/ 2484 100 (100) w:sem 3 93 dataman 220 0.000 728/ 1180 90 ( 90) w:sem 4 101 gps 554 0.300 968/ 1580 220 (220) w:sem 5 150 sensors 17832 6.599 1232/ 1964 249 (249) w:sem 22 152 commander 2625 1.200 2072/ 3212 140 (140) w:sig 29 153 commander_low_prio 10 0.000 552/ 2996 50 ( 50) w:sem 29 166 px4io 8475 4.200 976/ 1484 251 (251) w:sem 11 174 mavlink_if0 5439 2.600 1720/ 2572 100 (100) w:sig 39 175 mavlink_rcv_if0 1446 0.500 1528/ 2836 175 (175) w:sem 39 183 mavlink_if1 27938 13.400 1792/ 2508 100 (100) READY 41 186 mavlink_rcv_if1 4068 2.400 1608/ 2836 175 (175) READY 41 339 log_writer_file 1161 2.800 784/ 1068 60 ( 60) READY 47 292 ekf2 32691 17.899 4608/ 6572 250 (250) w:sem 20 296 mc_att_control 12577 6.800 792/ 1660 251 (251) w:sem 17 298 mc_pos_control 7716 3.600 1016/ 1876 250 (250) w:sem 12 301 navigator 469 0.300 1288/ 1764 105 (105) w:sem 15 318 vmount 296 0.100 1008/ 1868 100 (100) READY 7 337 logger 6819 8.900 3072/ 3540 245 (245) RUN 47 Processes: 21 total, 6 running, 15 sleeping, max FDs: 54 CPU usage: 76.20% tasks, 1.40% sched, 22.40% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 214.168s total, 72.858s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 86123 17.682 548/ 748 0 ( 0) READY 3 1 hpwork 11447 4.195 792/ 1780 249 (249) w:sig 17 2 lpwork 1418 6.993 944/ 1780 50 ( 50) READY 10 3 init 19137 0.000 1880/ 2484 100 (100) w:sem 3 93 dataman 242 0.000 728/ 1180 90 ( 90) w:sem 4 101 gps 704 0.199 968/ 1580 220 (220) w:sig 5 150 sensors 21436 6.793 1232/ 1964 249 (249) w:sem 22 152 commander 3363 1.198 2072/ 3212 140 (140) w:sig 29 153 commander_low_prio 12 0.000 552/ 2996 50 ( 50) w:sem 29 166 px4io 10852 4.295 976/ 1484 251 (251) w:sem 11 174 mavlink_if0 6903 2.497 1736/ 2572 100 (100) READY 39 175 mavlink_rcv_if0 1770 0.499 1528/ 2836 175 (175) w:sem 39 183 mavlink_if1 35578 13.686 1792/ 2508 100 (100) READY 41 186 mavlink_rcv_if1 5355 1.498 1608/ 2836 175 (175) READY 41 339 log_writer_file 2686 2.897 784/ 1068 60 ( 60) READY 47 292 ekf2 42526 17.682 4608/ 6572 250 (250) w:sem 20 296 mc_att_control 16246 6.193 792/ 1660 251 (251) w:sem 17 298 mc_pos_control 9748 2.697 1016/ 1876 250 (250) w:sem 12 301 navigator 600 0.199 1288/ 1764 105 (105) w:sem 15 318 vmount 379 0.199 1008/ 1868 100 (100) w:sem 7 337 logger 12040 9.290 3072/ 3540 245 (245) RUN 47 Processes: 21 total, 7 running, 14 sleeping, max FDs: 54 CPU usage: 81.02% tasks, 1.30% sched, 17.68% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 271.019s total, 86.123s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 40 events, 1175087us elapsed, 29377us avg, min 8698us max 400253us 66309.508us rms logger_sd_write: 1343 events, 25221251us elapsed, 18779us avg, min 10us max 915746us 29099.492us rms navigator: 2114 events, 2971626us elapsed, 1405us avg, min 24us max 749671us 19198.094us rms land_detector_cycle: 5175 events, 292947us elapsed, 56us avg, min 37us max 458us 60.112us rms mc_att_control: 26662 events, 3207750us elapsed, 120us avg, min 77us max 429us 54.198us rms fmu control latency: 63 events, 10545545842us elapsed, 167389616us avg, min 129475793us max 196030648us 32859112.000us 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: 25782 events, 20047879us elapsed, 777us avg, min 115us max 26334us 1074.818us rms mavlink_txe: 0 events mavlink_el: 9882 events, 4495717us elapsed, 454us avg, min 101us max 11541us 872.724us rms io control latency: 26662 events, 8622761us elapsed, 323us avg, min 218us max 700us 80.095us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 26663 events, 19297402us elapsed, 723us avg, min 265us max 3256us 1078.881us rms io_txns: 55826 events, 17693629us elapsed, 316us avg, min 135us max 845us 157.931us rms stack_check: 344 events, 31961us elapsed, 92us avg, min 1us max 6110us 802.094us rms sensors: 26663 events, 30309403us elapsed, 1136us avg, min 480us max 4799us 632.955us rms mpu9250_dupe: 27407 events mpu9250_reset: 0 events mpu9250_good_trans: 106321 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 133728 events, 8635397us elapsed, 64us avg, min 42us max 83us 16.152us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 1 events mpu9250_mag_duplicates: 94843 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1432 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 14963 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 10698 events, 263717us elapsed, 24us avg, min 24us max 26us 0.673us rms lsm303d_acc_read: 101891 events, 3407943us elapsed, 33us avg, min 21us max 39us 7.348us rms l3gd20_dupe: 71340 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 149630 events, 4554930us elapsed, 30us avg, min 22us max 41us 10.036us rms mpu9250_dupe: 27415 events mpu9250_reset: 0 events mpu9250_good_trans: 106317 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 133733 events, 9125828us elapsed, 68us avg, min 43us max 101us 21.201us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 1 events mpu9250_mag_duplicates: 94459 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1497 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 4551 events, 7246666us elapsed, 1592us avg, min 871us max 5828us 1078.147us rms adc_samples: 106980 events, 295804us elapsed, 2us avg, min 2us max 3us 0.607us rms ms5611_com_err: 0 events ms5611_measure: 9690 events, 107437us elapsed, 11us avg, min 6us max 589us 35.163us rms ms5611_read: 9690 events, 226613us elapsed, 23us avg, min 11us max 586us 53.595us rms ms5611_com_err: 0 events ms5611_measure: 9689 events, 103947us elapsed, 10us avg, min 6us max 502us 34.666us rms ms5611_read: 9689 events, 232454us elapsed, 23us avg, min 11us max 535us 48.857us rms dma_alloc: 1 events param_set: 5 events, 45us elapsed, 9us avg, min 4us max 13us 329.871us rms param_get: 1511 events, 25620us elapsed, 16us avg, min 4us max 2949us 176.125us rms param_find: 131 events, 2397us elapsed, 18us avg, min 3us max 1239us 329430.906us rms param_export: 3 events, 689248us elapsed, 229749us avg, min 187254us max 296274us 58464.660us rms
Post Flight:
logger_sd_fsync: 56 events, 1121927us elapsed, 20034us avg, min 5328us max 179485us 63074.812us rms logger_sd_write: 1858 events, 35436035us elapsed, 19072us avg, min 9us max 1128202us 48117.055us rms navigator: 1106 events, 4506076us elapsed, 4074us avg, min 29us max 939742us 50698.484us rms land_detector_cycle: 2796 events, 167699us elapsed, 59us avg, min 34us max 433us 91.595us rms mc_att_control: 14448 events, 1766474us elapsed, 122us avg, min 80us max 418us 83.951us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.060us 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: 13485 events, 11603050us elapsed, 860us avg, min 116us max 8681us 1778.670us rms mavlink_txe: 0 events mavlink_el: 5254 events, 2664984us elapsed, 507us avg, min 101us max 7211us 1396.169us rms io control latency: 14449 events, 4749800us elapsed, 328us avg, min 226us max 691us 124.290us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 14450 events, 10427292us elapsed, 721us avg, min 265us max 3274us 1669.499us rms io_txns: 30174 events, 9556135us elapsed, 316us avg, min 133us max 944us 243.316us rms stack_check: 187 events, 13637us elapsed, 72us avg, min 1us max 3626us 1154.568us rms sensors: 14450 events, 16550029us elapsed, 1145us avg, min 626us max 4160us 956.097us rms mpu9250_dupe: 14469 events mpu9250_reset: 0 events mpu9250_good_trans: 57866 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 72335 events, 4679454us elapsed, 64us avg, min 42us max 83us 24.715us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 51673 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 779 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 8133 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 5787 events, 142676us elapsed, 24us avg, min 24us max 26us 1.033us rms lsm303d_acc_read: 55115 events, 1843055us elapsed, 33us avg, min 21us max 39us 11.294us rms l3gd20_dupe: 38614 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 80939 events, 2463905us elapsed, 30us avg, min 22us max 41us 15.404us rms mpu9250_dupe: 14492 events mpu9250_reset: 0 events mpu9250_good_trans: 57847 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 72340 events, 4944223us elapsed, 68us avg, min 43us max 101us 32.510us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 51413 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 864 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2454 events, 3874539us elapsed, 1578us avg, min 870us max 4288us 1677.180us rms adc_samples: 57870 events, 160280us elapsed, 2us avg, min 2us max 3us 0.927us rms ms5611_com_err: 0 events ms5611_measure: 5235 events, 56150us elapsed, 10us avg, min 6us max 464us 53.218us rms ms5611_read: 5235 events, 124183us elapsed, 23us avg, min 11us max 535us 81.701us rms ms5611_com_err: 0 events ms5611_measure: 5236 events, 57053us elapsed, 10us avg, min 6us max 523us 53.283us rms ms5611_read: 5236 events, 125948us elapsed, 24us avg, min 11us max 539us 76.691us rms dma_alloc: 0 events param_set: 3 events, 20us elapsed, 6us avg, min 4us max 12us 466.530us 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, 261553us elapsed, 261553us avg, min 261553us max 261553us Infinityus rms