Do you need help with interpreting the plots?
See here.
PX4 Octorotor | Open 3D ViewOpen PID Analysis |
Octorotor Uneven Liftoff in Stabilized Mode
| Airframe: | Generic Octocopter X geometry Octorotor x (8001) |
| Hardware: | PX4_FMU_V5 (V550) |
| Software Version: | v1.13.3 (1c8ab2a0) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:26 |
| Vehicle Life Flight Time: | 28 minutes 42 seconds |
| Vehicle UUID: | 000200000000393035353438510800430039 |
| Distance: | 10.2 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 1.4 km/h |
| Max Speed: | 17.1 km/h |
| Max Speed Horizontal: | 5.3 km/h |
| Max Speed Up: | 1.7 km/h |
| Max Speed Down: | 17.0 km/h |
| Max Tilt Angle: | 180.0 deg |
Loading Plots...
Console Output
HW arch: PX4_FMU_V5 HW type: V550 HW version: 0x00000005 HW revision: 0x00000000 FW git-hash: 1c8ab2a0d7db2d14a6f320ebd8766b5ffaea28fa FW version: Release 1.13.3 (17630207) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 4a1dd8680cd29f51fb0fe66dcfbf6f69bec747cf Build datetime: Mar 14 2023 01:43:06 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000393035353438510800430039 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 1853 bytes, decoded 1853 bytes (INT32:37, FLOAT:52) 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 INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 Loading airframe: /etc/init.d/airframes/8001_octo_x INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20602 #0 on SPI bus 1 rotation 2 icm20689 #0 on SPI bus 1 rotation 2 bmi055_accel #0 on SPI bus 1 rotation 2 bmi055_gyro #0 on SPI bus 1 rotation 2 ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 (external) address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 WARN [SPI_I2C] Already running on bus 1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/octo_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 ekf2 [724:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 INFO [gps] u-blox module: NEO-M8N-0 WARN [commander] Arming denied: high throttle WARN [commander] Arming denied: high throttle WARN [commander] Arming denied: high throttle INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-05-05/15_28_47.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-05-05/15_28_47.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 37830 26.435 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.003 572/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2284/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 596/ 1256 255 (255) w:sem 3 902 mavlink_rcv_if0 5 0.511 1316/ 4712 175 (175) w:sem 4 69 wq:lp_default 0 0.061 1052/ 1920 205 (205) w:sem 3 71 wq:hp_default 91 9.166 1124/ 1904 237 (237) w:sem 3 104 dataman 1 0.110 828/ 1208 90 ( 90) w:sem 4 122 wq:I2C1 3 0.356 892/ 2336 246 (246) w:sem 3 415 wq:SPI1 149 14.860 1612/ 2336 253 (253) w:sem 3 429 wq:SPI4 3 0.325 852/ 2336 250 (250) w:sem 3 438 wq:I2C3 3 0.321 880/ 2336 244 (244) w:sem 3 670 wq:nav_and_controllers 57 5.694 1540/ 2240 242 (242) w:sem 3 681 wq:rate_ctrl 95 9.549 1524/ 3152 255 (255) w:sem 3 683 wq:INS0 60 6.050 4260/ 6000 241 (241) w:sem 3 684 wq:INS1 54 5.473 4260/ 6000 240 (240) w:sem 3 686 wq:INS2 58 5.802 4260/ 6000 239 (239) w:sem 3 688 commander 9 0.934 1460/ 3224 140 (140) w:sig 5 824 gps 1 0.190 1188/ 1680 205 (205) w:sem 4 893 mavlink_if0 20 2.084 1844/ 2728 100 (100) w:sig 4 945 navigator 2 0.240 1084/ 1920 105 (105) w:sem 6 1002 logger 62 6.255 2860/ 3648 230 (230) RUN 4 1015 wq:uavcan 15 1.584 1700/ 3624 236 (236) w:sem 3 1017 log_writer_file 10 1.085 604/ 1176 60 ( 60) w:sem 4 Processes: 25 total, 2 running, 23 sleeping CPU usage: 70.66% tasks, 2.91% sched, 26.44% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 108.076s total, 37.830s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 46324 22.598 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 50 5.077 1060/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2284/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 596/ 1256 255 (255) w:sem 3 902 mavlink_rcv_if0 4 0.413 1316/ 4712 175 (175) w:sem 4 69 wq:lp_default 2 0.282 1052/ 1920 205 (205) w:sem 3 71 wq:hp_default 90 9.064 1180/ 1904 237 (237) w:sem 3 104 dataman 1 0.107 828/ 1208 90 ( 90) w:sem 4 122 wq:I2C1 3 0.394 892/ 2336 246 (246) w:sem 3 415 wq:SPI1 149 14.950 1612/ 2336 253 (253) w:sem 3 429 wq:SPI4 3 0.341 852/ 2336 250 (250) w:sem 3 438 wq:I2C3 3 0.326 880/ 2336 244 (244) w:sem 3 670 wq:nav_and_controllers 62 6.239 1540/ 2240 242 (242) w:sem 3 681 wq:rate_ctrl 95 9.506 1524/ 3152 255 (255) w:sem 3 683 wq:INS0 54 5.455 4260/ 6000 241 (241) w:sem 3 684 wq:INS1 59 5.909 4260/ 6000 240 (240) w:sem 3 686 wq:INS2 58 5.871 4260/ 6000 239 (239) w:sem 3 688 commander 26 2.633 1460/ 3224 140 (140) READY 5 824 gps 1 0.198 1188/ 1680 205 (205) w:sem 4 893 mavlink_if0 21 2.138 1852/ 2728 100 (100) READY 4 945 navigator 2 0.253 1228/ 1920 105 (105) w:sem 6 1002 logger 30 3.013 2860/ 3648 230 (230) RUN 4 1015 wq:uavcan 16 1.652 1700/ 3624 236 (236) w:sem 3 1017 log_writer_file 6 0.655 604/ 1176 60 ( 60) w:sem 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 74.48% tasks, 2.92% sched, 22.60% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 134.035s total, 46.324s 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_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 35934 events, 2955.48 avg, min 24us max 12008us 772.095us rms uavcan: cycle time: 35935 events, 2030286us elapsed, 56.50us avg, min 14us max 3664us 150.022us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 5311 events, 19992.53 avg, min 69us max 28789us 537.638us rms gyro_fft: gyro FIFO data gap: 6 events gyro_fft: FFT: 19839 events, 9669216us elapsed, 487.38us avg, min 299us max 4271us 288.845us rms gyro_fft: cycle interval: 42138 events, 2521.98 avg, min 24us max 10651us 402.353us rms gyro_fft: cycle: 42138 events, 11307515us elapsed, 268.34us avg, min 3us max 4304us 328.181us rms navigator: 2125 events, 650262us elapsed, 306.01us avg, min 22us max 15952us 765.922us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10273 events, 10340.35 avg, min 9215us max 44626us 1631.496us rms mavlink: tx run elapsed: 10273 events, 4122078us elapsed, 401.25us avg, min 151us max 16979us 428.367us rms mag_bias_estimator: cycle: 5321 events, 330316us elapsed, 62.08us avg, min 5us max 5398us 173.577us rms land_detector: cycle: 10502 events, 306533us elapsed, 29.19us avg, min 18us max 408us 23.586us rms mc_pos_control: cycle time: 10486 events, 484394us elapsed, 46.19us avg, min 1us max 553us 38.138us rms flight_mode_manager: cycle: 5241 events, 321713us elapsed, 61.38us avg, min 7us max 1020us 53.733us rms mc_hover_thrust_estimator: cycle time: 9168 events, 22895us elapsed, 2.50us avg, min 1us max 174us 5.253us rms mc_att_control: cycle: 20292 events, 586623us elapsed, 28.91us avg, min 15us max 433us 16.541us rms mc_rate_control: cycle: 84692 events, 1829156us elapsed, 21.60us avg, min 18us max 449us 2.586us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 11659 events, 3905227us elapsed, 334.95us avg, min 154us max 4053us 282.399us rms ekf2: ECL update: 12030 events, 91884us elapsed, 7.64us avg, min 1us max 1112us 21.640us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 10488 events, 3759796us elapsed, 358.49us avg, min 153us max 2629us 280.751us rms ekf2: ECL update: 10823 events, 72872us elapsed, 6.73us avg, min 1us max 947us 12.806us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 10470 events, 2641889us elapsed, 252.33us avg, min 152us max 1157us 119.377us rms ekf2: ECL update: 10807 events, 74272us elapsed, 6.87us avg, min 1us max 157us 7.548us rms pwm_out: interval: 108 events, 981943.61 avg, min 142us max 1002370us 96253.914us rms pwm_out: cycle: 108 events, 1019us elapsed, 9.44us avg, min 5us max 146us 19.370us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 1640 events, 65002.49 avg, min 30us max 75028049us 1852212.125us rms pwm_out: cycle: 1640 events, 84544us elapsed, 51.55us avg, min 4us max 2422us 126.346us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 42506 events, 25287547us elapsed, 594.92us avg, min 544us max 1482us 101.210us rms px4io: interface write: 42522 events, 10257590us elapsed, 241.23us avg, min 129us max 367us 6.582us rms px4io: interface read: 22361 events, 5140286us elapsed, 229.88us avg, min 142us max 653us 122.018us rms px4io: interval: 42511 events, 2507.82 avg, min 796us max 59810us 418.480us rms px4io: cycle: 42511 events, 17875643us elapsed, 420.49us avg, min 7us max 9106us 451.545us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 64883 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 64883 events, 14824781us elapsed, 228.48us avg, min 121us max 645us 71.643us rms commander: preflight check: 213 events, 3035083us elapsed, 14249.22us avg, min 2929us max 18346us 1656.402us rms commander: cycle: 9260 events, 4908373us elapsed, 530.06us avg, min 71us max 18481us 2181.731us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 4972 events, 312713us elapsed, 62.89us avg, min 10us max 2936us 51.101us rms vehicle_gps_position: cycle: 528 events, 12563us elapsed, 23.79us avg, min 5us max 226us 31.177us rms vehicle_air_data: cycle: 7968 events, 304443us elapsed, 38.21us avg, min 22us max 301us 34.678us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 84875 events, 2549928us elapsed, 30.04us avg, min 16us max 405us 2.864us rms sensors: 21324 events, 2124225us elapsed, 99.62us avg, min 29us max 7516us 100.465us rms battery_status: 10675 events, 520408us elapsed, 48.75us avg, min 24us max 1866us 107.550us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 10633 events, 60221us elapsed, 5.66us avg, min 3us max 214us 12.343us rms ms5611: read: 10632 events, 212269us elapsed, 19.97us avg, min 7us max 233us 20.948us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 1 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 1 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 128220 events, 816592us elapsed, 6.37us avg, min 3us max 1820us 37.479us rms manual_control: interval: 632 events, 169067.86 avg, min 2276us max 201644us 57241.367us rms manual_control: cycle: 632 events, 13230us elapsed, 20.93us avg, min 9us max 319us 30.020us rms rc_update: valid data interval: 1540 events, 20504.55 avg, min 11571us max 30160us 1846.439us rms rc_update: cycle interval: 1547 events, 20502.28 avg, min 11572us max 30109us 1836.064us rms rc_update: cycle: 1547 events, 75275us elapsed, 48.66us avg, min 16us max 3314us 129.264us rms rgbled: led_control message missed: 0 events load_mon: cycle: 214 events, 39457us elapsed, 184.38us avg, min 3us max 2269us 316.001us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 3624 events, 508557us elapsed, 140.33us avg, min 34us max 41286us 912.879us rms rgbled: led_control message missed: 0 events dma_alloc: 7 events param: set: 89 events, 2136us elapsed, 24.00us avg, min 3us max 45us 11.600us rms param: get: 13918 events param: find: 13254 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 8972 events, 2984.62 avg, min 30us max 7442us 769.884us rms uavcan: cycle time: 8972 events, 472764us elapsed, 52.69us avg, min 14us max 3135us 335.666us 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: 72 events, 404324us elapsed, 5615.61us avg, min 127us max 9985us 2406.686us rms logger_sd_write: 246 events, 1273122us elapsed, 5175.29us avg, min 17us max 20177us 1927.063us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000000.00 avg, min 10000000us max 10000000us 0.000us rms gyro_fft: gyro FIFO data gap: 2 events gyro_fft: FFT: 4994 events, 2628548us elapsed, 526.34us avg, min 299us max 4041us 655.565us rms gyro_fft: cycle interval: 10605 events, 2525.27 avg, min 174us max 6176us 452.235us rms gyro_fft: cycle: 10605 events, 3062850us elapsed, 288.81us avg, min 3us max 4072us 745.034us rms navigator: 558 events, 182075us elapsed, 326.30us avg, min 23us max 5946us 1656.308us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2632 events, 10167.22 avg, min 9238us max 30546us 814.936us rms mavlink: tx run elapsed: 2632 events, 1055700us elapsed, 401.10us avg, min 178us max 4429us 910.345us rms mag_bias_estimator: cycle: 49 events, 2299us elapsed, 46.92us avg, min 20us max 560us 1828.997us rms land_detector: cycle: 2676 events, 78835us elapsed, 29.46us avg, min 19us max 289us 52.200us rms mc_pos_control: cycle time: 2676 events, 116498us elapsed, 43.53us avg, min 10us max 329us 85.556us rms flight_mode_manager: cycle: 1339 events, 76313us elapsed, 56.99us avg, min 7us max 771us 121.967us rms mc_hover_thrust_estimator: cycle time: 2676 events, 14836us elapsed, 5.54us avg, min 1us max 271us 14.846us rms mc_att_control: cycle: 5352 events, 168400us elapsed, 31.46us avg, min 17us max 153us 36.241us rms mc_rate_control: cycle: 21251 events, 481083us elapsed, 22.64us avg, min 18us max 43us 5.658us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 4 events ekf2: ECL full update: 2977 events, 1051155us elapsed, 353.09us avg, min 152us max 3596us 632.319us rms ekf2: ECL update: 2977 events, 26019us elapsed, 8.74us avg, min 4us max 1007us 52.687us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2680 events, 972599us elapsed, 362.91us avg, min 153us max 2293us 623.054us rms ekf2: ECL update: 2680 events, 20745us elapsed, 7.74us avg, min 4us max 1136us 35.440us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 2675 events, 699653us elapsed, 261.55us avg, min 153us max 1226us 266.475us rms ekf2: ECL update: 2675 events, 19616us elapsed, 7.33us avg, min 5us max 220us 17.516us rms pwm_out: interval: 27 events, 963161.52 avg, min 1000011us max 1000915us 257.389us rms pwm_out: cycle: 27 events, 150us elapsed, 5.56us avg, min 5us max 7us 39.299us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 1414 events, 18933.58 avg, min 29us max 22448us 4101.503us rms pwm_out: cycle: 1414 events, 66575us elapsed, 47.08us avg, min 22us max 1987us 176.933us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 10665 events, 6688156us elapsed, 627.11us avg, min 524us max 1591us 265.124us rms px4io: interface write: 10668 events, 2585008us elapsed, 242.31us avg, min 132us max 371us 16.298us rms px4io: interface read: 7710 events, 2191364us elapsed, 284.22us avg, min 142us max 664us 258.787us rms px4io: interval: 10665 events, 2511.54 avg, min 741us max 9239us 402.307us rms px4io: cycle: 10665 events, 5405622us elapsed, 506.86us avg, min 287us max 9139us 1115.763us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 18378 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 18378 events, 4614148us elapsed, 251.07us avg, min 121us max 655us 168.941us rms commander: preflight check: 3 events, 59662us elapsed, 19887.33us avg, min 18316us max 20940us 17109.990us rms commander: cycle: 2378 events, 651317us elapsed, 273.89us avg, min 75us max 21456us 4378.612us 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: 1256 events, 75094us elapsed, 59.79us avg, min 42us max 326us 107.436us rms vehicle_gps_position: cycle: 134 events, 2915us elapsed, 21.75us avg, min 14us max 225us 68.146us rms vehicle_air_data: cycle: 2000 events, 74250us elapsed, 37.13us avg, min 22us max 285us 76.554us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 21256 events, 638593us elapsed, 30.04us avg, min 25us max 589us 7.361us rms sensors: 5354 events, 479150us elapsed, 89.49us avg, min 43us max 453us 203.675us rms battery_status: 2679 events, 151260us elapsed, 56.46us avg, min 25us max 2775us 261.051us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2667 events, 15152us elapsed, 5.68us avg, min 3us max 221us 27.941us rms ms5611: read: 2667 events, 54940us elapsed, 20.60us avg, min 8us max 232us 47.677us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 32148 events, 219059us elapsed, 6.81us avg, min 3us max 2511us 89.696us rms manual_control: interval: 300 events, 88627.10 avg, min 3666us max 201898us 71619.539us rms manual_control: cycle: 300 events, 8326us elapsed, 27.75us avg, min 9us max 209us 50.965us rms rc_update: valid data interval: 1093 events, 24503.80 avg, min 11274us max 4230035us 127335.742us rms rc_update: cycle interval: 1298 events, 20633.77 avg, min 11275us max 29916us 1808.139us rms rc_update: cycle: 1298 events, 62650us elapsed, 48.27us avg, min 15us max 1870us 176.140us rms rgbled: led_control message missed: 35 events load_mon: cycle: 54 events, 7786us elapsed, 144.19us avg, min 73us max 970us 657.155us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1161 events, 131622us elapsed, 113.37us avg, min 34us max 4329us 1634.822us rms rgbled: led_control message missed: 35 events dma_alloc: 2 events param: set: 3 events, 66us elapsed, 22.00us avg, min 2us max 52us 81.370us rms param: get: 539 events param: find: 445 events param: export: 1 events, 30269us elapsed, 30269.00us avg, min 30269us max 30269us nanus rms