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PX4 Quad-rotor VTOL (Tailsitter) | Open 3D ViewOpen PID Analysis |
Tailsitter VTOL manual multicopter attitude glitch
| Airframe: | 13051 |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.9.0 (beta) (876386a9) branch: post_px4_stable |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | 06-05-2020 15:34 |
| Logging Duration: | 0:00:13 |
| Vehicle Life Flight Time: | 3 hours 14 minutes 15 seconds |
| Vehicle UUID: | 00020000000035393735313851130027001a (SkyOne) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Took off in stabilise mode and after a few seconds, the attitude went all wonky. Not sure if it was hardware or EKF fault |
| Distance: | 9.5 m |
| Max Altitude Difference: | 2 m |
| Average Speed MC: | 2.3 km/h |
| Max Speed: | 10.7 km/h |
| Max Speed Horizontal: | 9.1 km/h |
| Max Speed Up: | 4.7 km/h |
| Max Speed Down: | 8.7 km/h |
| Max Tilt Angle: | 48.3 deg |
| Max Rotation Speed: | 512.2 deg/s |
| Average Current MC: | 55.7 A |
| Max Current: | 112.4 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 321636 35.329 460/ 748 0 ( 0) READY 3 1 hpwork 26222 3.792 792/ 1780 249 (249) w:sem 16 2 lpwork 4022 0.199 984/ 1780 50 ( 50) w:sig 11 3 init 1227 0.000 2056/ 2604 100 (100) w:sem 3 16 dataman 248 0.000 752/ 1180 90 ( 90) w:sem 4 165 sensors 33115 4.790 1352/ 1964 249 (249) w:sem 17 167 commander 8371 1.297 1704/ 3212 140 (140) w:sig 29 168 commander_low_prio 25 0.000 664/ 2996 50 ( 50) w:sem 29 237 gps 2115 0.399 1072/ 1516 220 (220) w:sem 5 265 mavlink_if0 13552 1.996 1744/ 2484 100 (100) READY 41 266 mavlink_rcv_if0 3924 0.598 1584/ 2836 175 (175) w:sem 41 276 mavlink_if1 13323 2.095 1768/ 2492 100 (100) w:sig 41 277 mavlink_rcv_if1 4283 0.698 1608/ 2836 175 (175) w:sem 41 286 px4io 24528 3.792 1000/ 1484 252 (252) w:sem 11 369 ekf2 74329 11.377 4992/ 6572 250 (250) w:sem 20 371 vtol_att_control 17384 2.694 720/ 1284 252 (252) w:sem 18 375 mc_att_control 48078 7.485 928/ 1660 251 (251) w:sem 18 377 mc_pos_control 3211 0.499 960/ 1860 250 (250) w:sem 10 379 fw_att_controol 20744 3.293 872/ 1460 251 (251) w:sem 14 381 fw_pos_control_l1 3681 0.598 736/ 1764 250 (250) w:sem 16 390 landing_target_estimator 1940 0.299 1144/ 1956 100 (100) READY 8 399 navigator 1529 0.299 896/ 1764 105 (105) w:sem 16 444 logger 10228 9.281 3048/ 3644 245 (245) RUN 41 459 log_writer_file 69 0.000 600/ 1148 60 ( 60) w:sem 41 Processes: 24 total, 4 running, 20 sleeping, max FDs: 54 CPU usage: 55.49% tasks, 9.18% sched, 35.33% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 651.466s total, 321.637s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 326232 32.435 460/ 748 0 ( 0) READY 3 1 hpwork 26720 4.291 792/ 1780 249 (249) w:sig 16 2 lpwork 4106 6.187 984/ 1780 50 ( 50) w:sig 11 3 init 1227 0.000 2056/ 2604 100 (100) w:sem 3 16 dataman 251 0.000 752/ 1180 90 ( 90) w:sem 4 165 sensors 33693 4.790 1352/ 1964 249 (249) w:sem 17 167 commander 8553 1.297 1704/ 3212 140 (140) w:sig 29 168 commander_low_prio 25 0.000 664/ 2996 50 ( 50) w:sem 29 237 gps 2156 0.299 1072/ 1516 220 (220) w:sem 5 265 mavlink_if0 13803 2.095 1744/ 2484 100 (100) w:sig 41 266 mavlink_rcv_if0 3995 0.598 1584/ 2836 175 (175) w:sem 41 276 mavlink_if1 13573 2.095 1768/ 2492 100 (100) w:sig 41 277 mavlink_rcv_if1 4353 0.499 1608/ 2836 175 (175) READY 41 286 px4io 24994 3.992 1000/ 1484 252 (252) w:sem 11 369 ekf2 75884 12.375 4992/ 6572 250 (250) w:sem 20 371 vtol_att_control 17716 2.694 720/ 1284 252 (252) w:sem 18 375 mc_att_control 49034 7.784 928/ 1660 251 (251) w:sem 18 377 mc_pos_control 3274 0.399 960/ 1860 250 (250) w:sem 10 379 fw_att_controol 21125 2.994 872/ 1460 251 (251) w:sem 14 381 fw_pos_control_l1 3756 0.099 736/ 1764 250 (250) w:sem 16 390 landing_target_estimator 1977 0.299 1144/ 1956 100 (100) w:sig 8 399 navigator 1560 0.199 896/ 1764 105 (105) w:sem 16 444 logger 11163 7.684 3048/ 3644 245 (245) RUN 41 459 log_writer_file 645 4.790 600/ 1148 60 ( 60) w:sem 41 Processes: 24 total, 3 running, 21 sleeping, max FDs: 54 CPU usage: 65.47% tasks, 2.10% sched, 32.44% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 663.775s total, 326.232s idle
Performance Counters
Pre Flight:
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 navigator: 12798 events, 1738799us elapsed, 135.86us avg, min 26us max 5122us 279.299us rms land_detector_cycle: 31044 events, 2912150us elapsed, 93.81us avg, min 42us max 1442us 112.103us rms fw_l1_control: 26932 events, 2877644us elapsed, 106.85us avg, min 51us max 1679us 117.468us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 158895 events, 13408635us elapsed, 84.39us avg, min 62us max 735us 36.578us rms mc_att_control: 160246 events, 69316544us elapsed, 432.56us avg, min 177us max 4215us 65.912us rms EKF2 update: 160237 events, 40236792us elapsed, 251.11us avg, min 3us max 1858us 274.067us rms EKF2 data acquisition: 160237 events, 44304127us elapsed, 276.49us avg, min 43us max 10635us 63.283us rms io control latency: 160237 events, 44630612us elapsed, 278.53us avg, min 250us max 1878us 12.809us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 160244 events, 119073131us elapsed, 743.07us avg, min 266us max 19606us 802.059us rms io_txns: 360513 events, 110112419us elapsed, 305.43us avg, min 135us max 8420us 98.440us rms mavlink_int: 62322 events, 10357.47 avg, min 9112us max 104524us 962.709us rms mavlink_el: 62321 events, 18156487us elapsed, 291.34us avg, min 73us max 9469us 414.306us rms mavlink_int: 62323 events, 10357.68 avg, min 9120us max 100060us 955.488us rms mavlink_el: 62323 events, 18632118us elapsed, 298.96us avg, min 86us max 88997us 540.564us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 160457 events, 131963112us elapsed, 822.42us avg, min 67us max 15732us 367.679us rms sf1xx_com_err: 0 events sf1xx_read: 29458 events, 14337157us elapsed, 486.70us avg, min 306us max 6008us 435.520us rms aspd_com_err: 0 events aspd_read: 54512 events, 39207700us elapsed, 719.25us avg, min 488us max 3920us 476.608us rms adc_samples: 775524 events, 2268121us elapsed, 2.92us avg, min 2us max 4us 0.341us rms ms5611_com_err: 0 events ms5611_measure: 54517 events, 598373us elapsed, 10.98us avg, min 6us max 794us 33.033us rms ms5611_read: 54516 events, 1235586us elapsed, 22.66us avg, min 11us max 814us 35.057us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 27319 events, 31078715us elapsed, 1137.62us avg, min 851us max 10194us 499.474us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 27385 events, 33630075us elapsed, 1228.05us avg, min 856us max 13918us 567.416us rms bmi055_gyro_bad_registers: 1 events bmi055_gyro_bad_transfers: 1 events bmi055_gyro_measure_interval: 811430 events, 800.00 avg, min 690us max 1297us 14.032us rms bmi055_gyro_read: 811398 events, 42951495us elapsed, 52.94us avg, min 48us max 61us 2.444us rms bmi055_accel_duplicates: 140228 events bmi055_accel_bad_registers: 1 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 811449 events, 800.00 avg, min 733us max 1190us 6.827us rms bmi055_accel_read: 811417 events, 32411322us elapsed, 39.94us avg, min 30us max 49us 4.247us rms mpu6k_duplicates: 162941 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 811457 events, 800.00 avg, min 712us max 888us 9.888us rms mpu6k_read: 811440 events, 58537156us elapsed, 72.14us avg, min 47us max 105us 15.259us rms stack_check: 1750 events, 42895us elapsed, 24.51us avg, min 2us max 2271us 123.968us rms dma_alloc: 4 events param_set: 230 events, 13118us elapsed, 57.03us avg, min 5us max 186us 31.033us rms param_get: 7569 events, 72689us elapsed, 9.60us avg, min 3us max 2339us 61.600us rms param_find: 2052 events, 22899us elapsed, 11.16us avg, min 3us max 1096us 29.410us rms param_export: 4 events, 443179us elapsed, 110794.75us avg, min 106298us max 122580us 7870.482us rms
Post Flight:
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: 29 events, 208743us elapsed, 7198.03us avg, min 215us max 11858us 2954.374us rms logger_sd_write: 130 events, 2079089us elapsed, 15992.99us avg, min 14us max 144760us 13602.566us rms navigator: 267 events, 108407us elapsed, 406.02us avg, min 29us max 18248us 2544.584us rms land_detector_cycle: 640 events, 63146us elapsed, 98.67us avg, min 52us max 915us 789.496us rms fw_l1_control: 616 events, 67592us elapsed, 109.73us avg, min 53us max 752us 788.173us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 3307 events, 258804us elapsed, 78.26us avg, min 63us max 281us 255.118us rms mc_att_control: 3308 events, 1480862us elapsed, 447.66us avg, min 373us max 636us 462.442us rms EKF2 update: 3308 events, 957770us elapsed, 289.53us avg, min 16us max 3819us 1953.466us rms EKF2 data acquisition: 3308 events, 909923us elapsed, 275.07us avg, min 170us max 561us 443.598us rms io control latency: 3308 events, 927128us elapsed, 280.27us avg, min 264us max 332us 89.726us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 3308 events, 2458974us elapsed, 743.34us avg, min 270us max 3250us 5642.570us rms io_txns: 7451 events, 2271891us elapsed, 304.91us avg, min 168us max 715us 691.907us rms mavlink_int: 1246 events, 10650.57 avg, min 9118us max 16287us 1107.363us rms mavlink_el: 1246 events, 454927us elapsed, 365.11us avg, min 89us max 6050us 2988.583us rms mavlink_int: 1248 events, 10642.74 avg, min 9132us max 18308us 1046.459us rms mavlink_el: 1248 events, 404640us elapsed, 324.23us avg, min 97us max 6135us 3854.840us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 3309 events, 2772077us elapsed, 837.74us avg, min 383us max 4602us 2606.164us rms sf1xx_com_err: 0 events sf1xx_read: 604 events, 308022us elapsed, 509.97us avg, min 308us max 5396us 3091.402us rms aspd_com_err: 0 events aspd_read: 1118 events, 812103us elapsed, 726.39us avg, min 489us max 3821us 3365.692us rms adc_samples: 15996 events, 46845us elapsed, 2.93us avg, min 2us max 4us 2.400us rms ms5611_com_err: 0 events ms5611_measure: 1118 events, 12095us elapsed, 10.82us avg, min 7us max 689us 232.840us rms ms5611_read: 1118 events, 25192us elapsed, 22.53us avg, min 11us max 680us 247.164us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 559 events, 627559us elapsed, 1122.65us avg, min 853us max 4315us 3529.931us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 559 events, 676437us elapsed, 1210.08us avg, min 858us max 4002us 4013.935us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 16665 events, 799.95 avg, min 699us max 902us 14.854us rms bmi055_gyro_read: 16665 events, 885388us elapsed, 53.13us avg, min 48us max 60us 17.227us rms bmi055_accel_duplicates: 2881 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 16665 events, 799.95 avg, min 735us max 865us 8.814us rms bmi055_accel_read: 16666 events, 668339us elapsed, 40.10us avg, min 30us max 48us 29.944us rms mpu6k_duplicates: 3311 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 16666 events, 799.95 avg, min 725us max 875us 10.506us rms mpu6k_read: 16666 events, 1207973us elapsed, 72.48us avg, min 47us max 104us 107.581us rms stack_check: 36 events, 404us elapsed, 11.22us avg, min 2us max 60us 876.391us rms dma_alloc: 0 events param_set: 3 events, 1820us elapsed, 606.67us avg, min 4us max 1811us 1094.569us rms param_get: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 133594us elapsed, 133594.00us avg, min 133594us max 133594us Infinityus rms