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PX4 Tiltrotor VTOL | Open 3D ViewOpen PID Analysis |
transition test
| Airframe: | 13012 |
| Hardware: | PX4_FMU_V3 (V2M) |
| Software Version: | v1.10.1 (e0f016c2) |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:54 |
| Dropouts: | 18 (4.10 s) |
| Vehicle Life Flight Time: | 5 hours 6 minutes 41 seconds |
| Vehicle UUID: | 0001000000002032345050485011001d0021 (batman) |
| Wind Speed: | Breeze |
| Flight Rating: | Good |
| Distance: | 2.60 km |
| Max Altitude Difference: | 98 m |
| Average Speed MC: | 9.4 km/h |
| Average Speed FW: | 70.6 km/h |
| Max Speed: | 93.2 km/h |
| Max Speed Horizontal: | 93.2 km/h |
| Max Speed Up: | 18.8 km/h |
| Max Speed Down: | 21.0 km/h |
| Max Tilt Angle: | 42.5 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 51478 44.067 208/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 136 0.099 1016/ 1516 50 ( 50) w:sig 8 3 init 1661 0.000 2024/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 384/ 1252 243 (243) w:sem 4 197 wq:att_pos_ctrl 12269 11.665 4768/ 6596 244 (244) w:sem 4 17 dataman 116 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 16 0.000 812/ 1700 205 (205) w:sem 4 23 wq:I2C2 172 0.000 632/ 1244 247 (247) w:sem 4 28 wq:hp_default 1096 0.997 1088/ 1596 243 (243) w:sem 4 141 wq:I2C1 454 0.398 836/ 1244 248 (248) w:sem 4 149 wq:SPI1 14332 13.160 1064/ 1396 254 (254) w:sem 4 191 sensors 2989 2.492 1472/ 1964 237 (237) w:sem 8 550 log_writer_file 50 0.997 800/ 1164 60 ( 60) w:sem 4 199 commander 1026 0.897 2120/ 3212 140 (140) w:sig 6 200 wq:rate_ctrl 12002 10.967 1116/ 1596 255 (255) w:sem 4 201 commander_low_prio 2 0.000 568/ 2996 50 ( 50) w:sem 6 278 gps 265 0.199 1088/ 1620 208 (208) READY 4 331 mavlink_if1 1867 1.395 1640/ 2484 105 (100) w:sig 4 332 mavlink_rcv_if1 978 0.398 2648/ 3916 175 (175) READY 4 366 px4io 7141 6.580 1080/ 1484 240 (240) w:sem 4 505 navigator 163 0.099 960/ 1764 105 (105) w:sem 4 541 logger 746 2.691 3088/ 3644 233 (233) RUN 4 Processes: 23 total, 4 running, 19 sleeping, max FDs: 20 CPU usage: 53.04% tasks, 2.89% sched, 44.07% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 112.283s total, 51.478s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 152987 40.659 208/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 326 3.096 1016/ 1516 50 ( 50) w:sig 8 3 init 1661 0.000 2024/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 384/ 1252 243 (243) w:sem 4 197 wq:att_pos_ctrl 47209 11.688 4768/ 6596 244 (244) w:sem 4 17 dataman 159 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 51 0.000 812/ 1700 205 (205) w:sem 4 23 wq:I2C2 212 0.099 632/ 1244 247 (247) w:sem 4 28 wq:hp_default 3418 0.999 1088/ 1596 243 (243) w:sem 4 141 wq:I2C1 1406 0.399 836/ 1244 248 (248) w:sem 4 149 wq:SPI1 44881 13.086 1064/ 1396 254 (254) w:sem 4 191 sensors 8802 2.697 1472/ 1964 237 (237) w:sem 8 550 log_writer_file 2339 0.999 800/ 1164 60 ( 60) w:sem 4 199 commander 3073 0.899 2120/ 3212 140 (140) w:sig 6 200 wq:rate_ctrl 33643 10.889 1116/ 1596 255 (255) w:sem 4 201 commander_low_prio 7 0.000 568/ 2996 50 ( 50) w:sem 6 278 gps 770 0.199 1088/ 1620 208 (208) w:sem 4 331 mavlink_if1 5047 1.398 1664/ 2484 140 (100) w:sig 4 332 mavlink_rcv_if1 1805 0.299 2648/ 3916 175 (175) w:sem 4 366 px4io 20489 6.493 1080/ 1484 240 (240) w:sem 4 505 navigator 433 0.099 1088/ 1764 105 (105) w:sem 4 541 logger 6878 2.697 3088/ 3644 233 (233) RUN 4 Processes: 23 total, 2 running, 21 sleeping, max FDs: 20 CPU usage: 56.04% tasks, 3.30% sched, 40.66% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 345.639s total, 152.988s 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: 7 events, 50819us elapsed, 7259.86us avg, min 4048us max 9146us 1598.308us rms logger_sd_write: 34 events, 420530us elapsed, 12368.53us avg, min 10us max 38424us 10501.571us rms navigator: 1036 events, 99966us elapsed, 96.49us avg, min 12us max 4611us 252.824us rms land_detector_cycle: 2911 events, 59787us elapsed, 20.54us avg, min 17us max 336us 44.899us rms fw_pos_control_l1: cycle: 1560 events, 50831us elapsed, 32.58us avg, min 23us max 2726us 76.249us rms fw_att_control: cycle: 14513 events, 1493083us elapsed, 102.88us avg, min 70us max 538us 116.515us rms mc_pos_control: cycle time: 2420 events, 98671us elapsed, 40.77us avg, min 26us max 413us 104.148us rms mc_att_control: 58108 events, 2662803us elapsed, 45.83us avg, min 26us max 126us 42.793us rms vtol_att_control: cycle: 72622 events, 1629858us elapsed, 22.44us avg, min 4us max 216us 24.196us rms ekf2: update: 14513 events, 4218862us elapsed, 290.70us avg, min 19us max 1888us 509.975us rms io control latency: 21661 events, 7765529us elapsed, 358.50us avg, min 190us max 1525us 308.007us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 21661 events, 27319817us elapsed, 1261.24us avg, min 268us max 8102us 1204.246us rms io_txns: 74236 events, 25387981us elapsed, 341.99us avg, min 153us max 5596us 264.055us rms mavlink_int: 5738 events, 10136.86 avg, min 9116us max 42238us 817.295us rms mavlink_el: 5738 events, 1001072us elapsed, 174.46us avg, min 90us max 2513us 386.968us 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: 14513 events, 11170558us elapsed, 769.69us avg, min 222us max 5648us 685.137us rms adc_samples: 58220 events, 173764us elapsed, 2.98us avg, min 2us max 320us 8.080us rms battery_status: 5822 events, 122642us elapsed, 21.07us avg, min 19us max 323us 27.444us rms ms5611_com_err: 0 events ms5611_measure: 5777 events, 58268us elapsed, 10.09us avg, min 9us max 28us 1.658us rms ms5611_read: 5777 events, 107018us elapsed, 18.52us avg, min 14us max 40us 3.819us rms mpu6k_duplicates: 14672 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 72786 events, 12860228us elapsed, 176.69us avg, min 53us max 376us 94.046us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2714 events, 2586193us elapsed, 952.91us avg, min 870us max 1965us 233.914us rms stack_check: 167 events, 8326us elapsed, 49.86us avg, min 2us max 1335us 252.404us rms dma_alloc: 1 events param_set: 2 events, 29us elapsed, 14.50us avg, min 13us max 16us 415.388us rms param_get: 2307 events, 20712us elapsed, 8.98us avg, min 4us max 1371us 80.393us rms param_find: 112 events, 773us elapsed, 6.90us avg, min 3us max 58us 90.243us rms param_export: 2 events, 131194us elapsed, 65597.00us avg, min 62474us max 68720us 4416.601us 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: 583 events, 5004458us elapsed, 8583.98us avg, min 8us max 224713us 9146.641us rms logger_sd_write: 2260 events, 32033751us elapsed, 14174.23us avg, min 11us max 1093494us 46171.773us rms navigator: 4123 events, 5896145us elapsed, 1430.06us avg, min 14us max 958801us 28648.922us rms land_detector_cycle: 11719 events, 260962us elapsed, 22.27us avg, min 17us max 280us 27.874us rms fw_pos_control_l1: cycle: 9759 events, 500748us elapsed, 51.31us avg, min 23us max 930us 81.059us rms fw_att_control: cycle: 58470 events, 8018216us elapsed, 137.13us avg, min 55us max 684us 104.322us rms mc_pos_control: cycle time: 9759 events, 880378us elapsed, 90.21us avg, min 24us max 2586us 126.914us rms mc_att_control: 234376 events, 8337772us elapsed, 35.57us avg, min 26us max 134us 28.829us rms vtol_att_control: cycle: 292843 events, 5259960us elapsed, 17.96us avg, min 4us max 3781us 50.143us rms ekf2: update: 58470 events, 23229133us elapsed, 397.28us avg, min 19us max 3050us 658.282us rms io control latency: 71810 events, 33501715us elapsed, 466.53us avg, min 188us max 5114us 360.427us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 71810 events, 95781671us elapsed, 1333.82us avg, min 268us max 6558us 1143.519us rms io_txns: 263014 events, 88538528us elapsed, 336.63us avg, min 134us max 3613us 269.408us rms mavlink_int: 23074 events, 10156.60 avg, min 9111us max 14836us 563.919us rms mavlink_el: 23074 events, 4028596us elapsed, 174.59us avg, min 87us max 3761us 279.862us 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: 58470 events, 54230649us elapsed, 927.50us avg, min 148us max 4064us 834.075us rms adc_samples: 234370 events, 692017us elapsed, 2.95us avg, min 2us max 259us 6.449us rms battery_status: 23437 events, 497519us elapsed, 21.23us avg, min 19us max 312us 22.710us rms ms5611_com_err: 0 events ms5611_measure: 23261 events, 234144us elapsed, 10.07us avg, min 9us max 39us 1.561us rms ms5611_read: 23261 events, 428690us elapsed, 18.43us avg, min 14us max 177us 3.554us rms mpu6k_duplicates: 58471 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 292968 events, 46624899us elapsed, 159.15us avg, min 53us max 371us 73.995us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 10939 events, 10422429us elapsed, 952.78us avg, min 869us max 2039us 205.017us rms stack_check: 687 events, 33740us elapsed, 49.11us avg, min 1us max 1348us 179.178us rms dma_alloc: 0 events param_set: 6 events, 31us elapsed, 5.17us avg, min 3us max 12us 185.798us rms param_get: 226 events, 1228us elapsed, 5.43us avg, min 4us max 12us 257.372us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 70282us elapsed, 70282.00us avg, min 70282us max 70282us infus rms