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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-pull12001-m03-Pxr-1-03
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V4 |
| Software Version: | v1.9.0 (RC) (866f2be6) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:07:51 |
| Vehicle Life Flight Time: | 23 hours 9 minutes 49 seconds |
| Vehicle UUID: | 00010000000037373430333551170037002a (F450-PixRacer V4) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | - Modes Tested
Position Mode: Good. Mission Plan Mode (Automated): Good. RTL (Return To Land): Good. - Procedure Arm and Take off in position mode, after flying for approximately one minute, switched to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint see landing behavior. Good flight in general. |
| Distance: | 3.27 km |
| Max Altitude Difference: | 53 m |
| Average Speed: | 24.9 km/h |
| Max Speed: | 67.5 km/h |
| Max Speed Horizontal: | 67.5 km/h |
| Max Speed Up: | 17.3 km/h |
| Max Speed Down: | 17.9 km/h |
| Max Tilt Angle: | 44.1 deg |
| Max Rotation Speed: | 163.3 deg/s |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 546679 56.743 516/ 748 0 ( 0) READY 3 1 hpwork 20757 2.197 768/ 1780 249 (249) w:sig 16 2 lpwork 1245 0.099 1072/ 1780 50 ( 50) w:sig 8 3 init 1654 0.000 1912/ 2604 100 (100) w:sem 3 16 dataman 182 0.000 752/ 1180 90 ( 90) w:sem 4 148 sensors 36352 3.696 1156/ 1964 249 (249) w:sem 18 150 commander 10901 1.198 1560/ 3212 140 (140) w:sig 29 151 commander_low_prio 25 0.000 632/ 2996 50 ( 50) w:sem 29 210 gps 2604 0.299 1032/ 1516 220 (220) w:sem 5 233 mavlink_if0 18646 1.898 1760/ 2484 100 (100) w:sig 38 234 mavlink_rcv_if0 4802 0.599 1584/ 2836 175 (175) w:sem 38 250 fmu 22285 2.397 832/ 1324 252 (252) w:sem 8 318 ekf2 122447 11.388 4576/ 6572 250 (250) w:sem 20 324 mc_att_control 33193 3.396 912/ 1660 251 (251) w:sem 18 326 mc_pos_control 5282 0.799 1088/ 1860 250 (250) w:sem 16 332 navigator 1758 0.199 1064/ 1764 105 (105) w:sem 16 377 log_writer_file 5330 1.198 816/ 1148 60 ( 60) w:sem 37 347 mavlink_if1 57632 6.193 1648/ 2540 100 (100) READY 38 348 mavlink_rcv_if1 5130 0.599 1608/ 2836 175 (175) w:sem 38 371 logger 32003 5.794 3048/ 3644 245 (245) RUN 37 Processes: 20 total, 3 running, 17 sleeping, max FDs: 54 CPU usage: 41.96% tasks, 1.30% sched, 56.74% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 939.953s total, 546.680s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 798641 53.187 516/ 748 0 ( 0) READY 3 1 hpwork 31286 2.191 768/ 1780 249 (249) w:sig 16 2 lpwork 1823 3.585 1072/ 1780 50 ( 50) w:sig 8 3 init 1654 0.000 1912/ 2604 100 (100) w:sem 3 16 dataman 298 0.498 752/ 1180 90 ( 90) w:sem 4 148 sensors 54086 3.984 1156/ 1964 249 (249) w:sem 18 150 commander 16754 0.996 1560/ 3212 140 (140) READY 29 151 commander_low_prio 38 0.000 632/ 2996 50 ( 50) w:sem 29 210 gps 3910 0.298 1032/ 1516 220 (220) w:sem 5 233 mavlink_if0 27684 1.992 1760/ 2484 100 (100) w:sig 40 234 mavlink_rcv_if0 7225 0.597 1584/ 2836 175 (175) w:sem 40 250 fmu 33478 2.390 832/ 1324 252 (252) w:sem 8 318 ekf2 190285 11.653 4576/ 6572 250 (250) w:sem 20 324 mc_att_control 49780 3.386 912/ 1660 251 (251) w:sem 18 326 mc_pos_control 12140 0.298 1088/ 1860 250 (250) w:sem 19 332 navigator 3221 0.597 1352/ 1764 105 (105) w:sem 16 377 log_writer_file 10440 1.095 816/ 1148 60 ( 60) w:sem 39 347 mavlink_if1 85053 6.075 1688/ 2540 100 (100) READY 40 348 mavlink_rcv_if1 7728 0.597 1608/ 2836 175 (175) READY 40 371 logger 58180 5.478 3048/ 3644 245 (245) RUN 39 Processes: 20 total, 5 running, 15 sleeping, max FDs: 54 CPU usage: 45.72% tasks, 1.10% sched, 53.19% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1410.386s total, 798.641s 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: 362 events, 2648890us elapsed, 7317.38us avg, min 8us max 38991us 10140.873us rms logger_sd_write: 1587 events, 25823753us elapsed, 16272.06us avg, min 10us max 109730us 19019.246us rms mavlink_int: 72133 events, 3316.27 avg, min 2124us max 31012us 784.386us rms mavlink_el: 72133 events, 19089375us elapsed, 264.64us avg, min 108us max 9912us 745.247us rms navigator: 4783 events, 1738726us elapsed, 363.52us avg, min 27us max 72935us 4682.516us rms land_detector_cycle: 11545 events, 790174us elapsed, 68.44us avg, min 34us max 473us 139.676us rms mc_att_control: 59089 events, 12592984us elapsed, 213.12us avg, min 176us max 434us 32.571us rms EKF2 update: 59089 events, 21937134us elapsed, 371.26us avg, min 19us max 2648us 861.830us rms EKF2 data acquisition: 59089 events, 4717343us elapsed, 79.83us avg, min 62us max 453us 57.974us rms fmu control latency: 67950 events, 21660653us elapsed, 318.77us avg, min 182us max 3567us 709.148us rms mavlink_int: 23366 events, 10237.47 avg, min 9127us max 35243us 701.363us rms mavlink_el: 23366 events, 5281248us elapsed, 226.02us avg, min 106us max 4093us 609.806us 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: 59090 events, 43051936us elapsed, 728.58us avg, min 188us max 3240us 1031.380us rms adc_samples: 215316 events, 621040us elapsed, 2.88us avg, min 2us max 4us 0.735us rms ms5611_com_err: 0 events ms5611_measure: 22378 events, 359675us elapsed, 16.07us avg, min 9us max 430us 73.167us rms ms5611_read: 22379 events, 515110us elapsed, 23.02us avg, min 14us max 2254us 67.625us rms mpu9250_dupe: 60391 events mpu9250_reset: 0 events mpu9250_good_trans: 238652 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 299044 events, 18436372us elapsed, 61.65us avg, min 42us max 79us 20.070us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 212880 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 3189 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 61318 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 299046 events, 800.00 avg, min 738us max 862us 17.127us rms mpu6k_read: 299046 events, 20721108us elapsed, 69.29us avg, min 46us max 95us 28.340us rms lis3mdl_read: 17448 events, 688531us elapsed, 39.46us avg, min 28us max 601us 84.794us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 10730 events, 11892513us elapsed, 1108.34us avg, min 885us max 3957us 724.209us rms rc_input publish interval: 8860 events, 26996.84 avg, min 19797us max 34206us 2206.947us rms rc_input cycle time: 49186 events, 879997us elapsed, 17.89us avg, min 9us max 502us 59.787us rms stack_check: 813 events, 18358us elapsed, 22.58us avg, min 1us max 1836us 197.157us rms dma_alloc: 1 events param_set: 6 events, 33us elapsed, 5.50us avg, min 4us max 12us 167.296us rms param_get: 844 events, 7479us elapsed, 8.86us avg, min 4us max 1310us 108.759us rms param_find: 119 events, 924us elapsed, 7.76us avg, min 3us max 78us 129.291us rms param_export: 1 events, 59725us elapsed, 59725.00us avg, min 59725us max 59725us Infinityus 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: 1040 events, 7503597us elapsed, 7215.00us avg, min 8us max 40622us 8241.185us rms logger_sd_write: 4618 events, 72108888us elapsed, 15614.74us avg, min 15us max 128841us 15107.991us rms mavlink_int: 141358 events, 3335.00 avg, min 2119us max 9597us 794.853us rms mavlink_el: 141358 events, 37148224us elapsed, 262.80us avg, min 102us max 6993us 675.038us rms navigator: 9423 events, 5677266us elapsed, 602.49us avg, min 27us max 103195us 4629.568us rms land_detector_cycle: 22749 events, 1680220us elapsed, 73.86us avg, min 34us max 1038us 125.971us rms mc_att_control: 116433 events, 22530739us elapsed, 193.51us avg, min 177us max 353us 28.860us rms EKF2 update: 116433 events, 44284518us elapsed, 380.34us avg, min 19us max 2554us 800.536us rms EKF2 data acquisition: 116433 events, 9339063us elapsed, 80.21us avg, min 62us max 462us 50.893us rms fmu control latency: 133894 events, 42555793us elapsed, 317.83us avg, min 183us max 3747us 640.972us rms mavlink_int: 45977 events, 10253.49 avg, min 9118us max 15733us 683.728us rms mavlink_el: 45977 events, 10418029us elapsed, 226.59us avg, min 101us max 5904us 521.852us 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: 116433 events, 86703067us elapsed, 744.66us avg, min 184us max 3417us 956.636us rms adc_samples: 424296 events, 1226158us elapsed, 2.89us avg, min 2us max 4us 0.636us rms ms5611_com_err: 0 events ms5611_measure: 44035 events, 718910us elapsed, 16.33us avg, min 9us max 726us 64.797us rms ms5611_read: 44035 events, 1001000us elapsed, 22.73us avg, min 14us max 1525us 56.046us rms mpu9250_dupe: 117178 events mpu9250_reset: 0 events mpu9250_good_trans: 472131 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 589309 events, 36342258us elapsed, 61.67us avg, min 42us max 78us 17.403us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 421262 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 6352 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 119926 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 589311 events, 800.00 avg, min 733us max 864us 17.072us rms mpu6k_read: 589311 events, 40843660us elapsed, 69.31us avg, min 46us max 95us 24.781us rms lis3mdl_read: 34375 events, 1359274us elapsed, 39.54us avg, min 28us max 718us 75.000us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 21135 events, 23444937us elapsed, 1109.29us avg, min 885us max 4270us 645.608us rms rc_input publish interval: 17462 events, 26998.17 avg, min 19542us max 34179us 2194.194us rms rc_input cycle time: 96904 events, 1733068us elapsed, 17.88us avg, min 9us max 706us 52.585us rms stack_check: 1581 events, 40318us elapsed, 25.50us avg, min 1us max 3376us 179.513us rms dma_alloc: 0 events param_set: 6 events, 35us elapsed, 5.83us avg, min 4us max 15us 167.357us rms param_get: 102 events, 1012us elapsed, 9.92us avg, min 4us max 329us 315.953us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 61833us elapsed, 61833.00us avg, min 61833us max 61833us Infinityus rms