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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | v1.11.3 (a6274bc5) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:50 |
| Dropouts: | 3 (0.06 s) |
| Vehicle Life Flight Time: | 4 minutes 28 seconds |
| Vehicle UUID: | 0001000000003735383233375111001e003c |
| Distance: | 1.4 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.1 km/h |
| Max Speed: | 0.3 km/h |
| Max Speed Horizontal: | 0.3 km/h |
| Max Speed Up: | 0.3 km/h |
| Max Speed Down: | 0.2 km/h |
| Max Tilt Angle: | 4.0 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 18309 24.175 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 0 0.000 344/ 1612 50 ( 50) w:sig 3 3 init 1571 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 384/ 1252 255 (255) w:sem 3 721 log_writer_file 16 0.999 600/ 1164 60 ( 60) w:sem 4 18 dataman 108 0.000 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 32 0.000 888/ 1700 205 (205) w:sem 3 30 wq:hp_default 822 1.798 1224/ 1900 240 (240) w:sem 3 152 wq:SPI1 2221 4.795 1600/ 2332 253 (253) w:sem 3 157 wq:SPI4 7522 15.684 1468/ 2332 250 (250) PEND 3 232 wq:nav_and_controllers 8160 20.179 5296/ 7196 241 (241) w:sem 3 233 wq:rate_ctrl 1446 2.997 1192/ 1660 255 (255) w:sem 3 238 commander 873 0.999 1472/ 3212 140 (140) READY 6 239 commander_low_prio 1 0.000 708/ 2996 50 ( 50) w:sem 6 310 gps 40 0.099 1016/ 1676 205 (205) w:sem 4 359 mavlink_if1 746 1.698 1840/ 2484 100 (100) w:sig 4 362 mavlink_rcv_if1 576 0.499 2752/ 4068 175 (175) READY 4 377 mavlink_if2 3817 8.291 1952/ 2484 100 (100) READY 4 378 mavlink_rcv_if2 1255 4.995 2936/ 4068 175 (175) READY 4 400 px4io 1742 3.496 972/ 1484 237 (237) w:sem 4 645 wq:attitude_ctrl 422 0.799 1224/ 1668 242 (242) w:sem 3 659 navigator 48 0.099 1064/ 1764 105 (105) w:sem 5 716 logger 352 4.995 2880/ 3644 230 (230) RUN 4 Processes: 24 total, 7 running, 17 sleeping, max FDs: 15 CPU usage: 72.43% tasks, 3.40% sched, 24.18% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 51.958s total, 18.309s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 30279 20.879 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 24 0.000 1016/ 1612 50 ( 50) w:sig 3 3 init 1571 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 384/ 1252 255 (255) w:sem 3 721 log_writer_file 525 0.999 616/ 1164 60 ( 60) w:sem 4 18 dataman 108 0.000 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 65 0.000 888/ 1700 205 (205) w:sem 3 30 wq:hp_default 1648 1.798 1224/ 1900 240 (240) w:sem 3 152 wq:SPI1 4466 4.695 1600/ 2332 253 (253) w:sem 3 157 wq:SPI4 15041 15.784 1468/ 2332 250 (250) w:sem 3 232 wq:nav_and_controllers 17198 18.081 5296/ 7196 241 (241) w:sem 3 233 wq:rate_ctrl 2907 3.096 1192/ 1660 255 (255) w:sem 3 238 commander 1339 2.297 1472/ 3212 140 (140) w:sig 6 239 commander_low_prio 2 0.000 708/ 2996 50 ( 50) w:sem 6 310 gps 79 0.000 1016/ 1676 205 (205) w:sem 4 359 mavlink_if1 1543 1.698 1840/ 2484 100 (100) w:sig 4 362 mavlink_rcv_if1 802 0.499 2752/ 4068 175 (175) READY 4 377 mavlink_if2 7816 8.191 1952/ 2484 100 (100) READY 4 378 mavlink_rcv_if2 4165 6.993 2936/ 4068 175 (175) READY 4 400 px4io 3468 3.696 972/ 1484 237 (237) w:sem 4 645 wq:attitude_ctrl 815 0.799 1224/ 1668 242 (242) w:sem 3 659 navigator 98 0.099 1064/ 1764 105 (105) w:sem 5 716 logger 2272 4.095 2880/ 3644 230 (230) RUN 4 Processes: 24 total, 5 running, 19 sleeping, max FDs: 15 CPU usage: 72.83% tasks, 6.29% sched, 20.88% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 99.838s total, 30.279s 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: 2 events, 22379us elapsed, 11189.50us avg, min 9710us max 12669us 2092.329us rms logger_sd_write: 5 events, 1238042us elapsed, 247608.40us avg, min 14us max 1136205us 497405.531us rms navigator: 792 events, 30063us elapsed, 37.96us avg, min 17us max 1270us 77.481us rms land_detector: cycle: 4271 events, 101432us elapsed, 23.75us avg, min 12us max 579us 28.417us rms mc_pos_control: cycle time: 2067 events, 146351us elapsed, 70.80us avg, min 12us max 1689us 101.712us rms mc_hover_thrust_estimator: cycle time: 642 events, 7455us elapsed, 11.61us avg, min 6us max 390us 29.251us rms mc_att_control: cycle: 8262 events, 346793us elapsed, 41.97us avg, min 17us max 1136us 31.049us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 19322 events, 2504.10 avg, min 2366us max 2642us 12.520us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 19322 events, 2504.10 avg, min 2366us max 2642us 12.520us rms mc_rate_control: cycle: 19350 events, 460640us elapsed, 23.81us avg, min 15us max 898us 8.888us rms ekf2: update: 9677 events, 3702493us elapsed, 382.61us avg, min 1us max 2785us 450.620us rms pwm_out: interval: 3864 events, 12557.38 avg, min 32us max 26012us 8470.540us rms pwm_out: cycle: 3864 events, 181422us elapsed, 46.95us avg, min 7us max 3270us 70.365us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 12234 events, 16751887us elapsed, 1369.29us avg, min 519us max 3303us 567.964us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 12242 events, 9252956us elapsed, 755.84us avg, min 265us max 30089us 968.967us rms io_txns: 26635 events, 8063286us elapsed, 302.73us avg, min 127us max 3461us 169.925us rms mavlink: send_start tx buffer full: 105 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13335 events, 3619.41 avg, min 2152us max 43469us 1412.620us rms mavlink: tx run elapsed: 13334 events, 8768624us elapsed, 657.61us avg, min 119us max 38778us 891.600us rms mavlink: send_start tx buffer full: 82 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4715 events, 10233.26 avg, min 9138us max 44599us 1496.949us rms mavlink: tx run elapsed: 4715 events, 983207us elapsed, 208.53us avg, min 100us max 9622us 255.693us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 35415 events, 1380.52 avg, min 62us max 3575us 350.793us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 37008 events, 1320.98 avg, min 311us max 4189us 498.028us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 19556 events, 2499.87 avg, min 2311us max 2691us 25.138us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 19556 events, 2499.87 avg, min 2311us max 2691us 25.138us rms vehicle_air_data: cycle: 3637 events, 176056us elapsed, 48.41us avg, min 19us max 500us 43.000us rms battery_status: 4889 events, 896617us elapsed, 183.39us avg, min 18us max 4090us 542.516us rms sensors: 9753 events, 1138918us elapsed, 116.78us avg, min 47us max 1809us 50.948us rms mpu9250: DRDY missed: 0 events mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4875 events, 40378us elapsed, 8.28us avg, min 6us max 122us 6.273us rms ms5611: read: 4874 events, 77465us elapsed, 15.89us avg, min 11us max 142us 8.067us rms lsm303d: acc_dupe: 9584 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 4674 events, 134252us elapsed, 28.72us avg, min 23us max 160us 13.325us rms lsm303d: acc_read: 46727 events, 1474111us elapsed, 31.55us avg, min 21us max 1419us 14.399us rms l3gd20: dupe: 33057 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 68597 events, 2129077us elapsed, 31.04us avg, min 22us max 256us 13.636us rms mpu9250: FIFO reset: 1 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4880 events, 39321us elapsed, 8.06us avg, min 6us max 41us 3.109us rms ms5611: read: 4879 events, 93407us elapsed, 19.14us avg, min 11us max 58us 5.662us rms adc: sample: 49160 events, 317189us elapsed, 6.45us avg, min 2us max 3762us 76.429us rms rc_update: 2164 events, 89959us elapsed, 41.57us avg, min 21us max 3621us 92.446us rms load_mon: cycle: 99 events, 16134us elapsed, 162.97us avg, min 3us max 597us 99.443us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 10 events, 584256us elapsed, 58425.60us avg, min 53us max 441361us 137579.906us rms dma_alloc: 4 events param_set: 104 events, 4909us elapsed, 47.20us avg, min 5us max 88us 23.776us rms param_get: 17803 events, 204802us elapsed, 11.50us avg, min 4us max 2426us 67.501us rms param_find: 13237 events, 184693us elapsed, 13.95us avg, min 3us max 2504us 78.518us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 118 events, 1215889us elapsed, 10304.14us avg, min 7us max 17952us 2874.642us rms logger_sd_write: 331 events, 5694063us elapsed, 17202.61us avg, min 10us max 51005us 55142.691us rms navigator: 915 events, 40924us elapsed, 44.73us avg, min 17us max 1457us 125.210us rms land_detector: cycle: 4889 events, 124603us elapsed, 25.49us avg, min 15us max 403us 39.838us rms mc_pos_control: cycle time: 2444 events, 437177us elapsed, 178.88us avg, min 100us max 2294us 168.032us rms mc_hover_thrust_estimator: cycle time: 2444 events, 49881us elapsed, 20.41us avg, min 6us max 424us 34.091us rms mc_att_control: cycle: 9778 events, 294253us elapsed, 30.09us avg, min 17us max 310us 38.400us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 19522 events, 2504.11 avg, min 2371us max 2625us 14.583us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 19522 events, 2504.11 avg, min 2371us max 2625us 14.583us rms mc_rate_control: cycle: 19556 events, 502362us elapsed, 25.69us avg, min 16us max 91us 11.220us rms ekf2: update: 9778 events, 4625258us elapsed, 473.03us avg, min 17us max 2486us 692.790us rms pwm_out: interval: 3946 events, 12385.22 avg, min 31us max 22185us 8513.221us rms pwm_out: cycle: 3946 events, 203792us elapsed, 51.65us avg, min 28us max 1098us 93.510us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 12237 events, 17789660us elapsed, 1453.76us avg, min 512us max 3168us 873.914us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 12237 events, 9721577us elapsed, 794.44us avg, min 265us max 11908us 1382.991us rms io_txns: 26519 events, 8408894us elapsed, 317.09us avg, min 145us max 3781us 266.600us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11717 events, 4169.19 avg, min 2196us max 18820us 1389.573us rms mavlink: tx run elapsed: 11717 events, 12603290us elapsed, 1075.64us avg, min 120us max 8055us 1394.179us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4847 events, 10078.21 avg, min 9258us max 25558us 526.496us rms mavlink: tx run elapsed: 4847 events, 1127414us elapsed, 232.60us avg, min 106us max 4966us 394.016us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 35363 events, 1382.53 avg, min 67us max 4106us 357.788us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 36978 events, 1322.11 avg, min 271us max 4197us 498.212us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 19560 events, 2499.88 avg, min 2288us max 2696us 28.083us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 19560 events, 2499.88 avg, min 2288us max 2696us 28.083us rms vehicle_air_data: cycle: 3643 events, 174835us elapsed, 47.99us avg, min 19us max 491us 62.329us rms battery_status: 4890 events, 1248821us elapsed, 255.38us avg, min 20us max 3986us 868.819us rms sensors: 9780 events, 1119635us elapsed, 114.48us avg, min 43us max 458us 72.194us rms mpu9250: DRDY missed: 0 events mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4854 events, 42723us elapsed, 8.80us avg, min 6us max 141us 9.724us rms ms5611: read: 4855 events, 82125us elapsed, 16.92us avg, min 11us max 168us 12.477us rms lsm303d: acc_dupe: 9587 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 4657 events, 140602us elapsed, 30.19us avg, min 23us max 167us 19.964us rms lsm303d: acc_read: 46572 events, 1541047us elapsed, 33.09us avg, min 21us max 235us 20.555us rms l3gd20: dupe: 32974 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 68343 events, 2236649us elapsed, 32.73us avg, min 22us max 236us 20.637us rms mpu9250: FIFO reset: 0 events mpu9250: FIFO overflow: 0 events mpu9250: FIFO empty: 0 events mpu9250: bad transfer: 0 events mpu9250: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4857 events, 41479us elapsed, 8.54us avg, min 6us max 52us 4.907us rms ms5611: read: 4857 events, 96448us elapsed, 19.86us avg, min 11us max 70us 8.692us rms adc: sample: 48900 events, 418575us elapsed, 8.56us avg, min 2us max 3666us 130.129us rms rc_update: 2173 events, 98286us elapsed, 45.23us avg, min 21us max 787us 110.621us rms load_mon: cycle: 98 events, 16291us elapsed, 166.23us avg, min 82us max 519us 140.702us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 0 events param_set: 3 events, 20us elapsed, 6.67us avg, min 4us max 12us 170.686us rms param_get: 1019 events, 8180us elapsed, 8.03us avg, min 4us max 414us 283.129us rms param_find: 369 events, 6474us elapsed, 17.54us avg, min 3us max 1915us 482.322us rms param_export: 1 events, 94212us elapsed, 94212.00us avg, min 94212us max 94212us nanus rms