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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
Issue with lost of RTK
| Airframe: | Generic Hexarotor x geometry Hexarotor x (6001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.13.2 (6e698df6) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 13-04-2023 06:10 |
| Logging Duration: | 0:03:30 |
| Vehicle Life Flight Time: | 3 days 8 hours 5 minutes 59 seconds |
| Vehicle UUID: | 0002000000003931393334385119002c0038 |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | When the drone is in RTK mode and loose the RTK state, the drone is loosing is position before to take back the control. In our use case we need to fly close from ground so it results to potential crashes if it happens... |
| Distance: | 290.7 m |
| Max Altitude Difference: | 10 m |
| Average Speed: | 5.1 km/h |
| Max Speed: | 9.4 km/h |
| Max Speed Horizontal: | 9.0 km/h |
| Max Speed Up: | 7.3 km/h |
| Max Speed Down: | 3.7 km/h |
| Max Tilt Angle: | 11.0 deg |
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Console Output
170) offset committed: [0.038 -0.003 -0.005]->[0.024 0.000 -0.004]) INFO [logger] Stop mavlink log INFO [logger] closed logfile, bytes written: 741288 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-04-13/06_07_54.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-04-13/06_07_54.ulg INFO [logger] Start mavlink log INFO [commander] Disarmed by auto preflight disarming INFO [logger] Stop mavlink log INFO [logger] closed logfile, bytes written: 957408 WARN [navigator] Warning: Waypoint 1 below home WARN [navigator] Warning: Waypoint 3 below home WARN [navigator] Warning: Waypoint 5 below home WARN [navigator] Warning: Waypoint 7 below home WARN [navigator] Warning: Waypoint 9 below home WARN [navigator] Warning: Waypoint 11 below home WARN [navigator] Warning: Waypoint 13 below home WARN [navigator] Warning: Waypoint 15 below home WARN [navigator] Warning: Waypoint 17 below home WARN [navigator] Warning: Waypoint 19 below home WARN [navigator] Warning: Waypoint 21 below home WARN [navigator] Warning: Waypoint 23 below home WARN [navigator] Warning: Waypoint 25 below home WARN [navigator] Warning: Waypoint 27 below home WARN [navigator] Warning: Waypoint 29 below home WARN [navigator] Warning: Waypoint 31 below home WARN [navigator] Warning: Waypoint 33 below home WARN [navigator] Warning: Waypoint 35 below home WARN [navigator] Warning: Waypoint 37 below home WARN [navigator] Warning: Waypoint 39 below home WARN [navigator] Warning: Waypoint 41 below home WARN [navigator] Warning: Waypoint 43 below home WARN [navigator] Warning: Waypoint 45 below home WARN [navigator] Warning: Waypoint 47 below home WARN [navigator] Warning: Waypoint 49 below home WARN [navigator] Warning: Waypoint 51 below home WARN [navigator] Warning: Waypoint 53 below home WARN [navigator] Warning: Waypoint 55 below home WARN [navigator] Warning: Waypoint 57 below home WARN [navigator] Warning: Waypoint 59 below home WARN [navigator] Warning: Waypoint 61 below home WARN [navigator] Warning: Waypoint 63 below home WARN [navigator] Warning: Waypoint 65 below home WARN [navigator] Warning: Waypoint 67 below home WARN [navigator] Warning: Waypoint 69 below home WARN [navigator] Warning: Waypoint 71 below home WARN [navigator] Warning: Waypoint 73 below home WARN [navigator] Warning: Waypoint 75 below home WARN [navigator] Warning: Waypoint 77 below home WARN [navigator] Warning: Waypoint 79 below home WARN [navigator] Warning: Waypoint 81 below home WARN [navigator] Warning: Waypoint 83 below home WARN [navigator] Warning: Waypoint 85 below home WARN [navigator] Warning: Waypoint 87 below home WARN [navigator] Warning: Waypoint 89 below home WARN [navigator] Warning: Waypoint 91 below home WARN [navigator] Warning: Waypoint 93 below home WARN [navigator] Warning: Waypoint 95 below home WARN [navigator] Warning: Waypoint 97 below home WARN [navigator] Warning: Waypoint 99 below home WARN [navigator] Warning: Waypoint 101 below home WARN [navigator] Warning: Waypoint 103 below home WARN [navigator] Warning: Waypoint 105 below home WARN [navigator] Warning: Waypoint 107 below home WARN [navigator] Warning: Waypoint 109 below home WARN [navigator] Warning: Waypoint 111 below home INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-04-13/06_09_00.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-04-13/06_09_00.ulg INFO [logger] Start mavlink log INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] Stop mavlink log INFO [logger] closed logfile, bytes written: 3671253 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-04-13/06_09_59.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-04-13/06_09_59.ulg INFO [logger] Start mavlink log
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 98505 14.952 272/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.003 1068/ 1616 50 ( 50) w:sig 4 3 init 0 0.000 2316/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 508/ 1256 255 (255) w:sem 3 1204 mavlink_rcv_if2 29 2.067 1500/ 4712 175 (175) READY 4 71 wq:lp_default 0 0.066 1012/ 1920 205 (205) w:sem 3 78 wq:hp_default 128 9.122 1180/ 1904 237 (237) w:sem 3 111 dataman 0 0.017 828/ 1208 90 ( 90) w:sem 4 134 wq:I2C1 5 0.373 908/ 2336 246 (246) w:sem 3 397 wq:uavcan 20 1.426 1700/ 3624 236 (236) w:sem 3 440 wq:SPI1 160 11.357 1540/ 2336 253 (253) w:sem 3 444 wq:SPI4 4 0.341 816/ 2336 250 (250) w:sem 3 457 wq:I2C3 4 0.340 880/ 2336 244 (244) w:sem 3 666 wq:I2C2 4 0.336 908/ 2336 245 (245) w:sem 3 779 wq:nav_and_controllers 79 5.643 1516/ 2240 242 (242) w:sem 3 780 wq:rate_ctrl 135 9.640 1428/ 3152 255 (255) w:sem 3 784 wq:INS0 85 6.028 4388/ 6000 241 (241) w:sem 3 785 wq:INS1 84 5.987 4388/ 6000 240 (240) w:sem 3 787 commander 14 1.038 1460/ 3224 140 (140) w:sig 5 938 gps 5 0.364 1180/ 1640 205 (205) w:sem 4 946 gps 2 0.206 1204/ 1640 205 (205) w:sem 4 1022 mavlink_if0 32 2.314 1932/ 2728 100 (100) READY 4 1023 mavlink_rcv_if0 6 0.469 1740/ 4712 175 (175) w:sem 4 1061 mavlink_if1 118 8.377 1932/ 2736 100 (100) READY 4 1064 mavlink_rcv_if1 6 0.482 1740/ 4712 175 (175) w:sem 4 1110 navigator 2 0.180 1304/ 1920 105 (105) w:sem 6 1181 mavlink_if2 168 11.941 1932/ 2824 100 (100) w:sig 4 1241 log_writer_file 0 0.030 692/ 1176 60 ( 60) w:sem 5 1239 logger 51 3.662 2964/ 3648 230 (230) RUN 5 Processes: 30 total, 5 running, 25 sleeping CPU usage: 81.81% tasks, 3.23% sched, 14.95% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 405.071s total, 98.506s idle
Performance Counters
Pre Flight:
mavlink: ulog_stream messages missed: 0 events 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, 23621us elapsed, 11810.50us avg, min 11199us max 12422us 56458.941us rms logger_sd_write: 25 events, 121265us elapsed, 4850.60us avg, min 11us max 10169us 21442.674us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 531 events, 4076.32 avg, min 2352us max 9937us 1068.664us rms mavlink: tx run elapsed: 532 events, 504526us elapsed, 948.36us avg, min 187us max 5149us 11748.376us rms 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 gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.004us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 410 events, 169818us elapsed, 414.19us avg, min 298us max 1091us 2469.822us rms gyro_fft: cycle interval: 872 events, 2503.45 avg, min 341us max 4134us 265.032us rms gyro_fft: cycle: 873 events, 219347us elapsed, 251.26us avg, min 3us max 3470us 3439.498us rms navigator: 45 events, 20612us elapsed, 458.04us avg, min 24us max 3505us 392224.250us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 547 events, 4000.99 avg, min 2309us max 10502us 1041.763us rms mavlink: tx run elapsed: 547 events, 431682us elapsed, 789.18us avg, min 194us max 6680us 9382.320us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 211 events, 10407.28 avg, min 9258us max 14614us 814.888us rms mavlink: tx run elapsed: 211 events, 102948us elapsed, 487.91us avg, min 183us max 3053us 6753.930us rms mag_bias_estimator: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 221 events, 6649us elapsed, 30.09us avg, min 20us max 245us 309.111us rms mc_pos_control: cycle time: 221 events, 14787us elapsed, 66.91us avg, min 47us max 296us 501.346us rms flight_mode_manager: cycle: 112 events, 7827us elapsed, 69.88us avg, min 44us max 258us 481.223us rms mc_hover_thrust_estimator: cycle time: 222 events, 582us elapsed, 2.62us avg, min 1us max 155us 96.707us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 445 events, 9272us elapsed, 20.84us avg, min 15us max 116us 148.574us rms mc_rate_control: cycle: 1767 events, 38347us elapsed, 21.70us avg, min 17us max 40us 37.984us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 247 events, 82809us elapsed, 335.26us avg, min 160us max 2166us 3712.263us rms ekf2: ECL update: 249 events, 1726us elapsed, 6.93us avg, min 5us max 162us 216.764us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 224 events, 56703us elapsed, 253.14us avg, min 159us max 1153us 2175.329us rms ekf2: ECL update: 224 events, 1551us elapsed, 6.92us avg, min 5us max 61us 80.901us rms pwm_out: interval: 3 events, 666726.00 avg, min 1000018us max 1000160us 70.962us rms pwm_out: cycle: 3 events, 16us elapsed, 5.33us avg, min 5us max 6us 316.250us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 126 events, 17719.79 avg, min 967us max 20808us 5473.417us rms pwm_out: cycle: 126 events, 6710us elapsed, 53.25us avg, min 24us max 822us 1438.465us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 898 events, 545825us elapsed, 607.82us avg, min 505us max 1344us 2811.301us rms px4io: interface write: 898 events, 193762us elapsed, 215.77us avg, min 208us max 302us 130.427us rms px4io: interface read: 625 events, 180906us elapsed, 289.45us avg, min 143us max 656us 2056.878us rms px4io: interval: 901 events, 2508.24 avg, min 779us max 9268us 425.484us rms px4io: cycle: 901 events, 425390us elapsed, 472.13us avg, min 256us max 9153us 8719.591us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 1531 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 1534 events, 363787us elapsed, 237.15us avg, min 137us max 648us 1390.362us rms commander: preflight check: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 203 events, 43016us elapsed, 211.90us avg, min 89us max 2276us 19604.705us 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_magnetometer: cycle: 107 events, 9281us elapsed, 86.74us avg, min 52us max 314us 1038.201us rms vehicle_gps_position: cycle: 33 events, 995us elapsed, 30.15us avg, min 13us max 227us 325.152us rms vehicle_air_data: cycle: 170 events, 6342us elapsed, 37.31us avg, min 23us max 262us 441.431us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 1824 events, 62670us elapsed, 34.36us avg, min 30us max 77us 46.300us rms sensors: 459 events, 27275us elapsed, 59.42us avg, min 39us max 259us 788.158us rms battery_status: 230 events, 8271us elapsed, 35.96us avg, min 26us max 198us 1229.047us 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 ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 230 events, 1295us elapsed, 5.63us avg, min 3us max 54us 151.930us rms ms5611: read: 230 events, 4808us elapsed, 20.90us avg, min 8us max 208us 299.883us 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 board_adc: sample: 2796 events, 15325us elapsed, 5.48us avg, min 3us max 492us 445.105us rms manual_control: interval: 46 events, 49139.59 avg, min 9240us max 200516us 57823.105us rms manual_control: cycle: 46 events, 1747us elapsed, 37.98us avg, min 16us max 184us 501.822us rms rc_update: valid data interval: 110 events, 21004.62 avg, min 12735us max 29736us 2012.926us rms rc_update: cycle interval: 110 events, 21004.61 avg, min 12706us max 29737us 2009.808us rms rc_update: cycle: 110 events, 6890us elapsed, 62.64us avg, min 22us max 816us 1507.048us rms uavcan: cycle interval: 787 events, 2981.37 avg, min 50us max 5360us 620.125us rms uavcan: cycle time: 787 events, 42395us elapsed, 53.87us avg, min 15us max 1738us 1586.161us 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 rgbled: led_control message missed: 0 events load_mon: cycle: 5 events, 698us elapsed, 139.60us avg, min 85us max 243us 3057.215us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 12 events, 18214us elapsed, 1517.83us avg, min 49us max 3407us 730666.063us rms rgbled: led_control message missed: 0 events dma_alloc: 0 events param: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 1852 events param: find: 0 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms