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PX4 Ground Rover | Open 3D ViewOpen PID Analysis |
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| Airframe: | Generic Ground Vehicle (Ackermann) Rover (50000) |
| Hardware: | PX4FMU_V2 |
| Software Version: | 1533959b branch: master |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:53 |
| Vehicle UUID: | 002B00313136510C34313630 (tractor) |
| Distance: | 9.7 m |
| Max Altitude Difference: | 7 m |
| Average Speed: | 0.9 km/h |
| Max Speed: | 3.0 km/h |
| Max Speed Horizontal: | 1.0 km/h |
| Max Speed Up: | 2.9 km/h |
| Max Speed Down: | 1.9 km/h |
| Max Tilt Angle: | 47.2 deg |
| Max Rotation Speed: | 283.1 deg/s |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 3138 64.535 604/ 748 0 ( 0) READY 3 1 hpwork 78 3.696 904/ 1780 249 (249) w:sig 8 2 lpwork 8 0.399 656/ 1780 50 ( 50) w:sig 10 3 init 17524 1.698 1760/ 2484 100 (100) w:sem 3 205 px4flow 1 0.000 696/ 1164 100 (100) w:sig 3 100 dataman 174 0.000 720/ 1180 90 ( 90) w:sem 4 104 gps 14 0.099 944/ 1580 220 (220) w:sig 5 147 sensors 3594 5.294 1456/ 1964 249 (249) w:sem 17 149 commander 28 0.999 2608/ 3652 140 (140) READY 34 150 commander_low_prio 0 0.000 608/ 2996 50 ( 50) w:sem 34 157 px4io 25 0.999 896/ 1484 251 (251) w:sem 11 170 mavlink_if0 57 1.498 1576/ 2428 100 (100) w:sig 18 171 mavlink_rcv_if0 8 0.499 1488/ 2836 175 (175) READY 18 180 mavlink_if1 37 1.398 1624/ 2388 100 (100) w:sig 19 183 mavlink_rcv_if1 9 0.499 1512/ 2836 175 (175) READY 19 230 log_writer_file 13 0.899 544/ 1068 60 ( 60) w:sem 21 216 mavlink_if2 191 7.992 1600/ 2388 100 (100) READY 28 223 logger 110 3.996 3016/ 3540 245 (245) RUN 21 338 mavlink_rcv_if2 5 0.000 1328/ 2836 175 (175) w:sem 28 303 ekf2 52 4.095 5008/ 6572 250 (250) w:sem 18 305 gnd_att_control 2 0.000 576/ 1476 250 (250) w:sem 9 313 gnd_pos_ctrl 1 0.000 664/ 1676 250 (250) w:sem 10 316 navigator 3 0.000 928/ 1772 105 (105) w:sem 16 Processes: 23 total, 6 running, 17 sleeping, max FDs: 54 CPU usage: 34.07% tasks, 1.40% sched, 64.54% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 5.491s total, 3.139s idle
Performance Counters
Pre Flight:
navigator: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms land_detector_cycle: 4 events, 323us elapsed, 80us avg, min 6us max 304us 148.834us rms rover position control: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms gnda_nano: 0 events gnda_nani: 0 events gnda_dt: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms ctl_lat: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 223293us elapsed, 74431us avg, min 8738us max 129066us 60921.395us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 75 events, 9290us elapsed, 123us avg, min 42us max 2662us 305.882us rms mavlink_txe: 0 events mavlink_el: 86 events, 16787us elapsed, 195us avg, min 69us max 5012us 538.737us rms io latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 42 events, 77351us elapsed, 1841us avg, min 1431us max 15653us 2185.388us rms io_txns: 292 events, 86946us elapsed, 297us avg, min 132us max 607us 138.990us rms stack_check: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms sensors: 248 events, 52230us elapsed, 210us avg, min 85us max 6801us 434.411us rms lsm303d_acc_dupe: 173 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 106 events, 2557us elapsed, 24us avg, min 24us max 25us 0.330us rms lsm303d_acc_read: 1011 events, 31228us elapsed, 30us avg, min 21us max 36us 4.507us rms l3gd20_dupe: 700 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 1494 events, 42758us elapsed, 28us avg, min 22us max 37us 5.725us rms ctrl_latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mpu6k_duplicates: 274 events mpu6k_reset: 0 events mpu6k_good_trans: 1051 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 1325 events, 69049us elapsed, 52us avg, min 33us max 72us 10.985us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 109 events, 104972us elapsed, 963us avg, min 867us max 1731us 183.106us rms adc_samples: 1020 events, 3022us elapsed, 2us avg, min 2us max 44us 1.314us rms ms5611_com_err: 0 events ms5611_measure: 222 events, 1678us elapsed, 7us avg, min 6us max 49us 4.105us rms ms5611_read: 221 events, 15257us elapsed, 69us avg, min 12us max 151us 34.639us rms dma_alloc: 5 events