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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL Test Flight 2.5.22.
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.0 (alpha) (8df3932d) |
| OS Version: | NuttX, v10.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:06:18 |
| Dropouts: | 9 (11 s) |
| Vehicle Life Flight Time: | 3 hours 18 minutes 35 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Flight Rating: | Unsatisfactory |
| Distance: | 4.03 km |
| Max Altitude Difference: | 171 m |
| Average Speed MC: | 6.7 km/h |
| Average Speed FW: | 84.7 km/h |
| Max Speed: | 115.3 km/h |
| Max Speed Horizontal: | 115.3 km/h |
| Max Speed Up: | 35.3 km/h |
| Max Speed Down: | 28.3 km/h |
| Max Tilt Angle: | 107.5 deg |
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Console Output
:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 88 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123877/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.44%(4122110/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121009/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120964/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118896/5000234) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119138/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123705/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.46%(4123467/5000157) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.39%(4120111/5000322) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121630/5000368) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.46%(4123147/5000053) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.39%(4119986/5000315) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 88 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120284/5000096) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121667/5000434) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122781/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.49%(4125137/5000312) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121769/5000123) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.44%(4122642/5000359) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.45%(4122716/5000219) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120104/4999991) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121700/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123890/5000024) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.51%(4126164/5000472) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121700/5000053) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 88 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.39%(4120130/5000292) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.34%(4117214/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121535/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120057/5000008) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120189/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.48%(4124294/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.44%(4122256/5000284) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120705/5000296) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121741/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.47%(4123568/5000053) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119745/5000377) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118788/5000172) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 88 free INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-29/12_16_38.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-29/12_16_38.ulg INFO [navigator] Takeoff to 150.0 meters above home
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 198131 58.296 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 572/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 412/ 1256 255 (255) w:sem 1 63 wq:hp_default 46 4.692 1164/ 1904 237 (237) w:sem 1 78 dataman 0 0.066 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.035 1060/ 1920 205 (205) w:sem 1 363 wq:uavcan 14 1.483 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.881 1668/ 2336 250 (250) w:sem 1 396 wq:SPI1 21 2.194 1612/ 2336 253 (253) w:sem 1 473 wq:I2C2 3 0.389 832/ 2336 245 (245) w:sem 1 586 wq:nav_and_controllers 37 3.764 1588/ 2240 242 (242) w:sem 1 589 wq:rate_ctrl 50 5.006 1464/ 3152 255 (255) w:sem 1 597 wq:INS0 32 3.280 4292/ 6000 241 (241) w:sem 1 599 wq:INS1 30 3.058 4292/ 6000 240 (240) w:sem 1 600 wq:INS2 30 3.066 4292/ 6000 239 (239) w:sem 1 603 commander 4 0.493 1620/ 3224 140 (140) w:sig 5 680 mavlink_rcv_if0 2 0.232 1372/ 4712 175 (175) READY 4 678 mavlink_if0 7 0.701 1812/ 2792 100 (100) w:sig 4 1010 log_writer_file 13 1.365 580/ 1176 60 ( 60) w:sem 4 777 gps 0 0.043 1204/ 1680 205 (205) w:sig 3 858 mavlink_if1 11 1.193 1932/ 2728 100 (100) w:sig 4 860 mavlink_rcv_if1 2 0.275 1716/ 4712 175 (175) w:sem 4 913 navigator 1 0.156 1344/ 1920 105 (105) w:sem 6 997 logger 41 4.133 3012/ 3648 230 (230) RUN 4 Processes: 25 total, 3 running, 22 sleeping CPU usage: 40.51% tasks, 1.19% sched, 58.30% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 312.310s total, 198.131s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 427036 48.435 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 79 7.894 1156/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 412/ 1256 255 (255) w:sem 1 63 wq:hp_default 47 4.787 1228/ 1904 237 (237) w:sem 1 78 dataman 3 0.309 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 1 0.153 1060/ 1920 205 (205) READY 1 363 wq:uavcan 14 1.458 3156/ 3624 236 (236) w:sem 1 391 wq:SPI4 48 4.877 1668/ 2336 250 (250) w:sem 1 396 wq:SPI1 22 2.218 1612/ 2336 253 (253) w:sem 1 473 wq:I2C2 3 0.395 832/ 2336 245 (245) w:sem 1 586 wq:nav_and_controllers 43 4.373 1596/ 2240 242 (242) w:sem 1 589 wq:rate_ctrl 50 4.999 1464/ 3152 255 (255) w:sem 1 597 wq:INS0 33 3.335 4380/ 6000 241 (241) w:sem 1 599 wq:INS1 32 3.225 4380/ 6000 240 (240) w:sem 1 600 wq:INS2 31 3.186 4380/ 6000 239 (239) w:sem 1 603 commander 24 2.412 1620/ 3224 140 (140) w:sig 5 680 mavlink_rcv_if0 6 0.601 1468/ 4712 175 (175) w:sem 4 678 mavlink_if0 6 0.691 1852/ 2792 100 (100) w:sig 4 1010 log_writer_file 7 0.708 596/ 1176 60 ( 60) w:sem 4 777 gps 0 0.047 1204/ 1680 205 (205) w:sem 4 858 mavlink_if1 11 1.189 1932/ 2728 100 (100) w:sig 4 860 mavlink_rcv_if1 6 0.605 1716/ 4712 175 (175) READY 4 913 navigator 2 0.271 1344/ 1920 105 (105) w:sem 6 997 logger 26 2.620 3012/ 3648 230 (230) RUN 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 50.36% tasks, 1.21% sched, 48.43% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 689.984s total, 427.037s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 206617us elapsed, 206617.00us avg, min 206617us max 206617us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 15533 events, 19998.63 avg, min 93us max 38678us 261.733us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 58198 events, 11444061us elapsed, 196.64us avg, min 160us max 1118us 50.943us rms gyro_fft: cycle interval: 62089 events, 5006.53 avg, min 3720us max 8205us 160.356us rms gyro_fft: cycle: 62089 events, 12312128us elapsed, 198.30us avg, min 10us max 1132us 69.877us rms navigator: 6285 events, 959979us elapsed, 152.74us avg, min 12us max 239936us 3052.859us rms mavlink: STATUSTEXT missed messages: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 30780 events, 10099.32 avg, min 9130us max 31133us 730.725us rms mavlink: tx run elapsed: 30780 events, 4595873us elapsed, 149.31us avg, min 79us max 1892us 105.613us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 61002 events, 5096.83 avg, min 4032us max 25634us 984.799us rms mavlink: tx run elapsed: 61002 events, 2237508us elapsed, 36.68us avg, min 22us max 2015us 51.038us rms mag_bias_estimator: cycle: 15536 events, 382131us elapsed, 24.60us avg, min 3us max 1251us 50.400us rms land_detector: cycle: 30918 events, 450027us elapsed, 14.56us avg, min 10us max 206us 7.273us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 15463 events, 246208us elapsed, 15.92us avg, min 7us max 182us 7.802us rms fw_att_control: cycle: 61691 events, 1313307us elapsed, 21.29us avg, min 12us max 215us 11.157us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 29066 events, 40098us elapsed, 1.38us avg, min 1us max 100us 2.162us rms mc_pos_control: cycle time: 30902 events, 851181us elapsed, 27.54us avg, min 1us max 228us 10.390us rms flight_mode_manager: cycle: 15463 events, 639110us elapsed, 41.33us avg, min 4us max 661us 15.294us rms mc_att_control: cycle: 61691 events, 717990us elapsed, 11.64us avg, min 3us max 325us 5.953us rms mc_rate_control: cycle: 124032 events, 1109110us elapsed, 8.94us avg, min 3us max 69us 0.984us rms vtol_att_control: cycle: 123146 events, 3413864us elapsed, 27.72us avg, min 2us max 257us 3.417us rms airspeed_selector: elapsed: 3096 events, 59805us elapsed, 19.32us avg, min 15us max 175us 11.851us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 64913 events, 123776us elapsed, 1.91us avg, min 1us max 1008us 10.964us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 64489 events, 127161us elapsed, 1.97us avg, min 1us max 865us 12.368us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 62111 events, 120160us elapsed, 1.93us avg, min 1us max 89us 3.723us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 32290 events, 4521691us elapsed, 140.03us avg, min 82us max 1832us 112.852us rms ekf2: ECL update: 32623 events, 109068us elapsed, 3.34us avg, min 1us max 877us 11.912us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 32076 events, 3996120us elapsed, 124.58us avg, min 81us max 1361us 84.358us rms ekf2: ECL update: 32413 events, 100311us elapsed, 3.09us avg, min 1us max 88us 1.998us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 30887 events, 4388883us elapsed, 142.09us avg, min 83us max 507us 54.756us rms ekf2: ECL update: 31225 events, 116817us elapsed, 3.74us avg, min 1us max 108us 4.532us rms pwm_out: interval: 31100 events, 10000.95 avg, min 48us max 27736us 916.820us rms pwm_out: cycle: 31100 events, 459312us elapsed, 14.77us avg, min 2us max 180us 1.440us rms control latency: 30883 events, 120895539us elapsed, 3914.63us avg, min 315us max 13736us 1340.696us rms control latency: 122842 events, 1008217163us elapsed, 8207.43us avg, min 585us max 3064581us 124446.961us rms px4io: interface write: 122859 events, 28532338us elapsed, 232.24us avg, min 120us max 327us 4.179us rms px4io: interface read: 58246 events, 11783771us elapsed, 202.31us avg, min 135us max 652us 102.534us rms px4io: interval: 122847 events, 2531.88 avg, min 896us max 45524us 390.215us rms px4io: cycle: 122847 events, 43646325us elapsed, 355.29us avg, min 4us max 8521us 363.842us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 181105 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 181105 events, 39469818us elapsed, 217.94us avg, min 116us max 649us 59.624us rms commander: preflight check: 621 events, 6218027us elapsed, 10012.93us avg, min 788us max 13017us 604.489us rms commander: cycle: 27717 events, 8061075us elapsed, 290.84us avg, min 39us max 19969us 1494.455us 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 20334 events, 594510us elapsed, 29.24us avg, min 4us max 688us 18.367us rms vehicle_gps_position: cycle: 1545 events, 15558us elapsed, 10.07us avg, min 2us max 164us 9.953us rms vehicle_air_data: cycle: 23039 events, 493459us elapsed, 21.42us avg, min 13us max 227us 8.440us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 124072 events, 2468916us elapsed, 19.90us avg, min 8us max 223us 1.278us rms sensors: 62128 events, 2658295us elapsed, 42.79us avg, min 16us max 3132us 33.490us rms battery_status: 31107 events, 567727us elapsed, 18.25us avg, min 13us max 993us 33.655us rms aspd_com_err: 0 events aspd_read: 29049 events, 14077994us elapsed, 484.63us avg, min 477us max 689us 19.838us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 30934 events, 127832us elapsed, 4.13us avg, min 3us max 41us 1.085us rms ms5611: read: 30933 events, 422943us elapsed, 13.67us avg, min 11us max 78us 2.151us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 30726 events, 141018us elapsed, 4.59us avg, min 4us max 85us 1.895us rms ms5611: read: 30725 events, 526458us elapsed, 17.13us avg, min 12us max 83us 3.750us rms board_adc: sample: 217819 events, 2256716us elapsed, 10.36us avg, min 7us max 14779us 42.591us rms manual_control: interval: 1697 events, 183285.96 avg, min 224us max 201093us 45248.145us rms manual_control: cycle: 1697 events, 16429us elapsed, 9.68us avg, min 5us max 817us 34.576us rms rc_update: valid data interval: 2056 events, 21223.19 avg, min 13072us max 38084us 2079.648us rms rc_update: cycle interval: 2062 events, 21223.28 avg, min 13073us max 38085us 2078.070us rms rc_update: cycle: 2062 events, 30946us elapsed, 15.01us avg, min 8us max 405us 17.355us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 136982 events, 2271.89 avg, min 15us max 22093us 1085.012us rms uavcan: cycle time: 136982 events, 5425835us elapsed, 39.61us avg, min 10us max 15675us 99.486us 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 load_mon: cycle: 623 events, 65459us elapsed, 105.07us avg, min 1us max 928us 97.957us rms dataman: write: 45 events, 159747us elapsed, 3549.93us avg, min 870us max 12351us 1727.469us rms dataman: read: 12278 events, 809179us elapsed, 65.90us avg, min 17us max 206499us 1898.216us rms dma_alloc: 22 events param: set: 162 events, 3503us elapsed, 21.62us avg, min 1us max 42us 11.199us rms param: get: 32836 events param: find: 34855 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer 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: 797 events, 5629595us elapsed, 7063.48us avg, min 4us max 14377us 1350.044us rms logger_sd_write: 8493 events, 108478304us elapsed, 12772.67us avg, min 5us max 3116616us 59922.145us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 37 events, 9729729.70 avg, min 9998237us max 10002326us 518.211us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 70867 events, 14923349us elapsed, 210.58us avg, min 162us max 3988us 86.635us rms gyro_fft: cycle interval: 75590 events, 5006.30 avg, min 364us max 10017us 235.379us rms gyro_fft: cycle: 75590 events, 16304364us elapsed, 215.69us avg, min 2us max 4006us 110.337us rms navigator: 7709 events, 15518932us elapsed, 2013.09us avg, min 10us max 2909562us 58375.801us rms mavlink: STATUSTEXT missed messages: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 37762 events, 10021.16 avg, min 9107us max 46753us 303.837us rms mavlink: tx run elapsed: 37762 events, 5497197us elapsed, 145.57us avg, min 95us max 4181us 156.581us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 75372 events, 5020.76 avg, min 4030us max 46527us 348.563us rms mavlink: tx run elapsed: 75372 events, 2692239us elapsed, 35.72us avg, min 22us max 3719us 76.699us rms mag_bias_estimator: cycle: 34 events, 626us elapsed, 18.41us avg, min 12us max 39us 1093.540us rms land_detector: cycle: 37798 events, 522339us elapsed, 13.82us avg, min 10us max 160us 9.558us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 18922 events, 801120us elapsed, 42.34us avg, min 12us max 218us 32.757us rms fw_att_control: cycle: 75595 events, 1968022us elapsed, 26.03us avg, min 16us max 150us 14.721us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 30353 events, 150525us elapsed, 4.96us avg, min 1us max 109us 4.318us rms mc_pos_control: cycle time: 37798 events, 792189us elapsed, 20.96us avg, min 5us max 155us 16.053us rms flight_mode_manager: cycle: 18922 events, 483178us elapsed, 25.54us avg, min 4us max 411us 23.718us rms mc_att_control: cycle: 75595 events, 574181us elapsed, 7.60us avg, min 3us max 158us 7.490us rms mc_rate_control: cycle: 150446 events, 1416811us elapsed, 9.42us avg, min 8us max 50us 1.224us rms vtol_att_control: cycle: 150032 events, 3715346us elapsed, 24.76us avg, min 1us max 118us 13.178us rms airspeed_selector: elapsed: 3784 events, 97098us elapsed, 25.66us avg, min 16us max 209us 20.246us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 79033 events, 151105us elapsed, 1.91us avg, min 1us max 1400us 15.155us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 78505 events, 139364us elapsed, 1.78us avg, min 1us max 1621us 14.454us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 75595 events, 138041us elapsed, 1.83us avg, min 1us max 158us 4.679us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 39517 events, 8866298us elapsed, 224.37us avg, min 82us max 4189us 338.029us rms ekf2: ECL update: 39516 events, 142930us elapsed, 3.62us avg, min 2us max 1194us 17.420us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 39252 events, 7943320us elapsed, 202.37us avg, min 82us max 2820us 283.012us rms ekf2: ECL update: 39253 events, 131511us elapsed, 3.35us avg, min 2us max 101us 2.935us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 37798 events, 7478930us elapsed, 197.87us avg, min 82us max 1273us 205.062us rms ekf2: ECL update: 37797 events, 138752us elapsed, 3.67us avg, min 2us max 82us 5.510us rms pwm_out: interval: 37823 events, 10005.03 avg, min 16us max 22935us 1399.653us rms pwm_out: cycle: 37823 events, 553407us elapsed, 14.63us avg, min 12us max 23us 1.674us rms control latency: 37823 events, 137121459us elapsed, 3625.35us avg, min 331us max 17633us 1798.840us rms control latency: 120337 events, 74443681us elapsed, 618.63us avg, min 586us max 9204us 125736.219us rms px4io: interface write: 120345 events, 28054246us elapsed, 233.12us avg, min 122us max 347us 7.661us rms px4io: interface read: 105762 events, 28908097us elapsed, 273.33us avg, min 135us max 661us 171.066us rms px4io: interval: 120337 events, 3144.75 avg, min 2066us max 13164us 1174.645us rms px4io: cycle: 120337 events, 60239749us elapsed, 500.59us avg, min 254us max 9100us 779.482us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 226107 events px4io: uarterrs: 0 events px4io: protoerrs: 2 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 226107 events, 55940696us elapsed, 247.41us avg, min 118us max 657us 119.303us rms commander: preflight check: 3 events, 65099us elapsed, 21699.67us avg, min 10418us max 43765us 21874.584us rms commander: cycle: 34314 events, 2384112us elapsed, 69.48us avg, min 40us max 44043us 1370.025us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 24910 events, 703740us elapsed, 28.25us avg, min 18us max 528us 23.861us rms vehicle_gps_position: cycle: 1892 events, 17928us elapsed, 9.48us avg, min 7us max 140us 10.411us rms vehicle_air_data: cycle: 28027 events, 603428us elapsed, 21.53us avg, min 13us max 115us 11.527us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 150446 events, 3004407us elapsed, 19.97us avg, min 18us max 131us 1.875us rms sensors: 75596 events, 3019450us elapsed, 39.94us avg, min 24us max 3549us 35.837us rms battery_status: 37844 events, 730456us elapsed, 19.30us avg, min 13us max 1676us 54.918us rms aspd_com_err: 0 events aspd_read: 35341 events, 17110961us elapsed, 484.17us avg, min 477us max 685us 26.332us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 37635 events, 155623us elapsed, 4.14us avg, min 3us max 44us 1.466us rms ms5611: read: 37635 events, 514625us elapsed, 13.67us avg, min 11us max 133us 2.914us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 37370 events, 171336us elapsed, 4.58us avg, min 4us max 58us 2.455us rms ms5611: read: 37370 events, 641854us elapsed, 17.18us avg, min 12us max 68us 5.033us rms board_adc: sample: 264908 events, 2766200us elapsed, 10.44us avg, min 7us max 3601us 51.773us rms manual_control: interval: 5115 events, 73974.68 avg, min 557us max 202649us 66902.313us rms manual_control: cycle: 5115 events, 63039us elapsed, 12.32us avg, min 8us max 579us 27.687us rms rc_update: valid data interval: 17617 events, 21479.98 avg, min 11647us max 38381us 2358.171us rms rc_update: cycle interval: 17617 events, 21479.98 avg, min 11648us max 38381us 2357.979us rms rc_update: cycle: 17617 events, 279325us elapsed, 15.86us avg, min 11us max 1269us 22.867us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 166571 events, 2271.89 avg, min 15us max 10264us 1100.766us rms uavcan: cycle time: 166571 events, 6419679us elapsed, 38.54us avg, min 10us max 2814us 120.553us 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 load_mon: cycle: 757 events, 83753us elapsed, 110.64us avg, min 74us max 1322us 145.449us rms dataman: write: 13 events, 47140us elapsed, 3626.15us avg, min 1217us max 11158us 4147.801us rms dataman: read: 15016 events, 15188680us elapsed, 1011.50us avg, min 17us max 2909263us 41817.469us rms dma_alloc: 2 events param: set: 30 events, 2313us elapsed, 77.10us avg, min 1us max 493us 114.423us rms param: get: 5690 events param: find: 1830 events param: export: 1 events, 43356us elapsed, 43356.00us avg, min 43356us max 43356us nanus rms