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PX4 Quadrotor | Open PID Analysis |
Link ACCY, PWM output and motor tilt (1)
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.11.1 (9fcbf18d) branch: v1.11.1-branch |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:48 |
| Dropouts: | 5 (3.74 s) |
| Vehicle Life Flight Time: | 14 hours 19 minutes 42 seconds |
| Vehicle UUID: | 0002000000003236343532375118003c0028 |
| Distance: | 8.5 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.8 km/h |
| Max Speed: | 3.7 km/h |
| Max Speed Horizontal: | 3.7 km/h |
| Max Speed Up: | 1.1 km/h |
| Max Speed Down: | 1.3 km/h |
| Max Tilt Angle: | 4.0 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: 9fcbf18d82b84ac57ee13782b3e501fa077d4d97 FW version: Release 1.11.1 (17498623) FW git-branch: v1.11.1-branch OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: ec20f2e6c5cc35b2b9bbe942dea55eabb81297b6 Build datetime: Oct 15 2020 06:14:20 Build uri: localhost Toolchain: GNU GCC, 7.3.1 20180622 (release) [ARM/embedded-7-branch revision 261907] PX4GUID: 0002000000003236343532375118003c0028 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 (devid=0x3c) bmi055 #0 on SPI bus 1 (devid=0x41) bmi055 #1 on SPI bus 1 (devid=0x42) ist8310 #0 on I2C bus 3 ms5611 #0 on SPI bus 4 (devid=0x3d) Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyS2 @ 2000000B INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] 8528539: EKF aligned, (baro hgt, IMU buf: 12, OBS buf: 9) INFO [mavlink] Starting mavlink shell INFO [ekf2] Found range finder with instance 0 INFO [logger] Stop mavlink log INFO [ecl/EKF] reset position to ev position INFO [ecl/EKF] starting vision pos fusion INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2020-10-17/09_47_36.ulg INFO [logger] Opened full log file: /fs/microsd/log/2020-10-17/09_47_36.ulg INFO [logger] closed logfile, bytes written: 571005 INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2020-10-17/09_47_51.ulg INFO [logger] Opened full log file: /fs/microsd/log/2020-10-17/09_47_51.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 18940 38.384 236/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 128 0.000 1032/ 1612 50 ( 50) w:sig 3 3 init 890 0.000 2192/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 392/ 1252 255 (255) w:sem 3 361 log_writer_file 458 8.275 704/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 35 0.099 912/ 1700 205 (205) w:sem 3 18 wq:hp_default 467 1.196 1184/ 1900 240 (240) w:sem 3 20 dataman 59 0.000 760/ 1204 90 ( 90) w:sem 4 134 wq:SPI1 4928 13.060 1484/ 2332 253 (253) w:sem 3 138 wq:I2C3 242 0.697 860/ 1468 244 (244) w:sem 3 140 wq:SPI4 126 0.398 860/ 2332 250 (250) w:sem 3 209 wq:nav_and_controllers 3830 10.468 5296/ 7196 241 (241) w:sem 3 211 wq:rate_ctrl 3258 8.773 1216/ 1660 255 (255) w:sem 3 217 commander 466 0.797 1480/ 3212 140 (140) READY 6 218 commander_low_prio 0 0.000 696/ 2996 50 ( 50) w:sem 6 300 mavlink_if1 1991 5.583 1952/ 2492 100 (100) READY 6 301 mavlink_rcv_if1 555 1.994 3056/ 4068 175 (175) w:sem 6 311 px4io 1277 3.290 1032/ 1484 237 (237) w:sem 4 325 wq:attitude_ctrl 263 0.797 1236/ 1668 242 (242) w:sem 3 334 navigator 28 0.099 1016/ 1764 105 (105) w:sem 5 358 logger 393 3.389 2848/ 3644 230 (230) RUN 4 363 mavlink_shell 1 0.000 944/ 2020 100 (100) w:sem 3 367 wq:I2C4 39 0.099 852/ 1468 243 (243) w:sem 3 Processes: 24 total, 4 running, 20 sleeping, max FDs: 15 CPU usage: 59.02% tasks, 2.59% sched, 38.38% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 39.470s total, 18.941s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 37145 19.900 236/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 172 4.400 1032/ 1612 50 ( 50) w:sig 3 3 init 890 0.000 2192/ 2924 100 (100) w:sem 3 4 wq:manager 2 0.000 392/ 1252 255 (255) w:sem 3 361 log_writer_file 4191 22.300 704/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 57 0.100 912/ 1700 205 (205) w:sem 3 18 wq:hp_default 1043 1.200 1184/ 1900 240 (240) w:sem 3 20 dataman 60 0.000 760/ 1204 90 ( 90) w:sem 4 134 wq:SPI1 11052 13.100 1484/ 2332 253 (253) w:sem 3 138 wq:I2C3 541 0.700 860/ 1468 244 (244) w:sem 3 140 wq:SPI4 281 0.300 860/ 2332 250 (250) w:sem 3 209 wq:nav_and_controllers 9125 10.600 5296/ 7196 241 (241) w:sem 3 211 wq:rate_ctrl 7358 8.600 1216/ 1660 255 (255) w:sem 3 217 commander 843 1.400 1480/ 3212 140 (140) w:sig 6 218 commander_low_prio 1 0.000 696/ 2996 50 ( 50) w:sem 6 300 mavlink_if1 4566 5.400 1952/ 2492 100 (100) READY 6 301 mavlink_rcv_if1 1298 2.000 3056/ 4068 175 (175) READY 6 311 px4io 2843 3.400 1032/ 1484 237 (237) w:sem 4 325 wq:attitude_ctrl 704 0.900 1236/ 1668 242 (242) w:sem 3 334 navigator 64 0.100 1016/ 1764 105 (105) w:sem 5 358 logger 1989 3.200 2848/ 3644 230 (230) RUN 4 363 mavlink_shell 1 0.000 944/ 2020 100 (100) w:sem 3 367 wq:I2C4 103 0.100 852/ 1468 243 (243) w:sem 3 Processes: 24 total, 4 running, 20 sleeping, max FDs: 15 CPU usage: 77.80% tasks, 2.30% sched, 19.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 86.608s total, 37.145s idle
Performance Counters
Pre Flight:
sf1xx: com err: 0 events sf1xx: read: 489 events, 156361us elapsed, 319.76us avg, min 290us max 574us 69.267us rms 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: 11 events, 74975us elapsed, 6815.91us avg, min 5489us max 8303us 996.029us rms logger_sd_write: 121 events, 1528388us elapsed, 12631.31us avg, min 8us max 135019us 11858.706us rms navigator: 296 events, 13249us elapsed, 44.76us avg, min 11us max 1353us 217.104us rms land_detector: cycle: 1547 events, 32386us elapsed, 20.93us avg, min 12us max 238us 31.758us rms mc_pos_control: cycle time: 773 events, 10883us elapsed, 14.08us avg, min 10us max 196us 17.101us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 3094 events, 110260us elapsed, 35.64us avg, min 27us max 176us 26.417us rms mc_rate_control: cycle: 12377 events, 232141us elapsed, 18.76us avg, min 14us max 46us 6.538us rms ekf2: update: 3094 events, 640765us elapsed, 207.10us avg, min 12us max 1037us 311.043us rms io control latency: 6110 events, 2790873us elapsed, 456.77us avg, min 316us max 1416us 314.573us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 6110 events, 3410747us elapsed, 558.22us avg, min 251us max 8256us 1161.842us rms io_txns: 10790 events, 3005864us elapsed, 278.58us avg, min 124us max 1920us 247.502us rms dshot: cycle: 13087 events, 677512us elapsed, 51.77us avg, min 45us max 81us 5.707us rms control latency: 13087 events, 3978623us elapsed, 304.01us avg, min 264us max 1463us 191.800us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4912 events, 3137.01 avg, min 2126us max 12001us 526.695us rms mavlink: tx run elapsed: 4911 events, 1477372us elapsed, 300.83us avg, min 94us max 9244us 465.194us 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: 15495 events, 998.22 avg, min 593us max 1328us 129.641us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 15598 events, 991.61 avg, min 619us max 1984us 128.096us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 12376 events, 1249.50 avg, min 1162us max 1338us 15.769us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 12376 events, 1249.50 avg, min 1162us max 1338us 15.769us rms vehicle_air_data: cycle: 1154 events, 27879us elapsed, 24.16us avg, min 14us max 260us 44.147us rms battery_status: 1546 events, 59868us elapsed, 38.72us avg, min 24us max 548us 72.611us rms sensors: 3094 events, 176362us elapsed, 57.00us avg, min 39us max 182us 33.213us rms ms5611: com_err: 0 events ms5611: measure: 1539 events, 10682us elapsed, 6.94us avg, min 4us max 201us 22.790us rms ms5611: read: 1539 events, 32304us elapsed, 20.99us avg, min 8us max 221us 38.028us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 1375 events, 1229237us elapsed, 893.99us avg, min 840us max 1794us 111.496us rms bmi055_gyro: DRDY interval: 15494 events, 998.22 avg, min 593us max 1328us 129.645us rms 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 interval: 15598 events, 991.60 avg, min 619us max 1984us 128.136us rms 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 adc: sample: 18564 events, 73097us elapsed, 3.94us avg, min 2us max 567us 19.627us rms rc_update: 710 events, 76106us elapsed, 107.19us avg, min 81us max 454us 94.124us rms load_mon: cycle: 30 events, 1613us elapsed, 53.77us avg, min 37us max 167us 125.405us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 15 events, 3520us elapsed, 234.67us avg, min 39us max 1194us 11860.566us rms dma_alloc: 1 events param_set: 1 events, 13us elapsed, 13.00us avg, min 13us max 13us infus rms param_get: 3371 events, 21299us elapsed, 6.32us avg, min 2us max 1135us 22024.389us rms param_find: 2668 events, 22559us elapsed, 8.46us avg, min 2us max 1606us 70.026us rms param_export: 1 events, 111030us elapsed, 111030.00us avg, min 111030us max 111030us infus rms
Post Flight:
sf1xx: com err: 0 events sf1xx: read: 1524 events, 489297us elapsed, 321.06us avg, min 291us max 612us 67.255us rms 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: 97 events, 668184us elapsed, 6888.49us avg, min 6us max 10283us 1467.936us rms logger_sd_write: 926 events, 15433561us elapsed, 16666.91us avg, min 8us max 2991546us 104842.977us rms navigator: 870 events, 2803861us elapsed, 3222.83us avg, min 10us max 2341937us 80355.305us rms land_detector: cycle: 4815 events, 106625us elapsed, 22.14us avg, min 12us max 1055us 36.336us rms mc_pos_control: cycle time: 2408 events, 39728us elapsed, 16.50us avg, min 10us max 299us 26.353us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 9632 events, 384255us elapsed, 39.89us avg, min 27us max 234us 24.244us rms mc_rate_control: cycle: 38530 events, 777196us elapsed, 20.17us avg, min 15us max 49us 4.960us rms ekf2: update: 9632 events, 2563253us elapsed, 266.12us avg, min 12us max 1520us 360.894us rms io control latency: 18821 events, 8926073us elapsed, 474.26us avg, min 315us max 1701us 286.077us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 18821 events, 10632487us elapsed, 564.93us avg, min 250us max 8932us 999.244us rms io_txns: 33317 events, 9394211us elapsed, 281.96us avg, min 139us max 2434us 231.413us rms dshot: cycle: 40742 events, 2083020us elapsed, 51.13us avg, min 44us max 80us 4.710us rms control latency: 40742 events, 12426155us elapsed, 305.00us avg, min 265us max 1475us 166.394us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15140 events, 3179.40 avg, min 2109us max 8600us 523.901us rms mavlink: tx run elapsed: 15140 events, 4767012us elapsed, 314.86us avg, min 93us max 3701us 424.403us 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: 48230 events, 998.26 avg, min 601us max 1349us 130.071us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 48562 events, 991.53 avg, min 614us max 2210us 129.452us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 38532 events, 1249.56 avg, min 1142us max 1365us 15.808us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 38532 events, 1249.56 avg, min 1142us max 1365us 15.808us rms vehicle_air_data: cycle: 3592 events, 89487us elapsed, 24.91us avg, min 13us max 289us 40.186us rms battery_status: 4815 events, 178257us elapsed, 37.02us avg, min 24us max 612us 61.486us rms sensors: 9633 events, 511657us elapsed, 53.12us avg, min 32us max 207us 27.613us rms ms5611: com_err: 0 events ms5611: measure: 4790 events, 31708us elapsed, 6.62us avg, min 4us max 200us 19.050us rms ms5611: read: 4790 events, 100634us elapsed, 21.01us avg, min 8us max 245us 32.625us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 4280 events, 3832979us elapsed, 895.56us avg, min 840us max 1788us 94.861us rms bmi055_gyro: DRDY interval: 48232 events, 998.26 avg, min 601us max 1349us 130.075us rms 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 interval: 48560 events, 991.53 avg, min 614us max 2210us 129.446us rms 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 adc: sample: 57780 events, 236153us elapsed, 4.09us avg, min 2us max 578us 19.896us rms rc_update: 2212 events, 234103us elapsed, 105.83us avg, min 81us max 472us 71.643us rms load_mon: cycle: 97 events, 8256us elapsed, 85.11us avg, min 37us max 596us 127.904us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 46 events, 2779047us elapsed, 60414.07us avg, min 36us max 2341918us 348141.031us rms dma_alloc: 0 events param_set: 3 events, 21us elapsed, 7.00us avg, min 3us max 13us 442.601us rms param_get: 348 events, 1686us elapsed, 4.84us avg, min 2us max 254us 68636.344us rms param_find: 348 events, 2456us elapsed, 7.06us avg, min 2us max 777us 198.560us rms param_export: 1 events, 91384us elapsed, 91384.00us avg, min 91384us max 91384us infus rms