PX4 Hexarotor | Open PID Analysis |
| Airframe: | Generic Hexarotor x geometry Hexarotor x (6001) |
| Hardware: | PX4FMU_V2 (V30) |
| Software Version: | v1.8.2 (f13bbacd) branch: stable |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:42 |
| Dropouts: | 8 (1.53 s) |
| Vehicle Life Flight Time: | 8 minutes 59 seconds |
| Vehicle UUID: | 001B00303337511237353832 (Tarot 680) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Distance: | 23.0 m |
| Max Altitude Difference: | 10 m |
| Average Speed: | 2.1 km/h |
| Max Speed: | 10.6 km/h |
| Max Speed Horizontal: | 2.2 km/h |
| Max Speed Up: | 10.5 km/h |
| Max Speed Down: | 0.3 km/h |
| Max Tilt Angle: | 54.1 deg |
| Max Rotation Speed: | 205.8 deg/s |
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Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 489671 40.179 548/ 748 0 ( 0) READY 3 1 hpwork 36476 4.287 904/ 1780 249 (249) w:sig 17 2 lpwork 1712 0.099 944/ 1780 50 ( 50) w:sig 8 3 init 8710 0.000 1768/ 2484 100 (100) w:sem 3 92 dataman 150 0.000 728/ 1180 90 ( 90) w:sem 4 100 gps 3069 0.099 1096/ 1580 220 (220) w:sig 5 148 sensors 59398 6.181 1296/ 1964 249 (249) w:sem 21 150 commander 10633 1.196 2016/ 3212 140 (140) w:sig 32 151 commander_low_prio 2179 0.000 1504/ 2996 50 ( 50) w:sem 32 159 px4io 29423 1.595 1040/ 1484 251 (251) w:sem 11 172 mavlink_if0 24492 3.190 1720/ 2572 100 (100) READY 35 173 mavlink_rcv_if0 5018 0.498 1560/ 2836 175 (175) w:sem 35 181 mavlink_if1 100779 13.359 1792/ 2508 100 (100) READY 38 184 mavlink_rcv_if1 6817 2.492 1608/ 2836 175 (175) w:sem 38 335 log_writer_file 24 1.595 560/ 1068 60 ( 60) w:sem 43 286 ekf2 38796 10.667 4608/ 6572 250 (250) w:sem 20 294 mc_att_control 29441 2.492 800/ 1660 251 (251) w:sem 17 296 mc_pos_control 6374 2.492 872/ 1876 250 (250) w:sem 12 299 navigator 315 0.199 928/ 1764 105 (105) w:sem 15 330 logger 16704 8.075 3072/ 3540 245 (245) RUN 43 Processes: 20 total, 4 running, 16 sleeping, max FDs: 54 CPU usage: 58.52% tasks, 1.30% sched, 40.18% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 872.568s total, 489.672s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 504094 31.437 548/ 748 0 ( 0) READY 3 1 hpwork 38131 3.493 904/ 1780 249 (249) w:sig 17 2 lpwork 1824 4.391 944/ 1780 50 ( 50) w:sig 8 3 init 8710 0.000 1768/ 2484 100 (100) w:sem 3 92 dataman 150 0.000 728/ 1180 90 ( 90) w:sem 4 100 gps 3193 0.099 1096/ 1580 220 (220) w:sem 5 148 sensors 61912 6.387 1296/ 1964 249 (249) w:sem 21 150 commander 11173 1.097 2016/ 3212 140 (140) w:sig 32 151 commander_low_prio 2181 0.099 1504/ 2996 50 ( 50) w:sem 32 159 px4io 30983 3.692 1040/ 1484 251 (251) w:sem 11 172 mavlink_if0 25800 3.093 1720/ 2572 100 (100) READY 36 173 mavlink_rcv_if0 5265 0.499 1560/ 2836 175 (175) w:sem 36 181 mavlink_if1 106440 13.473 1792/ 2508 100 (100) READY 38 184 mavlink_rcv_if1 7580 0.898 1608/ 2836 175 (175) w:sem 38 335 log_writer_file 625 1.397 560/ 1068 60 ( 60) w:sem 43 286 ekf2 43942 12.874 4608/ 6572 250 (250) w:sem 20 294 mc_att_control 31163 4.191 800/ 1660 251 (251) w:sem 17 296 mc_pos_control 8026 4.091 968/ 1876 250 (250) w:sem 12 299 navigator 394 0.099 928/ 1764 105 (105) w:sem 15 330 logger 19752 7.584 3072/ 3540 245 (245) RUN 43 Processes: 20 total, 4 running, 16 sleeping, max FDs: 54 CPU usage: 67.47% tasks, 1.10% sched, 31.44% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 914.317s total, 504.095s idle
Pre Flight:
logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 5 events, 138246us elapsed, 27649us avg, min 11us max 49690us 25468.213us rms navigator: 3200 events, 158039us elapsed, 49us avg, min 22us max 2437us 134.928us rms land_detector_cycle: 42413 events, 1772269us elapsed, 41us avg, min 22us max 1518us 42.210us rms mc_att_control: 216456 events, 18926541us elapsed, 87us avg, min 20us max 1121us 29.258us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 192 events mavlink_el: 251803 events, 129824035us elapsed, 515us avg, min 91us max 55575us 497.848us rms mavlink_txe: 1652 events mavlink_el: 85402 events, 26672696us elapsed, 312us avg, min 77us max 62948us 414.963us rms io control latency: 198465 events, 2021029272202us elapsed, 10183303us avg, min 168us max 871527659us 91018136.000us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 201006 events, 137291632us elapsed, 683us avg, min 264us max 19598us 800.448us rms io_txns: 401297 events, 126823423us elapsed, 316us avg, min 132us max 887us 113.131us rms stack_check: 2770 events, 86922us elapsed, 31us avg, min 1us max 2770us 105.984us rms sensors: 216623 events, 101346213us elapsed, 467us avg, min 106us max 13534us 253.954us rms mpu9250_dupe: 218753 events mpu9250_reset: 0 events mpu9250_good_trans: 867882 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 1086637 events, 70400468us elapsed, 64us avg, min 42us max 93us 11.476us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 5 events mpu9250_mag_duplicates: 772814 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 12076 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 156592 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 86935 events, 2128184us elapsed, 24us avg, min 24us max 25us 0.500us rms lsm303d_acc_read: 827951 events, 26967339us elapsed, 32us avg, min 21us max 39us 5.610us rms l3gd20_dupe: 593464 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 1215874 events, 36599016us elapsed, 30us avg, min 22us max 50us 7.261us rms mpu9250_dupe: 218897 events mpu9250_reset: 0 events mpu9250_good_trans: 867796 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 1086693 events, 73772000us elapsed, 67us avg, min 42us max 105us 14.984us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 5 events mpu9250_mag_duplicates: 771983 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 11952 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events adc_samples: 869260 events, 2403994us elapsed, 2us avg, min 2us max 3us 0.425us rms ms5611_com_err: 0 events ms5611_measure: 79260 events, 862872us elapsed, 10us avg, min 6us max 480us 23.787us rms ms5611_read: 79259 events, 1865158us elapsed, 23us avg, min 11us max 577us 33.634us rms ms5611_com_err: 0 events ms5611_measure: 79262 events, 896536us elapsed, 11us avg, min 6us max 575us 25.506us rms ms5611_read: 79261 events, 1842246us elapsed, 23us avg, min 11us max 572us 31.747us rms dma_alloc: 4 events param_set: 167 events, 8310us elapsed, 49us avg, min 3us max 111us 33.942us rms param_get: 8010 events, 74932us elapsed, 9us avg, min 4us max 1212us 37.818us rms param_find: 3284 events, 34736us elapsed, 10us avg, min 3us max 1243us 36.116us rms param_export: 9 events, 728870us elapsed, 80985us avg, min 66304us max 102715us 15525.117us rms
Post Flight:
logger_sd_fsync: 40 events, 744371us elapsed, 18609us avg, min 4707us max 381595us 58930.973us rms logger_sd_write: 477 events, 9181892us elapsed, 19249us avg, min 10us max 824300us 48877.137us rms navigator: 855 events, 49532us elapsed, 57us avg, min 22us max 2982us 324.529us rms land_detector_cycle: 2068 events, 133956us elapsed, 64us avg, min 35us max 515us 198.538us rms mc_att_control: 10659 events, 1145890us elapsed, 107us avg, min 27us max 288us 136.815us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us 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: 10684 events, 7980644us elapsed, 746us avg, min 124us max 7541us 2531.497us rms mavlink_txe: 786 events mavlink_el: 4000 events, 1957454us elapsed, 489us avg, min 113us max 4060us 2001.651us rms io control latency: 10031 events, 54976357429us elapsed, 5480645us avg, min 179us max 873662076us 410690880.000us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 10124 events, 7113620us elapsed, 702us avg, min 265us max 3002us 3655.506us rms io_txns: 20686 events, 6551012us elapsed, 316us avg, min 143us max 883us 511.536us rms stack_check: 150 events, 3450us elapsed, 23us avg, min 1us max 459us 459.304us rms sensors: 10660 events, 9916185us elapsed, 930us avg, min 338us max 2985us 1191.902us rms mpu9250_dupe: 10693 events mpu9250_reset: 0 events mpu9250_good_trans: 42767 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 53460 events, 3462374us elapsed, 64us avg, min 42us max 83us 52.990us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 37965 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 572 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events lsm303d_acc_dupe: 7715 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 4277 events, 104744us elapsed, 24us avg, min 24us max 25us 2.308us rms lsm303d_acc_read: 40732 events, 1327293us elapsed, 32us avg, min 21us max 39us 25.912us rms l3gd20_dupe: 29218 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 59818 events, 1800208us elapsed, 30us avg, min 22us max 41us 33.521us rms mpu9250_dupe: 10740 events mpu9250_reset: 0 events mpu9250_good_trans: 42724 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 53464 events, 3634361us elapsed, 67us avg, min 42us max 101us 69.221us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 37982 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 597 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events adc_samples: 42770 events, 118428us elapsed, 2us avg, min 2us max 3us 1.960us rms ms5611_com_err: 0 events ms5611_measure: 3927 events, 40299us elapsed, 10us avg, min 6us max 468us 109.372us rms ms5611_read: 3927 events, 88808us elapsed, 22us avg, min 11us max 493us 154.650us rms ms5611_com_err: 0 events ms5611_measure: 3928 events, 47673us elapsed, 12us avg, min 6us max 442us 118.352us rms ms5611_read: 3928 events, 82164us elapsed, 20us avg, min 11us max 552us 144.915us rms dma_alloc: 0 events param_set: 3 events, 152us elapsed, 50us avg, min 3us max 138us 318.362us rms param_get: 13 events, 81us elapsed, 6us avg, min 5us max 18us 977.008us rms param_find: 13 events, 89us elapsed, 6us avg, min 6us max 10us 597.379us rms param_export: 1 events, 113934us elapsed, 113934us avg, min 113934us max 113934us Infinityus rms