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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Log begun on boot and ended with shutdown. Trying to debug RC controller not connecting to QGC.
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | MODALAI_FC_V1 (V1001000) |
| Software Version: | b02a6b4a |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:46 |
| Vehicle Life Flight Time: | 2 minutes 41 seconds |
| Vehicle UUID: | 000200000000203334354d3350140031002c |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.0 km/h |
| Max Speed: | 0.8 km/h |
| Max Speed Horizontal: | 0.8 km/h |
| Max Speed Up: | 0.0 km/h |
| Max Speed Down: | 0.1 km/h |
| Max Tilt Angle: | 1.3 deg |
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Console Output
HW arch: MODALAI_FC_V1 HW type: V1001000 HW version: 0x001 HW revision: 0x000 PX4 git-hash: b02a6b4ae93d12fa399673bf442c45087cee0759 PX4 version: 1.14.0 0 (17694720) Vendor version: 2.0.63 0 (33570560) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9 Build datetime: Dec 11 2023 20:04:02 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000203334354d3350140031002c MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2463 bytes, decoded 2463 bytes (INT32:25, FLOAT:84) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes Board sensors: /etc/init.d/rc.board_sensors ERROR [voxl_esc] Invalid parameter VOXL_ESC_FUNCX. Only supports motors 1-4. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_FUNCX. Only supports motors 1-4. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_FUNCX. Only supports motors 1-4. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_FUNCX. Only supports motors 1-4. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_MOTORX. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_MOTORX. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_MOTORX. Please verify parameters. ERROR [voxl_esc] Invalid parameter VOXL_ESC_MOTORX. Please verify parameters. ERROR [voxl_esc] Task start failed (-1) voxlpm #0 on I2C bus 3 (external) address 0x44 WARN [SPI_I2C] Already running on bus 3 WARN [SPI_I2C] voxlpm: no instance started (no device on bus?) icm20602 #0 on SPI bus 1 rotation 12 icm42688p #0 on SPI bus 2 rotation 12 ERROR [SPI_I2C] bmi088: no instance started (no device on bus?) ERROR [SPI_I2C] bmi088: no instance started (no device on bus?) bmp388 #0 on I2C bus 4 (external) address 0x76 qmc5883l #0 on I2C bus 1 (external) address 0xD ekf2 [812:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B Starting MAVLink on /dev/ttyS4 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS4 @ 921600B INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [logger] [logger] /fs/microsd/log/2024-03-19/16_51_50.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-19/16_51_50.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 356 20.123 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.001 360/ 1576 50 ( 50) w:sem 3 3 nsh_main 5 0.580 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.006 636/ 1232 255 (255) w:sem 4 812 ekf2 8 0.875 1268/ 2000 237 (237) w:sig 3 55 wq:hp_default 69 6.908 1100/ 1872 237 (237) w:sem 4 358 dataman 0 0.026 852/ 1280 90 ( 90) w:sem 4 366 wq:lp_default 4 0.416 1028/ 1896 205 (205) w:sem 4 408 wq:ttyS1 0 0.000 412/ 1704 233 (233) w:sem 4 411 wq:I2C3 0 0.087 1148/ 2312 244 (244) w:sem 4 415 wq:SPI1 56 5.673 1708/ 2368 253 (253) w:sem 4 425 wq:SPI2 54 5.494 1868/ 2368 252 (252) w:sem 4 444 wq:I2C4 2 0.236 840/ 2312 243 (243) w:sem 4 717 wq:I2C1 1 0.199 1004/ 2312 246 (246) w:sem 4 789 wq:nav_and_controllers 45 4.562 1268/ 2216 242 (242) w:sem 4 790 wq:rate_ctrl 118 11.861 2332/ 3120 255 (255) w:sem 4 793 wq:INS0 72 7.281 4316/ 5976 241 (241) w:sem 4 794 wq:INS1 69 6.977 4316/ 5976 240 (240) w:sem 4 798 commander 16 1.603 1364/ 3192 140 (140) w:sig 5 947 gps 2 0.232 1032/ 1936 205 (205) w:sem 4 1061 mavlink_if0 17 1.701 1276/ 2704 100 (100) w:sig 4 1063 mavlink_rcv_if0 8 0.828 1308/ 4616 175 (175) READY 4 1098 mavlink_if1 71 7.135 1956/ 2712 100 (100) READY 4 1099 mavlink_rcv_if1 36 3.643 1796/ 4616 175 (175) READY 4 1140 wq:ttyS5 5 0.532 788/ 1704 229 (229) READY 4 1168 navigator 3 0.300 1052/ 1896 105 (105) w:sem 6 1297 logger 78 7.822 2932/ 3616 230 (230) RUN 4 1309 log_writer_file 7 0.763 628/ 1144 60 ( 60) READY 4 1330 wq:uavcan 16 1.635 2228/ 3600 236 (236) w:sem 4 Processes: 30 total, 7 running, 23 sleeping CPU usage: 77.38% tasks, 2.50% sched, 20.12% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1.686s total, 0.356s idle
Performance Counters
Pre Flight:
uavcan: cycle interval: 30 events, 2818.03 avg, min 33us max 6867us 1157.778us rms uavcan: cycle time: 30 events, 1190us elapsed, 39.67us avg, min 13us max 379us 79.783us 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 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7 events, 17247.86 avg, min 7212us max 32749us 7390.325us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 32 events, 11631us elapsed, 363.47us avg, min 284us max 938us 119.574us rms gyro_fft: cycle interval: 90 events, 2521.71 avg, min 1980us max 5472us 374.121us rms gyro_fft: cycle: 90 events, 13753us elapsed, 152.81us avg, min 14us max 957us 202.213us rms navigator: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 34 events, 413us elapsed, 12.15us avg, min 10us max 38us 5.940us rms ekf2: vehicle_visual_odometry messages missed: 0 events ekf2: vehicle_visual_odometry messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46 events, 6707.63 avg, min 2557us max 103715us 15057.209us rms mavlink: tx run elapsed: 45 events, 146348us elapsed, 3252.18us avg, min 187us max 99087us 14905.359us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 20 events, 15813.60 avg, min 9463us max 100613us 20203.021us rms mavlink: tx run elapsed: 20 events, 7348us elapsed, 367.40us avg, min 161us max 2122us 432.844us rms mag_bias_estimator: cycle: 23 events, 1038us elapsed, 45.13us avg, min 1us max 695us 141.926us rms land_detector: cycle: 51 events, 1462us elapsed, 28.67us avg, min 19us max 320us 42.255us rms mc_pos_control: cycle time: 52 events, 650us elapsed, 12.50us avg, min 9us max 42us 5.655us rms flight_mode_manager: cycle: 27 events, 355us elapsed, 13.15us avg, min 9us max 41us 9.041us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 419 events, 8657us elapsed, 20.66us avg, min 17us max 171us 9.797us rms control_allocator: cycle: 419 events, 18193us elapsed, 43.42us avg, min 37us max 202us 9.708us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 54 events, 19429us elapsed, 359.80us avg, min 224us max 1167us 183.660us rms ekf2: ECL update: 54 events, 32us elapsed, 0.59us avg, min 0us max 2us 0.532us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 54 events, 14514us elapsed, 268.78us avg, min 225us max 438us 52.252us rms ekf2: ECL update: 54 events, 38us elapsed, 0.70us avg, min 0us max 4us 0.662us rms pwm_out: interval: 3 events, 100117.00 avg, min 135us max 300216us 150040.500us rms pwm_out: cycle: 3 events, 90us elapsed, 30.00us avg, min 5us max 78us 41.581us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 422 events, 13690us elapsed, 32.44us avg, min 29us max 204us 9.219us rms control latency: 421 events, 148089us elapsed, 351.76us avg, min 329us max 740us 26.810us rms commander: preflight check: 10 events, 4581us elapsed, 458.10us avg, min 272us max 805us 180.908us rms commander: cycle: 39 events, 10553us elapsed, 270.59us avg, min 53us max 1376us 326.181us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 12 events, 192us elapsed, 16.00us avg, min 9us max 45us 10.745us rms vehicle_gps_position: cycle: 2 events, 8us elapsed, 4.00us avg, min 4us max 4us 0.000us rms vehicle_air_data: cycle: 12 events, 134us elapsed, 11.17us avg, min 7us max 35us 7.697us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 453 events, 14578us elapsed, 32.18us avg, min 16us max 329us 14.653us rms sensors: 114 events, 13701us elapsed, 120.18us avg, min 48us max 3888us 425.856us rms qmc5883l: reset: 1 events qmc5883l: bad transfer: 0 events qmc5883l: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 12 events, 14100us elapsed, 1175.00us avg, min 1080us max 1289us 76.950us rms bmp388: read: 11 events, 10909us elapsed, 991.73us avg, min 933us max 1294us 114.458us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm20602: DRDY missed: 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 voxlpm: comms_errors: 0 events voxlpm: sample: 7 events, 11700us elapsed, 1671.43us avg, min 1502us max 1924us 144.543us rms board_adc: sample: 335 events, 1542us elapsed, 4.60us avg, min 3us max 258us 13.977us rms voxl_esc: output update interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms voxl_esc: cycle: 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 manual_control: interval: 4 events, 150087.75 avg, min 200023us max 200283us 117.728us rms manual_control: cycle: 4 events, 200us elapsed, 50.00us avg, min 12us max 135us 58.132us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 2 events, 527us elapsed, 263.50us avg, min 3us max 524us 368.403us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 251970us elapsed, 50394.00us avg, min 31us max 147703us 70497.086us rms dma_alloc: 7 events param: set: 109 events, 3178us elapsed, 29.16us avg, min 3us max 55us 14.586us rms param: get: 5244 events param: find: 1855 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_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events uavcan: cycle interval: 15485 events, 2986.63 avg, min 26us max 8495us 835.515us rms uavcan: cycle time: 15485 events, 695577us elapsed, 44.92us avg, min 12us max 7445us 162.171us 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 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: 122 events, 1122017us elapsed, 9196.86us avg, min 8us max 19914us 3948.501us rms logger_sd_write: 862 events, 3617435us elapsed, 4196.56us avg, min 11us max 22938us 2339.685us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2313 events, 19988.26 avg, min 13036us max 25098us 754.435us rms gyro_fft: gyro FIFO data gap: 8 events gyro_fft: FFT: 8560 events, 3460125us elapsed, 404.22us avg, min 281us max 5918us 284.779us rms gyro_fft: cycle interval: 18074 events, 2558.83 avg, min 24us max 6867us 534.905us rms gyro_fft: cycle: 18074 events, 3850700us elapsed, 213.05us avg, min 3us max 5959us 289.903us rms navigator: 977 events, 50834us elapsed, 52.03us avg, min 18us max 2263us 148.030us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 11551 events, 246220us elapsed, 21.32us avg, min 8us max 2843us 92.529us rms ekf2: vehicle_visual_odometry messages missed: 0 events ekf2: vehicle_visual_odometry messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11489 events, 4024.44 avg, min 2261us max 38972us 1432.630us rms mavlink: tx run elapsed: 11489 events, 11339466us elapsed, 986.98us avg, min 214us max 35960us 1438.540us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4429 events, 10441.03 avg, min 9220us max 38702us 1117.185us rms mavlink: tx run elapsed: 4428 events, 2337541us elapsed, 527.90us avg, min 152us max 7246us 667.715us rms mag_bias_estimator: cycle: 2313 events, 81956us elapsed, 35.43us avg, min 4us max 3603us 141.156us rms land_detector: cycle: 4615 events, 118014us elapsed, 25.57us avg, min 18us max 412us 30.404us rms mc_pos_control: cycle time: 4615 events, 73776us elapsed, 15.99us avg, min 10us max 394us 18.090us rms flight_mode_manager: cycle: 2312 events, 23279us elapsed, 10.07us avg, min 8us max 278us 11.253us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 9147 events, 354881us elapsed, 38.80us avg, min 30us max 769us 14.685us rms mc_rate_control: cycle: 36921 events, 792565us elapsed, 21.47us avg, min 16us max 99us 4.393us rms control_allocator: cycle: 36921 events, 1685987us elapsed, 45.66us avg, min 36us max 311us 9.095us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 4671 events, 2532660us elapsed, 542.21us avg, min 155us max 3680us 512.820us rms ekf2: ECL update: 4670 events, 4102us elapsed, 0.87us avg, min 1us max 328us 6.727us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 4615 events, 2061676us elapsed, 446.73us avg, min 154us max 1560us 358.867us rms ekf2: ECL update: 4615 events, 3381us elapsed, 0.73us avg, min 0us max 24us 1.117us rms pwm_out: interval: 155 events, 298069.05 avg, min 297621us max 301917us 674.925us rms pwm_out: cycle: 155 events, 1888us elapsed, 12.18us avg, min 5us max 501us 44.449us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 36922 events, 1290207us elapsed, 34.94us avg, min 28us max 74us 6.217us rms control latency: 36922 events, 13151073us elapsed, 356.19us avg, min 322us max 696us 25.001us rms commander: preflight check: 479 events, 388514us elapsed, 811.09us avg, min 274us max 4708us 751.426us rms commander: cycle: 4064 events, 1144419us elapsed, 281.60us avg, min 51us max 6697us 542.666us 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: 2235 events, 126669us elapsed, 56.68us avg, min 10us max 1349us 71.338us rms vehicle_gps_position: cycle: 286 events, 5747us elapsed, 20.09us avg, min 4us max 234us 31.576us rms vehicle_air_data: cycle: 1068 events, 49912us elapsed, 46.73us avg, min 8us max 411us 59.610us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 36924 events, 1248221us elapsed, 33.81us avg, min 28us max 76us 5.762us rms sensors: 9231 events, 622867us elapsed, 67.48us avg, min 39us max 3980us 88.249us rms qmc5883l: reset: 0 events qmc5883l: bad transfer: 0 events qmc5883l: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 1068 events, 1259154us elapsed, 1178.98us avg, min 1078us max 1585us 88.315us rms bmp388: read: 1068 events, 1042740us elapsed, 976.35us avg, min 933us max 1309us 71.930us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm20602: DRDY missed: 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 voxlpm: comms_errors: 0 events voxlpm: sample: 463 events, 741524us elapsed, 1601.56us avg, min 1494us max 2044us 114.668us rms board_adc: sample: 23130 events, 150331us elapsed, 6.50us avg, min 3us max 3220us 47.029us rms voxl_esc: output update interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms voxl_esc: cycle: 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 manual_control: interval: 231 events, 199573.94 avg, min 200017us max 202858us 481.109us rms manual_control: cycle: 231 events, 3590us elapsed, 15.54us avg, min 10us max 248us 21.679us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 92 events, 27383us elapsed, 297.64us avg, min 120us max 3010us 447.589us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 2 events, 2033us elapsed, 1016.50us avg, min 583us max 1450us 140995.500us rms dma_alloc: 2 events param: set: 1 events, 62us elapsed, 62.00us avg, min 62us max 62us infus rms param: get: 8033 events param: find: 9276 events param: export: 1 events, 46305us elapsed, 46305.00us avg, min 46305us max 46305us nanus rms