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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
first flight
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V2) |
| Software Version: | v1.11.3 (a6274bc5) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:18 |
| Dropouts: | 1 (0.05 s) |
| Vehicle Life Flight Time: | 3 minutes 37 seconds |
| Vehicle UUID: | 000100000000343035323439511200430043 (S500 ) |
| Wind Speed: | Breeze |
| Flight Rating: | Unsatisfactory |
| Feedback: | Drone is not stable - shaking from side to side is altitude and position modes |
| Distance: | 101.1 m |
| Max Altitude Difference: | 30 m |
| Average Speed: | 4.6 km/h |
| Max Speed: | 27.0 km/h |
| Max Speed Horizontal: | 11.1 km/h |
| Max Speed Up: | 26.8 km/h |
| Max Speed Down: | 5.0 km/h |
| Max Tilt Angle: | 30.4 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 60976 51.200 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 20 0.000 1016/ 1612 50 ( 50) w:sig 3 3 init 2108 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 392/ 1252 255 (255) w:sem 3 18 dataman 99 0.100 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 62 0.000 796/ 1700 205 (205) w:sem 3 28 wq:hp_default 1244 1.600 1168/ 1900 240 (240) w:sem 3 143 wq:I2C2 182 0.100 736/ 1468 245 (245) w:sem 3 149 wq:SPI1 14611 13.500 1576/ 2332 253 (253) w:sem 3 203 wq:I2C1 672 0.700 844/ 1468 246 (246) w:sem 3 206 wq:nav_and_controllers 16089 15.000 5296/ 7196 241 (241) w:sem 3 208 wq:rate_ctrl 2862 2.700 1160/ 1660 255 (255) w:sem 3 216 commander 1720 0.800 1488/ 3212 140 (140) w:sig 6 217 commander_low_prio 2 0.000 728/ 2996 50 ( 50) w:sem 6 295 gps 252 0.200 960/ 1676 205 (205) w:sem 4 343 mavlink_if1 1586 1.400 2008/ 2484 100 (100) w:sig 4 346 mavlink_rcv_if1 469 0.400 2792/ 4068 175 (175) READY 4 374 px4io 3324 3.400 1072/ 1484 237 (237) w:sem 4 595 wq:attitude_ctrl 893 1.100 1224/ 1668 242 (242) w:sem 3 616 navigator 123 0.100 1064/ 1764 105 (105) w:sem 5 667 logger 582 4.700 2792/ 3644 230 (230) RUN 4 670 log_writer_file 14 0.900 600/ 1164 60 ( 60) w:sem 4 Processes: 23 total, 3 running, 20 sleeping, max FDs: 15 CPU usage: 46.70% tasks, 2.10% sched, 51.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 110.704s total, 60.976s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 97565 48.151 228/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 41 2.097 1016/ 1612 50 ( 50) w:sig 3 3 init 2108 0.000 2168/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 392/ 1252 255 (255) w:sem 3 18 dataman 113 0.000 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 107 0.000 796/ 1700 205 (205) w:sem 3 28 wq:hp_default 2434 1.598 1168/ 1900 240 (240) w:sem 3 143 wq:I2C2 196 0.099 736/ 1468 245 (245) w:sem 3 149 wq:SPI1 24969 13.586 1576/ 2332 253 (253) w:sem 3 203 wq:I2C1 1148 0.599 844/ 1468 246 (246) w:sem 3 206 wq:nav_and_controllers 31321 16.283 5296/ 7196 241 (241) w:sem 3 208 wq:rate_ctrl 4927 2.597 1160/ 1660 255 (255) w:sem 3 216 commander 2357 1.598 1488/ 3212 140 (140) w:sig 6 217 commander_low_prio 4 0.000 728/ 2996 50 ( 50) w:sem 6 295 gps 430 0.299 960/ 1676 205 (205) w:sem 4 343 mavlink_if1 2682 1.498 2008/ 2484 100 (100) w:sig 4 346 mavlink_rcv_if1 764 0.399 2792/ 4068 175 (175) w:sem 4 374 px4io 5772 3.396 1072/ 1484 237 (237) w:sem 4 595 wq:attitude_ctrl 1455 0.699 1224/ 1668 242 (242) w:sem 3 616 navigator 240 0.099 1160/ 1764 105 (105) w:sem 5 667 logger 3290 3.696 2792/ 3644 230 (230) RUN 4 670 log_writer_file 727 0.999 616/ 1164 60 ( 60) w:sem 4 Processes: 23 total, 2 running, 21 sleeping, max FDs: 15 CPU usage: 49.55% tasks, 2.30% sched, 48.15% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 187.473s total, 97.566s idle
Performance Counters
Pre Flight:
vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 78181 events, 1363.94 avg, min 31us max 5003us 539.190us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 77073 events, 1383.54 avg, min 82us max 4782us 577.974us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 42724 events, 2497.61 avg, min 2416us max 2581us 11.137us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 42724 events, 2497.61 avg, min 2416us max 2581us 11.137us 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: 5 events, 213603us elapsed, 42720.60us avg, min 10us max 76199us 38487.652us rms navigator: 1846 events, 216391us elapsed, 117.22us avg, min 15us max 107541us 2503.711us rms land_detector: cycle: 9978 events, 202840us elapsed, 20.33us avg, min 11us max 685us 18.451us rms mc_pos_control: cycle time: 4903 events, 474586us elapsed, 96.80us avg, min 11us max 1667us 106.161us rms mc_hover_thrust_estimator: cycle time: 2068 events, 18598us elapsed, 8.99us avg, min 6us max 232us 12.952us rms mc_att_control: cycle: 19626 events, 680149us elapsed, 34.66us avg, min 17us max 950us 20.647us rms mc_rate_control: cycle: 42727 events, 998826us elapsed, 23.38us avg, min 15us max 811us 5.190us rms ekf2: update: 21336 events, 7256434us elapsed, 340.10us avg, min 4us max 2489us 366.367us rms pwm_out: interval: 1485 events, 71993.02 avg, min 31us max 88471582us 2295528.000us rms pwm_out: cycle: 1485 events, 51542us elapsed, 34.71us avg, min 7us max 744us 27.604us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 27776 events, 46913520us elapsed, 1688.99us avg, min 994us max 3292us 535.734us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 27783 events, 17215782us elapsed, 619.65us avg, min 265us max 21147us 773.453us rms io_txns: 54544 events, 15588135us elapsed, 285.79us avg, min 128us max 3462us 134.934us rms mavlink: send_start tx buffer full: 12 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10554 events, 10109.24 avg, min 9182us max 40301us 924.501us rms mavlink: tx run elapsed: 10554 events, 1777398us elapsed, 168.41us avg, min 99us max 3299us 125.599us 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_air_data: cycle: 7967 events, 252538us elapsed, 31.70us avg, min 17us max 279us 24.626us rms battery_status: 10722 events, 394992us elapsed, 36.84us avg, min 21us max 2822us 101.458us rms sensors: 21390 events, 2004686us elapsed, 93.72us avg, min 24us max 2397us 33.293us rms qmc5883: conf_err: 0 events qmc5883: rng_err: 0 events qmc5883: com_err: 0 events qmc5883: read: 14118 events, 12638790us elapsed, 895.23us avg, min 868us max 1994us 74.897us rms lsm303d: acc_dupe: 24602 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 10146 events, 252268us elapsed, 24.86us avg, min 22us max 51us 3.025us rms lsm303d: acc_read: 102166 events, 2796589us elapsed, 27.37us avg, min 22us max 54us 3.375us rms l3gd20: dupe: 57925 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 136572 events, 3747913us elapsed, 27.44us avg, min 23us max 107us 3.837us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 1 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 10641 events, 77430us elapsed, 7.28us avg, min 6us max 21us 1.179us rms ms5611: read: 10640 events, 189084us elapsed, 17.77us avg, min 11us max 37us 4.025us rms adc: sample: 107310 events, 466552us elapsed, 4.35us avg, min 2us max 3034us 35.500us rms rc_update: 817 events, 27574us elapsed, 33.75us avg, min 22us max 3403us 119.103us rms load_mon: cycle: 215 events, 39132us elapsed, 182.01us avg, min 4us max 1996us 303.189us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 326 events, 247772us elapsed, 760.04us avg, min 50us max 107405us 7174.545us rms dma_alloc: 4 events param_set: 98 events, 4378us elapsed, 44.67us avg, min 5us max 82us 22.639us rms param_get: 29003 events, 263221us elapsed, 9.08us avg, min 4us max 2106us 53.360us rms param_find: 26756 events, 312152us elapsed, 11.67us avg, min 3us max 2405us 62.131us rms param_export: 1 events, 35075us elapsed, 35075.00us avg, min 35075us max 35075us nanus rms
Post Flight:
vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 57041 events, 1363.46 avg, min 36us max 4959us 537.925us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 56194 events, 1384.02 avg, min 99us max 4782us 578.934us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: gyro update interval: 31138 events, 2497.70 avg, min 2425us max 2570us 11.120us rms vehicle_imu: accel data gap: 0 events vehicle_imu: accel update interval: 31138 events, 2497.70 avg, min 2425us max 2570us 11.120us 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: 192 events, 1071607us elapsed, 5581.29us avg, min 8us max 15555us 4183.429us rms logger_sd_write: 557 events, 10746864us elapsed, 19294.19us avg, min 10us max 58691us 9752.559us rms navigator: 1475 events, 533860us elapsed, 361.94us avg, min 16us max 34956us 3649.262us rms land_detector: cycle: 7778 events, 175344us elapsed, 22.54us avg, min 14us max 339us 30.882us rms mc_pos_control: cycle time: 3888 events, 978246us elapsed, 251.61us avg, min 11us max 1515us 166.227us rms mc_hover_thrust_estimator: cycle time: 3548 events, 64857us elapsed, 18.28us avg, min 6us max 217us 18.484us rms mc_att_control: cycle: 15569 events, 398197us elapsed, 25.58us avg, min 16us max 175us 27.937us rms mc_rate_control: cycle: 31139 events, 754938us elapsed, 24.24us avg, min 15us max 55us 7.013us rms ekf2: update: 15569 events, 8748304us elapsed, 561.91us avg, min 17us max 3366us 852.335us rms pwm_out: interval: 6318 events, 12308.60 avg, min 31us max 22516us 8455.622us rms pwm_out: cycle: 6318 events, 235952us elapsed, 37.35us avg, min 29us max 747us 46.179us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 19519 events, 31876090us elapsed, 1633.08us avg, min 1002us max 3561us 844.472us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 19519 events, 13896411us elapsed, 711.94us avg, min 264us max 10672us 1293.054us rms io_txns: 42089 events, 12312527us elapsed, 292.54us avg, min 132us max 3899us 232.414us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7769 events, 10007.45 avg, min 9219us max 17982us 189.256us rms mavlink: tx run elapsed: 7769 events, 1313986us elapsed, 169.13us avg, min 96us max 3942us 209.972us 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_air_data: cycle: 5785 events, 181226us elapsed, 31.33us avg, min 18us max 259us 37.548us rms battery_status: 7779 events, 302711us elapsed, 38.91us avg, min 23us max 3525us 188.016us rms sensors: 15570 events, 1272591us elapsed, 81.73us avg, min 42us max 258us 47.237us rms qmc5883: conf_err: 0 events qmc5883: rng_err: 0 events qmc5883: com_err: 0 events qmc5883: read: 10239 events, 9175938us elapsed, 896.18us avg, min 868us max 1675us 115.081us rms lsm303d: acc_dupe: 17878 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 7358 events, 182408us elapsed, 24.79us avg, min 22us max 46us 4.636us rms lsm303d: acc_read: 74081 events, 2032473us elapsed, 27.44us avg, min 22us max 60us 5.266us rms l3gd20: dupe: 41857 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 98906 events, 2717574us elapsed, 27.48us avg, min 23us max 59us 5.950us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 7713 events, 56389us elapsed, 7.31us avg, min 6us max 27us 1.900us rms ms5611: read: 7713 events, 136698us elapsed, 17.72us avg, min 11us max 42us 6.239us rms adc: sample: 77790 events, 376633us elapsed, 4.84us avg, min 2us max 4074us 70.609us rms rc_update: 3432 events, 101487us elapsed, 29.57us avg, min 22us max 218us 60.046us rms load_mon: cycle: 156 events, 29405us elapsed, 188.49us avg, min 74us max 3556us 516.151us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 358 events, 441033us elapsed, 1231.94us avg, min 51us max 34928us 8260.114us rms dma_alloc: 0 events param_set: 3 events, 19us elapsed, 6.33us avg, min 3us max 12us 157.737us rms param_get: 286 events, 1956us elapsed, 6.84us avg, min 4us max 150us 538.394us rms param_find: 234 events, 4512us elapsed, 19.28us avg, min 3us max 1389us 674.802us rms param_export: 1 events, 39446us elapsed, 39446.00us avg, min 39446us max 39446us nanus rms