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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | MICOAIR_H743_V2 |
| Software Version: | 33bdd21f branch: micoair743-v1.14.3 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:20 |
| Dropouts: | 431 (2.69 s) |
| Vehicle Life Flight Time: | 38 minutes 25 seconds |
| Vehicle UUID: | 000600000000353539363333511000250029 |
| Max Altitude Difference: | 2 m |
| Max Tilt Angle: | 17.1 deg |
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Console Output
HW arch: MICOAIR_H743_V2 PX4 git-hash: 33bdd21f40d044e2524ea4c522fbf3c2418ea64a PX4 version: 1.14.3 0 (17695488) PX4 git-branch: micoair743-v1.14.3 OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Dec 18 2024 16:37:12 Build uri: localhost Build variant: default Toolchain: GNU GCC, 10.2.1 20201103 (release) PX4GUID: 000600000000353539363333511000250029 MCU: STM32H7[4|5]xxx, rev. V 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 bmi088_accel #0 on SPI bus 2 rotation 6 bmi088_gyro #0 on SPI bus 2 rotation 6 bmi270 #0 on SPI bus 3 spl06 #0 on I2C bus 2 address 0x77 ERROR [SPI_I2C] qmc5883l: no instance started (no device on bus?) ekf2 [530:237] Starting Main GPS on /dev/ttyS2 Starting CRSF RC Input Driver on /dev/ttyS6 INFO [crsf_rc] Crsf serial opened sucessfully Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 115200B Starting MAVLink on /dev/ttyS7 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS7 @ 115200B Board extras: /etc/init.d/rc.board_extras INFO [rc_input] RC scan: CRSF RC input locked INFO [logger] logger started (mode=all) INFO [logger] Logging FIFO data: increasing task prio and logging rate NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess101/log100.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess101/log100.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 4196 58.445 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 772/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 416/ 1232 255 (255) w:sem 3 285 wq:hp_default 21 2.098 1104/ 1872 237 (237) w:sem 3 295 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 303 wq:lp_default 0 0.026 1012/ 1896 205 (205) w:sem 3 326 wq:SPI2 35 3.583 1368/ 2368 252 (252) w:sem 3 330 wq:SPI3 87 8.771 1568/ 2368 251 (251) w:sem 3 332 wq:I2C2 0 0.075 816/ 2312 245 (245) w:sem 3 505 wq:nav_and_controllers 18 1.885 1340/ 2216 242 (242) w:sem 3 507 wq:rate_ctrl 38 3.865 2320/ 3120 255 (255) w:sem 3 510 wq:INS0 25 2.506 4428/ 5976 241 (241) w:sem 3 517 wq:INS1 31 3.171 4428/ 5976 240 (240) w:sem 3 521 commander 4 0.438 1348/ 3192 140 (140) w:sig 5 602 gps 0 0.024 1164/ 1936 205 (205) w:sem 4 651 wq:ttyS6 0 0.020 1084/ 1704 228 (228) w:sem 3 735 mavlink_if0 9 0.918 1820/ 2704 100 (100) w:sig 4 744 mavlink_rcv_if0 1 0.141 1108/ 4592 175 (175) w:sem 4 796 mavlink_if1 31 3.108 1732/ 2712 100 (100) w:sig 4 813 mavlink_rcv_if1 1 0.169 1052/ 4592 175 (175) w:sem 4 846 wq:ttyS5 5 0.578 912/ 1704 229 (229) READY 3 852 navigator 0 0.053 1084/ 1896 105 (105) w:sem 6 947 logger 69 6.922 2892/ 3616 236 (236) RUN 4 950 log_writer_file 19 1.910 604/ 1144 60 ( 60) READY 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 40.26% tasks, 1.29% sched, 58.45% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 6.457s total, 4.197s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 16200 58.129 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 6 0.694 1028/ 1576 50 ( 50) w:sem 1 4 wq:manager 0 0.000 416/ 1232 255 (255) w:sem 3 285 wq:hp_default 20 2.064 1104/ 1872 237 (237) w:sem 3 295 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 303 wq:lp_default 1 0.118 1012/ 1896 205 (205) w:sem 3 326 wq:SPI2 36 3.616 1368/ 2368 252 (252) w:sem 3 330 wq:SPI3 88 8.815 1568/ 2368 251 (251) w:sem 3 332 wq:I2C2 0 0.074 816/ 2312 245 (245) w:sem 3 505 wq:nav_and_controllers 19 1.916 1340/ 2216 242 (242) w:sem 3 507 wq:rate_ctrl 38 3.831 2320/ 3120 255 (255) w:sem 3 510 wq:INS0 25 2.513 4428/ 5976 241 (241) w:sem 3 517 wq:INS1 32 3.203 4428/ 5976 240 (240) w:sem 3 521 commander 3 0.399 1348/ 3192 140 (140) w:sig 5 602 gps 0 0.032 1204/ 1936 205 (205) w:sem 4 651 wq:ttyS6 0 0.019 1084/ 1704 228 (228) READY 3 735 mavlink_if0 10 1.000 1844/ 2704 100 (100) w:sig 4 744 mavlink_rcv_if0 1 0.146 1108/ 4592 175 (175) w:sem 4 796 mavlink_if1 33 3.320 1868/ 2712 100 (100) w:sig 4 813 mavlink_rcv_if1 1 0.175 1108/ 4592 175 (175) w:sem 4 846 wq:ttyS5 6 0.601 924/ 1704 229 (229) w:sem 3 852 navigator 0 0.050 1084/ 1896 105 (105) w:sem 6 947 logger 58 5.832 2892/ 3616 236 (236) RUN 4 950 log_writer_file 21 2.126 604/ 1144 60 ( 60) READY 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 40.55% tasks, 1.32% sched, 58.13% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 26.227s total, 16.201s idle
Performance Counters
Pre Flight:
ekf2: vehicle_air_data 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 259 events, 19845.45 avg, min 56us max 20501us 1244.408us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 234 events, 38411us elapsed, 164.15us avg, min 135us max 275us 31.787us rms gyro_fft: cycle interval: 1736 events, 3004.06 avg, min 1915us max 4046us 218.763us rms gyro_fft: cycle: 1736 events, 49984us elapsed, 28.79us avg, min 5us max 359us 58.313us rms navigator: 110 events, 1631us elapsed, 14.83us avg, min 8us max 301us 29.595us rms rc_input: publish interval: 1246 events, 4163.69 avg, min 2590us max 11992us 827.813us rms rc_input: cycle time: 1298 events, 20732us elapsed, 15.97us avg, min 4us max 383us 22.934us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1730 events, 3006.14 avg, min 2154us max 9940us 235.265us rms mavlink: tx run elapsed: 1730 events, 229305us elapsed, 132.55us avg, min 61us max 6399us 172.647us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 521 events, 9989.94 avg, min 9280us max 14062us 254.462us rms mavlink: tx run elapsed: 521 events, 61174us elapsed, 117.42us avg, min 65us max 846us 89.333us rms crsf_rc: publish interval: 49 events, 102847.88 avg, min 104436us max 105433us 157.109us rms crsf_rc: cycle interval: 49 events, 102850.41 avg, min 104536us max 105433us 147.264us rms mag_bias_estimator: cycle: 262 events, 879us elapsed, 3.35us avg, min 2us max 231us 14.146us rms land_detector: cycle: 514 events, 5254us elapsed, 10.22us avg, min 8us max 118us 7.499us rms mc_pos_control: cycle time: 515 events, 5183us elapsed, 10.06us avg, min 4us max 178us 13.228us rms flight_mode_manager: cycle: 266 events, 25301us elapsed, 95.12us avg, min 3us max 561us 168.090us rms mc_hover_thrust_estimator: cycle time: 514 events, 503us elapsed, 0.97us avg, min 1us max 17us 1.027us 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: 810 events, 13822us elapsed, 17.06us avg, min 8us max 185us 9.501us rms mc_rate_control: cycle: 3619 events, 28021us elapsed, 7.74us avg, min 6us max 75us 1.745us rms control_allocator: cycle: 3619 events, 66293us elapsed, 18.32us avg, min 16us max 147us 3.265us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 529 events, 57811us elapsed, 109.28us avg, min 64us max 844us 68.114us rms ekf2: ECL update: 530 events, 96us elapsed, 0.18us avg, min 0us max 1us 0.385us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 528 events, 49100us elapsed, 92.99us avg, min 64us max 221us 33.909us rms ekf2: ECL update: 529 events, 96us elapsed, 0.18us avg, min 0us max 4us 0.418us rms pwm_out: interval: 20 events, 270002.70 avg, min 105us max 300206us 66965.047us rms pwm_out: cycle: 20 events, 130us elapsed, 6.50us avg, min 2us max 50us 11.081us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 3620 events, 50876us elapsed, 14.05us avg, min 13us max 91us 1.687us rms control latency: 3619 events, 375375us elapsed, 103.72us avg, min 96us max 255us 6.540us rms commander: preflight check: 52 events, 7607us elapsed, 146.29us avg, min 97us max 470us 80.740us rms commander: cycle: 494 events, 29699us elapsed, 60.12us avg, min 23us max 505us 75.935us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 2 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_gps_position: cycle: 19 events, 37us elapsed, 1.95us avg, min 1us max 2us 0.229us rms vehicle_air_data: cycle: 170 events, 2869us elapsed, 16.88us avg, min 10us max 127us 12.995us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 3630 events, 35947us elapsed, 9.90us avg, min 7us max 157us 2.625us rms sensors: 1060 events, 30691us elapsed, 28.95us avg, min 11us max 1657us 60.573us rms battery_status: 547 events, 4821us elapsed, 8.81us avg, min 6us max 290us 13.802us rms spl06: comms errors: 0 events spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms spl06: sample: 171 events, 148109us elapsed, 866.13us avg, min 855us max 955us 18.520us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 1 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 1 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 1 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 1665 events, 29371us elapsed, 17.64us avg, min 6us max 13883us 340.203us rms manual_control: interval: 713 events, 7803.46 avg, min 2093us max 200123us 16803.926us rms manual_control: cycle: 713 events, 8818us elapsed, 12.37us avg, min 7us max 398us 20.390us rms rc_update: valid data interval: 1255 events, 4178.49 avg, min 2108us max 25891us 1022.868us rms rc_update: cycle interval: 1281 events, 4177.92 avg, min 2108us max 25893us 1023.729us rms rc_update: cycle: 1281 events, 24885us elapsed, 19.43us avg, min 8us max 495us 30.722us rms load_mon: cycle: 12 events, 841us elapsed, 70.08us avg, min 1us max 235us 55.102us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 21293us elapsed, 4258.60us avg, min 14us max 20683us 9182.739us rms dma_alloc: 4 events param: set: 98 events, 1146us elapsed, 11.69us avg, min 1us max 21us 5.696us rms param: get: 11826 events param: find: 2230 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_air_data 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: 36 events, 212405us elapsed, 5900.14us avg, min 1937us max 29145us 5582.413us rms logger_sd_write: 332 events, 20208441us elapsed, 60868.80us avg, min 4us max 426438us 36903.824us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 41 events, 262439.51 avg, min 56us max 10000012us 1558212.000us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 960 events, 165989us elapsed, 172.91us avg, min 136us max 472us 44.666us rms gyro_fft: cycle interval: 6835 events, 3005.31 avg, min 2391us max 3635us 196.333us rms gyro_fft: cycle: 6835 events, 212989us elapsed, 31.16us avg, min 5us max 480us 69.909us rms navigator: 429 events, 4948us elapsed, 11.53us avg, min 8us max 147us 19.458us rms rc_input: publish interval: 4929 events, 4166.14 avg, min 2079us max 12000us 821.395us rms rc_input: cycle time: 5135 events, 85477us elapsed, 16.65us avg, min 4us max 497us 29.212us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6845 events, 3000.03 avg, min 2187us max 3968us 151.448us rms mavlink: tx run elapsed: 6845 events, 1024617us elapsed, 149.69us avg, min 75us max 901us 128.349us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2054 events, 9995.48 avg, min 9125us max 10876us 143.889us rms mavlink: tx run elapsed: 2054 events, 308578us elapsed, 150.23us avg, min 78us max 730us 102.529us rms crsf_rc: publish interval: 195 events, 104461.53 avg, min 104490us max 105493us 116.614us rms crsf_rc: cycle interval: 195 events, 104461.54 avg, min 104489us max 105494us 116.088us rms mag_bias_estimator: cycle: 40 events, 107us elapsed, 2.67us avg, min 1us max 15us 36.655us rms land_detector: cycle: 2003 events, 19349us elapsed, 9.66us avg, min 8us max 76us 7.101us rms mc_pos_control: cycle time: 2003 events, 10091us elapsed, 5.04us avg, min 4us max 54us 7.754us rms flight_mode_manager: cycle: 1027 events, 4354us elapsed, 4.24us avg, min 3us max 59us 85.810us rms mc_hover_thrust_estimator: cycle time: 506 events, 490us elapsed, 0.96us avg, min 71us max 71us 3.320us 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: 4006 events, 73317us elapsed, 18.30us avg, min 13us max 70us 8.779us rms mc_rate_control: cycle: 13670 events, 113941us elapsed, 8.34us avg, min 7us max 17us 1.327us rms control_allocator: cycle: 13670 events, 250179us elapsed, 18.30us avg, min 16us max 32us 2.849us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2051 events, 193669us elapsed, 94.43us avg, min 64us max 573us 59.307us rms ekf2: ECL update: 2050 events, 549us elapsed, 0.26us avg, min 0us max 160us 3.693us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2003 events, 167482us elapsed, 83.62us avg, min 65us max 221us 31.946us rms ekf2: ECL update: 2003 events, 480us elapsed, 0.24us avg, min 0us max 44us 1.463us rms pwm_out: interval: 68 events, 295588.25 avg, min 299481us max 300513us 114.574us rms pwm_out: cycle: 68 events, 311us elapsed, 4.57us avg, min 2us max 80us 11.088us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 13671 events, 204298us elapsed, 14.94us avg, min 13us max 26us 1.455us rms control latency: 13671 events, 1449550us elapsed, 106.03us avg, min 99us max 280us 6.923us rms commander: preflight check: 187 events, 25090us elapsed, 134.17us avg, min 99us max 551us 76.585us rms commander: cycle: 1868 events, 150686us elapsed, 80.67us avg, min 23us max 807us 91.134us 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_gps_position: cycle: 68 events, 123us elapsed, 1.81us avg, min 1us max 2us 0.413us rms vehicle_air_data: cycle: 639 events, 11264us elapsed, 17.63us avg, min 11us max 149us 15.907us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 13671 events, 136652us elapsed, 10.00us avg, min 9us max 18us 1.665us rms sensors: 4006 events, 103889us elapsed, 25.93us avg, min 18us max 93us 32.910us rms battery_status: 2054 events, 18406us elapsed, 8.96us avg, min 6us max 419us 17.683us rms spl06: comms errors: 0 events spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms spl06: sample: 639 events, 552971us elapsed, 865.37us avg, min 855us max 972us 22.225us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 0 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 6162 events, 60849us elapsed, 9.87us avg, min 6us max 436us 177.842us rms manual_control: interval: 4406 events, 4660.67 avg, min 2078us max 31828us 2074.784us rms manual_control: cycle: 4406 events, 52698us elapsed, 11.96us avg, min 8us max 468us 20.908us rms rc_update: valid data interval: 4929 events, 4166.14 avg, min 2078us max 12000us 822.321us rms rc_update: cycle interval: 4929 events, 4166.14 avg, min 2079us max 12000us 822.036us rms rc_update: cycle: 4929 events, 100221us elapsed, 20.33us avg, min 11us max 598us 34.494us rms load_mon: cycle: 41 events, 3217us elapsed, 78.46us avg, min 51us max 611us 98.305us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 6us elapsed, 2.00us avg, min 1us max 3us 39.679us rms param: get: 1127 events param: find: 2249 events param: export: 1 events, 10442us elapsed, 10442.00us avg, min 10442us max 10442us infus rms