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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL With Wings
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:04:24 |
| Dropouts: | 18 (12 s) |
| Vehicle Life Flight Time: | 1 hours 33 minutes 4 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Feedback: | Testing VTOL Multicopter hover and movement in Position mode, with wings.
|
| Distance: | 278.1 m |
| Max Altitude Difference: | 27 m |
| Average Speed MC: | 3.8 km/h |
| Max Speed: | 10.3 km/h |
| Max Speed Horizontal: | 10.3 km/h |
| Max Speed Up: | 7.3 km/h |
| Max Speed Down: | 4.7 km/h |
| Max Tilt Angle: | 12.8 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 2e8918da66af37922ededee1cc2d2efffec4cfb2 FW version: Release 1.12.3 (17564671) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: bf660cba2af81f055002b3817c87b1f63a78fd09 Build datetime: Sep 6 2021 16:34:11 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003735343732305103001e0021 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 3082 bytes, decoded 3082 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults rgbled_ncp5623c #0 on I2C bus 2 (external) address 0x39 INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ist8310 #0 on I2C bus 2 (external) address 0xE ms4525_airspeed #0 on I2C bus 2 (external) address 0x28 Board extras: /etc/init.d/rc.board_mavlink ERROR [mavlink] offboard mission init failed (-1) INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [430:100] INFO [ekf2] starting instance 0, IMU:0 (3670050), MAG:0 (0) INFO [ekf2] starting instance 1, IMU:1 (2621474), MAG:0 (0) INFO [ekf2] starting instance 2, IMU:2 (2424842), MAG:0 (0) INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.1.0 nsh> [KINFO [ekf2] starting instance 3, IMU:0 (3670050), MAG:1 (589858) INFO [ekf2] starting instance 4, IMU:1 (2621474), MAG:1 (589858) INFO [ekf2] starting instance 5, IMU:2 (2424842), MAG:1 (589858) ERROR [uavcan] couldn't start parameter count: -2 INFO [commander] Pilot took over position control using sticks INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/11_29_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/11_29_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 37196 59.146 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 332/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 7 0.788 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 16 1.675 1248/ 1924 205 (205) w:sem 3 40 wq:I2C2 5 0.564 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 7 0.781 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 40 4.031 1640/ 2340 250 (250) w:sem 3 228 wq:SPI1 18 1.821 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 32 3.269 1404/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 24 2.447 1452/ 1956 255 (255) w:sem 3 295 wq:INS0 43 4.374 4460/ 6004 241 (241) w:sem 3 301 commander 3 0.355 1252/ 3220 140 (140) w:sig 5 308 mavlink_if1 4 0.436 1724/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 2 0.251 1328/ 4460 175 (175) w:sem 4 353 gps 0 0.096 1020/ 1684 205 (205) w:sig 4 392 mavlink_if2 7 0.725 1772/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 1 0.145 1564/ 4460 175 (175) w:sem 4 408 wq:INS1 48 4.805 4460/ 6004 240 (240) w:sem 3 409 px4io 20 2.078 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 44 4.468 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 13 1.317 604/ 1172 60 ( 60) READY 4 446 navigator 0 0.058 1196/ 1772 105 (105) w:sem 6 479 logger 50 5.068 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 3 running, 23 sleeping, max FDs: 12 CPU usage: 39.56% tasks, 1.29% sched, 59.15% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 57.196s total, 37.196s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events 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: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5391 events, 688955us elapsed, 127.80us avg, min 72us max 796us 57.914us rms ekf2: ECL update: 5742 events, 13718us elapsed, 2.39us avg, min 1us max 425us 10.338us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5390 events, 757424us elapsed, 140.52us avg, min 74us max 995us 72.840us rms ekf2: ECL update: 5771 events, 12274us elapsed, 2.13us avg, min 1us max 378us 6.034us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 5420 events, 659613us elapsed, 121.70us avg, min 69us max 448us 53.508us rms ekf2: ECL update: 5517 events, 10925us elapsed, 1.98us avg, min 1us max 40us 1.737us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer 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: 1 events, 236834us elapsed, 236834.00us avg, min 236834us max 236834us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2764 events, 19996.67 avg, min 368us max 50479us 810.977us rms gyro_fft: gyro FIFO data gap: 4 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 5886 events, 1059674us elapsed, 180.03us avg, min 124us max 1313us 105.324us rms gyro_fft: cycle interval: 7561 events, 7340.21 avg, min 5094us max 33461us 750.119us rms gyro_fft: cycle: 7561 events, 1485186us elapsed, 196.43us avg, min 12us max 1697us 249.742us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5451 events, 710034us elapsed, 130.26us avg, min 74us max 883us 60.139us rms ekf2: ECL update: 5907 events, 14074us elapsed, 2.38us avg, min 1us max 367us 5.997us rms navigator: 1149 events, 113437us elapsed, 98.73us avg, min 9us max 75820us 2242.685us rms land_detector: cycle: 5470 events, 67376us elapsed, 12.32us avg, min 8us max 132us 7.424us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5450 events, 701176us elapsed, 128.66us avg, min 75us max 1083us 68.054us rms ekf2: ECL update: 5912 events, 15551us elapsed, 2.63us avg, min 1us max 46us 1.561us rms fw_pos_control_l1: cycle: 2726 events, 35578us elapsed, 13.05us avg, min 5us max 295us 9.210us rms fw_att_control: cycle: 9898 events, 222051us elapsed, 22.43us avg, min 20us max 378us 7.387us rms mc_hover_thrust_estimator: cycle time: 3864 events, 3328us elapsed, 0.86us avg, min 1us max 42us 1.638us rms mc_pos_control: cycle time: 5461 events, 105992us elapsed, 19.41us avg, min 4us max 211us 12.130us rms flight_mode_manager: cycle: 2726 events, 72992us elapsed, 26.78us avg, min 4us max 495us 19.140us rms mc_att_control: cycle: 9898 events, 98523us elapsed, 9.95us avg, min 7us max 280us 5.481us rms mc_rate_control: cycle: 22719 events, 170998us elapsed, 7.53us avg, min 6us max 76us 0.978us rms vtol_att_control: cycle: 22549 events, 436625us elapsed, 19.36us avg, min 10us max 889us 6.871us rms airspeed_selector: elapsed: 545 events, 9183us elapsed, 16.85us avg, min 14us max 282us 14.361us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 5448 events, 664303us elapsed, 121.94us avg, min 71us max 414us 47.874us rms ekf2: ECL update: 5661 events, 14647us elapsed, 2.59us avg, min 1us max 45us 2.458us rms pwm_out: interval: 5561 events, 9998.26 avg, min 33us max 25084us 845.913us rms pwm_out: cycle: 5560 events, 74977us elapsed, 13.49us avg, min 3us max 349us 4.814us rms control latency: 4838 events, 17016140us elapsed, 3517.18us avg, min 65us max 4952us 1252.310us 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 io control latency: 22460 events, 17359500us elapsed, 772.91us avg, min 400us max 2830us 379.502us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 22464 events, 16551587us elapsed, 736.80us avg, min 232us max 28985us 672.812us rms io_txns: 60237 events, 16039769us elapsed, 266.28us avg, min 115us max 2980us 126.877us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5529 events, 10030.41 avg, min 9077us max 35683us 426.434us rms mavlink: tx run elapsed: 5529 events, 492117us elapsed, 89.01us avg, min 51us max 1964us 116.743us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11031 events, 5028.15 avg, min 4028us max 36724us 416.306us rms mavlink: tx run elapsed: 11031 events, 269158us elapsed, 24.40us avg, min 13us max 1626us 64.290us rms mavlink: STATUSTEXT missed messages: 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_magnetometer: cycle: 5156 events, 92317us elapsed, 17.90us avg, min 5us max 610us 13.128us rms vehicle_gps_position: cycle: 434 events, 3547us elapsed, 8.17us avg, min 2us max 119us 7.067us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events battery_status: 5581 events, 79306us elapsed, 14.21us avg, min 10us max 1751us 42.193us rms vehicle_air_data: cycle: 4154 events, 47298us elapsed, 11.39us avg, min 7us max 72us 3.993us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events sensors: 11411 events, 477584us elapsed, 41.85us avg, min 12us max 2967us 48.344us rms aspd_com_err: 0 events aspd_read: 5200 events, 2501392us elapsed, 481.04us avg, min 476us max 645us 14.009us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 5560 events, 19020us elapsed, 3.42us avg, min 3us max 7us 0.551us rms ms5611: read: 5559 events, 62613us elapsed, 11.26us avg, min 9us max 57us 1.041us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 5549 events, 19635us elapsed, 3.54us avg, min 3us max 27us 1.068us rms ms5611: read: 5548 events, 71880us elapsed, 12.96us avg, min 9us max 43us 2.280us rms board_adc: sample: 39144 events, 337020us elapsed, 8.61us avg, min 2us max 3482us 42.608us rms rc_update: valid data interval: 930 events, 21804.33 avg, min 14987us max 28962us 1610.496us rms rc_update: cycle interval: 932 events, 21803.85 avg, min 14987us max 28962us 1608.526us rms rc_update: cycle: 932 events, 12684us elapsed, 13.61us avg, min 7us max 508us 21.287us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 18651 events, 3000.16 avg, min 26us max 7603us 326.262us rms uavcan: cycle time: 18651 events, 430191us elapsed, 23.07us avg, min 12us max 4388us 60.246us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 112 events, 9540us elapsed, 85.18us avg, min 2us max 1053us 96.145us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 229 events, 120823us elapsed, 527.61us avg, min 14us max 75758us 5374.860us rms dma_alloc: 8 events param: set: 142 events, 2323us elapsed, 16.36us avg, min 1us max 92us 10.324us rms param: get: 41182 events param: find: 38901 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms