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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUAV_NORA |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:33 |
| Vehicle Life Flight Time: | 11 minutes 26 seconds |
| Vehicle UUID: | 000600000000373734373130510700260048 |
| Distance: | 53.4 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 0.9 km/h |
| Max Speed: | 3.8 km/h |
| Max Speed Horizontal: | 3.7 km/h |
| Max Speed Up: | 1.6 km/h |
| Max Speed Down: | 2.2 km/h |
| Max Tilt Angle: | 24.9 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUAV_NORA 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 16:33:50 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000373734373130510700260048 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 2359 bytes, decoded 2359 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 INFO [uavcan] Node ID 1, bitrate 1000000 Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 rm3100 #0 on SPI bus 2 bmi088 #0 on SPI bus 4 rotation 2 bmi088 #1 on SPI bus 4 rotation 2 ms5611 #0 on SPI bus 4 icm20649 #0 on SPI bus 6 rotation 2 ms5611 #1 on SPI bus 6 ist8310 #0 on I2C bus 1 (external) address 0xE rotation 10 ERROR [heater] Valid SENS_TEMP_ID required WARN [SPI_I2C] Already running on bus 1 Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: Onboard, data rate: 2880 B/s on /dev/ttyS3 @ 57600B INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 1, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 1, max rate: 100, default: 50, alt: 50 INFO [rc_input] RC scan: SBUS RC input locked INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 ekf2 [409:100] INFO [ekf2] starting instance 0, IMU:0 (3932170), MAG:0 (458770) INFO [pwm_out] instance: 0, max rate: 800, default: 50, alt: 400 INFO [ekf2] starting instance 1, IMU:1 (6946850), MAG:0 (458770) INFO [logger] logger started (mode=all) INFO [ekf2] starting instance 2, IMU:2 (2424882), MAG:0 (458770) NuttShell (NSH) NuttX-10.1.0 nsh> [KINFO [pwm_out] instance: 1, max rate: 100, default: 50, alt: 50 INFO [ekf2] starting instance 3, IMU:0 (3932170), MAG:1 (396809) INFO [ekf2] starting instance 4, IMU:1 (6946850), MAG:1 (396809) INFO [ekf2] starting instance 5, IMU:2 (2424882), MAG:1 (396809) uavcan_battery adding channel for topic battery_status node 125... uavcan_battery node 125 instance 1 ok uavcan_battery node 125 topic battery_status instance 1 ok WARN [commander] Switching to Position is currently not available. WARN [PreFlightCheck] Arming denied! Press safety switch first INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-12-06/04_10_29.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-12-06/04_10_29.ulg INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Disarmed by RC INFO [logger] closed logfile, bytes written: 342150 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-12-06/04_10_36.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-12-06/04_10_36.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 30483 54.612 192/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 0 0.000 1124/ 1620 50 ( 50) w:sig 3 3 init 0 0.000 2220/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 444/ 1260 255 (255) w:sem 4 353 wq:INS2 43 4.382 4460/ 6004 239 (239) w:sem 4 29 wq:lp_default 5 0.566 1348/ 1924 205 (205) w:sem 4 31 wq:hp_default 14 1.438 1436/ 1900 237 (237) w:sem 4 36 dataman 0 0.008 796/ 1204 90 ( 90) w:sem 4 44 wq:I2C1 2 0.210 952/ 2340 246 (246) w:sem 4 169 wq:uavcan 9 0.940 1836/ 3628 236 (236) w:sem 4 181 wq:SPI1 29 2.903 1692/ 2340 253 (253) w:sem 4 183 wq:SPI2 26 2.680 952/ 2340 252 (252) w:sem 4 185 wq:SPI4 39 3.943 1384/ 2340 250 (250) w:sem 4 189 wq:SPI6 30 3.064 1596/ 2340 248 (248) w:sem 4 262 wq:nav_and_controllers 24 2.492 1308/ 2244 242 (242) w:sem 4 263 wq:rate_ctrl 33 3.306 1524/ 1956 255 (255) w:sem 4 264 wq:INS0 44 4.467 4460/ 6004 241 (241) w:sem 4 269 commander 3 0.375 1252/ 3220 140 (140) w:sig 5 270 wq:INS1 47 4.719 4460/ 6004 240 (240) w:sem 4 319 gps 0 0.071 980/ 1684 205 (205) w:sem 4 358 mavlink_if1 6 0.672 1772/ 2740 100 (100) w:sig 4 359 mavlink_rcv_if1 1 0.154 1388/ 4460 175 (175) w:sem 4 370 mavlink_if2 15 1.581 1780/ 2740 100 (100) READY 4 371 mavlink_rcv_if2 2 0.224 1564/ 4460 175 (175) w:sem 4 380 wq:UART5 3 0.388 1076/ 1540 229 (229) READY 4 466 log_writer_file 7 0.711 692/ 1172 60 ( 60) w:sem 4 424 navigator 0 0.055 1144/ 1772 105 (105) w:sem 6 464 logger 44 4.494 2820/ 3644 230 (230) RUN 4 Processes: 29 total, 4 running, 25 sleeping, max FDs: 12 CPU usage: 43.85% tasks, 1.54% sched, 54.61% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 51.868s total, 30.484s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 153360 53.849 192/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 16 1.687 1124/ 1620 50 ( 50) w:sig 3 3 init 0 0.000 2220/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 444/ 1260 255 (255) w:sem 4 353 wq:INS2 44 4.434 4460/ 6004 239 (239) w:sem 4 29 wq:lp_default 9 0.980 1348/ 1924 205 (205) w:sem 4 31 wq:hp_default 14 1.424 1436/ 1900 237 (237) w:sem 4 36 dataman 0 0.009 796/ 1204 90 ( 90) w:sem 4 44 wq:I2C1 2 0.230 952/ 2340 246 (246) w:sem 4 169 wq:uavcan 9 0.951 1836/ 3628 236 (236) w:sem 4 181 wq:SPI1 29 2.906 1692/ 2340 253 (253) w:sem 4 183 wq:SPI2 26 2.676 952/ 2340 252 (252) w:sem 4 185 wq:SPI4 39 3.972 1384/ 2340 250 (250) w:sem 4 189 wq:SPI6 30 3.079 1596/ 2340 248 (248) w:sem 4 262 wq:nav_and_controllers 25 2.588 1308/ 2244 242 (242) w:sem 4 263 wq:rate_ctrl 32 3.249 1524/ 1956 255 (255) w:sem 4 264 wq:INS0 45 4.522 4460/ 6004 241 (241) w:sem 4 269 commander 7 0.781 1252/ 3220 140 (140) w:sig 5 270 wq:INS1 48 4.859 4460/ 6004 240 (240) w:sem 4 319 gps 0 0.073 980/ 1684 205 (205) w:sem 4 358 mavlink_if1 7 0.702 1772/ 2740 100 (100) w:sig 4 359 mavlink_rcv_if1 1 0.153 1388/ 4460 175 (175) w:sem 4 370 mavlink_if2 16 1.630 1852/ 2740 100 (100) w:sig 4 371 mavlink_rcv_if2 2 0.224 1564/ 4460 175 (175) w:sem 4 380 wq:UART5 4 0.400 1076/ 1540 229 (229) w:sem 4 466 log_writer_file 4 0.416 692/ 1172 60 ( 60) w:sem 4 424 navigator 0 0.064 1144/ 1772 105 (105) w:sem 6 464 logger 26 2.600 2820/ 3644 230 (230) RUN 4 Processes: 29 total, 2 running, 27 sleeping, max FDs: 12 CPU usage: 44.62% tasks, 1.53% sched, 53.85% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 264.322s total, 153.361s 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: IMU message missed: 0 events ekf2: ECL full update: 670 events, 98737us elapsed, 147.37us avg, min 71us max 1077us 335.677us rms ekf2: ECL update: 589 events, 1815us elapsed, 3.08us avg, min 1us max 360us 42.962us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 669 events, 90589us elapsed, 135.41us avg, min 72us max 842us 234.493us rms ekf2: ECL update: 617 events, 1432us elapsed, 2.32us avg, min 2us max 24us 19.357us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 670 events, 85493us elapsed, 127.60us avg, min 70us max 592us 165.890us rms ekf2: ECL update: 674 events, 1742us elapsed, 2.58us avg, min 1us max 66us 7.452us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 671 events, 97259us elapsed, 144.95us avg, min 71us max 1115us 339.807us rms ekf2: ECL update: 588 events, 2357us elapsed, 4.01us avg, min 2us max 594us 41.172us 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: 13 events, 71319us elapsed, 5486.08us avg, min 3156us max 7564us 1878.989us rms logger_sd_write: 46 events, 695423us elapsed, 15117.89us avg, min 4us max 71419us 11147.148us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms gyro_fft: gyro FIFO data gap: 2 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 135 events, 22766us elapsed, 168.64us avg, min 126us max 779us 514.885us rms gyro_fft: cycle interval: 1478 events, 4512.28 avg, min 12us max 8198us 457.427us rms gyro_fft: cycle: 1478 events, 52394us elapsed, 35.45us avg, min 2us max 1927us 497.879us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 671 events, 93345us elapsed, 139.11us avg, min 72us max 884us 245.260us rms ekf2: ECL update: 616 events, 1465us elapsed, 2.38us avg, min 1us max 21us 47.114us rms navigator: 141 events, 78865us elapsed, 559.33us avg, min 9us max 33666us 7790.923us rms land_detector: cycle: 670 events, 6892us elapsed, 10.29us avg, min 7us max 63us 31.835us rms mc_pos_control: cycle time: 670 events, 4095us elapsed, 6.11us avg, min 5us max 34us 28.556us rms flight_mode_manager: cycle: 336 events, 1495us elapsed, 4.45us avg, min 3us max 29us 36.040us rms mc_hover_thrust_estimator: cycle time: 670 events, 672us elapsed, 1.00us avg, min 1us max 24us 3.416us rms mc_att_control: cycle: 1287 events, 20452us elapsed, 15.89us avg, min 13us max 334us 32.802us rms mc_rate_control: cycle: 4469 events, 35563us elapsed, 7.96us avg, min 7us max 15us 3.296us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 671 events, 86698us elapsed, 129.21us avg, min 71us max 589us 160.727us rms ekf2: ECL update: 673 events, 1969us elapsed, 2.93us avg, min 2us max 99us 24.442us rms pwm_out: interval: 407 events, 16442.32 avg, min 38us max 20952us 5581.436us rms pwm_out: cycle: 407 events, 6493us elapsed, 15.95us avg, min 10us max 130us 130.894us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 4469 events, 1500.95 avg, min 1143us max 2054us 62.718us rms pwm_out: cycle: 4469 events, 105653us elapsed, 23.64us avg, min 21us max 32us 9.711us rms control latency: 4469 events, 421542us elapsed, 94.33us avg, min 85us max 381us 185.226us rms rc_input: publish interval: 742 events, 8990.85 avg, min 2997us max 16426us 1803.677us rms rc_input: cycle time: 1668 events, 16278us elapsed, 9.76us avg, min 3us max 869us 91.556us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1327 events, 5027.40 avg, min 4072us max 10052us 333.574us rms mavlink: tx run elapsed: 1327 events, 153884us elapsed, 115.96us avg, min 60us max 1403us 317.743us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 684 events, 10037.47 avg, min 9143us max 37046us 1059.290us rms mavlink: tx run elapsed: 684 events, 63810us elapsed, 93.29us avg, min 52us max 1220us 319.084us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events 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: 643 events, 14885us elapsed, 23.15us avg, min 15us max 125us 51.003us rms vehicle_gps_position: cycle: 35 events, 366us elapsed, 10.46us avg, min 7us max 82us 27.793us 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 battery_status: 688 events, 9500us elapsed, 13.81us avg, min 10us max 270us 70.961us rms vehicle_air_data: cycle: 501 events, 9437us elapsed, 18.84us avg, min 8us max 142us 45.229us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 1319 events, 39652us elapsed, 30.06us avg, min 19us max 410us 133.221us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 668 events, 2467us elapsed, 3.69us avg, min 3us max 40us 9.463us rms ms5611: read: 668 events, 10938us elapsed, 16.37us avg, min 10us max 108us 31.660us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 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: 668 events, 2547us elapsed, 3.81us avg, min 3us max 28us 13.244us rms ms5611: read: 668 events, 8633us elapsed, 12.92us avg, min 10us max 41us 10.728us rms 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 rm3100: read: 668 events, 129658us elapsed, 194.10us avg, min 189us max 223us 53.776us rms rm3100: range_errors: 0 events rm3100: conf_errors: 0 events rm3100: comms_errors: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 8256 events, 84342us elapsed, 10.22us avg, min 2us max 1525us 95.489us rms rc_update: valid data interval: 763 events, 8999.48 avg, min 1146us max 34273us 2056.473us rms rc_update: cycle interval: 763 events, 8999.48 avg, min 1117us max 34273us 2053.263us rms rc_update: cycle: 763 events, 17555us elapsed, 23.01us avg, min 10us max 1317us 160.733us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 2487 events, 2763.58 avg, min 25us max 5115us 795.187us rms uavcan: cycle time: 2487 events, 64008us elapsed, 25.74us avg, min 12us max 935us 274.761us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 13 events, 2113us elapsed, 162.54us avg, min 70us max 935us 352.653us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 37 events, 219576us elapsed, 5934.49us avg, min 18us max 143327us 27988.691us rms dma_alloc: 1 events param: set: 1 events, 5us elapsed, 5.00us avg, min 5us max 5us infus rms param: get: 2267 events param: find: 675 events param: export: 1 events, 29474us elapsed, 29474.00us avg, min 29474us max 29474us infus rms
Post 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: IMU message missed: 0 events ekf2: ECL full update: 21326 events, 3425803us elapsed, 160.64us avg, min 71us max 2216us 149.625us rms ekf2: ECL update: 18669 events, 55453us elapsed, 2.97us avg, min 1us max 657us 15.615us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21227 events, 3118776us elapsed, 146.92us avg, min 72us max 1571us 100.051us rms ekf2: ECL update: 19308 events, 56351us elapsed, 2.92us avg, min 1us max 784us 12.399us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21326 events, 3029510us elapsed, 142.06us avg, min 71us max 812us 79.042us rms ekf2: ECL update: 21405 events, 59615us elapsed, 2.79us avg, min 1us max 399us 6.771us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21326 events, 3390692us elapsed, 158.99us avg, min 72us max 2754us 147.430us rms ekf2: ECL update: 18669 events, 61621us elapsed, 3.30us avg, min 1us max 2059us 21.065us 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: 536 events, 3301054us elapsed, 6158.68us avg, min 4us max 82775us 6182.140us rms logger_sd_write: 1899 events, 25960316us elapsed, 13670.52us avg, min 4us max 97381us 10027.347us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 43 events, 4893025.60 avg, min 58us max 10000302us 4990478.000us rms gyro_fft: gyro FIFO data gap: 4 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 4946 events, 918931us elapsed, 185.79us avg, min 124us max 1878us 152.873us rms gyro_fft: cycle interval: 47220 events, 4516.09 avg, min 11us max 7813us 451.477us rms gyro_fft: cycle: 47220 events, 1953502us elapsed, 41.37us avg, min 1us max 2798us 173.156us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21227 events, 3096644us elapsed, 145.88us avg, min 72us max 1562us 101.505us rms ekf2: ECL update: 19308 events, 55497us elapsed, 2.87us avg, min 1us max 417us 11.304us rms navigator: 4511 events, 1311328us elapsed, 290.70us avg, min 7us max 57255us 3465.797us rms land_detector: cycle: 21227 events, 216120us elapsed, 10.18us avg, min 7us max 385us 13.132us rms mc_pos_control: cycle time: 21227 events, 219901us elapsed, 10.36us avg, min 4us max 467us 14.119us rms flight_mode_manager: cycle: 10662 events, 111107us elapsed, 10.42us avg, min 3us max 385us 18.086us rms mc_hover_thrust_estimator: cycle time: 12074 events, 26363us elapsed, 2.18us avg, min 1us max 358us 6.100us rms mc_att_control: cycle: 40535 events, 646438us elapsed, 15.95us avg, min 6us max 415us 15.757us rms mc_rate_control: cycle: 142058 events, 1222336us elapsed, 8.60us avg, min 7us max 17us 1.049us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 21325 events, 2998138us elapsed, 140.59us avg, min 71us max 778us 75.345us rms ekf2: ECL update: 21406 events, 65613us elapsed, 3.07us avg, min 2us max 395us 7.003us rms pwm_out: interval: 12703 events, 16785.94 avg, min 13us max 23311us 5050.120us rms pwm_out: cycle: 12703 events, 235320us elapsed, 18.52us avg, min 9us max 1856us 55.007us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 142058 events, 1501.18 avg, min 126us max 3235us 60.245us rms pwm_out: cycle: 142058 events, 3246585us elapsed, 22.85us avg, min 20us max 34us 2.187us rms control latency: 142058 events, 13285886us elapsed, 93.52us avg, min 73us max 415us 38.522us rms rc_input: publish interval: 23696 events, 8999.30 avg, min 5143us max 14650us 1746.628us rms rc_input: cycle time: 53314 events, 525781us elapsed, 9.86us avg, min 3us max 1815us 39.998us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 42435 events, 5025.31 avg, min 4074us max 8559us 290.799us rms mavlink: tx run elapsed: 42435 events, 4932368us elapsed, 116.23us avg, min 60us max 3418us 150.261us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 21284 events, 10018.80 avg, min 9074us max 13453us 261.719us rms mavlink: tx run elapsed: 21284 events, 2124970us elapsed, 99.84us avg, min 52us max 3117us 136.877us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events 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: 19964 events, 445497us elapsed, 22.32us avg, min 15us max 417us 16.758us rms vehicle_gps_position: cycle: 1066 events, 9812us elapsed, 9.20us avg, min 6us max 410us 15.081us rms vehicle_imu: gyro data gap: 19 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 21326 events, 348296us elapsed, 16.33us avg, min 10us max 1771us 44.012us rms vehicle_air_data: cycle: 15549 events, 303945us elapsed, 19.55us avg, min 7us max 162us 22.406us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 40536 events, 1208798us elapsed, 29.82us avg, min 18us max 413us 30.385us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 20732 events, 82585us elapsed, 3.98us avg, min 3us max 118us 4.770us rms ms5611: read: 20732 events, 313088us elapsed, 15.10us avg, min 10us max 129us 15.467us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 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: 20732 events, 77243us elapsed, 3.73us avg, min 3us max 30us 3.053us rms ms5611: read: 20732 events, 264549us elapsed, 12.76us avg, min 9us max 40us 3.409us rms 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 rm3100: read: 20732 events, 4024447us elapsed, 194.12us avg, min 188us max 232us 12.204us rms rm3100: range_errors: 0 events rm3100: conf_errors: 0 events rm3100: comms_errors: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 255912 events, 2508673us elapsed, 9.80us avg, min 2us max 2371us 38.462us rms rc_update: valid data interval: 23696 events, 8999.30 avg, min 5143us max 14649us 1747.683us rms rc_update: cycle interval: 23696 events, 8999.30 avg, min 5143us max 14649us 1747.379us rms rc_update: cycle: 23696 events, 471659us elapsed, 19.90us avg, min 10us max 2058us 64.885us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 76731 events, 2779.25 avg, min 18us max 6145us 772.559us rms uavcan: cycle time: 76731 events, 2046038us elapsed, 26.67us avg, min 11us max 1845us 79.615us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 427 events, 41594us elapsed, 97.41us avg, min 68us max 1064us 108.580us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1160 events, 1211023us elapsed, 1043.99us avg, min 13us max 57228us 6736.076us rms dma_alloc: 0 events param: set: 3 events, 37us elapsed, 12.33us avg, min 1us max 31us 76.578us rms param: get: 850 events param: find: 405 events param: export: 1 events, 29228us elapsed, 29228.00us avg, min 29228us max 29228us infus rms