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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V5000000) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:38 |
| Vehicle Life Flight Time: | 33 minutes 24 seconds |
| Vehicle UUID: | 0002000000003632363530335109003d002e |
| Distance: | 53.8 m |
| Max Altitude Difference: | 14 m |
| Average Speed: | 3.0 km/h |
| Max Speed: | 14.5 km/h |
| Max Speed Horizontal: | 2.0 km/h |
| Max Speed Up: | 14.4 km/h |
| Max Speed Down: | 2.0 km/h |
| Max Tilt Angle: | 14.0 deg |
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Console Output
ata manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_is31fl3195 #0 on I2C bus 1 (external) address 0x54 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 bmi055_accel #0 on SPI bus 1 rotation 2 bmi055_gyro #0 on SPI bus 1 rotation 2 ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 (external) address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 WARN [SPI_I2C] Already running on bus 1 WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 4325386 ekf2 [1103:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B INFO [rc_input] RC scan: SBUS RC input locked WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station ERROR [mavlink] vehicle_command_ack lost, generation 0 -> 8 WARN [mavlink] Event dropped (26, 56) WARN [mavlink] Dropped 11 events (seq=56) WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [commander] Connection to mission computer lost INFO [mavlink] exiting channel 1 serdis: Disconnected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-06-24/10_27_09.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-06-24/10_27_09.ulg INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [failsafe] Failsafe activated INFO [commander] Disarmed by auto preflight disarming INFO [vehicle_imu] ACC 1 (4259850) offset committed: [-0.012 0.297 0.250]->[-0.076 0.366 0.280]) INFO [vehicle_magnetometer] 1 (396809) EST:0 offset: [0.051, -0.058, 0.021]->[-0.140, 0.028, 0.026] (full [-0.243, 0.123, 0.2 INFO [vehicle_magnetometer] 1 (396809) EST:1 offset: [-0.140, 0.028, 0.026]->[-0.183, 0.061, 0.031] (full [-0.256, 0.129, 0.2 INFO [logger] closed logfile, bytes written: 546297 WARN [commander] Arming denied: Resolve system health failures first INFO [commander] GCS connection regained INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-06-24/10_28_27.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-06-24/10_28_27.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 200225 26.501 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.071 1412/ 1896 205 (205) w:sem 5 95 wq:hp_default 15 1.567 1112/ 2776 237 (237) w:sem 5 646 dataman 0 0.001 916/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 3 0.308 972/ 2312 246 (246) w:sem 5 685 wq:ttyS6 7 0.751 1076/ 1704 228 (228) READY 5 716 wq:SPI1 108 10.858 1588/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.337 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.259 896/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 61 6.107 1492/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 90 8.994 2532/ 3120 255 (255) w:sem 5 1084 wq:INS0 74 7.489 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 81 8.157 3660/ 5976 240 (240) w:sem 5 1097 commander 11 1.124 1636/ 3192 140 (140) READY 5 1204 gps 2 0.268 1204/ 1936 205 (205) w:sem 4 1294 mavlink_if0 22 2.292 1932/ 2704 100 (100) READY 5 1295 mavlink_rcv_if0 3 0.381 1740/ 4776 175 (175) w:sem 5 1330 wq:ttyS4 7 0.704 1028/ 1704 230 (230) READY 5 1336 navigator 1 0.179 1636/ 2104 105 (105) w:sem 11 1419 logger 98 9.856 3100/ 3616 230 (230) RUN 4 1425 log_writer_file 6 0.662 668/ 1144 60 ( 60) w:sem 4 1430 wq:uavcan 15 1.542 2268/ 3600 236 (236) w:sem 5 1479 mavlink_if1 84 8.419 1980/ 2792 100 (100) READY 5 1482 mavlink_rcv_if1 9 0.994 1716/ 4776 175 (175) w:sem 5 Processes: 28 total, 7 running, 21 sleeping CPU usage: 71.32% tasks, 2.18% sched, 26.50% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 551.999s total, 200.226s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 212447 22.553 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 63 6.350 1444/ 1896 205 (205) w:sem 5 95 wq:hp_default 15 1.552 1112/ 2776 237 (237) PEND 5 646 dataman 0 0.001 916/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 5 0.499 972/ 2312 246 (246) w:sem 5 685 wq:ttyS6 8 0.845 1076/ 1704 228 (228) READY 5 716 wq:SPI1 111 11.092 1588/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.344 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.273 896/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 62 6.250 1492/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 110 10.987 2532/ 3120 255 (255) w:sem 5 1084 wq:INS0 78 7.873 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 76 7.643 3660/ 5976 240 (240) w:sem 5 1097 commander 11 1.138 1636/ 3192 140 (140) w:sig 5 1204 gps 2 0.280 1204/ 1936 205 (205) w:sem 4 1294 mavlink_if0 22 2.216 1932/ 2704 100 (100) READY 5 1295 mavlink_rcv_if0 16 1.641 1740/ 4776 175 (175) w:sem 5 1330 wq:ttyS4 8 0.804 1028/ 1704 230 (230) READY 5 1336 navigator 1 0.191 1636/ 2104 105 (105) w:sem 11 1419 logger 31 3.187 3100/ 3616 230 (230) RUN 4 1425 log_writer_file 6 0.622 668/ 1144 60 ( 60) w:sem 4 1430 wq:uavcan 16 1.610 2268/ 3600 236 (236) w:sem 5 1479 mavlink_if1 81 8.159 1980/ 2792 100 (100) READY 5 1482 mavlink_rcv_if1 16 1.625 1716/ 4776 175 (175) w:sem 5 Processes: 28 total, 7 running, 21 sleeping CPU usage: 75.19% tasks, 2.26% sched, 22.55% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 589.747s total, 212.447s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 22570 events, 3437.92 avg, min 2250us max 91651us 1191.922us rms mavlink: tx run elapsed: 22570 events, 13576795us elapsed, 601.54us avg, min 211us max 9098us 1273.313us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 26189 events, 2964.39 avg, min 24us max 21167us 678.107us rms uavcan: cycle time: 26189 events, 1459431us elapsed, 55.73us avg, min 14us max 21159us 450.626us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 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: 33 events, 211225us elapsed, 6400.76us avg, min 62us max 19307us 4544.180us rms logger_sd_write: 103 events, 494733us elapsed, 4803.23us avg, min 12us max 80168us 8494.293us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2885 events, 23438.51 avg, min 66us max 10000000us 185807.422us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 1624 events, 131263us elapsed, 80.83us avg, min 39us max 2578us 559.954us rms rc_input: publish interval: 5957 events, 13024.58 avg, min 449us max 89857us 2156.348us rms rc_input: cycle time: 19371 events, 504882us elapsed, 26.06us avg, min 8us max 3226us 280.335us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7564 events, 10257.64 avg, min 9227us max 97967us 1705.815us rms mavlink: tx run elapsed: 7564 events, 3308096us elapsed, 437.35us avg, min 192us max 8627us 1123.552us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 3332 events, 177813us elapsed, 53.37us avg, min 1us max 2745us 460.652us rms land_detector: cycle: 8634 events, 257647us elapsed, 29.84us avg, min 20us max 292us 74.528us rms mc_pos_control: cycle time: 8634 events, 617408us elapsed, 71.51us avg, min 52us max 362us 111.861us rms flight_mode_manager: cycle: 3882 events, 315956us elapsed, 81.39us avg, min 59us max 901us 741.362us rms mc_hover_thrust_estimator: cycle time: 8634 events, 23134us elapsed, 2.68us avg, min 1us max 213us 24.474us 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: 17268 events, 389716us elapsed, 22.57us avg, min 16us max 274us 31.648us rms mc_rate_control: cycle: 51811 events, 1012966us elapsed, 19.55us avg, min 16us max 64us 7.024us rms control_allocator: cycle: 51812 events, 2310942us elapsed, 44.60us avg, min 36us max 299us 16.015us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 8634 events, 3665418us elapsed, 424.53us avg, min 181us max 2233us 1037.488us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7756 events, 3352324us elapsed, 432.22us avg, min 179us max 1777us 850.335us rms pwm_out: interval: 51812 events, 1498.56 avg, min 1029us max 1952us 73.936us rms pwm_out: cycle: 51812 events, 1460621us elapsed, 28.19us avg, min 24us max 132us 8.079us rms control latency: 51812 events, 10543992us elapsed, 203.50us avg, min 164us max 651us 120.735us rms commander: preflight check: 753 events, 448769us elapsed, 595.97us avg, min 295us max 3872us 1313.684us rms commander: cycle: 6901 events, 1627201us elapsed, 235.79us avg, min 70us max 3988us 1028.474us rms vehicle_imu: gyro data gap: 0 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: 3626 events, 297609us elapsed, 82.08us avg, min 44us max 4445us 172.192us rms vehicle_gps_position: cycle: 621 events, 11225us elapsed, 18.08us avg, min 13us max 197us 50.752us rms vehicle_air_data: cycle: 5788 events, 225384us elapsed, 38.94us avg, min 23us max 314us 93.518us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 51813 events, 1186969us elapsed, 22.91us avg, min 20us max 188us 6.395us rms sensors: 17271 events, 1044714us elapsed, 60.49us avg, min 26us max 4600us 100.181us rms battery_status: 7763 events, 335610us elapsed, 43.23us avg, min 24us max 2344us 318.149us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 7718 events, 46614us elapsed, 6.04us avg, min 3us max 209us 35.986us rms ms5611: read: 7718 events, 174616us elapsed, 22.62us avg, min 7us max 272us 81.049us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 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: 93168 events, 584688us elapsed, 6.28us avg, min 3us max 2544us 131.633us rms manual_control: interval: 763 events, 101640.02 avg, min 2715us max 201970us 72442.320us rms manual_control: cycle: 763 events, 29627us elapsed, 38.83us avg, min 17us max 1772us 321.404us rms rc_update: valid data interval: 5957 events, 13024.55 avg, min 451us max 89860us 2157.846us rms rc_update: cycle interval: 5957 events, 13024.58 avg, min 449us max 89860us 2156.274us rms rc_update: cycle: 5957 events, 281814us elapsed, 47.31us avg, min 23us max 1888us 296.024us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 7 events, 1423us elapsed, 203.29us avg, min 134us max 426us 690.292us rms px4io: interface read: 20711 events, 8367860us elapsed, 404.03us avg, min 148us max 77570us 1164.474us rms px4io: interval: 3402 events, 22797.50 avg, min 21610us max 100840us 2322.364us rms px4io: cycle: 3402 events, 8552933us elapsed, 2514.09us avg, min 1603us max 80701us 5329.144us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 20718 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 20718 events, 8135534us elapsed, 392.68us avg, min 128us max 77564us 1153.092us rms rgbled: led_control message missed: 10 events load_mon: cycle: 155 events, 35225us elapsed, 227.26us avg, min 117us max 2272us 729.963us 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 rgbled: led_control message missed: 11 events dma_alloc: 3 events param: set: 46 events, 1305us elapsed, 28.37us avg, min 2us max 229us 67.528us rms param: get: 14189 events param: find: 17125 events param: export: 1 events, 13942us elapsed, 13942.00us avg, min 13942us max 13942us nanus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10849 events, 3554.49 avg, min 2242us max 97486us 1290.929us rms mavlink: tx run elapsed: 10849 events, 7147468us elapsed, 658.81us avg, min 212us max 7689us 1928.214us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 12943 events, 2980.97 avg, min 27us max 9192us 637.962us rms uavcan: cycle time: 12943 events, 640801us elapsed, 49.51us avg, min 15us max 2331us 653.106us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 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: 107 events, 654192us elapsed, 6113.94us avg, min 126us max 15033us 4759.355us rms logger_sd_write: 353 events, 1292602us elapsed, 3661.76us avg, min 10us max 28233us 5065.305us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666398.67 avg, min 9999329us max 9999867us 269.303us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 805 events, 73178us elapsed, 90.90us avg, min 40us max 1877us 811.869us rms rc_input: publish interval: 2963 events, 13011.19 avg, min 115us max 18668us 1862.749us rms rc_input: cycle time: 9642 events, 258283us elapsed, 26.79us avg, min 8us max 4031us 409.027us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3754 events, 10270.52 avg, min 9239us max 108096us 1825.108us rms mavlink: tx run elapsed: 3754 events, 1741884us elapsed, 464.01us avg, min 195us max 96436us 2272.653us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 31 events, 1694us elapsed, 54.65us avg, min 1us max 483us 4854.803us rms land_detector: cycle: 4117 events, 128186us elapsed, 31.14us avg, min 20us max 303us 111.605us rms mc_pos_control: cycle time: 4117 events, 307756us elapsed, 74.75us avg, min 52us max 360us 168.577us rms flight_mode_manager: cycle: 1930 events, 156100us elapsed, 80.88us avg, min 53us max 393us 1052.725us rms mc_hover_thrust_estimator: cycle time: 4117 events, 33965us elapsed, 8.25us avg, min 1us max 272us 38.830us 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: 8233 events, 193420us elapsed, 23.49us avg, min 16us max 251us 47.171us rms mc_rate_control: cycle: 27807 events, 578358us elapsed, 20.80us avg, min 16us max 57us 10.018us rms control_allocator: cycle: 27807 events, 1238102us elapsed, 44.52us avg, min 37us max 317us 22.719us rms ekf2: IMU message missed: 4 events ekf2: EKF update: 4290 events, 1862803us elapsed, 434.22us avg, min 181us max 2760us 1515.082us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3856 events, 1570656us elapsed, 407.33us avg, min 181us max 1628us 1241.863us rms pwm_out: interval: 27807 events, 1387.76 avg, min 470us max 1822us 135.645us rms pwm_out: cycle: 27807 events, 821427us elapsed, 29.54us avg, min 24us max 130us 11.491us rms control latency: 27808 events, 7282620us elapsed, 261.89us avg, min 166us max 1195us 180.604us rms commander: preflight check: 375 events, 245116us elapsed, 653.64us avg, min 295us max 4214us 1949.274us rms commander: cycle: 3419 events, 888925us elapsed, 260.00us avg, min 72us max 6473us 1519.682us 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: 1807 events, 145010us elapsed, 80.25us avg, min 41us max 374us 252.123us rms vehicle_gps_position: cycle: 309 events, 5354us elapsed, 17.33us avg, min 13us max 192us 73.136us rms vehicle_air_data: cycle: 2878 events, 112068us elapsed, 38.94us avg, min 23us max 292us 137.506us rms vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 27810 events, 704654us elapsed, 25.34us avg, min 20us max 397us 10.233us rms sensors: 8234 events, 479493us elapsed, 58.23us avg, min 38us max 4730us 154.956us rms battery_status: 3860 events, 177362us elapsed, 45.95us avg, min 24us max 2258us 466.337us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 3838 events, 23131us elapsed, 6.03us avg, min 3us max 202us 53.252us rms ms5611: read: 3838 events, 85188us elapsed, 22.20us avg, min 7us max 244us 118.759us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 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: 46320 events, 291434us elapsed, 6.29us avg, min 3us max 2529us 191.387us rms manual_control: interval: 673 events, 57284.04 avg, min 734us max 201280us 58972.938us rms manual_control: cycle: 673 events, 22123us elapsed, 32.87us avg, min 17us max 1406us 350.108us rms rc_update: valid data interval: 2963 events, 13011.19 avg, min 368us max 22907us 1889.988us rms rc_update: cycle interval: 2963 events, 13011.19 avg, min 150us max 18717us 1867.087us rms rc_update: cycle: 2963 events, 142909us elapsed, 48.23us avg, min 24us max 8483us 459.903us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 5 events, 4491us elapsed, 898.20us avg, min 137us max 3521us 1696.585us rms px4io: interface read: 10228 events, 4247252us elapsed, 415.26us avg, min 148us max 6550us 1701.799us rms px4io: interval: 1690 events, 22808.87 avg, min 21614us max 39546us 1985.506us rms px4io: cycle: 1690 events, 4344899us elapsed, 2570.95us avg, min 1605us max 19304us 7811.439us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 10233 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 10233 events, 4136417us elapsed, 404.22us avg, min 130us max 6541us 1685.471us rms rgbled: led_control message missed: 0 events load_mon: cycle: 77 events, 18315us elapsed, 237.86us avg, min 119us max 1818us 1068.788us 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 rgbled: led_control message missed: 0 events dma_alloc: 2 events param: set: 12 events, 311us elapsed, 25.92us avg, min 2us max 216us 150.345us rms param: get: 9448 events param: find: 8913 events param: export: 1 events, 18747us elapsed, 18747.00us avg, min 18747us max 18747us nanus rms