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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: | 0:00:24 |
| Vehicle Life Flight Time: | 6 minutes 55 seconds |
| Vehicle UUID: | 000200000000363236353033510a003b001d |
| Distance: | 8.1 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.5 km/h |
| Max Speed: | 6.5 km/h |
| Max Speed Horizontal: | 6.5 km/h |
| Max Speed Up: | 1.8 km/h |
| Max Speed Down: | 2.0 km/h |
| Max Tilt Angle: | 169.5 deg |
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Console Output
ealth_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [commander] Connection to mission computer lost WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [mavlink] Event dropped (475, 544) WARN [mavlink] Dropped 50 events (seq=544) INFO [commander] Onboard controller regained WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained INFO [commander] Kill disengaged WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] GPS reports critical jamming state WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] GPS reports critical jamming state INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-19/01_50_32.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-19/01_50_32.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 296606 19.761 272/ 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 2316/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.066 1452/ 1896 205 (205) w:sem 5 1295 mavlink_rcv_if0 3 0.352 1508/ 4776 175 (175) w:sem 5 95 wq:hp_default 15 1.552 1116/ 2776 237 (237) w:sem 5 646 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 3 0.310 908/ 2312 246 (246) w:sem 5 685 wq:ttyS6 7 0.720 1076/ 1704 228 (228) READY 5 716 wq:SPI1 108 10.849 1564/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.345 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.273 1060/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 61 6.105 1476/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 89 8.977 2532/ 3120 255 (255) w:sem 5 1084 wq:INS0 78 7.884 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 87 8.696 3660/ 5976 240 (240) w:sem 5 1097 commander 10 1.091 1556/ 3192 140 (140) w:sig 5 1204 gps 2 0.259 1204/ 1936 205 (205) w:sem 4 1294 mavlink_if0 19 1.961 1956/ 2704 100 (100) READY 5 1464 log_writer_file 6 0.655 748/ 1144 60 ( 60) w:sem 4 1322 mavlink_if1 52 5.255 1980/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 14 1.476 1524/ 4776 175 (175) w:sem 5 1360 wq:ttyS4 6 0.674 964/ 1704 230 (230) READY 5 1366 navigator 1 0.169 1564/ 2104 105 (105) READY 11 1461 logger 97 9.748 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 15 1.587 2268/ 3600 236 (236) w:sem 5 1585 mavlink_if2 79 7.899 2012/ 2792 100 (100) READY 5 1587 mavlink_rcv_if2 9 0.936 1732/ 4776 175 (175) READY 5 Processes: 30 total, 9 running, 21 sleeping CPU usage: 77.85% tasks, 2.39% sched, 19.76% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1043.711s total, 296.606s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 302730 14.785 272/ 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 2316/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 61 6.176 1452/ 1896 205 (205) w:sem 5 1295 mavlink_rcv_if0 11 1.142 1508/ 4776 175 (175) w:sem 5 95 wq:hp_default 14 1.482 1116/ 2776 237 (237) w:sem 5 646 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 4 0.464 908/ 2312 246 (246) w:sem 5 685 wq:ttyS6 8 0.837 1076/ 1704 228 (228) READY 5 716 wq:SPI1 109 10.900 1564/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.332 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.266 1060/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 69 6.959 1476/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 89 8.952 2532/ 3120 255 (255) w:sem 5 1084 wq:INS0 100 10.069 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 109 10.921 3660/ 5976 240 (240) w:sem 5 1097 commander 12 1.227 1556/ 3192 140 (140) w:sig 5 1204 gps 2 0.295 1204/ 1936 205 (205) w:sem 4 1294 mavlink_if0 18 1.824 1956/ 2704 100 (100) READY 5 1464 log_writer_file 5 0.529 748/ 1144 60 ( 60) w:sem 4 1322 mavlink_if1 43 4.333 1980/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 21 2.134 1524/ 4776 175 (175) READY 5 1360 wq:ttyS4 7 0.764 964/ 1704 230 (230) READY 5 1366 navigator 1 0.191 1564/ 2104 105 (105) w:sem 11 1461 logger 31 3.180 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.677 2268/ 3600 236 (236) w:sem 5 1585 mavlink_if2 67 6.779 2012/ 2792 100 (100) READY 5 1587 mavlink_rcv_if2 14 1.425 1732/ 4776 175 (175) READY 5 Processes: 30 total, 9 running, 21 sleeping CPU usage: 82.86% tasks, 2.35% sched, 14.78% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1067.326s total, 302.730s 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: 82131 events, 3714.95 avg, min 2231us max 100808us 1132.543us rms mavlink: tx run elapsed: 82130 events, 51202047us elapsed, 623.43us avg, min 200us max 82354us 1109.146us rms DatamanClient: sync: 6 events, 15114us elapsed, 2519.00us avg, min 378us max 5058us 2977.537us 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: 102928 events, 2964.73 avg, min 22us max 6788us 847.761us rms uavcan: cycle time: 102928 events, 6050437us elapsed, 58.78us avg, min 14us max 4074us 323.572us 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: 90 events, 706234us elapsed, 7847.04us avg, min 127us max 25612us 4535.195us rms logger_sd_write: 360 events, 2323261us elapsed, 6453.50us avg, min 11us max 89851us 7779.053us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 13436 events, 22229.53 avg, min 91us max 10000043us 149109.500us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 6409 events, 523440us elapsed, 81.67us avg, min 39us max 2247us 282.685us rms rc_input: publish interval: 22984 events, 13275.16 avg, min 72us max 80271us 2038.644us rms rc_input: cycle time: 76256 events, 2026111us elapsed, 26.57us avg, min 8us max 3745us 203.408us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 82460 events, 3700.07 avg, min 2195us max 103015us 1118.013us rms mavlink: tx run elapsed: 82460 events, 36122290us elapsed, 438.06us avg, min 172us max 10096us 1054.594us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 29501 events, 10342.15 avg, min 9201us max 107569us 1160.959us rms mavlink: tx run elapsed: 29501 events, 12155866us elapsed, 412.05us avg, min 179us max 11946us 838.602us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 13561 events, 813495us elapsed, 59.99us avg, min 1us max 4137us 352.875us rms land_detector: cycle: 33922 events, 1055225us elapsed, 31.11us avg, min 19us max 353us 59.530us rms mc_pos_control: cycle time: 33922 events, 2506754us elapsed, 73.90us avg, min 50us max 402us 89.368us rms flight_mode_manager: cycle: 15258 events, 1184082us elapsed, 77.60us avg, min 36us max 613us 296.851us rms mc_hover_thrust_estimator: cycle time: 33923 events, 124145us elapsed, 3.66us avg, min 1us max 265us 20.502us 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: 67843 events, 1625263us elapsed, 23.96us avg, min 16us max 259us 22.527us rms mc_rate_control: cycle: 203989 events, 3998394us elapsed, 19.60us avg, min 16us max 55us 5.149us rms control_allocator: cycle: 203989 events, 9078779us elapsed, 44.51us avg, min 36us max 98us 11.337us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 33946 events, 23256025us elapsed, 685.09us avg, min 185us max 3057us 785.063us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 30543 events, 19618751us elapsed, 642.33us avg, min 185us max 1932us 584.155us rms pwm_out: interval: 203990 events, 1495.97 avg, min 424us max 1815us 77.869us rms pwm_out: cycle: 203990 events, 5626111us elapsed, 27.58us avg, min 23us max 67us 5.945us rms control latency: 203990 events, 41584482us elapsed, 203.86us avg, min 162us max 1231us 84.956us rms commander: preflight check: 2958 events, 1924719us elapsed, 650.68us avg, min 293us max 6361us 1108.752us rms commander: cycle: 26899 events, 6642490us elapsed, 246.94us avg, min 72us max 6579us 1076.282us 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: 14256 events, 1132990us elapsed, 79.47us avg, min 44us max 410us 112.640us rms vehicle_gps_position: cycle: 2440 events, 46343us elapsed, 18.99us avg, min 13us max 324us 37.670us rms vehicle_air_data: cycle: 22746 events, 894362us elapsed, 39.32us avg, min 23us max 334us 66.647us rms vehicle_angular_velocity: gyro selection changed: 6 events vehicle_angular_velocity: gyro filter reset: 6 events vehicle_angular_velocity: gyro filter: 203992 events, 4670043us elapsed, 22.89us avg, min 20us max 399us 5.422us rms sensors: 67852 events, 4100962us elapsed, 60.44us avg, min 28us max 508us 59.609us rms battery_status: 30517 events, 1419416us elapsed, 46.51us avg, min 24us max 3635us 254.986us 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: 30328 events, 172143us elapsed, 5.68us avg, min 3us max 208us 23.051us rms ms5611: read: 30328 events, 696265us elapsed, 22.96us avg, min 7us max 289us 56.470us 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: 366204 events, 2501141us elapsed, 6.83us avg, min 3us max 3635us 99.052us rms manual_control: interval: 3198 events, 95408.31 avg, min 26us max 203225us 74903.539us rms manual_control: cycle: 3198 events, 111550us elapsed, 34.88us avg, min 15us max 1767us 200.451us rms rc_update: valid data interval: 22984 events, 13275.16 avg, min 64us max 80268us 2047.409us rms rc_update: cycle interval: 22984 events, 13275.16 avg, min 68us max 80270us 2041.391us rms rc_update: cycle: 22984 events, 1041369us elapsed, 45.31us avg, min 23us max 3438us 243.705us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 13 events, 2111us elapsed, 162.38us avg, min 134us max 378us 122.660us rms px4io: interface read: 81056 events, 33441635us elapsed, 412.57us avg, min 148us max 79109us 859.593us rms px4io: interval: 13309 events, 22925.44 avg, min 21610us max 101242us 2203.183us rms px4io: cycle: 13308 events, 34196519us elapsed, 2569.62us avg, min 1601us max 81233us 3891.489us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 81070 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 81069 events, 32471889us elapsed, 400.55us avg, min 127us max 79100us 849.995us rms rgbled: led_control message missed: 0 events load_mon: cycle: 610 events, 161366us elapsed, 264.53us avg, min 125us max 2814us 626.379us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 6 events, 13238us elapsed, 2206.33us avg, min 318us max 4758us 3091.133us rms rgbled: led_control message missed: 0 events dma_alloc: 3 events param: set: 3 events, 113us elapsed, 37.67us avg, min 3us max 69us 366.511us rms param: get: 42157 events param: find: 63393 events param: export: 1 events, 16610us elapsed, 16610.00us avg, min 16610us max 16610us 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: 6543 events, 3734.44 avg, min 2237us max 101781us 1981.084us rms mavlink: tx run elapsed: 6543 events, 4669319us elapsed, 713.64us avg, min 201us max 99034us 4340.058us 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: 8215 events, 2977.73 avg, min 24us max 24857us 759.527us rms uavcan: cycle time: 8215 events, 452444us elapsed, 55.08us avg, min 14us max 2561us 1155.332us 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: 64 events, 562916us elapsed, 8795.56us avg, min 127us max 126476us 16301.362us rms logger_sd_write: 222 events, 1707300us elapsed, 7690.54us avg, min 12us max 235128us 20040.844us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000456.00 avg, min 10000912us max 10000912us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 513 events, 47525us elapsed, 92.64us avg, min 40us max 2430us 1016.749us rms rc_input: publish interval: 1844 events, 13252.49 avg, min 1945us max 29306us 2051.761us rms rc_input: cycle time: 6106 events, 165650us elapsed, 27.13us avg, min 8us max 2850us 728.049us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6585 events, 3710.99 avg, min 2208us max 100691us 1958.313us rms mavlink: tx run elapsed: 6585 events, 3003054us elapsed, 456.04us avg, min 174us max 14916us 3773.027us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2350 events, 10399.29 avg, min 9213us max 99677us 2753.502us rms mavlink: tx run elapsed: 2349 events, 1007251us elapsed, 428.80us avg, min 182us max 17364us 3024.194us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 28 events, 1152us elapsed, 41.14us avg, min 19us max 207us 7908.144us rms land_detector: cycle: 2721 events, 81349us elapsed, 29.90us avg, min 20us max 287us 212.116us rms mc_pos_control: cycle time: 2721 events, 197927us elapsed, 72.74us avg, min 50us max 586us 318.689us rms flight_mode_manager: cycle: 1223 events, 95239us elapsed, 77.87us avg, min 36us max 622us 1050.158us rms mc_hover_thrust_estimator: cycle time: 2721 events, 15715us elapsed, 5.78us avg, min 1us max 182us 73.263us 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: 5441 events, 133231us elapsed, 24.49us avg, min 17us max 265us 80.378us rms mc_rate_control: cycle: 16330 events, 337140us elapsed, 20.65us avg, min 16us max 63us 18.439us rms control_allocator: cycle: 16330 events, 721299us elapsed, 44.17us avg, min 37us max 308us 40.694us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2721 events, 1464360us elapsed, 538.17us avg, min 185us max 6132us 2799.074us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2449 events, 1259144us elapsed, 514.15us avg, min 185us max 1558us 2083.781us rms pwm_out: interval: 16331 events, 1498.23 avg, min 1021us max 1976us 75.886us rms pwm_out: cycle: 16331 events, 473811us elapsed, 29.01us avg, min 23us max 141us 21.338us rms control latency: 16331 events, 3364504us elapsed, 206.02us avg, min 164us max 665us 303.864us rms commander: preflight check: 239 events, 150473us elapsed, 629.59us avg, min 296us max 4940us 3952.213us rms commander: cycle: 2156 events, 529905us elapsed, 245.78us avg, min 70us max 5101us 3822.833us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 1146 events, 92374us elapsed, 80.61us avg, min 47us max 3211us 413.268us rms vehicle_gps_position: cycle: 196 events, 3797us elapsed, 19.37us avg, min 13us max 227us 134.493us rms vehicle_air_data: cycle: 1824 events, 70270us elapsed, 38.53us avg, min 23us max 271us 237.955us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 16333 events, 372670us elapsed, 22.82us avg, min 20us max 196us 19.470us rms sensors: 5443 events, 321300us elapsed, 59.03us avg, min 38us max 4432us 219.628us rms battery_status: 2445 events, 106561us elapsed, 43.58us avg, min 25us max 2212us 906.944us 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: 2432 events, 13970us elapsed, 5.74us avg, min 3us max 206us 82.493us rms ms5611: read: 2432 events, 56628us elapsed, 23.28us avg, min 7us max 227us 201.947us 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: 29352 events, 185761us elapsed, 6.33us avg, min 3us max 2301us 352.811us rms manual_control: interval: 839 events, 29062.11 avg, min 1577us max 201458us 39565.676us rms manual_control: cycle: 839 events, 26172us elapsed, 31.19us avg, min 17us max 1888us 402.398us rms rc_update: valid data interval: 1844 events, 13252.49 avg, min 1581us max 29672us 2054.784us rms rc_update: cycle interval: 1844 events, 13252.49 avg, min 1942us max 29311us 2053.811us rms rc_update: cycle: 1844 events, 78257us elapsed, 42.44us avg, min 23us max 2009us 865.902us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 7 events, 1767us elapsed, 252.43us avg, min 136us max 635us 250.525us rms px4io: interface read: 6531 events, 2650892us elapsed, 405.89us avg, min 148us max 7025us 3052.858us rms px4io: interval: 1067 events, 22877.21 avg, min 21616us max 39100us 2079.261us rms px4io: cycle: 1066 events, 2691476us elapsed, 2524.84us avg, min 1604us max 18943us 13902.677us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6539 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6538 events, 2579585us elapsed, 394.55us avg, min 130us max 7018us 3017.586us rms rgbled: led_control message missed: 11 events load_mon: cycle: 49 events, 13182us elapsed, 269.02us avg, min 126us max 2499us 2257.776us 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: 9 events dma_alloc: 2 events param: set: 57 events, 138us elapsed, 2.42us avg, min 2us max 6us 69.270us rms param: get: 5774 events param: find: 6121 events param: export: 1 events, 18239us elapsed, 18239.00us avg, min 18239us max 18239us nanus rms