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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
QAV280
| Airframe: | HolyBro QAV250 Quadrotor x (4052) |
| Hardware: | PX4_FMU_V5 (V540) |
| Software Version: | v1.10.0 (4f6faac2) |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:32 |
| Vehicle Life Flight Time: | 6 hours 46 minutes 1 seconds |
| Vehicle UUID: | 000200000000353338373138511400240023 |
| Distance: | 10.7 m |
| Max Altitude Difference: | 5 m |
| Average Speed: | 1.2 km/h |
| Max Speed: | 15.6 km/h |
| Max Speed Horizontal: | 4.3 km/h |
| Max Speed Up: | 2.8 km/h |
| Max Speed Down: | 15.5 km/h |
| Max Tilt Angle: | 164.7 deg |
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Console Output
mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set) INFO [ecl/EKF] EKF commencing GPS fusion WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) ERROR [mavlink] instance 1: RADIO_STATUS timeout WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [commander] Data link lost INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_56_55.ulg WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] closed logfile, bytes written: 257479 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_57_02.ulg WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] closed logfile, bytes written: 514082 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_57_15.ulg INFO [commander] Takeoff detected WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [commander] Landing detected INFO [logger] closed logfile, bytes written: 1530262 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_57_54.ulg INFO [logger] closed logfile, bytes written: 184264 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_57_58.ulg WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] closed logfile, bytes written: 514432 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/10_58_11.ulg WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] closed logfile, bytes written: 388404 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) ERROR [sensors] baro temp compensation init: failed to find device ID 3997730 for instance 0 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) ERROR [sensors] baro temp compensation init: failed to find device ID 3997730 for instance 0 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) ERROR [sensors] baro temp compensation init: failed to find device ID 3997730 for instance 0 ERROR [sensors] baro temp compensation init: failed to find device ID 3997730 for instance 0 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/11_00_06.ulg WARN [commander] Data link lost INFO [logger] closed logfile, bytes written: 443861 WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/11_00_18.ulg INFO [commander] Takeoff detected WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) WARN [load_mon] wq:I2C1 low on stack! (292 bytes left) INFO [commander] Landing detected INFO [logger] closed logfile, bytes written: 995756 INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-06-19/11_00_42.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 161675 41.774 216/ 512 0 ( 0) READY 3 1 hpwork 1913 0.498 776/ 1260 249 (249) w:sig 4 2 lpwork 624 0.099 1040/ 1516 50 ( 50) w:sig 8 3 init 923 0.000 1824/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 5 188 wq:att_pos_ctrl 22644 6.580 4768/ 6596 244 (244) w:sem 5 16 wq:hp_default 9843 2.791 1076/ 1596 243 (243) w:sem 5 18 dataman 36 0.000 752/ 1180 90 ( 90) w:sem 4 21 wq:lp_default 196 0.099 1024/ 1700 205 (205) w:sem 5 25 wq:I2C1 1604 0.398 952/ 1244 248 (248) w:sem 5 142 wq:SPI1 76604 22.033 1056/ 1396 254 (254) w:sem 5 157 wq:I2C3 1235 0.398 904/ 1244 246 (246) w:sem 5 159 wq:SPI4 1149 0.398 600/ 1396 251 (251) w:sem 5 187 sensors 9698 2.492 1544/ 1964 237 (237) w:sem 10 568 log_writer_file 4497 4.685 824/ 1164 60 ( 60) w:sem 4 197 commander 2813 0.797 1976/ 3212 140 (140) READY 6 198 wq:rate_ctrl 37219 11.266 1136/ 1596 255 (255) w:sem 5 199 commander_low_prio 5 0.000 576/ 2996 50 ( 50) w:sem 6 279 gps 569 0.199 1040/ 1620 208 (208) w:sem 4 337 mavlink_if1 4004 1.096 1648/ 2484 100 (100) w:sig 4 339 mavlink_rcv_if1 1247 0.199 2656/ 3916 175 (175) READY 4 510 navigator 342 0.099 1056/ 1764 105 (105) w:sem 4 559 logger 3537 2.193 3088/ 3644 233 (233) RUN 4 Processes: 23 total, 4 running, 19 sleeping, max FDs: 20 CPU usage: 56.33% tasks, 1.89% sched, 41.77% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 349.367s total, 161.675s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 175189 40.100 216/ 512 0 ( 0) READY 3 1 hpwork 2090 0.500 776/ 1260 249 (249) w:sig 4 2 lpwork 674 3.200 1040/ 1516 50 ( 50) w:sig 8 3 init 923 0.000 1824/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 5 188 wq:att_pos_ctrl 24727 6.500 4768/ 6596 244 (244) w:sem 5 16 wq:hp_default 10749 2.900 1076/ 1596 243 (243) w:sem 5 18 dataman 40 0.000 752/ 1180 90 ( 90) w:sem 4 21 wq:lp_default 203 0.100 1024/ 1700 205 (205) READY 5 25 wq:I2C1 1722 0.400 952/ 1244 248 (248) w:sem 5 142 wq:SPI1 83583 22.000 1056/ 1396 254 (254) w:sem 5 157 wq:I2C3 1349 0.400 904/ 1244 246 (246) w:sem 5 159 wq:SPI4 1254 0.300 600/ 1396 251 (251) w:sem 5 187 sensors 10511 3.000 1544/ 1964 237 (237) w:sem 10 568 log_writer_file 5714 3.100 824/ 1164 60 ( 60) w:sem 4 197 commander 3072 0.700 1976/ 3212 140 (140) w:sig 6 198 wq:rate_ctrl 40730 11.000 1136/ 1596 255 (255) w:sem 5 199 commander_low_prio 5 0.000 576/ 2996 50 ( 50) w:sem 6 279 gps 621 0.200 1040/ 1620 208 (208) w:sem 4 337 mavlink_if1 4342 1.100 1648/ 2484 100 (100) READY 4 339 mavlink_rcv_if1 1338 0.300 2656/ 3916 175 (175) w:sem 4 510 navigator 367 0.000 1056/ 1764 105 (105) READY 4 559 logger 4227 2.200 3088/ 3644 233 (233) RUN 4 Processes: 23 total, 5 running, 18 sleeping, max FDs: 20 CPU usage: 57.90% tasks, 2.00% sched, 40.10% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 381.070s total, 175.190s idle
Performance Counters
Pre Flight:
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: 58 events, 328547us elapsed, 5664.60us avg, min 169us max 12040us 5153.436us rms logger_sd_write: 232 events, 2716078us elapsed, 11707.23us avg, min 9us max 110840us 119876.984us rms navigator: 435 events, 65468us elapsed, 150.50us avg, min 13us max 9293us 81886.297us rms land_detector_cycle: 1216 events, 26664us elapsed, 21.93us avg, min 13us max 368us 82.885us rms mc_pos_control: cycle time: 1014 events, 51727us elapsed, 51.01us avg, min 19us max 373us 333.546us rms mc_att_control: 24314 events, 938427us elapsed, 38.60us avg, min 21us max 94us 64.918us rms ekf2: update: 6075 events, 1142297us elapsed, 188.03us avg, min 12us max 1187us 831.545us rms fmu: cycle: 24575 events, 1111091us elapsed, 45.21us avg, min 40us max 69us 13.156us rms control latency: 24575 events, 4459164us elapsed, 181.45us avg, min 141us max 1612us 417.284us rms rc_input: publish interval: 1737 events, 13992.55 avg, min 9713us max 15312us 2000.229us rms rc_input: cycle time: 4865 events, 97454us elapsed, 20.03us avg, min 5us max 335us 176.376us rms mavlink_int: 2425 events, 10011.56 avg, min 9123us max 13812us 242.508us rms mavlink_el: 2425 events, 307771us elapsed, 126.92us avg, min 72us max 1737us 502.957us rms tfmini: read: 31099 events, 140017us elapsed, 4.50us avg, min 1us max 368us 43.549us rms tfmini: com_err: 0 events mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 6075 events, 3108641us elapsed, 511.71us avg, min 120us max 1754us 1263.238us rms adc_samples: 29196 events, 75061us elapsed, 2.57us avg, min 2us max 314us 20.937us rms battery_status: 2433 events, 74633us elapsed, 30.68us avg, min 23us max 346us 125.866us rms ms5611_com_err: 0 events ms5611_measure: 2414 events, 15719us elapsed, 6.51us avg, min 5us max 63us 9.192us rms ms5611_read: 2414 events, 34622us elapsed, 14.34us avg, min 10us max 255us 13.830us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1146 events, 972912us elapsed, 848.96us avg, min 832us max 1687us 219.059us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1146 events, 974205us elapsed, 850.09us avg, min 833us max 1698us 210.566us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 30412 events, 1415272us elapsed, 46.54us avg, min 42us max 71us 12.742us rms bmi055_accel_duplicates: 5754 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 30413 events, 1095484us elapsed, 36.02us avg, min 27us max 59us 15.948us rms mpu6k_duplicates: 6097 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 30413 events, 4878679us elapsed, 160.41us avg, min 42us max 257us 227.135us rms stack_check: 68 events, 578us elapsed, 8.50us avg, min 1us max 81us 59.177us rms dma_alloc: 1 events param_set: 3 events, 20us elapsed, 6.67us avg, min 3us max 13us 297.647us rms param_get: 744 events, 4862us elapsed, 6.53us avg, min 2us max 1129us 158.241us rms param_find: 1 events, 6us elapsed, 6.00us avg, min 6us max 6us infus rms param_export: 1 events, 74425us elapsed, 74425.00us avg, min 74425us max 74425us infus rms
Post Flight:
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: 79 events, 455424us elapsed, 5764.86us avg, min 128us max 10784us 5004.012us rms logger_sd_write: 318 events, 4854774us elapsed, 15266.58us avg, min 9us max 659401us 110420.609us rms navigator: 573 events, 856582us elapsed, 1494.91us avg, min 12us max 531155us 75163.875us rms land_detector_cycle: 1635 events, 36397us elapsed, 22.26us avg, min 14us max 354us 77.533us rms mc_pos_control: cycle time: 1363 events, 103725us elapsed, 76.10us avg, min 20us max 513us 305.039us rms mc_att_control: 32693 events, 1239609us elapsed, 37.92us avg, min 21us max 98us 59.532us rms ekf2: update: 8167 events, 1564020us elapsed, 191.50us avg, min 12us max 1392us 747.958us rms fmu: cycle: 33041 events, 1490071us elapsed, 45.10us avg, min 41us max 65us 11.758us rms control latency: 33042 events, 5945711us elapsed, 179.94us avg, min 141us max 1633us 376.890us rms rc_input: publish interval: 2336 events, 13994.01 avg, min 9719us max 15309us 1997.038us rms rc_input: cycle time: 6542 events, 127045us elapsed, 19.42us avg, min 5us max 334us 157.940us rms mavlink_int: 3267 events, 10008.37 avg, min 9130us max 11963us 227.222us rms mavlink_el: 3267 events, 413252us elapsed, 126.49us avg, min 71us max 2222us 447.497us rms tfmini: read: 41774 events, 190908us elapsed, 4.57us avg, min 1us max 351us 39.781us rms tfmini: com_err: 0 events mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 8168 events, 4207552us elapsed, 515.13us avg, min 120us max 1873us 1137.825us rms adc_samples: 39264 events, 102322us elapsed, 2.61us avg, min 2us max 314us 18.782us rms battery_status: 3272 events, 101445us elapsed, 31.00us avg, min 23us max 370us 114.602us rms ms5611_com_err: 0 events ms5611_measure: 3246 events, 20842us elapsed, 6.42us avg, min 5us max 64us 8.096us rms ms5611_read: 3246 events, 46637us elapsed, 14.37us avg, min 10us max 232us 12.863us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1540 events, 1307484us elapsed, 849.02us avg, min 833us max 1869us 198.106us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1541 events, 1307090us elapsed, 848.21us avg, min 833us max 1632us 190.478us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 40891 events, 1903297us elapsed, 46.55us avg, min 42us max 73us 11.352us rms bmi055_accel_duplicates: 7740 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 40892 events, 1471181us elapsed, 35.98us avg, min 27us max 58us 14.397us rms mpu6k_duplicates: 8196 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 40892 events, 6535626us elapsed, 159.83us avg, min 42us max 267us 205.224us rms stack_check: 96 events, 1101us elapsed, 11.47us avg, min 1us max 161us 54.920us rms dma_alloc: 0 events param_set: 3 events, 18us elapsed, 6.00us avg, min 2us max 13us 297.709us rms param_get: 22 events, 160us elapsed, 7.27us avg, min 2us max 76us 941.388us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 68848us elapsed, 68848.00us avg, min 68848us max 68848us infus rms