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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Battery endurance test. Voltage drops (short flight)
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.10.1 (e0f016c2) |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:25 |
| Vehicle Life Flight Time: | 41 minutes 28 seconds |
| Vehicle UUID: | 00020000000035333837313851180041002e (Foxtech Hover 1) |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Total aircraft weight 3.6kg
Thrust 7.52kg TWR 2.088 (2:1) |
| Distance: | 203.8 m |
| Max Altitude Difference: | 18 m |
| Average Speed: | 5.3 km/h |
| Max Speed: | 20.2 km/h |
| Max Speed Horizontal: | 19.8 km/h |
| Max Speed Up: | 8.7 km/h |
| Max Speed Down: | 4.8 km/h |
| Max Tilt Angle: | 24.2 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: e0f016c2b3db160284bbaaadaf70bef84592d81e FW version: Release 1.10.1 (17433087) OS: NuttX OS version: Release 7.29.0 (119341311) OS git-hash: 427238133be2b0ecd068a11e886ee8fdbc31f6dc Build datetime: Jan 21 2020 19:03:45 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 00020000000035333837313851180041002e MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults ERROR [safety_button] not starting (use px4io for safety button) ERROR [safety_button] Task start failed (-1) WARN [rgbled] no RGB led on bus #1 rgbled1 on I2C bus 1 at 0x39 (bus: 100 KHz, max: 100 KHz) Board sensors: /etc/init.d/rc.board_sensors WARN [mpu6000] no device on bus #3 (SPI1) MPU6000 on SPI bus 1 at 0 (1000 KHz) BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz) BMI055_GYRO on SPI bus 1 at 2 (10000 KHz) IST8310 on I2C bus 1 at 0x0e (bus: 100 KHz, max: 400 KHz) INFO [ist8310] no device on bus 2 WARN [hmc5883] no device on bus 1 (type: 2) WARN [hmc5883] no device on bus 2 (type: 2) WARN [hmc5883] no device on bus 4 (type: 2) WARN [qmc5883] no device on bus 1 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 4 (type: 2) WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [ak09916] AK09916 mag init failed ERROR [ak09916] driver start failed IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) MS5611_SPI on SPI bus 4 at 0 (20000 KHz) ERROR [battery_status] no ADC found: /dev/adc0 (2) 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/ttyS2 INFO [mavlink] mode: Onboard, data rate: 115200 B/s on /dev/ttyS2 @ 921600B WARN [px4io] unknown argument: INFO [px4io] default PWM output device WARN [commander] REJECT POSITION CONTROL 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 INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) WARN [commander] REJECT POSITION CONTROL INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set) INFO [ecl/EKF] EKF commencing GPS fusion WARN [navigator] Geofence violation WARN [navigator] Geofence violation for waypoint 3 ERROR [navigator] mission check failed WARN [commander] Arming denied! Press safety switch first WARN [commander] Arming denied! Press safety switch first WARN [commander] Arming denied! Press safety switch first INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-05-13/05_14_38.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 485478 37.200 216/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 757 0.000 1000/ 1516 50 ( 50) w:sig 8 3 init 936 0.000 2032/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 187 wq:att_pos_ctrl 71815 6.800 4768/ 6596 244 (244) w:sem 4 17 dataman 271 0.100 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 818 0.000 812/ 1700 205 (205) w:sem 4 24 wq:I2C1 5507 0.400 820/ 1244 248 (248) w:sem 4 28 wq:hp_default 12450 1.100 1152/ 1596 243 (243) w:sem 4 142 wq:SPI1 245316 22.600 1056/ 1396 254 (254) w:sem 4 157 wq:I2C3 3889 0.300 824/ 1244 246 (246) w:sem 4 159 wq:SPI4 3761 0.400 600/ 1396 251 (251) w:sem 4 186 sensors 31081 2.500 1472/ 1964 237 (237) w:sem 10 810 log_writer_file 50 0.000 600/ 1164 60 ( 60) READY 4 197 commander 8944 0.800 2208/ 3212 140 (140) w:sig 6 198 wq:rate_ctrl 67091 6.200 1008/ 1596 255 (255) w:sem 4 199 commander_low_prio 20 0.000 600/ 2996 50 ( 50) w:sem 6 277 gps 1845 0.200 976/ 1620 208 (208) w:sem 4 335 mavlink_if1 12547 1.100 1664/ 2484 140 (100) w:sig 4 336 mavlink_rcv_if1 5667 0.500 2608/ 3916 175 (175) w:sem 4 360 mavlink_if2 63831 5.700 1744/ 2492 100 (100) READY 4 361 mavlink_rcv_if2 3402 0.300 2520/ 3916 175 (175) w:sem 4 382 px4io 36586 3.400 968/ 1484 240 (240) w:sem 4 729 navigator 1067 0.100 1256/ 1764 105 (105) w:sem 4 790 logger 4470 2.900 3136/ 3644 233 (233) RUN 4 Processes: 26 total, 4 running, 22 sleeping, max FDs: 20 CPU usage: 55.40% tasks, 7.40% sched, 37.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1091.566s total, 485.479s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 540538 36.700 216/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 878 2.500 1000/ 1516 50 ( 50) w:sig 8 3 init 936 0.000 2032/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 187 wq:att_pos_ctrl 83138 6.599 4768/ 6596 244 (244) w:sem 4 17 dataman 298 0.300 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 849 0.000 812/ 1700 205 (205) w:sem 4 24 wq:I2C1 6046 0.400 820/ 1244 248 (248) w:sem 4 28 wq:hp_default 14097 1.200 1152/ 1596 243 (243) w:sem 4 142 wq:SPI1 278051 22.600 1056/ 1396 254 (254) w:sem 4 157 wq:I2C3 4409 0.300 824/ 1244 246 (246) w:sem 4 159 wq:SPI4 4264 0.300 600/ 1396 251 (251) w:sem 4 186 sensors 34696 2.900 1472/ 1964 237 (237) w:sem 10 810 log_writer_file 4856 2.900 616/ 1164 60 ( 60) w:sem 4 197 commander 10203 0.800 2208/ 3212 140 (140) w:sig 6 198 wq:rate_ctrl 76140 6.100 1008/ 1596 255 (255) w:sem 4 199 commander_low_prio 23 0.000 600/ 2996 50 ( 50) w:sem 6 277 gps 2087 0.200 976/ 1620 208 (208) w:sem 4 335 mavlink_if1 14185 1.100 1672/ 2484 100 (100) w:sig 4 336 mavlink_rcv_if1 6458 0.500 2608/ 3916 175 (175) w:sem 4 360 mavlink_if2 72332 5.900 1744/ 2492 100 (100) READY 4 361 mavlink_rcv_if2 3898 0.400 2520/ 3916 175 (175) READY 4 382 px4io 41477 3.400 968/ 1484 240 (240) w:sem 4 729 navigator 1199 0.200 1256/ 1764 105 (105) w:sem 4 790 logger 7926 2.400 3136/ 3644 233 (233) RUN 4 Processes: 26 total, 4 running, 22 sleeping, max FDs: 20 CPU usage: 61.00% tasks, 2.30% sched, 36.70% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1236.252s total, 540.539s 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 19300 events, 2485421us elapsed, 128.78us avg, min 13us max 18421us 287.058us rms land_detector_cycle: 54316 events, 869645us elapsed, 16.01us avg, min 13us max 275us 5.281us rms mc_pos_control: cycle time: 45021 events, 1994809us elapsed, 44.31us avg, min 21us max 377us 63.528us rms mc_att_control: 1084482 events, 35077573us elapsed, 32.35us avg, min 19us max 488us 14.640us rms ekf2: update: 270346 events, 50215550us elapsed, 185.75us avg, min 3us max 1449us 204.863us rms fmu: cycle: 35444 events, 1258457us elapsed, 35.51us avg, min 1us max 355us 49.142us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 423394 events, 124313969us elapsed, 293.61us avg, min 169us max 1579us 216.323us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 423400 events, 269773227us elapsed, 637.16us avg, min 251us max 16934us 707.387us rms io_txns: 728466 events, 252415636us elapsed, 346.50us avg, min 127us max 1897us 176.809us rms mavlink_int: 345738 events, 3141.75 avg, min 2095us max 13493us 444.887us rms mavlink_el: 345738 events, 95478094us elapsed, 276.16us avg, min 70us max 3708us 282.166us rms mavlink_int: 108166 events, 10042.14 avg, min 9085us max 26905us 327.286us rms mavlink_el: 108165 events, 15039226us elapsed, 139.04us avg, min 65us max 2893us 125.076us rms 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: 270433 events, 139103187us elapsed, 514.37us avg, min 78us max 2479us 317.945us rms adc_samples: 1304064 events, 4869150us elapsed, 3.73us avg, min 2us max 340us 14.020us rms battery_status: 108673 events, 2912916us elapsed, 26.80us avg, min 22us max 441us 15.602us rms ms5611_com_err: 0 events ms5611_measure: 107998 events, 735102us elapsed, 6.81us avg, min 5us max 291us 4.178us rms ms5611_read: 107997 events, 1631587us elapsed, 15.11us avg, min 10us max 97us 4.485us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 51308 events, 43344301us elapsed, 844.79us avg, min 831us max 1808us 51.042us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 51274 events, 43579831us elapsed, 849.94us avg, min 837us max 1853us 51.775us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 1361791 events, 66282548us elapsed, 48.67us avg, min 42us max 111us 4.810us rms bmi055_accel_duplicates: 236266 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 1361800 events, 49855947us elapsed, 36.61us avg, min 27us max 105us 4.729us rms mpu6k_duplicates: 274203 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 1361792 events, 166113181us elapsed, 121.98us avg, min 42us max 489us 42.478us rms stack_check: 2679 events, 25516us elapsed, 9.52us avg, min 1us max 295us 21.421us rms dma_alloc: 4 events param_set: 148 events, 5676us elapsed, 38.35us avg, min 3us max 73us 19.842us rms param_get: 3708 events, 3895634us elapsed, 1050.60us avg, min 2us max 3875949us 63651.242us rms param_find: 1632 events, 11105us elapsed, 6.80us avg, min 1us max 623us 23.233us rms param_export: 1 events, 54992us elapsed, 54992.00us avg, min 54992us max 54992us nanus 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: 363 events, 2220857us elapsed, 6118.06us avg, min 7us max 14142us 2320.344us rms logger_sd_write: 1280 events, 18903087us elapsed, 14768.04us avg, min 1106us max 736592us 38171.891us rms navigator: 2569 events, 3145236us elapsed, 1224.30us avg, min 12us max 638407us 19894.943us rms land_detector_cycle: 7285 events, 146340us elapsed, 20.09us avg, min 14us max 261us 17.291us rms mc_pos_control: cycle time: 6069 events, 1365448us elapsed, 224.99us avg, min 22us max 1914us 205.860us rms mc_att_control: 145865 events, 4796015us elapsed, 32.88us avg, min 19us max 93us 42.294us rms ekf2: update: 36249 events, 8589910us elapsed, 236.97us avg, min 12us max 2206us 648.026us rms fmu: cycle: 4690 events, 175345us elapsed, 37.39us avg, min 20us max 310us 142.963us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 56483 events, 16906465us elapsed, 299.32us avg, min 169us max 1549us 631.112us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 56483 events, 37313708us elapsed, 660.62us avg, min 252us max 4761us 2076.754us rms io_txns: 97425 events, 35000346us elapsed, 359.25us avg, min 159us max 2652us 533.956us rms mavlink_int: 45361 events, 3211.42 avg, min 2098us max 6840us 542.833us rms mavlink_el: 45361 events, 13544219us elapsed, 298.59us avg, min 70us max 4191us 851.469us rms mavlink_int: 14462 events, 10071.97 avg, min 9084us max 12426us 392.441us rms mavlink_el: 14462 events, 1999458us elapsed, 138.26us avg, min 63us max 2433us 366.032us rms 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: 36250 events, 20645302us elapsed, 569.53us avg, min 124us max 2729us 976.616us rms adc_samples: 174828 events, 696954us elapsed, 3.99us avg, min 2us max 314us 41.456us rms battery_status: 14569 events, 391984us elapsed, 26.91us avg, min 23us max 294us 45.464us rms ms5611_com_err: 0 events ms5611_measure: 14478 events, 99376us elapsed, 6.86us avg, min 5us max 247us 12.315us rms ms5611_read: 14478 events, 219967us elapsed, 15.19us avg, min 10us max 94us 13.041us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 6870 events, 5813171us elapsed, 846.17us avg, min 833us max 1695us 148.601us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 6870 events, 5841155us elapsed, 850.24us avg, min 839us max 1866us 150.534us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 182118 events, 8910348us elapsed, 48.93us avg, min 42us max 81us 14.000us rms bmi055_accel_duplicates: 31725 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 182118 events, 6688705us elapsed, 36.73us avg, min 27us max 71us 13.784us rms mpu6k_duplicates: 36250 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 182118 events, 22449182us elapsed, 123.27us avg, min 42us max 222us 123.607us rms stack_check: 375 events, 3540us elapsed, 9.44us avg, min 1us max 277us 61.628us rms dma_alloc: 0 events param_set: 3 events, 19us elapsed, 6.33us avg, min 2us max 13us 170.209us rms param_get: 177 events, 859us elapsed, 4.85us avg, min 2us max 231us 292120.375us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 57050us elapsed, 57050.00us avg, min 57050us max 57050us nanus rms