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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
RCloss/RTL-Flyaway-geofencepass-RCregain
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | PX4FMU_V5 (V551) |
| Software Version: | v1.8.2 (f13bbacd) branch: stable |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:08:03 |
| Vehicle Life Flight Time: | 2 hours 8 minutes 29 seconds |
| Vehicle UUID: | 003000403138511730383233 (plane) |
| Flight Rating: | Unsatisfactory |
| Feedback: | Testing RTL loiter, then watch after-behavior (land?). PLane loiter for approx. 45-55 secs, then flew away, past geofence? then RC switched mode to mission. |
| Distance: | 5.28 km |
| Max Altitude Difference: | 138 m |
| Average Speed: | 39.3 km/h |
| Max Speed: | 97.8 km/h |
| Max Speed Horizontal: | 97.4 km/h |
| Max Speed Up: | 24.5 km/h |
| Max Speed Down: | 33.1 km/h |
| Max Tilt Angle: | 65.0 deg |
| Max Rotation Speed: | 138.3 deg/s |
| Average Current: | 13.8 A |
| Max Current: | 81.1 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27354 51.799 504/ 748 0 ( 0) READY 3 1 hpwork 841 2.200 728/ 1780 249 (249) w:sig 9 2 lpwork 40 0.100 640/ 1780 50 ( 50) w:sig 8 3 init 37923 0.000 1816/ 2484 100 (100) w:sem 3 105 dataman 134 0.200 728/ 1180 90 ( 90) w:sem 4 109 gps 70 0.100 968/ 1580 220 (220) READY 5 159 sensors 6664 5.100 1152/ 1964 249 (249) w:sem 19 165 commander 390 1.000 2080/ 3212 140 (140) w:sig 29 166 commander_low_prio 1 0.000 552/ 2996 50 ( 50) w:sem 29 175 px4io 1017 2.900 904/ 1484 251 (251) w:sem 11 181 mavlink_if0 989 3.000 1712/ 2540 100 (100) w:sig 37 182 mavlink_rcv_if0 157 0.400 1304/ 2836 175 (175) w:sem 37 186 mavlink_if1 641 1.800 1688/ 2572 100 (100) READY 37 187 mavlink_rcv_if1 274 0.500 1552/ 2836 175 (175) READY 37 204 mavlink_if2 368 0.900 1712/ 2532 100 (100) w:sig 32 206 mavlink_rcv_if2 158 0.400 1304/ 2836 175 (175) w:sem 32 369 log_writer_file 91 0.000 552/ 1068 60 ( 60) w:sem 42 272 fmu 394 1.100 736/ 1324 251 (251) w:sem 7 307 ekf2 3266 9.700 4592/ 6572 250 (250) w:sem 20 311 fw_att_controol 1034 3.700 968/ 1460 251 (251) w:sem 13 313 fw_pos_control_l1 126 0.500 792/ 1764 250 (250) w:sem 16 318 navigator 78 0.300 1088/ 1764 105 (105) w:sem 15 360 logger 483 4.500 3040/ 3540 245 (245) RUN 42 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 38.40% tasks, 9.80% sched, 51.80% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 41.608s total, 27.355s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 285078 49.651 504/ 748 0 ( 0) READY 3 1 hpwork 11376 2.193 728/ 1780 249 (249) w:sig 9 2 lpwork 594 4.187 944/ 1780 50 ( 50) w:sig 8 3 init 37923 0.000 1816/ 2484 100 (100) w:sem 3 105 dataman 866 0.997 728/ 1180 90 ( 90) w:sem 4 109 gps 903 0.199 968/ 1580 220 (220) w:sem 5 159 sensors 30688 5.284 1152/ 1964 249 (249) w:sem 19 165 commander 5080 0.997 2080/ 3212 140 (140) READY 29 166 commander_low_prio 14 0.000 552/ 2996 50 ( 50) w:sem 29 175 px4io 15679 3.090 904/ 1484 251 (251) w:sem 11 181 mavlink_if0 13025 2.691 1720/ 2540 100 (100) READY 41 182 mavlink_rcv_if0 2176 0.498 1304/ 2836 175 (175) w:sem 41 186 mavlink_if1 8760 1.794 1736/ 2572 100 (100) w:sig 41 187 mavlink_rcv_if1 2339 0.398 1552/ 2836 175 (175) w:sem 41 204 mavlink_if2 4527 0.897 1736/ 2532 100 (100) READY 35 206 mavlink_rcv_if2 2212 0.398 1304/ 2836 175 (175) READY 35 369 log_writer_file 23569 4.985 576/ 1068 60 ( 60) w:sem 45 272 fmu 5259 1.096 736/ 1324 251 (251) w:sem 7 307 ekf2 61673 9.970 4592/ 6572 250 (250) w:sem 20 311 fw_att_controol 17654 3.489 968/ 1460 251 (251) w:sem 13 313 fw_pos_control_l1 6561 0.897 1128/ 1764 250 (250) w:sem 16 318 navigator 1844 0.897 1192/ 1764 105 (105) w:sem 15 360 logger 22039 4.486 3040/ 3540 245 (245) RUN 45 Processes: 23 total, 6 running, 17 sleeping, max FDs: 54 CPU usage: 49.45% tasks, 0.90% sched, 49.65% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 523.769s total, 285.078s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms navigator: 603 events, 173652us elapsed, 287us avg, min 17us max 48425us 2013.099us rms land_detector_cycle: 1715 events, 36738us elapsed, 21us avg, min 11us max 289us 20.157us rms fw l1 control: 1245 events, 83132us elapsed, 66us avg, min 39us max 308us 39.636us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 7443 events, 728741us elapsed, 97us avg, min 30us max 458us 38.691us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 59 events mavlink_el: 3221 events, 363539us elapsed, 112us avg, min 35us max 1827us 160.412us rms mavlink_txe: 140 events mavlink_el: 3567 events, 634990us elapsed, 178us avg, min 54us max 1758us 152.564us rms mavlink_txe: 0 events mavlink_el: 5938 events, 929924us elapsed, 156us avg, min 49us max 1728us 128.689us rms io control latency: 7444 events, 2894544us elapsed, 388us avg, min 128us max 1179us 193.309us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 7714 events, 5509180us elapsed, 714us avg, min 251us max 15615us 767.828us rms io_txns: 16998 events, 5184770us elapsed, 305us avg, min 127us max 732us 102.601us rms stack_check: 89 events, 880us elapsed, 9us avg, min 1us max 89us 12.858us rms sensors: 8936 events, 6581413us elapsed, 736us avg, min 118us max 2071us 272.891us rms aspd_com_err: 0 events aspd_read: 3175 events, 1940703us elapsed, 611us avg, min 465us max 2358us 282.836us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1648 events, 1559123us elapsed, 946us avg, min 827us max 2536us 239.473us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1708 events, 1599770us elapsed, 936us avg, min 827us max 2444us 215.431us rms bmi055_gyro_read: 0 events bmi055_duplicates: 0 events bmi055_reset_retries: 0 events bmi055_good_transfers: 48271 events bmi055_bad_registers: 1 events bmi055_bad_transfers: 1 events bmi055_read: 48252 events, 1829568us elapsed, 37us avg, min 31us max 45us 2.236us rms bmi055_accel_read: 0 events bmi055_duplicates: 9641 events bmi055_reset_retries: 0 events bmi055_good_transfers: 38656 events bmi055_bad_registers: 1 events bmi055_bad_transfers: 0 events bmi055_read: 48278 events, 1649169us elapsed, 34us avg, min 20us max 44us 6.455us rms mpu6k_duplicates: 9716 events mpu6k_reset: 0 events mpu6k_good_trans: 38591 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 48307 events, 2498935us elapsed, 51us avg, min 36us max 64us 7.601us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 7 events mpu6k_duplicates: 9969 events mpu6k_reset: 0 events mpu6k_good_trans: 38400 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 48369 events, 2549043us elapsed, 52us avg, min 36us max 71us 9.243us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 7 events adc_samples: 43128 events, 91703us elapsed, 2us avg, min 1us max 64us 0.445us rms ms5611_com_err: 0 events ms5611_measure: 3427 events, 20021us elapsed, 5us avg, min 3us max 179us 10.143us rms ms5611_read: 3426 events, 52092us elapsed, 15us avg, min 8us max 167us 14.658us rms dma_alloc: 4 events param_set: 176 events, 7522us elapsed, 42us avg, min 3us max 80us 22.004us rms param_get: 3666 events, 19411us elapsed, 5us avg, min 2us max 1141us 26.838us rms param_find: 1871 events, 11371us elapsed, 6us avg, min 1us max 802us 27.439us rms param_export: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 456 events, 5194160us elapsed, 11390us avg, min 4038us max 41581us 2730.764us rms logger_sd_write: 4603 events, 67904455us elapsed, 14752us avg, min 7us max 204547us 3774.658us rms navigator: 9660 events, 5735621us elapsed, 593us avg, min 20us max 127388us 2356.929us rms land_detector_cycle: 23415 events, 567186us elapsed, 24us avg, min 15us max 582us 22.402us rms fw l1 control: 24150 events, 5869546us elapsed, 243us avg, min 39us max 873us 142.743us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 120278 events, 12529173us elapsed, 104us avg, min 61us max 312us 33.200us rms fmu control latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 42943 events, 4733760us elapsed, 110us avg, min 35us max 2859us 201.917us rms mavlink_txe: 0 events mavlink_el: 47795 events, 8889019us elapsed, 185us avg, min 70us max 3216us 191.776us rms mavlink_txe: 0 events mavlink_el: 79693 events, 12743257us elapsed, 159us avg, min 64us max 3131us 166.407us rms io control latency: 120278 events, 57928779us elapsed, 481us avg, min 164us max 1944us 350.419us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 120278 events, 79316760us elapsed, 659us avg, min 251us max 3007us 746.571us rms io_txns: 246685 events, 74284238us elapsed, 301us avg, min 127us max 786us 101.221us rms stack_check: 1406 events, 19787us elapsed, 14us avg, min 1us max 3680us 110.857us rms sensors: 120278 events, 107974562us elapsed, 897us avg, min 425us max 2810us 395.410us rms aspd_com_err: 0 events aspd_read: 42069 events, 28158348us elapsed, 669us avg, min 465us max 2914us 394.043us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 21035 events, 20293483us elapsed, 964us avg, min 827us max 3367us 297.435us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 21035 events, 20606721us elapsed, 979us avg, min 827us max 3702us 320.349us rms bmi055_gyro_read: 0 events bmi055_duplicates: 0 events bmi055_reset_retries: 0 events bmi055_good_transfers: 603961 events bmi055_bad_registers: 0 events bmi055_bad_transfers: 0 events bmi055_read: 603961 events, 23215064us elapsed, 38us avg, min 33us max 46us 2.344us rms bmi055_accel_read: 0 events bmi055_duplicates: 120583 events bmi055_reset_retries: 0 events bmi055_good_transfers: 483378 events bmi055_bad_registers: 0 events bmi055_bad_transfers: 0 events bmi055_read: 603961 events, 20812478us elapsed, 34us avg, min 20us max 45us 6.806us rms mpu6k_duplicates: 120853 events mpu6k_reset: 0 events mpu6k_good_trans: 483109 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 603962 events, 31330975us elapsed, 51us avg, min 36us max 64us 7.939us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events mpu6k_duplicates: 123124 events mpu6k_reset: 0 events mpu6k_good_trans: 480839 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 603963 events, 32108525us elapsed, 53us avg, min 35us max 72us 9.726us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events adc_samples: 579804 events, 1233397us elapsed, 2us avg, min 1us max 3us 0.354us rms ms5611_com_err: 0 events ms5611_measure: 42069 events, 246995us elapsed, 5us avg, min 3us max 476us 11.792us rms ms5611_read: 42069 events, 660762us elapsed, 15us avg, min 8us max 567us 17.030us rms dma_alloc: 0 events param_set: 6 events, 24us elapsed, 4us avg, min 2us max 10us 130.212us rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 70229us elapsed, 70229us avg, min 70229us max 70229us NaNus rms