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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: | 0:00:23 |
| Vehicle Life Flight Time: | 7 minutes 12 seconds |
| Vehicle UUID: | 000200000000363236353033510a003b001d |
| Distance: | 2.7 m |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.6 km/h |
| Max Speed: | 2.3 km/h |
| Max Speed Horizontal: | 2.3 km/h |
| Max Speed Up: | 1.0 km/h |
| Max Speed Down: | 1.8 km/h |
| Max Tilt Angle: | 12.8 deg |
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Console Output
HW arch: PX4_FMU_V5 HW type: V5000000 HW version: 0x000 HW revision: 0x000 PX4 git-hash: 99c40407ffd7ac184e2d7b4b293f36f10fe561ef PX4 version: Release 1.15.4 (17761535) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Mar 20 2025 22:59:23 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000363236353033510a003b001d MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2592 bytes, decoded 2592 bytes (INT32:50, FLOAT:73) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data 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 Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS2 @ 115200B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [rc_input] RC scan: SBUS RC input locked INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 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 [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained 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/2025-07-19/02_47_10.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-19/02_47_10.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 83395 20.102 272/ 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 2332/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.073 1420/ 1896 205 (205) w:sem 5 1295 mavlink_rcv_if0 3 0.343 1324/ 4776 175 (175) w:sem 5 95 wq:hp_default 13 1.391 1132/ 2776 237 (237) w:sem 5 646 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 3 0.307 900/ 2312 246 (246) w:sem 5 685 wq:ttyS6 7 0.757 1076/ 1704 228 (228) w:sem 5 716 wq:SPI1 108 10.862 1564/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.338 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.268 972/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 61 6.096 1260/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 89 8.985 2508/ 3120 255 (255) w:sem 5 1084 wq:INS0 80 8.026 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 87 8.779 3660/ 5976 240 (240) w:sem 5 1097 commander 10 1.094 1660/ 3192 140 (140) READY 5 1204 gps 2 0.270 1220/ 1936 205 (205) READY 4 1294 mavlink_if0 19 1.981 1932/ 2704 100 (100) w:sig 5 1464 log_writer_file 6 0.685 628/ 1144 60 ( 60) w:sem 4 1322 mavlink_if1 49 4.953 1980/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 13 1.393 1364/ 4776 175 (175) READY 5 1360 wq:ttyS4 6 0.602 1028/ 1704 230 (230) READY 5 1366 navigator 1 0.187 1644/ 2104 105 (105) w:sem 11 1461 logger 98 9.833 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.641 2268/ 3600 236 (236) w:sem 5 1521 mavlink_if2 77 7.704 1980/ 2792 100 (100) READY 5 1523 mavlink_rcv_if2 9 0.985 1764/ 4776 175 (175) READY 5 Processes: 30 total, 9 running, 21 sleeping CPU usage: 77.56% tasks, 2.34% sched, 20.10% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 298.935s total, 83.396s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 89494 18.066 272/ 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 2332/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 62 6.295 1420/ 1896 205 (205) w:sem 5 1295 mavlink_rcv_if0 10 1.028 1524/ 4776 175 (175) w:sem 5 95 wq:hp_default 13 1.380 1132/ 2776 237 (237) w:sem 5 646 dataman 0 0.002 836/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 4 0.435 900/ 2312 246 (246) w:sem 5 685 wq:ttyS6 8 0.866 1076/ 1704 228 (228) w:sem 5 716 wq:SPI1 108 10.846 1564/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.347 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.267 972/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 69 6.976 1476/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 88 8.823 2508/ 3120 255 (255) w:sem 5 1084 wq:INS0 79 7.956 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 86 8.653 3660/ 5976 240 (240) w:sem 5 1097 commander 10 1.014 1660/ 3192 140 (140) w:sig 5 1204 gps 2 0.292 1220/ 1936 205 (205) w:sem 4 1294 mavlink_if0 19 1.918 1956/ 2704 100 (100) READY 5 1464 log_writer_file 5 0.593 628/ 1144 60 ( 60) w:sem 4 1322 mavlink_if1 48 4.894 1980/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 21 2.163 1508/ 4776 175 (175) READY 5 1360 wq:ttyS4 7 0.721 1028/ 1704 230 (230) READY 5 1366 navigator 1 0.184 1644/ 2104 105 (105) READY 11 1461 logger 31 3.149 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.671 2268/ 3600 236 (236) w:sem 5 1521 mavlink_if2 74 7.453 1980/ 2792 100 (100) READY 5 1523 mavlink_rcv_if2 16 1.632 1764/ 4776 175 (175) READY 5 Processes: 30 total, 9 running, 21 sleeping CPU usage: 79.56% tasks, 2.37% sched, 18.07% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 321.874s total, 89.495s 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: 77324 events, 3712.49 avg, min 2210us max 89708us 1082.540us rms mavlink: tx run elapsed: 77324 events, 47417618us elapsed, 613.23us avg, min 166us max 12130us 673.703us rms DatamanClient: sync: 5 events, 13068us elapsed, 2613.60us avg, min 266us max 4061us 1903.792us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 850us elapsed, 850.00us avg, min 850us max 850us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 108us elapsed, 108.00us avg, min 108us max 108us nanus rms rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 100332 events, 2961.30 avg, min 23us max 10771us 881.675us rms uavcan: cycle time: 100332 events, 6186916us elapsed, 61.66us avg, min 14us max 3788us 181.045us 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: 1 events, 13382us elapsed, 13382.00us avg, min 13382us max 13382us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 58us elapsed, 58.00us avg, min 58us max 58us nanus 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 21824us elapsed, 21824.00us avg, min 21824us max 21824us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 14848 events, 20005.39 avg, min 64us max 148744us 1322.393us rms DatamanClient: sync: 1 events, 78263us elapsed, 78263.00us avg, min 78263us max 78263us infus rms navigator: 6245 events, 544813us elapsed, 87.24us avg, min 39us max 3131us 150.127us rms rc_input: publish interval: 22383 events, 13277.08 avg, min 2463us max 89530us 2060.789us rms rc_input: cycle time: 74272 events, 1981032us elapsed, 26.67us avg, min 8us max 4020us 115.871us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 80520 events, 3691.34 avg, min 2195us max 87285us 1111.257us rms mavlink: tx run elapsed: 80520 events, 36679338us elapsed, 455.53us avg, min 144us max 83843us 641.564us rms DatamanClient: sync: 1 events, 113us elapsed, 113.00us avg, min 113us max 113us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 28717 events, 10350.90 avg, min 9202us max 94003us 1151.770us rms mavlink: tx run elapsed: 28717 events, 12532642us elapsed, 436.42us avg, min 150us max 19724us 491.375us rms DatamanClient: sync: 4 events, 4097us elapsed, 1024.25us avg, min 72us max 3328us 1541.842us rms mag_bias_estimator: cycle: 14862 events, 861393us elapsed, 57.96us avg, min 1us max 3485us 159.824us rms land_detector: cycle: 33069 events, 1092698us elapsed, 33.04us avg, min 19us max 382us 34.397us rms mc_pos_control: cycle time: 33069 events, 2524071us elapsed, 76.33us avg, min 1us max 744us 52.596us rms flight_mode_manager: cycle: 14872 events, 1300187us elapsed, 87.43us avg, min 58us max 1649us 72.897us rms mc_hover_thrust_estimator: cycle time: 33067 events, 101273us elapsed, 3.06us avg, min 1us max 248us 11.071us 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: 64288 events, 1519820us elapsed, 23.64us avg, min 16us max 446us 12.880us rms mc_rate_control: cycle: 198671 events, 3883079us elapsed, 19.55us avg, min 16us max 155us 2.830us rms control_allocator: cycle: 198671 events, 8876577us elapsed, 44.68us avg, min 37us max 299us 6.124us rms ekf2: IMU message missed: 4 events ekf2: EKF update: 33088 events, 24198427us elapsed, 731.34us avg, min 184us max 3351us 433.011us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 29771 events, 20347208us elapsed, 683.46us avg, min 185us max 2122us 320.255us rms pwm_out: interval: 198673 events, 1497.57 avg, min 219us max 25520us 93.280us rms pwm_out: cycle: 198672 events, 5533982us elapsed, 27.85us avg, min 23us max 180us 3.144us rms control latency: 198671 events, 40420364us elapsed, 203.45us avg, min 163us max 1439us 46.414us rms commander: preflight check: 2889 events, 1879529us elapsed, 650.58us avg, min 282us max 4547us 573.367us rms commander: cycle: 26200 events, 7139813us elapsed, 272.51us avg, min 68us max 7920us 433.718us 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: 13869 events, 1090200us elapsed, 78.61us avg, min 14us max 2585us 58.093us rms vehicle_gps_position: cycle: 2317 events, 41721us elapsed, 18.01us avg, min 4us max 222us 16.735us rms vehicle_air_data: cycle: 22181 events, 866717us elapsed, 39.07us avg, min 23us max 412us 36.001us rms vehicle_angular_velocity: gyro selection changed: 5 events vehicle_angular_velocity: gyro filter reset: 5 events vehicle_angular_velocity: gyro filter: 198703 events, 4519473us elapsed, 22.74us avg, min 18us max 444us 3.028us rms sensors: 66168 events, 4046394us elapsed, 61.15us avg, min 38us max 4522us 39.747us rms battery_status: 29756 events, 1447478us elapsed, 48.64us avg, min 24us max 3674us 149.679us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 29583 events, 173445us elapsed, 5.86us avg, min 3us max 220us 13.999us rms ms5611: read: 29582 events, 665903us elapsed, 22.51us avg, min 7us max 245us 30.226us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 1 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: 1 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: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 357192 events, 2463538us elapsed, 6.90us avg, min 3us max 3644us 54.578us rms manual_control: interval: 2204 events, 134983.25 avg, min 885us max 203087us 62250.430us rms manual_control: cycle: 2204 events, 88766us elapsed, 40.27us avg, min 15us max 2450us 131.319us rms rc_update: valid data interval: 12887 events, 23051.31 avg, min 21647us max 98926us 2237.314us rms rc_update: cycle interval: 12892 events, 23051.97 avg, min 21648us max 98923us 2238.375us rms rc_update: cycle: 12892 events, 618807us elapsed, 48.00us avg, min 18us max 3433us 131.344us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 18 events, 3649us elapsed, 202.72us avg, min 133us max 405us 81.050us rms px4io: interface read: 78619 events, 32474414us elapsed, 413.06us avg, min 147us max 4416us 426.222us rms px4io: interval: 12913 events, 23048.49 avg, min 7307us max 98713us 2238.498us rms px4io: cycle: 12912 events, 34475671us elapsed, 2670.05us avg, min 12us max 19545us 2093.647us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 78638 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 78637 events, 31527835us elapsed, 400.93us avg, min 126us max 4410us 420.710us rms rgbled: led_control message missed: 0 events load_mon: cycle: 596 events, 165648us elapsed, 277.93us avg, min 3us max 3839us 370.963us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 10 events, 16155us elapsed, 1615.50us avg, min 15us max 4180us 1734.988us rms rgbled: led_control message missed: 0 events dma_alloc: 8 events param: set: 123 events, 3989us elapsed, 32.43us avg, min 11us max 65us 14.374us rms param: get: 47781 events param: find: 64014 events param: export: 1 events, 13614us elapsed, 13614.00us avg, min 13614us max 13614us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6454 events, 3681.19 avg, min 2242us max 94491us 1766.624us rms mavlink: tx run elapsed: 6454 events, 4518948us elapsed, 700.18us avg, min 202us max 90127us 2669.477us 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 nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 7974 events, 2981.56 avg, min 23us max 17557us 647.598us rms uavcan: cycle time: 7974 events, 447793us elapsed, 56.16us avg, min 15us max 2513us 659.062us 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 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus 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, 458935us elapsed, 7170.86us avg, min 128us max 12823us 3173.166us rms logger_sd_write: 215 events, 1519138us elapsed, 7065.76us avg, min 11us max 135350us 11158.039us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 4998907.00 avg, min 9997814us max 9997814us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 496 events, 40901us elapsed, 82.46us avg, min 40us max 3014us 558.131us rms rc_input: publish interval: 1793 events, 13250.71 avg, min 2527us max 23429us 2006.962us rms rc_input: cycle time: 5938 events, 139766us elapsed, 23.54us avg, min 8us max 2688us 419.056us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6503 events, 3652.98 avg, min 2200us max 92867us 1719.000us rms mavlink: tx run elapsed: 6503 events, 2917649us elapsed, 448.66us avg, min 174us max 16306us 2317.471us 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: 2289 events, 10374.44 avg, min 9203us max 94591us 2492.880us rms mavlink: tx run elapsed: 2289 events, 992850us elapsed, 433.75us avg, min 180us max 4080us 1795.841us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 37 events, 3835us elapsed, 103.65us avg, min 1us max 2003us 3263.994us rms land_detector: cycle: 2645 events, 77263us elapsed, 29.21us avg, min 21us max 301us 123.999us rms mc_pos_control: cycle time: 2645 events, 189281us elapsed, 71.56us avg, min 52us max 350us 190.654us rms flight_mode_manager: cycle: 1189 events, 93066us elapsed, 78.27us avg, min 54us max 348us 261.770us rms mc_hover_thrust_estimator: cycle time: 2646 events, 8235us elapsed, 3.11us avg, min 1us max 204us 41.213us 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: 5291 events, 127186us elapsed, 24.04us avg, min 16us max 213us 46.435us rms mc_rate_control: cycle: 15873 events, 324262us elapsed, 20.43us avg, min 16us max 62us 10.459us rms control_allocator: cycle: 15873 events, 702652us elapsed, 44.27us avg, min 37us max 324us 22.615us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2646 events, 1303210us elapsed, 492.52us avg, min 186us max 2156us 1569.553us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 2380 events, 1138202us elapsed, 478.24us avg, min 185us max 1562us 1169.814us rms pwm_out: interval: 15874 events, 1498.47 avg, min 960us max 2043us 74.928us rms pwm_out: cycle: 15874 events, 460741us elapsed, 29.02us avg, min 23us max 129us 11.673us rms control latency: 15874 events, 3262595us elapsed, 205.53us avg, min 164us max 679us 170.580us rms commander: preflight check: 230 events, 146127us elapsed, 635.33us avg, min 294us max 4055us 2104.844us rms commander: cycle: 2097 events, 635963us elapsed, 303.27us avg, min 72us max 89653us 2516.277us 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: 1114 events, 88034us elapsed, 79.03us avg, min 46us max 4358us 249.097us rms vehicle_gps_position: cycle: 191 events, 3478us elapsed, 18.21us avg, min 13us max 180us 60.190us rms vehicle_air_data: cycle: 1773 events, 70432us elapsed, 39.72us avg, min 23us max 317us 132.659us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 15874 events, 360348us elapsed, 22.70us avg, min 20us max 184us 11.087us rms sensors: 5293 events, 310502us elapsed, 58.66us avg, min 27us max 4368us 153.729us rms battery_status: 2379 events, 97276us elapsed, 40.89us avg, min 25us max 2276us 541.022us 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: 2364 events, 13326us elapsed, 5.64us avg, min 3us max 201us 51.100us rms ms5611: read: 2364 events, 56226us elapsed, 23.78us avg, min 7us max 246us 111.960us 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: 28548 events, 180210us elapsed, 6.31us avg, min 3us max 2291us 198.066us rms manual_control: interval: 399 events, 59261.32 avg, min 2105us max 201645us 59485.516us rms manual_control: cycle: 399 events, 14752us elapsed, 36.97us avg, min 17us max 2317us 334.472us rms rc_update: valid data interval: 1035 events, 22941.56 avg, min 21657us max 52874us 2160.663us rms rc_update: cycle interval: 1035 events, 22941.56 avg, min 21657us max 52391us 2156.895us rms rc_update: cycle: 1035 events, 47766us elapsed, 46.15us avg, min 23us max 2155us 474.505us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 7 events, 2892us elapsed, 413.14us avg, min 136us max 1803us 629.826us rms px4io: interface read: 6294 events, 2537682us elapsed, 403.19us avg, min 148us max 3799us 1548.422us rms px4io: interval: 1034 events, 22939.97 avg, min 21655us max 40228us 2056.351us rms px4io: cycle: 1034 events, 2690442us elapsed, 2601.97us avg, min 1645us max 20220us 7663.645us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6301 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6301 events, 2451805us elapsed, 389.11us avg, min 128us max 3792us 1526.884us rms rgbled: led_control message missed: 0 events load_mon: cycle: 48 events, 10417us elapsed, 217.02us avg, min 126us max 1323us 1333.586us 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: 39 events, 1121us elapsed, 28.74us avg, min 1us max 192us 63.706us rms param: get: 4824 events param: find: 5744 events param: export: 1 events, 14711us elapsed, 14711.00us avg, min 14711us max 14711us infus rms