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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | MICOAIR_H743_V2 |
| Software Version: | 33bdd21f branch: micoair743-v1.14.3 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:12 |
| Dropouts: | 250 (1.75 s) |
| Vehicle Life Flight Time: | 1 hours 11 minutes 3 seconds |
| Vehicle UUID: | 000600000000353539363333511000250029 |
| Max Altitude Difference: | 1 m |
| Max Tilt Angle: | 13.1 deg |
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Console Output
HW arch: MICOAIR_H743_V2 PX4 git-hash: 33bdd21f40d044e2524ea4c522fbf3c2418ea64a PX4 version: 1.14.3 0 (17695488) PX4 git-branch: micoair743-v1.14.3 OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Dec 18 2024 16:37:12 Build uri: localhost Build variant: default Toolchain: GNU GCC, 10.2.1 20201103 (release) PX4GUID: 000600000000353539363333511000250029 MCU: STM32H7[4|5]xxx, rev. V 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 62560 bytes Board sensors: /etc/init.d/rc.board_sensors bmi088_accel #0 on SPI bus 2 rotation 6 bmi088_gyro #0 on SPI bus 2 rotation 6 bmi270 #0 on SPI bus 3 spl06 #0 on I2C bus 2 address 0x77 ERROR [SPI_I2C] qmc5883l: no instance started (no device on bus?) ekf2 [530:237] Starting Main GPS on /dev/ttyS2 Starting CRSF RC Input Driver on /dev/ttyS6 INFO [crsf_rc] Crsf serial opened sucessfully Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 115200B Starting MAVLink on /dev/ttyS7 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS7 @ 115200B Board extras: /etc/init.d/rc.board_extras INFO [rc_input] RC scan: CRSF RC input locked INFO [logger] logger started (mode=all) INFO [logger] Logging FIFO data: increasing task prio and logging rate NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess100/log100.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess100/log100.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 8666 58.538 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 648/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 3 285 wq:hp_default 20 2.082 1124/ 1872 237 (237) w:sem 3 295 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 303 wq:lp_default 0 0.027 1036/ 1896 205 (205) w:sem 3 326 wq:SPI2 35 3.574 1368/ 2368 252 (252) w:sem 3 330 wq:SPI3 88 8.811 1568/ 2368 251 (251) w:sem 3 332 wq:I2C2 0 0.071 816/ 2312 245 (245) w:sem 3 505 wq:nav_and_controllers 18 1.837 1268/ 2216 242 (242) w:sem 3 507 wq:rate_ctrl 38 3.869 2320/ 3120 255 (255) w:sem 3 510 wq:INS0 24 2.433 4428/ 5976 241 (241) w:sem 3 517 wq:INS1 31 3.170 4428/ 5976 240 (240) w:sem 3 521 commander 4 0.434 1320/ 3192 140 (140) w:sig 5 949 log_writer_file 19 1.927 604/ 1144 60 ( 60) READY 4 602 gps 0 0.024 1164/ 1936 205 (205) w:sem 4 651 wq:ttyS6 0 0.021 1072/ 1704 228 (228) w:sem 3 735 mavlink_if0 9 0.981 1844/ 2704 100 (100) w:sig 4 744 mavlink_rcv_if0 1 0.171 1108/ 4592 175 (175) w:sem 4 796 mavlink_if1 31 3.193 1860/ 2712 100 (100) w:sig 4 813 mavlink_rcv_if1 1 0.151 1108/ 4592 175 (175) w:sem 4 846 wq:ttyS5 5 0.577 924/ 1704 229 (229) w:sem 3 852 navigator 0 0.052 1020/ 1896 105 (105) w:sem 6 947 logger 67 6.787 2892/ 3616 236 (236) RUN 4 Processes: 25 total, 3 running, 22 sleeping CPU usage: 40.20% tasks, 1.26% sched, 58.54% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 13.025s total, 8.667s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 15696 57.923 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 11 1.115 964/ 1576 50 ( 50) READY 1 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 3 285 wq:hp_default 20 2.088 1252/ 1872 237 (237) w:sem 3 295 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 303 wq:lp_default 0 0.047 1036/ 1896 205 (205) w:sem 3 326 wq:SPI2 35 3.600 1368/ 2368 252 (252) w:sem 3 330 wq:SPI3 88 8.835 1568/ 2368 251 (251) w:sem 3 332 wq:I2C2 0 0.072 816/ 2312 245 (245) w:sem 3 505 wq:nav_and_controllers 18 1.865 1268/ 2216 242 (242) w:sem 3 507 wq:rate_ctrl 38 3.809 2320/ 3120 255 (255) w:sem 3 510 wq:INS0 24 2.432 4428/ 5976 241 (241) w:sem 3 517 wq:INS1 31 3.167 4428/ 5976 240 (240) w:sem 3 521 commander 3 0.388 1320/ 3192 140 (140) w:sig 5 949 log_writer_file 21 2.165 604/ 1144 60 ( 60) w:sem 4 602 gps 0 0.031 1204/ 1936 205 (205) w:sem 4 651 wq:ttyS6 0 0.020 1072/ 1704 228 (228) w:sem 3 735 mavlink_if0 9 0.996 1844/ 2704 100 (100) w:sig 4 744 mavlink_rcv_if0 1 0.177 1108/ 4592 175 (175) w:sem 4 796 mavlink_if1 33 3.322 1860/ 2712 100 (100) w:sig 4 813 mavlink_rcv_if1 1 0.160 1108/ 4592 175 (175) w:sem 4 846 wq:ttyS5 5 0.592 924/ 1704 229 (229) READY 3 852 navigator 0 0.050 1020/ 1896 105 (105) w:sem 6 947 logger 58 5.845 2940/ 3616 236 (236) RUN 4 Processes: 25 total, 4 running, 21 sleeping CPU usage: 40.78% tasks, 1.30% sched, 57.92% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 24.608s total, 15.696s idle
Performance Counters
Pre Flight:
ekf2: vehicle_air_data messages missed: 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 587 events, 19931.83 avg, min 56us max 20479us 828.288us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 543 events, 93960us elapsed, 173.04us avg, min 136us max 437us 51.962us rms gyro_fft: cycle interval: 3928 events, 3005.83 avg, min 1994us max 4648us 218.313us rms gyro_fft: cycle: 3928 events, 120570us elapsed, 30.70us avg, min 5us max 444us 64.094us rms navigator: 249 events, 3049us elapsed, 12.24us avg, min 8us max 124us 12.667us rms rc_input: publish interval: 2825 events, 4171.30 avg, min 2272us max 9469us 823.434us rms rc_input: cycle time: 2947 events, 48609us elapsed, 16.49us avg, min 4us max 857us 33.204us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3929 events, 3002.19 avg, min 2309us max 7282us 162.503us rms mavlink: tx run elapsed: 3929 events, 523049us elapsed, 133.13us avg, min 60us max 4524us 109.059us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1180 events, 9998.85 avg, min 9142us max 14281us 181.296us rms mavlink: tx run elapsed: 1180 events, 138269us elapsed, 117.18us avg, min 65us max 617us 73.573us rms crsf_rc: publish interval: 112 events, 104061.89 avg, min 104492us max 105508us 106.179us rms crsf_rc: cycle interval: 112 events, 104062.50 avg, min 104492us max 105508us 106.542us rms mag_bias_estimator: cycle: 590 events, 1795us elapsed, 3.04us avg, min 2us max 75us 5.598us rms land_detector: cycle: 1122 events, 11114us elapsed, 9.91us avg, min 8us max 118us 6.273us rms mc_pos_control: cycle time: 1123 events, 9840us elapsed, 8.76us avg, min 4us max 178us 10.632us rms flight_mode_manager: cycle: 596 events, 27766us elapsed, 46.59us avg, min 3us max 536us 119.208us rms mc_hover_thrust_estimator: cycle time: 1122 events, 1160us elapsed, 1.03us avg, min 0us max 45us 1.679us 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: 2001 events, 33839us elapsed, 16.91us avg, min 8us max 179us 8.569us rms mc_rate_control: cycle: 8006 events, 62080us elapsed, 7.75us avg, min 6us max 75us 1.356us rms control_allocator: cycle: 8006 events, 146819us elapsed, 18.34us avg, min 16us max 141us 2.731us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1187 events, 119822us elapsed, 100.95us avg, min 64us max 597us 61.918us rms ekf2: ECL update: 1188 events, 286us elapsed, 0.24us avg, min 0us max 44us 1.445us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 1136 events, 105519us elapsed, 92.89us avg, min 64us max 273us 37.332us rms ekf2: ECL update: 1137 events, 258us elapsed, 0.22us avg, min 1us max 43us 1.343us rms pwm_out: interval: 42 events, 285715.57 avg, min 110us max 300409us 46260.234us rms pwm_out: cycle: 42 events, 228us elapsed, 5.43us avg, min 2us max 51us 8.088us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 8008 events, 112655us elapsed, 14.07us avg, min 12us max 92us 1.373us rms control latency: 8007 events, 830559us elapsed, 103.73us avg, min 96us max 252us 6.122us rms commander: preflight check: 111 events, 18560us elapsed, 167.21us avg, min 97us max 743us 107.864us rms commander: cycle: 1094 events, 69717us elapsed, 63.73us avg, min 22us max 799us 83.565us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 2 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_gps_position: cycle: 41 events, 77us elapsed, 1.88us avg, min 1us max 2us 0.331us rms vehicle_air_data: cycle: 376 events, 6455us elapsed, 17.17us avg, min 10us max 127us 14.109us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 8017 events, 79144us elapsed, 9.87us avg, min 7us max 157us 1.883us rms sensors: 2276 events, 61910us elapsed, 27.20us avg, min 11us max 1652us 41.879us rms battery_status: 1206 events, 9968us elapsed, 8.27us avg, min 6us max 120us 8.303us rms spl06: comms errors: 0 events spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms spl06: sample: 377 events, 325712us elapsed, 863.96us avg, min 855us max 984us 17.571us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 1 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 1 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 1 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 3642 events, 51224us elapsed, 14.06us avg, min 6us max 13883us 231.150us rms manual_control: interval: 1856 events, 6542.50 avg, min 3393us max 200063us 10829.677us rms manual_control: cycle: 1856 events, 22025us elapsed, 11.87us avg, min 8us max 319us 14.718us rms rc_update: valid data interval: 2833 events, 4176.49 avg, min 46us max 23989us 903.379us rms rc_update: cycle interval: 2859 events, 4177.65 avg, min 47us max 23989us 907.288us rms rc_update: cycle: 2859 events, 56125us elapsed, 19.63us avg, min 8us max 499us 31.732us rms load_mon: cycle: 25 events, 2263us elapsed, 90.52us avg, min 1us max 413us 77.463us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 21082us elapsed, 4216.40us avg, min 21us max 20274us 8978.148us rms dma_alloc: 4 events param: set: 100 events, 1204us elapsed, 12.04us avg, min 1us max 22us 5.808us rms param: get: 12177 events param: find: 2940 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_air_data messages missed: 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: 22 events, 103233us elapsed, 4692.41us avg, min 4381us max 4953us 160.592us rms logger_sd_write: 198 events, 12171480us elapsed, 61472.12us avg, min 5us max 413607us 35043.520us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us infus rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 576 events, 105027us elapsed, 182.34us avg, min 137us max 441us 73.402us rms gyro_fft: cycle interval: 4106 events, 3005.56 avg, min 2416us max 3646us 198.110us rms gyro_fft: cycle: 4106 events, 134008us elapsed, 32.64us avg, min 5us max 448us 92.677us rms navigator: 260 events, 2873us elapsed, 11.05us avg, min 8us max 83us 15.421us rms rc_input: publish interval: 2961 events, 4164.61 avg, min 3410us max 12197us 828.771us rms rc_input: cycle time: 3084 events, 49792us elapsed, 16.15us avg, min 4us max 463us 40.620us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4112 events, 2999.28 avg, min 2251us max 3707us 154.342us rms mavlink: tx run elapsed: 4112 events, 604711us elapsed, 147.06us avg, min 77us max 934us 145.960us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1234 events, 9991.28 avg, min 9183us max 10687us 152.599us rms mavlink: tx run elapsed: 1234 events, 212846us elapsed, 172.48us avg, min 80us max 936us 132.064us rms crsf_rc: publish interval: 117 events, 104102.57 avg, min 104675us max 105322us 82.755us rms crsf_rc: cycle interval: 117 events, 104102.56 avg, min 104675us max 105322us 80.700us rms mag_bias_estimator: cycle: 31 events, 92us elapsed, 2.97us avg, min 1us max 20us 25.011us rms land_detector: cycle: 1162 events, 11443us elapsed, 9.85us avg, min 8us max 64us 8.592us rms mc_pos_control: cycle time: 1162 events, 5845us elapsed, 5.03us avg, min 4us max 55us 11.198us rms flight_mode_manager: cycle: 617 events, 2578us elapsed, 4.18us avg, min 3us max 51us 117.274us rms mc_hover_thrust_estimator: cycle time: 1162 events, 1014us elapsed, 0.87us avg, min 1us max 44us 2.208us 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: 2324 events, 42430us elapsed, 18.26us avg, min 14us max 68us 11.137us rms mc_rate_control: cycle: 8211 events, 68506us elapsed, 8.34us avg, min 6us max 17us 1.662us rms control_allocator: cycle: 8211 events, 152369us elapsed, 18.56us avg, min 16us max 30us 3.567us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1232 events, 111588us elapsed, 90.57us avg, min 65us max 577us 72.045us rms ekf2: ECL update: 1232 events, 200us elapsed, 0.16us avg, min 1us max 4us 1.470us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 1163 events, 98429us elapsed, 84.63us avg, min 65us max 228us 45.709us rms ekf2: ECL update: 1162 events, 196us elapsed, 0.16us avg, min 0us max 4us 1.385us rms pwm_out: interval: 41 events, 292680.71 avg, min 299585us max 300345us 116.218us rms pwm_out: cycle: 41 events, 215us elapsed, 5.24us avg, min 2us max 58us 12.194us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 8212 events, 122635us elapsed, 14.93us avg, min 13us max 23us 1.801us rms control latency: 8212 events, 874717us elapsed, 106.52us avg, min 99us max 187us 8.508us rms commander: preflight check: 112 events, 16293us elapsed, 145.47us avg, min 98us max 597us 136.632us rms commander: cycle: 1122 events, 66822us elapsed, 59.56us avg, min 24us max 627us 105.405us 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_gps_position: cycle: 41 events, 87us elapsed, 2.12us avg, min 2us max 4us 0.519us rms vehicle_air_data: cycle: 384 events, 6749us elapsed, 17.58us avg, min 10us max 132us 20.742us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 8212 events, 81936us elapsed, 9.98us avg, min 9us max 17us 2.088us rms sensors: 2325 events, 59742us elapsed, 25.70us avg, min 17us max 89us 42.606us rms battery_status: 1235 events, 11345us elapsed, 9.19us avg, min 6us max 441us 21.384us rms spl06: comms errors: 0 events spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms spl06: sample: 384 events, 332420us elapsed, 865.68us avg, min 856us max 1001us 26.675us rms bmi270: DRDY missed: 0 events bmi270: FIFO reset: 0 events bmi270: FIFO overflow: 0 events bmi270: FIFO empty: 0 events bmi270: bad transfer: 0 events bmi270: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: DRDY missed: 0 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events board_adc: sample: 3705 events, 36027us elapsed, 9.72us avg, min 6us max 460us 229.817us rms manual_control: interval: 2599 events, 4743.14 avg, min 3409us max 35957us 2269.446us rms manual_control: cycle: 2599 events, 30444us elapsed, 11.71us avg, min 8us max 492us 23.984us rms rc_update: valid data interval: 2961 events, 4164.61 avg, min 3409us max 12197us 830.691us rms rc_update: cycle interval: 2961 events, 4164.61 avg, min 3409us max 12197us 828.863us rms rc_update: cycle: 2961 events, 57589us elapsed, 19.45us avg, min 11us max 485us 41.874us rms load_mon: cycle: 25 events, 2274us elapsed, 90.96us avg, min 51us max 378us 108.520us 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 dma_alloc: 2 events param: set: 3 events, 7us elapsed, 2.33us avg, min 2us max 3us 40.869us rms param: get: 713 events param: find: 1385 events param: export: 1 events, 17114us elapsed, 17114.00us avg, min 17114us max 17114us nanus rms