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PX4 Quadrotor | Open PID Analysis |
Offboard Flight with VICON
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4FMU_V2 (V2) |
| Software Version: | f3fb8574 |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:08 |
| Dropouts: | 55 (4.24 s) |
| Vehicle Life Flight Time: | 1 hours 43 minutes 27 seconds |
| Vehicle UUID: | 0024003C3135510E35333436 (Icarus) |
| Wind Speed: | Calm |
| Flight Rating: | Great! |
| Feedback: | Hover at 1.5 meters |
| Distance: | 4.5 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 4.8 km/h |
| Max Speed Horizontal: | 1.8 km/h |
| Max Speed Up: | 4.8 km/h |
| Max Speed Down: | 2.9 km/h |
| Max Tilt Angle: | 3.8 deg |
| Max Rotation Speed: | 61.7 deg/s |
| Average Current: | 10.0 A |
| Max Current: | 34.5 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 74071 51.948 504/ 748 0 ( 0) READY 3 1 hpwork 4218 3.696 800/ 1780 249 (249) w:sig 17 2 lpwork 418 0.099 728/ 1780 50 ( 50) w:sig 10 3 init 8180 0.000 1760/ 2484 100 (100) w:sem 3 90 dataman 335 0.000 728/ 1180 90 ( 90) w:sem 4 94 gps 345 0.099 1080/ 1580 220 (220) w:sem 5 144 sensors 8826 4.995 1368/ 1964 249 (249) w:sem 16 146 commander 1186 0.899 2240/ 3212 140 (140) w:sig 28 147 commander_low_prio 4 0.000 648/ 2996 50 ( 50) w:sem 28 155 px4io 3936 3.196 992/ 1484 251 (251) w:sem 11 168 mavlink_if0 2846 2.397 1664/ 2428 100 (100) w:sig 32 169 mavlink_rcv_if0 523 0.499 1408/ 2836 175 (175) w:sem 32 199 mavlink_if1 7482 5.694 1744/ 2396 100 (100) READY 32 202 mavlink_rcv_if1 2115 2.497 1680/ 2836 175 (175) READY 32 324 log_writer_file 21 1.298 544/ 1068 60 ( 60) w:sem 37 277 ekf2 8693 9.890 5120/ 6572 250 (250) w:sem 19 279 mc_att_control 3636 3.196 888/ 1660 251 (251) w:sem 16 281 mc_pos_control 1862 2.697 1000/ 1876 250 (250) w:sem 12 287 navigator 111 0.199 840/ 1764 105 (105) w:sem 15 317 logger 1583 5.694 3016/ 3540 245 (245) RUN 37 Processes: 20 total, 4 running, 16 sleeping, max FDs: 54 CPU usage: 47.05% tasks, 1.00% sched, 51.95% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 123.051s total, 74.071s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 108490 59.740 504/ 748 0 ( 0) READY 3 1 hpwork 6649 4.295 800/ 1780 249 (249) w:sig 17 2 lpwork 564 3.796 944/ 1780 50 ( 50) w:sig 10 3 init 8180 0.000 1760/ 2484 100 (100) w:sem 3 90 dataman 335 0.000 728/ 1180 90 ( 90) w:sem 4 94 gps 530 0.199 1088/ 1580 220 (220) w:sem 5 144 sensors 12242 6.393 1368/ 1964 249 (249) w:sem 16 146 commander 1853 1.098 2240/ 3212 140 (140) w:sig 28 147 commander_low_prio 7 0.000 648/ 2996 50 ( 50) w:sem 28 155 px4io 6121 3.796 992/ 1484 251 (251) w:sem 11 168 mavlink_if0 4289 2.597 1744/ 2428 100 (100) w:sig 33 169 mavlink_rcv_if0 815 0.499 1408/ 2836 175 (175) READY 33 199 mavlink_if1 11212 6.493 1744/ 2396 100 (100) READY 33 202 mavlink_rcv_if1 3612 2.397 1680/ 2836 175 (175) READY 33 324 log_writer_file 811 1.098 560/ 1068 60 ( 60) READY 38 277 ekf2 15437 11.688 5120/ 6572 250 (250) w:sem 19 279 mc_att_control 5784 3.796 888/ 1660 251 (251) w:sem 16 281 mc_pos_control 3960 3.096 1000/ 1876 250 (250) w:sem 12 287 navigator 218 0.199 840/ 1764 105 (105) w:sem 15 317 logger 5214 5.594 3016/ 3540 245 (245) RUN 38 Processes: 20 total, 6 running, 14 sleeping, max FDs: 54 CPU usage: 40.26% tasks, 0.00% sched, 59.74% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 189.803s total, 108.384s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 497634us elapsed, 165878us avg, min 14us max 435581us 235619.516us rms navigator: 1296 events, 62245us elapsed, 48us avg, min 27us max 2201us 131.109us rms land_detector_cycle: 5796 events, 213033us elapsed, 36us avg, min 22us max 1212us 25.760us rms mc_att_control: 29659 events, 2647233us elapsed, 89us avg, min 19us max 407us 20.884us rms ctl_lat: 5384 events, 145843us elapsed, 27us avg, min 18us max 301us 17.200us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 23 events mavlink_el: 36960 events, 9840193us elapsed, 266us avg, min 66us max 3566us 327.065us rms mavlink_txe: 808 events mavlink_el: 11794 events, 3103917us elapsed, 263us avg, min 71us max 7349us 296.422us rms io latency: 29558 events, 6159419us elapsed, 208us avg, min 164us max 510us 30.750us rms io write: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms io update: 29604 events, 17396383us elapsed, 587us avg, min 265us max 17271us 600.319us rms io_txns: 54645 events, 16012568us elapsed, 293us avg, min 131us max 741us 104.885us rms stack_check: 371 events, 8513us elapsed, 22us avg, min 1us max 667us 48.165us rms sensors: 29858 events, 16896412us elapsed, 565us avg, min 76us max 2365us 330.194us rms lsm303d_acc_dupe: 21408 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 11977 events, 291414us elapsed, 24us avg, min 24us max 26us 0.472us rms lsm303d_acc_read: 114060 events, 3731083us elapsed, 32us avg, min 21us max 39us 5.626us rms l3gd20_dupe: 79952 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 167512 events, 4970310us elapsed, 29us avg, min 22us max 40us 6.911us rms ctrl_latency: 29590 events, 4078920us elapsed, 137us avg, min 98us max 352us 27.955us rms mpu6k_duplicates: 30194 events mpu6k_reset: 0 events mpu6k_good_trans: 119518 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 149712 events, 8353162us elapsed, 55us avg, min 33us max 81us 13.683us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 9 events adc_samples: 119720 events, 329634us elapsed, 2us avg, min 2us max 4us 0.431us rms ms5611_com_err: 0 events ms5611_measure: 10964 events, 99217us elapsed, 9us avg, min 6us max 333us 14.878us rms ms5611_read: 10963 events, 890023us elapsed, 81us avg, min 11us max 516us 57.475us rms dma_alloc: 4 events param_set: 139 events, 8357us elapsed, 60us avg, min 5us max 112us 31.004us rms param_get: 3579 events, 29774us elapsed, 8us avg, min 4us max 894us 29.796us rms param_find: 1997 events, 18012us elapsed, 9us avg, min 2us max 651us 23.354us rms param_export: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 10 events, 238021us elapsed, 23802us avg, min 8894us max 129938us 37377.805us rms logger_sd_write: 998 events, 27787677us elapsed, 27843us avg, min 9us max 396564us 50970.660us rms navigator: 1358 events, 50185us elapsed, 36us avg, min 27us max 1393us 148.001us rms land_detector_cycle: 3301 events, 165068us elapsed, 50us avg, min 33us max 236us 40.589us rms mc_att_control: 16954 events, 1634642us elapsed, 96us avg, min 79us max 246us 34.461us rms ctl_lat: 3077 events, 88979us elapsed, 28us avg, min 22us max 353us 29.824us 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: 20018 events, 5713384us elapsed, 285us avg, min 104us max 7512us 596.328us rms mavlink_txe: 0 events mavlink_el: 6663 events, 1781571us elapsed, 267us avg, min 104us max 3032us 495.205us rms io latency: 16954 events, 3664751us elapsed, 216us avg, min 173us max 423us 50.856us rms