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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:27 |
| Dropouts: | 15 (8 s) |
| Vehicle Life Flight Time: | 16 minutes 43 seconds |
| Vehicle UUID: | 000600000000333838393032511900390025 |
| Distance: | 38.6 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.7 km/h |
| Max Speed: | 48.4 km/h |
| Max Speed Horizontal: | 48.4 km/h |
| Max Speed Up: | 9.2 km/h |
| Max Speed Down: | 12.2 km/h |
| Max Tilt Angle: | 94.3 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS 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 22:39:33 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000333838393032511900390025 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3921 bytes, decoded 3921 bytes (INT32:86, FLOAT:102) 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/2100_standard_plane INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm45686 #0 on SPI bus 4 rotation 10 icm45686 #1 on SPI bus 4 rotation 6 icm45686 #2 on SPI bus 1 rotation 3 ak09916 #0 on I2C bus 4 address 0xC rotation 13 ms5611 #1 on SPI bus 1 ms4525do #0 on I2C bus 2 address 0x28 hmc5883 #0 on I2C bus 1 address 0x1E WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3407906 ekf2 [782:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: OSD, data rate: 2880 B/s on /dev/ttyS1 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) WARN [logger] Too many subscriptions, failed to add: vehicle_trajectory_waypoint_desired 0 WARN [logger] Too many subscriptions, failed to add: sensor_gyro_fifo 0 WARN [logger] Too many subscriptions, failed to add: sensor_accel_fifo 0 WARN [logger] Too many subscriptions, failed to add: mavlink_tunnel 0 INFO [logger] Logging FIFO data: increasing task prio and logging rate NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 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/2025-07-13/14_26_33.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-13/14_26_33.ulg INFO [MulticopterThrowLaunch] Throw detected, motors will start once falling INFO [MulticopterThrowLaunch] Throw and fall detected, starting motors
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 40120 37.896 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.044 1444/ 1896 205 (205) w:sem 1 1271 log_writer_file 15 1.507 612/ 1144 60 ( 60) READY 4 406 wq:hp_default 8 0.874 1112/ 2776 237 (237) w:sem 1 424 dataman 0 0.001 868/ 1376 90 ( 90) w:sem 5 491 wq:SPI1 44 4.455 1836/ 2368 253 (253) w:sem 1 477 wq:SPI4 46 4.635 1816/ 2368 250 (250) w:sem 1 478 wq:rate_ctrl 44 4.413 2764/ 3120 255 (255) w:sem 1 495 wq:I2C4 1 0.140 904/ 2312 243 (243) w:sem 1 602 wq:I2C2 4 0.421 948/ 2312 245 (245) w:sem 1 668 wq:I2C1 5 0.536 904/ 2312 246 (246) w:sem 1 761 wq:nav_and_controllers 43 4.389 1244/ 2216 242 (242) w:sem 1 763 wq:INS0 72 7.265 3660/ 5976 241 (241) w:sem 1 767 wq:INS1 68 6.842 3660/ 5976 240 (240) w:sem 1 774 wq:INS2 71 7.096 3660/ 5976 239 (239) w:sem 1 777 commander 6 0.663 1656/ 3192 140 (140) READY 5 814 mavlink_if0 6 0.627 1820/ 2768 100 (100) READY 5 816 mavlink_rcv_if0 2 0.230 1324/ 4776 175 (175) w:sem 5 938 gps 1 0.125 1188/ 1936 205 (205) w:sem 4 1031 mavlink_if1 12 1.230 1932/ 2704 100 (100) READY 5 1036 mavlink_rcv_if1 2 0.239 1324/ 4776 175 (175) w:sem 5 1073 mavlink_if2 10 1.032 1916/ 2712 100 (100) READY 5 1074 mavlink_rcv_if2 1 0.191 1324/ 4776 175 (175) READY 5 1139 navigator 0 0.086 1604/ 2104 105 (105) w:sem 11 1268 logger 137 13.709 3100/ 3616 236 (236) RUN 4 Processes: 28 total, 8 running, 20 sleeping CPU usage: 60.76% tasks, 1.35% sched, 37.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 78.948s total, 40.120s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 389us elapsed, 389.00us avg, min 389us max 389us infus rms 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, 147964us elapsed, 147964.00us avg, min 147964us max 147964us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 30us elapsed, 30.00us avg, min 30us max 30us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 54us elapsed, 54.00us avg, min 54us max 54us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 81 events, 14169us elapsed, 174.93us avg, min 31us max 2858us 441.004us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3859 events, 20033.84 avg, min 63us max 179313us 2701.015us rms DatamanClient: sync: 1 events, 12430us elapsed, 12430.00us avg, min 12430us max 12430us nanus rms navigator: 1609 events, 55984us elapsed, 34.79us avg, min 14us max 15608us 391.827us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15456 events, 5012.89 avg, min 4145us max 119873us 1005.235us rms mavlink: tx run elapsed: 15456 events, 883273us elapsed, 57.15us avg, min 35us max 115218us 927.409us rms DatamanClient: sync: 1 events, 32us elapsed, 32.00us avg, min 32us max 32us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7731 events, 10023.37 avg, min 9316us max 115494us 1307.565us rms mavlink: tx run elapsed: 7731 events, 948875us elapsed, 122.74us avg, min 89us max 3855us 53.236us rms DatamanClient: sync: 1 events, 32us elapsed, 32.00us avg, min 32us max 32us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15476 events, 5013.42 avg, min 4095us max 120249us 1008.518us rms mavlink: tx run elapsed: 15476 events, 434433us elapsed, 28.07us avg, min 22us max 277us 13.067us rms DatamanClient: sync: 4 events, 4835us elapsed, 1208.75us avg, min 65us max 4231us 2018.874us rms mag_bias_estimator: cycle: 3863 events, 81078us elapsed, 20.99us avg, min 1us max 224us 5.567us rms land_detector: cycle: 7762 events, 58834us elapsed, 7.58us avg, min 6us max 188us 3.490us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms airspeed_selector: elapsed: 762 events, 13300us elapsed, 17.45us avg, min 15us max 79us 3.344us rms fw_pos_control: cycle: 3882 events, 71581us elapsed, 18.44us avg, min 10us max 148us 5.949us rms fw_att_control: cycle: 13943 events, 316204us elapsed, 22.68us avg, min 19us max 439us 11.631us rms fw_rate_control: cycle: 30973 events, 2036873us elapsed, 65.76us avg, min 22us max 174us 6.349us rms control_allocator: cycle: 61867 events, 976408us elapsed, 15.78us avg, min 7us max 90us 5.138us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7764 events, 9209392us elapsed, 1186.17us avg, min 125us max 2873us 635.924us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7766 events, 2128559us elapsed, 274.09us avg, min 124us max 953us 124.109us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 7767 events, 2166885us elapsed, 278.99us avg, min 123us max 850us 125.970us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7768 events, 4366336us elapsed, 562.09us avg, min 121us max 3868us 286.778us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7768 events, 2114312us elapsed, 272.18us avg, min 120us max 838us 124.115us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7769 events, 2757880us elapsed, 354.99us avg, min 121us max 906us 131.603us rms pwm_out: interval: 260 events, 297692.54 avg, min 112us max 300049us 18598.111us rms pwm_out: cycle: 260 events, 1373us elapsed, 5.28us avg, min 3us max 61us 6.765us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 751 events, 208759us elapsed, 277.97us avg, min 187us max 1909us 142.738us rms commander: cycle: 6918 events, 2512476us elapsed, 363.18us avg, min 36us max 4031us 593.173us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 9804 events, 290038us elapsed, 29.58us avg, min 16us max 779us 17.960us rms vehicle_gps_position: cycle: 379 events, 12165us elapsed, 32.10us avg, min 2us max 142us 41.463us rms vehicle_air_data: cycle: 5806 events, 132794us elapsed, 22.87us avg, min 13us max 240us 13.427us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 31004 events, 588733us elapsed, 18.99us avg, min 15us max 60us 1.049us rms sensors: 15540 events, 608246us elapsed, 39.14us avg, min 25us max 2749us 49.182us rms battery_status: 7769 events, 117275us elapsed, 15.10us avg, min 13us max 109us 5.854us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 9804 events, 9209361us elapsed, 939.35us avg, min 884us max 1876us 150.319us rms ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 5893 events, 5670873us elapsed, 962.31us avg, min 954us max 1062us 16.724us rms ms5611: com_err: 0 events ms5611: measure: 7754 events, 31411us elapsed, 4.05us avg, min 3us max 53us 1.744us rms ms5611: read: 7753 events, 109842us elapsed, 14.17us avg, min 11us max 83us 3.182us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 1 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 7750 events, 39071us elapsed, 5.04us avg, min 4us max 101us 7.010us rms ms5611: read: 7749 events, 142212us elapsed, 18.35us avg, min 12us max 115us 9.145us rms board_adc: sample: 54460 events, 151184us elapsed, 2.78us avg, min 2us max 3710us 16.109us rms manual_control: interval: 2285 events, 34054.38 avg, min 14547us max 200522us 23999.484us rms manual_control: cycle: 2285 events, 29248us elapsed, 12.80us avg, min 11us max 257us 7.654us rms rc_update: valid data interval: 3604 events, 21549.07 avg, min 14455us max 42518us 2110.032us rms rc_update: cycle interval: 3609 events, 21559.56 avg, min 14454us max 54764us 2181.400us rms rc_update: cycle: 3609 events, 52907us elapsed, 14.66us avg, min 8us max 134us 5.301us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 31003 events, 7200616us elapsed, 232.26us avg, min 120us max 281us 5.003us rms px4io: interface read: 17603 events, 4511975us elapsed, 256.32us avg, min 135us max 587us 161.267us rms px4io: interval: 30984 events, 2512.16 avg, min 267us max 50092us 493.299us rms px4io: cycle: 30984 events, 12313188us elapsed, 397.40us avg, min 89us max 10154us 487.678us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 48606 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 48606 events, 11506827us elapsed, 236.74us avg, min 117us max 584us 97.706us rms load_mon: cycle: 156 events, 20105us elapsed, 128.88us avg, min 2us max 307us 28.124us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 86 events, 21984us elapsed, 255.63us avg, min 6us max 4198us 736.952us rms dma_alloc: 5 events param: set: 188 events, 4463us elapsed, 23.74us avg, min 5us max 50us 11.321us rms param: get: 23249 events param: find: 28799 events param: export: 1 events, 30619us elapsed, 30619.00us avg, min 30619us max 30619us infus rms