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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
Airframe: | Generic Standard VTOL Standard VTOL (13000) |
Hardware: | CUBEPILOT_CUBEORANGE |
Software Version: | v1.14.0 (b8c541dd) |
OS Version: | NuttX, v11.0.0 |
Estimator: | EKF2 |
Logging Start : | |
Logging Duration: | 0:03:11 |
Dropouts: | 7 (2.65 s) |
Vehicle Life Flight Time: | 29 minutes 17 seconds |
Vehicle UUID: | 0006000000003132343233325119004d003e |
Distance: | 2.71 km |
Max Altitude Difference: | 64 m |
Average Speed MC: | 4.2 km/h |
Average Speed FW: | 85.4 km/h |
Max Speed: | 110.4 km/h |
Max Speed Horizontal: | 110.4 km/h |
Max Speed Up: | 13.0 km/h |
Max Speed Down: | 10.3 km/h |
Max Tilt Angle: | 45.2 deg |
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Console Output
[dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 ms4525do #0 on I2C bus 2 address 0x28 ekf2 [651:237] 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 INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_15_01.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_15_01.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 403472 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_15_09.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_15_09.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 207659 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_15_13.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_15_13.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 206926 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_15_26.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_15_26.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 212296 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_15_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_15_58.ulg INFO [commander] Kill-switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill-switch disengaged INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 1161528 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_16_24.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_16_24.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 2610900 INFO [commander] Armed by external command WARN [navigator] Using minimum takeoff altitude: 20.00 m INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_23_53.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_23_53.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 2651920 INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-03-04/07_29_56.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-03-04/07_29_56.ulg INFO [navigator] Takeoff to 40.0 meters above home
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 685009 0.061 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 624 0.070 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 1 1003 log_writer_file 673 0.075 668/ 1144 60 ( 60) w:sem 4 334 wq:hp_default 42108 4.742 1196/ 1872 237 (237) w:sem 1 349 dataman 96 0.010 852/ 1280 90 ( 90) w:sem 4 357 wq:lp_default 2181 0.245 1028/ 1896 205 (205) w:sem 1 391 wq:ttyS3 16981 1.912 1132/ 1704 231 (231) w:sem 1 409 wq:SPI4 45346 5.107 1640/ 2368 250 (250) w:sem 1 415 wq:SPI1 20430 2.301 1576/ 2368 253 (253) w:sem 1 504 wq:I2C2 3819 0.430 840/ 2312 245 (245) w:sem 1 630 wq:nav_and_controllers 41094 4.628 1444/ 2216 242 (242) w:sem 1 634 wq:rate_ctrl 43344 4.881 2548/ 3120 255 (255) w:sem 1 635 wq:INS0 28548 3.215 4316/ 5976 241 (241) w:sem 1 636 wq:INS1 27419 3.088 4316/ 5976 240 (240) w:sem 1 638 wq:INS2 27562 3.104 4316/ 5976 239 (239) w:sem 1 648 commander 5892 0.663 1464/ 3192 140 (140) w:sig 5 689 mavlink_if0 6246 0.703 1900/ 2768 100 (100) w:sig 4 690 mavlink_rcv_if0 2095 0.236 1324/ 4616 175 (175) w:sem 4 781 gps 311 0.035 1236/ 1936 205 (205) READY 4 852 mavlink_if1 11112 1.251 1900/ 2704 100 (100) w:sig 4 853 mavlink_rcv_if1 2098 0.236 1324/ 4616 175 (175) w:sem 4 911 navigator 804 0.090 1484/ 1896 105 (105) w:sem 6 1001 logger 4279 0.482 2972/ 3616 230 (230) RUN 4 1011 wq:uavcan 14373 1.619 3140/ 3600 236 (236) w:sem 1 Processes: 26 total, 3 running, 23 sleeping CPU usage: 39.13% tasks, 60.81% sched, 0.06% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1138.816s total, 685.009s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 793717 0.043 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 729 0.067 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 1 1003 log_writer_file 1575 0.146 668/ 1144 60 ( 60) w:sem 4 334 wq:hp_default 51403 4.767 1196/ 1872 237 (237) w:sem 1 349 dataman 119 0.011 852/ 1280 90 ( 90) w:sem 4 357 wq:lp_default 2251 0.208 1028/ 1896 205 (205) w:sem 1 391 wq:ttyS3 20648 1.915 1132/ 1704 231 (231) w:sem 1 409 wq:SPI4 55123 5.112 1640/ 2368 250 (250) w:sem 1 415 wq:SPI1 24822 2.302 1576/ 2368 253 (253) w:sem 1 504 wq:I2C2 4638 0.430 840/ 2312 245 (245) w:sem 1 630 wq:nav_and_controllers 49925 4.630 1444/ 2216 242 (242) w:sem 1 634 wq:rate_ctrl 52710 4.889 2548/ 3120 255 (255) w:sem 1 635 wq:INS0 35138 3.259 4316/ 5976 241 (241) w:sem 1 636 wq:INS1 33782 3.133 4316/ 5976 240 (240) w:sem 1 638 wq:INS2 33960 3.150 4316/ 5976 239 (239) w:sem 1 648 commander 7157 0.663 1464/ 3192 140 (140) w:sig 5 689 mavlink_if0 7589 0.703 1900/ 2768 100 (100) w:sig 4 690 mavlink_rcv_if0 2573 0.238 1508/ 4616 175 (175) w:sem 4 781 gps 378 0.035 1236/ 1936 205 (205) w:sem 4 852 mavlink_if1 13436 1.246 1900/ 2704 100 (100) w:sig 4 853 mavlink_rcv_if1 2577 0.239 1508/ 4616 175 (175) w:sem 4 911 navigator 988 0.091 1484/ 1896 105 (105) w:sem 6 1001 logger 7960 0.738 2972/ 3616 230 (230) RUN 4 1011 wq:uavcan 17393 1.613 3140/ 3600 236 (236) w:sem 1 Processes: 26 total, 2 running, 24 sleeping CPU usage: 39.59% tasks, 60.37% sched, 0.04% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1329.111s total, 793.717s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 168947 events, 2147.35 avg, min 15us max 4883us 1130.519us rms uavcan: cycle time: 168948 events, 7308909us elapsed, 43.26us avg, min 11us max 2063us 163.054us 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 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: 121 events, 1203913us elapsed, 9949.69us avg, min 2162us max 17278us 5497.064us rms logger_sd_write: 573 events, 11268089us elapsed, 19665.08us avg, min 6us max 780372us 100696.922us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 15147 events, 23291.87 avg, min 60us max 10000000us 181297.813us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 67853 events, 12570224us elapsed, 185.26us avg, min 161us max 1265us 84.216us rms gyro_fft: cycle interval: 72376 events, 5012.52 avg, min 3952us max 6245us 159.437us rms gyro_fft: cycle: 72376 events, 13606750us elapsed, 188.00us avg, min 10us max 1279us 117.005us rms navigator: 7628 events, 2080444us elapsed, 272.74us avg, min 10us max 673810us 23996.422us rms ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 36185 events, 10025.31 avg, min 9119us max 32510us 257.908us rms mavlink: tx run elapsed: 36185 events, 5474947us elapsed, 151.30us avg, min 101us max 1863us 170.938us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 72367 events, 5012.86 avg, min 4030us max 27842us 336.355us rms mavlink: tx run elapsed: 72367 events, 2521075us elapsed, 34.84us avg, min 22us max 1304us 75.205us rms mag_bias_estimator: cycle: 15540 events, 403687us elapsed, 25.98us avg, min 14us max 1172us 105.245us rms land_detector: cycle: 36188 events, 480050us elapsed, 13.27us avg, min 10us max 135us 13.107us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 18139 events, 450782us elapsed, 24.85us avg, min 17us max 156us 19.854us rms fw_att_control: cycle: 72377 events, 922991us elapsed, 12.75us avg, min 10us max 115us 8.840us rms fw_rate_control: cycle: 144753 events, 5179596us elapsed, 35.78us avg, min 30us max 162us 19.229us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 36188 events, 60473us elapsed, 1.67us avg, min 1us max 97us 3.964us rms mc_pos_control: cycle time: 36188 events, 1134025us elapsed, 31.34us avg, min 26us max 204us 21.763us rms flight_mode_manager: cycle: 18139 events, 776093us elapsed, 42.79us avg, min 36us max 217us 137.897us rms mc_att_control: cycle: 72377 events, 768760us elapsed, 10.62us avg, min 8us max 101us 10.367us rms mc_rate_control: cycle: 144753 events, 1474472us elapsed, 10.19us avg, min 8us max 20us 1.917us rms vtol_att_control: cycle: 144687 events, 3441075us elapsed, 23.78us avg, min 19us max 40us 3.774us rms airspeed_selector: elapsed: 3628 events, 65166us elapsed, 17.96us avg, min 14us max 216us 28.020us rms control_allocator: cycle: 144687 events, 5224481us elapsed, 36.11us avg, min 28us max 55us 9.432us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 37573 events, 6260813us elapsed, 166.63us avg, min 103us max 1867us 232.415us rms ekf2: ECL update: 37573 events, 19618us elapsed, 0.52us avg, min 0us max 985us 10.775us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 37184 events, 5509316us elapsed, 148.16us avg, min 102us max 1460us 178.134us rms ekf2: ECL update: 37183 events, 16332us elapsed, 0.43us avg, min 1us max 76us 1.796us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 36188 events, 5059218us elapsed, 139.80us avg, min 103us max 513us 101.576us rms ekf2: ECL update: 36189 events, 16417us elapsed, 0.45us avg, min 0us max 62us 1.931us rms pwm_out: interval: 144688 events, 2507.42 avg, min 2016us max 4975us 121.895us rms pwm_out: cycle: 144688 events, 1958303us elapsed, 13.53us avg, min 12us max 25us 1.733us rms control latency: 144688 events, 58109296us elapsed, 401.62us avg, min 389us max 483us 14.121us rms commander: preflight check: 3327 events, 1506959us elapsed, 452.95us avg, min 280us max 1951us 440.684us rms commander: cycle: 32883 events, 3300272us elapsed, 100.36us avg, min 30us max 2547us 323.921us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 29024 events, 865484us elapsed, 29.82us avg, min 20us max 267us 35.321us rms vehicle_gps_position: cycle: 1814 events, 17688us elapsed, 9.75us avg, min 7us max 215us 21.997us rms vehicle_air_data: cycle: 26942 events, 587564us elapsed, 21.81us avg, min 13us max 123us 15.246us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 144754 events, 3190488us elapsed, 22.04us avg, min 20us max 33us 2.009us rms sensors: 72377 events, 2991140us elapsed, 41.33us avg, min 30us max 300us 36.088us rms battery_status: 36280 events, 688846us elapsed, 18.99us avg, min 13us max 1654us 70.976us 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: 27483 events, 26226891us elapsed, 954.30us avg, min 939us max 1221us 58.483us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 36060 events, 141742us elapsed, 3.93us avg, min 3us max 12us 0.937us rms ms5611: read: 36060 events, 498027us elapsed, 13.81us avg, min 11us max 26us 2.201us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 35923 events, 158149us elapsed, 4.40us avg, min 3us max 63us 3.172us rms ms5611: read: 35923 events, 620747us elapsed, 17.28us avg, min 12us max 74us 7.496us rms board_adc: sample: 253960 events, 2644928us elapsed, 10.41us avg, min 7us max 1606us 63.749us rms manual_control: interval: 2543 events, 142618.38 avg, min 79us max 201418us 56732.168us rms manual_control: cycle: 2543 events, 51149us elapsed, 20.11us avg, min 9us max 847us 109.398us rms rc_update: valid data interval: 17131 events, 21176.25 avg, min 9453us max 35406us 2194.403us rms rc_update: cycle interval: 17131 events, 21176.25 avg, min 9453us max 35437us 2195.630us rms rc_update: cycle: 17131 events, 453510us elapsed, 26.47us avg, min 13us max 1567us 125.902us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 143605 events, 36520300us elapsed, 254.31us avg, min 123us max 1496us 115.334us rms px4io: interface read: 102943 events, 32164465us elapsed, 312.45us avg, min 135us max 2536us 360.664us rms px4io: interval: 143604 events, 2526.36 avg, min 410us max 13134us 534.197us rms px4io: cycle: 143603 events, 72944922us elapsed, 507.96us avg, min 244us max 13131us 1378.178us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 246549 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 246550 events, 67280296us elapsed, 272.89us avg, min 120us max 2532us 250.978us rms load_mon: cycle: 726 events, 106346us elapsed, 146.48us avg, min 91us max 1110us 263.248us rms dataman: write: 14 events, 73479us elapsed, 5248.50us avg, min 2193us max 8899us 1910.087us rms dataman: read: 2102 events, 2085580us elapsed, 992.19us avg, min 20us max 673736us 45843.988us rms dma_alloc: 3 events param: set: 3 events, 8us elapsed, 2.67us avg, min 2us max 4us 171.386us rms param: get: 67830 events param: find: 107184 events param: export: 1 events, 60986us elapsed, 60986.00us avg, min 60986us max 60986us infus rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 88768 events, 2152.40 avg, min 17us max 13887us 1131.577us rms uavcan: cycle time: 88768 events, 3788711us elapsed, 42.68us avg, min 10us max 2032us 240.690us 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 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: 440 events, 4292449us elapsed, 9755.57us avg, min 4us max 19669us 4268.899us rms logger_sd_write: 2132 events, 40084804us elapsed, 18801.50us avg, min 6us max 2746851us 86935.313us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 19 events, 9473678.68 avg, min 9999545us max 10000455us 210.747us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 35720 events, 6896704us elapsed, 193.08us avg, min 162us max 1642us 128.311us rms gyro_fft: cycle interval: 38113 events, 5012.97 avg, min 91us max 15759us 179.342us rms gyro_fft: cycle: 38113 events, 7486183us elapsed, 196.42us avg, min 2us max 1656us 176.818us rms navigator: 3923 events, 7258972us elapsed, 1850.36us avg, min 10us max 2543516us 57828.230us rms ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 19055 events, 10026.31 avg, min 9125us max 30760us 287.619us rms mavlink: tx run elapsed: 19055 events, 2935436us elapsed, 154.05us avg, min 99us max 2396us 261.399us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 38108 events, 5013.58 avg, min 4031us max 26098us 336.479us rms mavlink: tx run elapsed: 38108 events, 1422787us elapsed, 37.34us avg, min 22us max 1509us 116.529us rms mag_bias_estimator: cycle: 15 events, 278us elapsed, 18.53us avg, min 1us max 36us 3506.291us rms land_detector: cycle: 19057 events, 249410us elapsed, 13.09us avg, min 10us max 123us 19.402us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 9553 events, 555713us elapsed, 58.17us avg, min 17us max 283us 42.397us rms fw_att_control: cycle: 38115 events, 651598us elapsed, 17.10us avg, min 10us max 810us 14.480us rms fw_rate_control: cycle: 76229 events, 2780522us elapsed, 36.48us avg, min 31us max 165us 28.730us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 13906 events, 64984us elapsed, 4.67us avg, min 1us max 94us 7.821us rms mc_pos_control: cycle time: 19057 events, 362596us elapsed, 19.03us avg, min 6us max 171us 33.243us rms flight_mode_manager: cycle: 9553 events, 199037us elapsed, 20.84us avg, min 3us max 447us 191.354us rms mc_att_control: cycle: 38115 events, 236824us elapsed, 6.21us avg, min 2us max 88us 15.036us rms mc_rate_control: cycle: 76230 events, 823911us elapsed, 10.81us avg, min 8us max 27us 2.873us rms vtol_att_control: cycle: 76194 events, 1779741us elapsed, 23.36us avg, min 4us max 103us 6.805us rms airspeed_selector: elapsed: 1911 events, 44384us elapsed, 23.23us avg, min 14us max 509us 43.917us rms control_allocator: cycle: 76193 events, 2732771us elapsed, 35.87us avg, min 28us max 325us 14.113us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 19786 events, 3900067us elapsed, 197.11us avg, min 102us max 2621us 362.904us rms ekf2: ECL update: 19787 events, 8537us elapsed, 0.43us avg, min 1us max 65us 14.870us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 19582 events, 3547390us elapsed, 181.16us avg, min 102us max 2077us 291.565us rms ekf2: ECL update: 19582 events, 9031us elapsed, 0.46us avg, min 1us max 56us 2.752us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 19057 events, 3134735us elapsed, 164.49us avg, min 102us max 804us 166.335us rms ekf2: ECL update: 19058 events, 8408us elapsed, 0.44us avg, min 0us max 45us 2.828us rms pwm_out: interval: 76193 events, 2507.67 avg, min 2014us max 5393us 123.000us rms pwm_out: cycle: 76193 events, 1058280us elapsed, 13.89us avg, min 12us max 75us 2.613us rms control latency: 76193 events, 30643431us elapsed, 402.18us avg, min 388us max 912us 21.667us rms commander: preflight check: 1758 events, 770839us elapsed, 438.47us avg, min 280us max 2366us 654.634us rms commander: cycle: 17310 events, 1766206us elapsed, 102.03us avg, min 31us max 5810us 485.810us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 15286 events, 440070us elapsed, 28.79us avg, min 20us max 257us 52.330us rms vehicle_gps_position: cycle: 955 events, 9223us elapsed, 9.66us avg, min 7us max 185us 32.537us rms vehicle_air_data: cycle: 14190 events, 309200us elapsed, 21.79us avg, min 13us max 115us 22.865us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 76230 events, 1684760us elapsed, 22.10us avg, min 20us max 126us 3.026us rms sensors: 38115 events, 1525616us elapsed, 40.03us avg, min 30us max 3321us 55.706us rms battery_status: 19106 events, 378562us elapsed, 19.81us avg, min 13us max 1261us 107.290us 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: 14472 events, 13830460us elapsed, 955.67us avg, min 939us max 1194us 87.606us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 18991 events, 74738us elapsed, 3.94us avg, min 3us max 13us 1.406us rms ms5611: read: 18991 events, 262223us elapsed, 13.81us avg, min 11us max 23us 3.274us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 18920 events, 83075us elapsed, 4.39us avg, min 3us max 79us 4.739us rms ms5611: read: 18920 events, 327900us elapsed, 17.33us avg, min 12us max 72us 11.197us rms board_adc: sample: 133749 events, 1414060us elapsed, 10.57us avg, min 7us max 2210us 94.795us rms manual_control: interval: 1334 events, 143064.47 avg, min 915us max 201526us 56242.738us rms manual_control: cycle: 1334 events, 23311us elapsed, 17.47us avg, min 9us max 884us 158.919us rms rc_update: valid data interval: 9009 events, 21205.43 avg, min 9395us max 36082us 2207.631us rms rc_update: cycle interval: 9009 events, 21205.43 avg, min 9367us max 36082us 2209.732us rms rc_update: cycle: 9009 events, 263544us elapsed, 29.25us avg, min 13us max 1525us 191.648us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 75607 events, 19491473us elapsed, 257.80us avg, min 124us max 4935us 177.385us rms px4io: interface read: 54116 events, 17199508us elapsed, 317.83us avg, min 135us max 2519us 543.390us rms px4io: interval: 75602 events, 2527.31 avg, min 430us max 15887us 557.573us rms px4io: cycle: 75602 events, 38841529us elapsed, 513.76us avg, min 244us max 12894us 2059.073us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 129723 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 129723 events, 35971840us elapsed, 277.30us avg, min 120us max 4931us 378.768us rms load_mon: cycle: 382 events, 59659us elapsed, 156.18us avg, min 92us max 1421us 398.478us rms dataman: write: 8 events, 17069us elapsed, 2133.63us avg, min 1318us max 3559us 2764.725us rms dataman: read: 1118 events, 7124368us elapsed, 6372.42us avg, min 20us max 2543434us 108016.500us rms dma_alloc: 2 events param: set: 28 events, 2549us elapsed, 91.04us avg, min 1us max 831us 174.818us rms param: get: 38121 events param: find: 57987 events param: export: 1 events, 59927us elapsed, 59927.00us avg, min 59927us max 59927us infus rms