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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> uavcan_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