Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V5000000) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:26 |
| Vehicle Life Flight Time: | 8 minutes 13 seconds |
| Vehicle UUID: | 000200000000363236353033510a003b001d |
| Distance: | 503.2 m |
| Max Altitude Difference: | 220 m |
| Average Speed: | 31.5 km/h |
| Max Speed: | 176.0 km/h |
| Max Speed Horizontal: | 26.9 km/h |
| Max Speed Up: | 29.3 km/h |
| Max Speed Down: | 174.8 km/h |
| Max Tilt Angle: | 155.7 deg |
Loading Plots...
Console Output
Dropped 16 events (seq=44) WARN [timesync] RTT too high for timesync: 791 ms WARN [gps] GPS jamming detected! (state: 3) (indicator: 14) WARN [health_and_arming_checks] GPS reports critical jamming state WARN [gps] GPS jamming detected! (state: 3) (indicator: 13) WARN [health_and_arming_checks] GPS reports critical jamming state WARN [gps] GPS jamming detected! (state: 3) (indicator: 14) WARN [health_and_arming_checks] GPS reports critical jamming state WARN [gps] GPS jamming detected! (state: 3) (indicator: 12) WARN [health_and_arming_checks] GPS reports critical jamming state WARN [gps] GPS jamming detected! (state: 3) (indicator: 12) WARN [health_and_arming_checks] GPS reports critical jamming state WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error ERROR [mavlink] vehicle_command_ack lost, generation 0 -> 2 WARN [mavlink] Event dropped (45, 162) WARN [mavlink] Dropped 98 events (seq=162) WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: velocity estimate error INFO [rc_input] RC scan: SBUS RC input locked WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [commander] Connection to mission computer lost INFO [commander] Onboard controller regained WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-19/09_18_16.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-19/09_18_16.ulg INFO [commander] Disarmed by auto preflight disarming INFO [vehicle_imu] ACC 1 (4259850) offset committed: [0.601 0.583 0.259]->[0.613 0.510 0.266]) INFO [vehicle_imu] ACC 0 (3932170) offset committed: [-0.005 0.353 -0.302]->[-0.063 0.273 -0.256]) INFO [logger] closed logfile, bytes written: 543018 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-19/09_18_33.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-19/09_18_33.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 278221 17.928 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 5 5 wq:lp_default 0 0.068 1420/ 1896 205 (205) READY 5 1464 log_writer_file 5 0.589 660/ 1144 60 ( 60) w:sem 4 95 wq:hp_default 16 1.600 1124/ 2776 237 (237) w:sem 5 646 dataman 0 0.002 916/ 1376 90 ( 90) w:sem 5 680 wq:I2C1 3 0.320 924/ 2312 246 (246) w:sem 5 685 wq:ttyS6 7 0.745 1092/ 1704 228 (228) w:sem 5 716 wq:SPI1 110 11.062 1580/ 2368 253 (253) w:sem 5 730 wq:SPI4 3 0.338 832/ 2368 250 (250) w:sem 5 734 wq:I2C3 2 0.264 1020/ 2312 244 (244) w:sem 5 1081 wq:nav_and_controllers 57 5.758 1436/ 2216 242 (242) w:sem 5 1083 wq:rate_ctrl 112 11.184 2444/ 3120 255 (255) w:sem 5 1084 wq:INS0 80 8.051 3660/ 5976 241 (241) w:sem 5 1085 wq:INS1 81 8.123 3660/ 5976 240 (240) w:sem 5 1097 commander 10 1.084 1732/ 3192 140 (140) READY 5 1204 gps 2 0.295 1204/ 1936 205 (205) w:sem 4 1294 mavlink_if0 19 1.985 1932/ 2704 100 (100) READY 5 1295 mavlink_rcv_if0 3 0.348 1508/ 4776 175 (175) w:sem 5 1322 mavlink_if1 48 4.877 1980/ 2712 100 (100) READY 5 1323 mavlink_rcv_if1 13 1.356 1524/ 4776 175 (175) w:sem 5 1360 wq:ttyS4 6 0.685 1076/ 1704 230 (230) READY 5 1366 navigator 1 0.169 1516/ 2104 105 (105) w:sem 11 1461 logger 98 9.818 3100/ 3616 230 (230) RUN 4 1490 wq:uavcan 16 1.626 2268/ 3600 236 (236) w:sem 5 1521 mavlink_if2 75 7.493 2012/ 2792 100 (100) READY 5 1523 mavlink_rcv_if2 18 1.850 1724/ 4776 175 (175) READY 5 Processes: 30 total, 9 running, 21 sleeping CPU usage: 79.70% tasks, 2.37% sched, 17.93% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1003.150s total, 278.222s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4501 events, 3807.81 avg, min 2241us max 101877us 2525.806us rms mavlink: tx run elapsed: 4501 events, 3570261us elapsed, 793.22us avg, min 203us max 97872us 5832.160us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events uavcan: cycle interval: 5788 events, 2969.94 avg, min 28us max 15608us 752.457us rms uavcan: cycle time: 5788 events, 334163us elapsed, 57.73us avg, min 15us max 2563us 1299.884us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 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: 29 events, 242145us elapsed, 8349.83us avg, min 4089us max 21521us 3775.020us rms logger_sd_write: 99 events, 771833us elapsed, 7796.29us avg, min 598us max 128009us 12711.081us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us infus rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 358 events, 36474us elapsed, 101.88us avg, min 39us max 2117us 1259.617us rms rc_input: publish interval: 1292 events, 13270.73 avg, min 1802us max 80206us 2884.644us rms rc_input: cycle time: 4261 events, 121855us elapsed, 28.60us avg, min 8us max 2020us 689.691us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4534 events, 3781.33 avg, min 2253us max 99295us 2463.571us rms mavlink: tx run elapsed: 4534 events, 2142440us elapsed, 472.53us avg, min 174us max 17451us 4192.998us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1642 events, 10437.77 avg, min 9216us max 105321us 3662.830us rms mavlink: tx run elapsed: 1642 events, 681319us elapsed, 414.93us avg, min 181us max 4143us 3572.310us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 311 events, 15067us elapsed, 48.45us avg, min 1us max 874us 2279.454us rms land_detector: cycle: 1721 events, 53766us elapsed, 31.24us avg, min 21us max 275us 231.656us rms mc_pos_control: cycle time: 1721 events, 122700us elapsed, 71.30us avg, min 52us max 446us 373.835us rms flight_mode_manager: cycle: 860 events, 65057us elapsed, 75.65us avg, min 59us max 293us 3136.556us rms mc_hover_thrust_estimator: cycle time: 1721 events, 3781us elapsed, 2.20us avg, min 1us max 55us 83.331us 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: 3442 events, 76135us elapsed, 22.12us avg, min 16us max 287us 82.410us rms mc_rate_control: cycle: 13768 events, 270864us elapsed, 19.67us avg, min 16us max 65us 21.334us rms control_allocator: cycle: 13768 events, 615619us elapsed, 44.71us avg, min 38us max 303us 43.829us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1913 events, 1010796us elapsed, 528.38us avg, min 184us max 2616us 3196.038us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1721 events, 784249us elapsed, 455.69us avg, min 184us max 1288us 2390.427us rms pwm_out: interval: 13768 events, 1249.08 avg, min 628us max 1992us 22.563us rms pwm_out: cycle: 13769 events, 391501us elapsed, 28.43us avg, min 23us max 132us 23.834us rms control latency: 13769 events, 4431204us elapsed, 321.82us avg, min 296us max 830us 492.265us rms commander: preflight check: 168 events, 108315us elapsed, 644.73us avg, min 294us max 4016us 4299.110us rms commander: cycle: 1499 events, 401923us elapsed, 268.13us avg, min 72us max 4256us 3224.624us 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_magnetometer: cycle: 805 events, 83096us elapsed, 103.22us avg, min 47us max 382us 551.267us rms vehicle_gps_position: cycle: 138 events, 2992us elapsed, 21.68us avg, min 13us max 248us 192.839us rms vehicle_air_data: cycle: 1283 events, 52579us elapsed, 40.98us avg, min 23us max 346us 273.580us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 13770 events, 388625us elapsed, 28.22us avg, min 25us max 187us 29.603us rms sensors: 3443 events, 199610us elapsed, 57.98us avg, min 30us max 4858us 242.879us rms battery_status: 1719 events, 82687us elapsed, 48.10us avg, min 25us max 1982us 991.687us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1711 events, 9852us elapsed, 5.76us avg, min 3us max 234us 102.740us rms ms5611: read: 1711 events, 35753us elapsed, 20.90us avg, min 7us max 238us 216.452us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 20628 events, 139063us elapsed, 6.74us avg, min 3us max 2723us 399.067us rms manual_control: interval: 232 events, 73904.25 avg, min 3717us max 202019us 71429.125us rms manual_control: cycle: 232 events, 8203us elapsed, 35.36us avg, min 17us max 573us 598.555us rms rc_update: valid data interval: 1292 events, 13270.73 avg, min 1802us max 80201us 2878.187us rms rc_update: cycle interval: 1292 events, 13270.73 avg, min 1802us max 80206us 2877.538us rms rc_update: cycle: 1292 events, 56747us elapsed, 43.92us avg, min 23us max 1518us 534.845us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 6 events, 1438us elapsed, 239.67us avg, min 138us max 564us 235.943us rms px4io: interface read: 4562 events, 1938107us elapsed, 424.84us avg, min 148us max 3411us 2599.128us rms px4io: interval: 747 events, 22900.72 avg, min 21611us max 91936us 3367.350us rms px4io: cycle: 747 events, 1971935us elapsed, 2639.81us avg, min 1604us max 16792us 12920.752us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 4568 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 4568 events, 1886573us elapsed, 413.00us avg, min 131us max 3405us 2557.780us rms rgbled: led_control message missed: 0 events load_mon: cycle: 34 events, 11090us elapsed, 326.18us avg, min 126us max 2622us 2458.759us 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 rgbled: led_control message missed: 0 events dma_alloc: 3 events param: set: 19 events, 432us elapsed, 22.74us avg, min 2us max 209us 71.159us rms param: get: 6397 events param: find: 4351 events param: export: 1 events, 15847us elapsed, 15847.00us avg, min 15847us max 15847us nanus rms