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PX4 Tiltrotor VTOL | Open PID Analysis |
Generic Quadplane VTOL Tiltrotor
| Airframe: | Generic Quadplane VTOL Tiltrotor VTOL Tiltrotor (13030) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.13.0 (6823cbc4) |
| OS Version: | NuttX, v10.2.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:28 |
| Vehicle Life Flight Time: | 5 hours 59 minutes 3 seconds |
| Vehicle UUID: | 000200000000323433383039511900250038 (Standard plan conversion into 3 motor tilt rotor configuration.) |
| Wind Speed: | Calm |
| Feedback: | When I start all motors with servo tester plane seem to hover as predicted. But when I hook up PX4 tail motors goes nuts. I selected standard Generic Quadplane VTOL Tiltrotor. Modified it to 3 motor configuration. In hover the plane tries to roll on its back. something is wrong. Please help! |
| Video: | https://youtu.be/DZLJe3iAAF0 |
| Max Altitude Difference: | 1 m |
| Max Tilt Angle: | 23.7 deg |
Loading Plots...
Console Output
HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: 6823cbc4140e29568f00e1211ae60e057adb1a1f FW version: Release 1.13.0 (17629439) OS: NuttX OS version: Release 10.2.0 (167903487) OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83 Build datetime: Jun 7 2022 21:31:32 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000323433383039511900250038 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 1736 bytes, decoded 1736 bytes (INT32:39, FLOAT:47) 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 INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes Loading airframe: /etc/init.d/airframes/13030_generic_vtol_quad_tiltrotor INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 rotation 2 bmi055_accel #0 on SPI bus 1 rotation 2 bmi055_gyro #0 on SPI bus 1 rotation 2 ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 address 0xE rotation 10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/vtol_TTTTAAER.aux.mix on /dev/pwm_output1 ekf2 [766:237] Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.2.0 nsh> [KINFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [logger] [logger] /fs/microsd/log/2022-07-17/17_25_46.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-07-17/17_25_46.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 9113 51.408 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.002 572/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2364/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 508/ 1256 255 (255) w:sem 3 71 wq:lp_default 0 0.057 988/ 1920 205 (205) w:sem 3 78 wq:hp_default 35 3.499 1124/ 1904 237 (237) w:sem 3 111 dataman 0 0.000 828/ 1208 90 ( 90) w:sem 4 411 wq:uavcan 14 1.413 1700/ 3624 236 (236) w:sem 3 442 wq:SPI1 63 6.343 1628/ 2336 253 (253) w:sem 3 454 wq:SPI4 3 0.309 808/ 2336 250 (250) w:sem 3 457 wq:I2C3 3 0.322 924/ 2336 244 (244) w:sem 3 733 wq:nav_and_controllers 60 6.050 1452/ 2240 242 (242) w:sem 3 741 wq:rate_ctrl 82 8.260 1548/ 3152 255 (255) w:sem 3 744 wq:INS0 46 4.613 4260/ 6000 241 (241) w:sem 3 746 wq:INS1 51 5.116 4260/ 6000 240 (240) w:sem 3 748 commander 9 0.958 1460/ 3224 140 (140) w:sig 5 959 mavlink_rcv_if0 4 0.409 1316/ 4712 175 (175) w:sem 4 885 gps 0 0.082 1188/ 1680 205 (205) w:sem 4 953 mavlink_if0 21 2.172 1836/ 2728 100 (100) READY 4 1072 log_writer_file 5 0.587 604/ 1176 60 ( 60) w:sem 4 1005 navigator 1 0.123 1044/ 1920 105 (105) w:sem 6 1052 logger 63 6.364 2828/ 3648 230 (230) RUN 4 Processes: 23 total, 3 running, 20 sleeping CPU usage: 46.68% tasks, 1.91% sched, 51.41% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 16.454s total, 9.114s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 25030 49.382 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 46 4.659 1060/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2364/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 508/ 1256 255 (255) w:sem 3 71 wq:lp_default 1 0.187 988/ 1920 205 (205) READY 3 78 wq:hp_default 34 3.482 1180/ 1904 237 (237) w:sem 3 111 dataman 0 0.000 828/ 1208 90 ( 90) w:sem 4 411 wq:uavcan 14 1.475 1700/ 3624 236 (236) w:sem 3 442 wq:SPI1 63 6.342 1628/ 2336 253 (253) w:sem 3 454 wq:SPI4 3 0.316 808/ 2336 250 (250) w:sem 3 457 wq:I2C3 3 0.325 924/ 2336 244 (244) w:sem 3 733 wq:nav_and_controllers 60 6.047 1452/ 2240 242 (242) w:sem 3 741 wq:rate_ctrl 84 8.475 1548/ 3152 255 (255) w:sem 3 744 wq:INS0 44 4.464 4388/ 6000 241 (241) w:sem 3 746 wq:INS1 50 5.005 4260/ 6000 240 (240) w:sem 3 748 commander 17 1.739 1460/ 3224 140 (140) w:sig 5 959 mavlink_rcv_if0 4 0.417 1364/ 4712 175 (175) w:sem 4 885 gps 0 0.084 1188/ 1680 205 (205) w:sem 4 953 mavlink_if0 23 2.325 1836/ 2728 100 (100) w:sig 4 1072 log_writer_file 5 0.585 604/ 1176 60 ( 60) w:sem 4 1005 navigator 1 0.128 1044/ 1920 105 (105) READY 6 1052 logger 26 2.668 2828/ 3648 230 (230) RUN 4 Processes: 23 total, 4 running, 19 sleeping CPU usage: 48.72% tasks, 1.89% sched, 49.38% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 44.241s total, 25.030s idle
Performance Counters
Pre Flight:
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 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, 14695us elapsed, 14695.00us avg, min 14695us max 14695us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 732 events, 20002.23 avg, min 66us max 61628us 1745.507us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 795 events, 295219us elapsed, 371.34us avg, min 302us max 1046us 75.848us rms gyro_fft: cycle interval: 2929 events, 5003.96 avg, min 3502us max 8893us 497.833us rms gyro_fft: cycle: 2930 events, 342534us elapsed, 116.91us avg, min 11us max 1061us 172.910us rms navigator: 273 events, 9782us elapsed, 35.83us avg, min 21us max 964us 79.439us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1452 events, 10111.32 avg, min 9302us max 60099us 1488.443us rms mavlink: tx run elapsed: 1452 events, 344166us elapsed, 237.03us avg, min 146us max 1541us 96.254us rms mag_bias_estimator: cycle: 739 events, 24025us elapsed, 32.51us avg, min 5us max 1264us 96.856us rms land_detector: cycle: 1340 events, 35175us elapsed, 26.25us avg, min 19us max 356us 15.625us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 654 events, 19063us elapsed, 29.15us avg, min 14us max 158us 12.689us rms fw_att_control: cycle: 2410 events, 124308us elapsed, 51.58us avg, min 30us max 213us 18.134us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 1323 events, 15402us elapsed, 11.64us avg, min 1us max 84us 6.319us rms flight_mode_manager: cycle: 654 events, 8076us elapsed, 12.35us avg, min 10us max 129us 8.657us rms mc_att_control: cycle: 2410 events, 196279us elapsed, 81.44us avg, min 34us max 530us 37.593us rms mc_rate_control: cycle: 5918 events, 98071us elapsed, 16.57us avg, min 14us max 127us 2.387us rms vtol_att_control: cycle: 5901 events, 216987us elapsed, 36.77us avg, min 4us max 493us 6.974us rms airspeed_selector: elapsed: 135 events, 3593us elapsed, 26.61us avg, min 15us max 824us 69.579us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 1312 events, 320166us elapsed, 244.03us avg, min 152us max 2091us 127.013us rms ekf2: ECL update: 1654 events, 9764us elapsed, 5.90us avg, min 1us max 354us 9.891us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 1313 events, 338456us elapsed, 257.77us avg, min 152us max 963us 114.677us rms ekf2: ECL update: 1658 events, 9809us elapsed, 5.92us avg, min 2us max 240us 10.724us rms pwm_out: interval: 16 events, 875305.00 avg, min 114us max 1001283us 249500.625us rms pwm_out: cycle: 16 events, 100us elapsed, 6.25us avg, min 5us max 12us 1.571us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 5506 events, 2710.85 avg, min 77us max 1000011us 13462.832us rms pwm_out: cycle: 5506 events, 162863us elapsed, 29.58us avg, min 5us max 407us 5.754us rms control latency: 4756 events, 19126869us elapsed, 4021.63us avg, min 457us max 11795us 1532.198us rms control latency: 5889 events, 2933206us elapsed, 498.08us avg, min 434us max 2854us 104.861us rms px4io: interface write: 5905 events, 1421214us elapsed, 240.68us avg, min 128us max 372us 9.423us rms px4io: interface read: 3536 events, 931375us elapsed, 263.40us avg, min 142us max 1119us 160.869us rms px4io: interval: 5894 events, 2534.44 avg, min 1271us max 45258us 742.526us rms px4io: cycle: 5894 events, 2664416us elapsed, 452.06us avg, min 7us max 7748us 517.272us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 9441 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 9441 events, 2272780us elapsed, 240.74us avg, min 121us max 1112us 99.146us rms commander: preflight check: 30 events, 157467us elapsed, 5248.90us avg, min 1084us max 6869us 1100.364us rms commander: cycle: 1331 events, 368690us elapsed, 277.00us avg, min 73us max 10586us 869.013us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 676 events, 26459us elapsed, 39.14us avg, min 10us max 1109us 44.984us rms vehicle_gps_position: cycle: 50 events, 426us elapsed, 8.52us avg, min 4us max 73us 12.945us rms vehicle_air_data: cycle: 1119 events, 35687us elapsed, 31.89us avg, min 23us max 264us 22.903us rms vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 5963 events, 158143us elapsed, 26.52us avg, min 15us max 445us 9.519us rms sensors: 2996 events, 186329us elapsed, 62.19us avg, min 19us max 3699us 103.024us rms battery_status: 1499 events, 56267us elapsed, 37.54us avg, min 24us max 1311us 64.209us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1502 events, 7849us elapsed, 5.23us avg, min 3us max 238us 13.303us rms ms5611: read: 1501 events, 25291us elapsed, 16.85us avg, min 7us max 236us 16.926us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 1 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: 1 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: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 18120 events, 86537us elapsed, 4.78us avg, min 3us max 1096us 21.105us rms manual_control: interval: 576 events, 26205.09 avg, min 10322us max 200116us 19867.848us rms manual_control: cycle: 576 events, 13309us elapsed, 23.11us avg, min 11us max 475us 30.211us rms rc_update: valid data interval: 701 events, 20262.12 avg, min 13622us max 28645us 1425.415us rms rc_update: cycle interval: 707 events, 20263.42 avg, min 13621us max 28645us 1421.910us rms rc_update: cycle: 707 events, 24976us elapsed, 35.33us avg, min 13us max 506us 36.037us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 5121 events, 2957.22 avg, min 28us max 10584us 562.001us rms uavcan: cycle time: 5121 events, 201390us elapsed, 39.33us avg, min 14us max 1516us 90.976us 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 load_mon: cycle: 31 events, 4984us elapsed, 160.77us avg, min 3us max 1296us 304.988us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 56790us elapsed, 11358.00us avg, min 35us max 50010us 21671.090us rms rgbled: led_control message missed: 0 events dma_alloc: 7 events param: set: 86 events, 2031us elapsed, 23.62us avg, min 3us max 44us 11.104us rms param: get: 6888 events param: find: 2966 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
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 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: 78 events, 424491us elapsed, 5442.19us avg, min 130us max 10003us 1905.589us rms logger_sd_write: 230 events, 1284534us elapsed, 5584.93us avg, min 11us max 117908us 7593.449us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000007.00 avg, min 10000014us max 10000014us 0.000us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 1344 events, 521859us elapsed, 388.29us avg, min 305us max 1170us 112.595us rms gyro_fft: cycle interval: 5736 events, 5003.57 avg, min 655us max 6494us 418.911us rms gyro_fft: cycle: 5736 events, 610238us elapsed, 106.39us avg, min 4us max 1185us 212.812us rms navigator: 603 events, 17126us elapsed, 28.40us avg, min 21us max 369us 60.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2867 events, 10008.76 avg, min 9285us max 12952us 167.109us rms mavlink: tx run elapsed: 2867 events, 798948us elapsed, 278.67us avg, min 186us max 3012us 148.969us rms mag_bias_estimator: cycle: 38 events, 1167us elapsed, 30.71us avg, min 5us max 333us 435.726us rms land_detector: cycle: 2868 events, 75095us elapsed, 26.18us avg, min 21us max 131us 14.794us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 1435 events, 42432us elapsed, 29.57us avg, min 23us max 105us 14.171us rms fw_att_control: cycle: 5736 events, 300468us elapsed, 52.38us avg, min 30us max 301us 22.075us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 2868 events, 34877us elapsed, 12.16us avg, min 9us max 96us 8.323us rms flight_mode_manager: cycle: 1435 events, 17498us elapsed, 12.19us avg, min 10us max 92us 8.930us rms mc_att_control: cycle: 5736 events, 401265us elapsed, 69.96us avg, min 6us max 203us 37.341us rms mc_rate_control: cycle: 11443 events, 202691us elapsed, 17.71us avg, min 14us max 32us 2.394us rms vtol_att_control: cycle: 11415 events, 418048us elapsed, 36.62us avg, min 4us max 120us 7.076us rms airspeed_selector: elapsed: 287 events, 6463us elapsed, 22.52us avg, min 16us max 210us 52.975us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2868 events, 633797us elapsed, 220.99us avg, min 147us max 1101us 129.494us rms ekf2: ECL update: 2868 events, 20089us elapsed, 7.00us avg, min 4us max 351us 12.425us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2870 events, 665407us elapsed, 231.85us avg, min 146us max 818us 128.870us rms ekf2: ECL update: 2870 events, 19705us elapsed, 6.87us avg, min 4us max 209us 12.862us rms pwm_out: interval: 29 events, 965673.62 avg, min 1000011us max 1001160us 285.861us rms pwm_out: cycle: 29 events, 171us elapsed, 5.90us avg, min 5us max 10us 1.484us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 2871 events, 9996.10 avg, min 2499us max 17527us 993.990us rms pwm_out: cycle: 2871 events, 97186us elapsed, 33.85us avg, min 30us max 49us 8.363us rms control latency: 2871 events, 11492456us elapsed, 4002.95us avg, min 2287us max 14268us 2513.136us rms control latency: 11387 events, 5415439us elapsed, 475.58us avg, min 435us max 835us 102.863us rms px4io: interface write: 11388 events, 2742261us elapsed, 240.80us avg, min 132us max 381us 10.872us rms px4io: interface read: 6705 events, 1798847us elapsed, 268.28us avg, min 142us max 673us 200.254us rms px4io: interval: 11388 events, 2520.75 avg, min 2409us max 10068us 372.195us rms px4io: cycle: 11387 events, 5135279us elapsed, 450.98us avg, min 282us max 7096us 626.829us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 18094 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 18094 events, 4388169us elapsed, 242.52us avg, min 121us max 666us 122.942us rms commander: preflight check: 3 events, 18596us elapsed, 6198.67us avg, min 5567us max 6663us 4228.229us rms commander: cycle: 2592 events, 440101us elapsed, 169.79us avg, min 79us max 7046us 689.698us 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: 1346 events, 55570us elapsed, 41.29us avg, min 30us max 310us 38.482us rms vehicle_gps_position: cycle: 96 events, 551us elapsed, 5.74us avg, min 4us max 52us 10.474us rms vehicle_air_data: cycle: 2144 events, 69083us elapsed, 32.22us avg, min 22us max 262us 29.639us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 11444 events, 293520us elapsed, 25.65us avg, min 23us max 38us 7.078us rms sensors: 5746 events, 325194us elapsed, 56.59us avg, min 22us max 252us 75.533us rms battery_status: 2871 events, 109851us elapsed, 38.26us avg, min 25us max 1287us 88.753us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2859 events, 14107us elapsed, 4.93us avg, min 3us max 239us 13.923us rms ms5611: read: 2859 events, 48093us elapsed, 16.82us avg, min 7us max 229us 20.359us 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: 34452 events, 178905us elapsed, 5.19us avg, min 3us max 1183us 32.860us rms manual_control: interval: 1170 events, 24511.74 avg, min 14312us max 125034us 10548.916us rms manual_control: cycle: 1170 events, 25871us elapsed, 22.11us avg, min 17us max 437us 28.961us rms rc_update: valid data interval: 1417 events, 20239.05 avg, min 14279us max 28224us 1327.938us rms rc_update: cycle interval: 1417 events, 20239.05 avg, min 14279us max 28224us 1329.567us rms rc_update: cycle: 1417 events, 47348us elapsed, 33.41us avg, min 18us max 471us 34.029us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 9642 events, 2977.60 avg, min 27us max 4851us 443.461us rms uavcan: cycle time: 9642 events, 338734us elapsed, 35.13us avg, min 13us max 1858us 110.759us 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 load_mon: cycle: 57 events, 5670us elapsed, 99.47us avg, min 68us max 647us 238.293us 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: 2 events param: set: 3 events, 18us elapsed, 6.00us avg, min 3us max 12us 72.575us rms param: get: 333 events param: find: 354 events param: export: 1 events, 16744us elapsed, 16744.00us avg, min 16744us max 16744us nanus rms