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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Static Rudder test ...Mission mode
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | PX4_FMU_V5 (V515) |
| Software Version: | v1.9.0 (ea48cd49) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:44 |
| Vehicle Life Flight Time: | 2 minutes 14 seconds |
| Vehicle UUID: | 000200000000303832333138511700300040 (plane nosewheel) |
| Feedback: | Runway T/O, but throttle limited to 2% (motor did not spin). Plane was on floor in a house (no wind). Plane was momentarily manually yaw-adjusted to observe possible directional-following behavior of rudder (none noticed). |
| Distance: | 11.1 m |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 2.4 km/h |
| Max Speed Horizontal: | 2.4 km/h |
| Max Speed Up: | 0.2 km/h |
| Max Speed Down: | 0.1 km/h |
| Max Tilt Angle: | 3.2 deg |
| Max Rotation Speed: | 46.1 deg/s |
| Average Current: | 0.2 A |
| Max Current: | 7.0 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 366629 45.009 460/ 748 0 ( 0) READY 3 1 hpwork 18205 2.694 760/ 1780 249 (249) w:sig 9 2 lpwork 3889 0.299 968/ 1780 50 ( 50) w:sig 11 3 init 1207 0.000 2040/ 2604 100 (100) w:sem 3 16 dataman 206 0.199 752/ 1180 90 ( 90) w:sem 4 150 sensors 33941 5.389 1304/ 1964 249 (249) w:sem 19 152 commander 9171 1.596 1928/ 3212 249 (140) w:sig 29 153 commander_low_prio 31 0.000 576/ 2996 50 ( 50) w:sem 29 222 gps 2584 0.399 1040/ 1516 220 (220) w:sem 5 250 mavlink_if0 14804 2.295 1760/ 2484 100 (100) w:sig 40 251 mavlink_rcv_if0 5247 0.798 1584/ 2836 175 (175) w:sem 40 270 px4io 29130 3.992 952/ 1484 252 (252) w:sem 11 276 fmu 7937 1.397 760/ 1324 252 (252) w:sem 7 403 ekf2 58769 9.381 4576/ 6572 250 (250) w:sem 20 407 fw_att_controol 35123 6.287 912/ 1460 251 (251) w:sem 14 413 fw_pos_control_l1 488 0.499 904/ 1764 250 (250) w:sem 16 423 navigator 1080 0.499 1048/ 1764 105 (105) READY 16 454 log_writer_file 7211 9.780 792/ 1148 60 ( 60) READY 40 453 logger 18590 7.684 3048/ 3644 245 (245) RUN 40 Processes: 19 total, 4 running, 15 sleeping, max FDs: 54 CPU usage: 53.19% tasks, 1.80% sched, 45.01% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 623.766s total, 366.630s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 417590 43.213 460/ 748 0 ( 0) READY 3 1 hpwork 21175 3.093 760/ 1780 249 (249) w:sig 9 2 lpwork 4172 4.890 976/ 1780 50 ( 50) READY 11 3 init 1207 0.000 2040/ 2604 100 (100) w:sem 3 16 dataman 400 1.197 752/ 1180 90 ( 90) w:sem 4 150 sensors 39299 5.588 1304/ 1964 249 (249) w:sem 19 152 commander 10860 1.596 1928/ 3212 249 (140) w:sig 29 153 commander_low_prio 35 0.000 576/ 2996 50 ( 50) w:sem 29 222 gps 3011 0.499 1040/ 1516 220 (220) w:sem 5 250 mavlink_if0 17028 2.295 1760/ 2484 100 (100) READY 42 251 mavlink_rcv_if0 6086 0.798 1584/ 2836 175 (175) READY 42 270 px4io 34875 4.590 952/ 1484 252 (252) w:sem 11 276 fmu 9221 1.397 760/ 1324 252 (252) w:sem 7 403 ekf2 68026 9.281 4576/ 6572 250 (250) w:sem 20 407 fw_att_controol 40296 6.187 912/ 1460 251 (251) w:sem 14 413 fw_pos_control_l1 1657 0.898 904/ 1764 250 (250) w:sem 16 423 navigator 1495 0.698 1208/ 1764 105 (105) w:sem 16 454 log_writer_file 12869 5.588 792/ 1148 60 ( 60) w:sem 41 453 logger 26247 6.686 3048/ 3644 245 (245) RUN 41 Processes: 19 total, 5 running, 14 sleeping, max FDs: 54 CPU usage: 55.29% tasks, 1.50% sched, 43.21% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 726.768s total, 417.590s idle
Performance Counters
Pre Flight:
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: 97 events, 676163us elapsed, 6970.75us avg, min 137us max 14152us 6928.330us rms logger_sd_write: 370 events, 5843606us elapsed, 15793.53us avg, min 4008us max 173378us 15595.488us rms navigator: 2530 events, 223506us elapsed, 88.34us avg, min 25us max 35269us 966.673us rms land_detector_cycle: 6149 events, 198993us elapsed, 32.36us avg, min 23us max 260us 63.247us rms fw_l1_control: 300 events, 31461us elapsed, 104.87us avg, min 46us max 266us 70.755us rms fwa_nano: 0 events fwa_nani: 31437 events fwa_dt: 31437 events, 9213034us elapsed, 293.06us avg, min 140us max 420us 78.207us rms EKF2 update: 31437 events, 8247831us elapsed, 262.36us avg, min 14us max 1195us 600.537us rms EKF2 data acquisition: 31437 events, 12907235us elapsed, 410.57us avg, min 243us max 826us 120.295us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 31437 events, 18466203us elapsed, 587.40us avg, min 387us max 1130us 147.745us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 31437 events, 25466456us elapsed, 810.08us avg, min 266us max 3490us 1766.604us rms io_txns: 66599 events, 23738462us elapsed, 356.44us avg, min 151us max 801us 195.965us rms mavlink_int: 12457 events, 10152.14 avg, min 9129us max 30090us 520.379us rms mavlink_el: 12457 events, 3255233us elapsed, 261.32us avg, min 100us max 3115us 629.695us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 31437 events, 29385936us elapsed, 934.76us avg, min 508us max 4530us 766.732us rms ll40ls_pwm_zero_resets: 6 events ll40ls_pwm_read_errors: 0 events ll40ls_pwm_read: 2502 events, 143084us elapsed, 57.19us avg, min 37us max 304us 88.787us rms adc_samples: 151920 events, 425246us elapsed, 2.80us avg, min 2us max 4us 0.901us rms ms5611_com_err: 0 events ms5611_measure: 11144 events, 128925us elapsed, 11.57us avg, min 6us max 275us 50.937us rms ms5611_read: 11144 events, 284984us elapsed, 25.57us avg, min 11us max 379us 74.222us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 5572 events, 6282398us elapsed, 1127.49us avg, min 841us max 3243us 815.688us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 5572 events, 6275356us elapsed, 1126.23us avg, min 842us max 8876us 826.508us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 158253 events, 800.00 avg, min 723us max 868us 18.946us rms bmi055_gyro_read: 158254 events, 7838038us elapsed, 49.53us avg, min 47us max 57us 5.075us rms bmi055_accel_duplicates: 31729 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 158254 events, 799.99 avg, min 700us max 896us 22.460us rms bmi055_accel_read: 158255 events, 6087863us elapsed, 38.47us avg, min 29us max 46us 9.912us rms mpu6k_duplicates: 31931 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 158256 events, 799.99 avg, min 735us max 866us 7.518us rms mpu6k_read: 158256 events, 10806885us elapsed, 68.29us avg, min 47us max 84us 23.604us rms mpu6k_duplicates: 32842 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 158257 events, 799.99 avg, min 733us max 867us 11.015us rms mpu6k_read: 158257 events, 10969084us elapsed, 69.31us avg, min 46us max 96us 28.910us rms stack_check: 448 events, 4912us elapsed, 10.96us avg, min 2us max 309us 106.249us rms dma_alloc: 1 events param_set: 2 events, 166us elapsed, 83.00us avg, min 16us max 150us 289.778us rms param_get: 962 events, 11419us elapsed, 11.87us avg, min 3us max 1567us 175.059us rms param_find: 121 events, 969us elapsed, 8.01us avg, min 3us max 146us 122.383us rms param_export: 2 events, 164307us elapsed, 82153.50us avg, min 77906us max 86401us 19953.193us rms
Post Flight:
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: 234 events, 1640659us elapsed, 7011.36us avg, min 9us max 122480us 9603.915us rms logger_sd_write: 891 events, 15529577us elapsed, 17429.38us avg, min 4256us max 1452126us 49876.820us rms navigator: 2053 events, 2727152us elapsed, 1328.37us avg, min 32us max 1410002us 31224.912us rms land_detector_cycle: 5055 events, 175652us elapsed, 34.75us avg, min 23us max 343us 75.797us rms fw_l1_control: 5198 events, 1005972us elapsed, 193.53us avg, min 45us max 509us 92.491us rms fwa_nano: 0 events fwa_nani: 25833 events fwa_dt: 25833 events, 7178742us elapsed, 277.89us avg, min 132us max 445us 93.462us rms EKF2 update: 25833 events, 6058731us elapsed, 234.53us avg, min 14us max 1537us 704.107us rms EKF2 data acquisition: 25833 events, 10275276us elapsed, 397.76us avg, min 234us max 733us 136.007us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 25833 events, 14853905us elapsed, 575.00us avg, min 381us max 1085us 172.077us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 25834 events, 21058584us elapsed, 815.15us avg, min 266us max 3454us 2110.770us rms io_txns: 54654 events, 19419069us elapsed, 355.31us avg, min 135us max 820us 233.531us rms mavlink_int: 10232 events, 10163.45 avg, min 9111us max 13597us 507.113us rms mavlink_el: 10232 events, 2610107us elapsed, 255.09us avg, min 91us max 3089us 761.539us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 25834 events, 23300900us elapsed, 901.95us avg, min 498us max 2456us 902.807us rms ll40ls_pwm_zero_resets: 4 events ll40ls_pwm_read_errors: 0 events ll40ls_pwm_read: 2056 events, 119468us elapsed, 58.11us avg, min 41us max 384us 106.501us rms adc_samples: 124824 events, 349143us elapsed, 2.80us avg, min 2us max 4us 1.076us rms ms5611_com_err: 0 events ms5611_measure: 9156 events, 102147us elapsed, 11.16us avg, min 6us max 377us 60.677us rms ms5611_read: 9156 events, 231613us elapsed, 25.30us avg, min 11us max 364us 87.915us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 4578 events, 5188526us elapsed, 1133.36us avg, min 842us max 3190us 973.770us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 4578 events, 5071844us elapsed, 1107.87us avg, min 842us max 3555us 979.672us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 130029 events, 799.99 avg, min 718us max 868us 19.108us rms bmi055_gyro_read: 130029 events, 6448051us elapsed, 49.59us avg, min 46us max 57us 6.079us rms bmi055_accel_duplicates: 26049 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 130030 events, 799.99 avg, min 709us max 896us 24.151us rms bmi055_accel_read: 130030 events, 5007776us elapsed, 38.51us avg, min 29us max 47us 11.815us rms mpu6k_duplicates: 26062 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 130032 events, 799.99 avg, min 737us max 863us 8.779us rms mpu6k_read: 130032 events, 8902846us elapsed, 68.47us avg, min 47us max 84us 28.142us rms mpu6k_duplicates: 26566 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 130033 events, 799.99 avg, min 733us max 870us 14.700us rms mpu6k_read: 130033 events, 9043436us elapsed, 69.55us avg, min 46us max 97us 34.456us rms stack_check: 363 events, 8836us elapsed, 24.34us avg, min 2us max 2286us 185.109us rms dma_alloc: 0 events param_set: 1 events, 16us elapsed, 16.00us avg, min 16us max 16us Infinityus rms param_get: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 93946us elapsed, 93946.00us avg, min 93946us max 93946us Infinityus rms