Console Output

HW arch: MICOAIR_H743_V2
PX4 git-hash: 33bdd21f40d044e2524ea4c522fbf3c2418ea64a
PX4 version: 1.14.3 0 (17695488)
PX4 git-branch: micoair743-v1.14.3
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d
Build datetime: Dec 18 2024 16:37:12
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.2.1 20201103 (release)
PX4GUID: 000600000000353539363333511000250029
MCU: STM32H7[4|5]xxx, rev. V
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
Loading airframe: /etc/init.d/airframes/4001_quad_x
INFO  [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
Board sensors: /etc/init.d/rc.board_sensors
bmi088_accel #0 on SPI bus 2 rotation 6
bmi088_gyro #0 on SPI bus 2 rotation 6
bmi270 #0 on SPI bus 3
spl06 #0 on I2C bus 2 address 0x77
ERROR [SPI_I2C] qmc5883l: no instance started (no device on bus?)
ekf2 [530:237]
Starting Main GPS on /dev/ttyS2
Starting CRSF RC Input Driver on /dev/ttyS6
INFO  [crsf_rc] Crsf serial opened sucessfully
Starting MAVLink on /dev/ttyS0
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 115200B
Starting MAVLink on /dev/ttyS7
INFO  [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS7 @ 115200B
Board extras: /etc/init.d/rc.board_extras
INFO  [rc_input] RC scan: CRSF RC input locked
INFO  [logger] logger started (mode=all)
INFO  [logger] Logging FIFO data: increasing task prio and logging rate

NuttShell (NSH) NuttX-11.0.0
nsh> INFO  [commander] Armed by RC (switch)	
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] /fs/microsd/log/sess100/log100.ulg	
INFO  [logger] Opened full log file: /fs/microsd/log/sess100/log100.ulg

Processes

Pre Flight:

 PID COMMAND                   CPU(ms) CPU(%)  USED/STACK PRIO(BASE) STATE FD
   0 Idle Task                    2355 61.042   184/  768   0 (  0)  READY  0
   1 hpwork                          0  0.000   292/ 1224 249 (249)  w:sem  0
   2 lpwork                          0  0.001   648/ 1576  50 ( 50)  w:sem  0
   4 wq:manager                      0  0.000   548/ 1232 255 (255)  w:sem  3
 918 log_writer_file                19  1.965   604/ 1144  60 ( 60)  READY  4
 285 wq:hp_default                  20  2.049  1104/ 1872 237 (237)  w:sem  3
 295 dataman                         0  0.000   844/ 1280  90 ( 90)  w:sem  4
 303 wq:lp_default                   0  0.025  1036/ 1896 205 (205)  w:sem  3
 326 wq:SPI2                        35  3.564  1368/ 2368 252 (252)  w:sem  3
 330 wq:SPI3                        87  8.769  1732/ 2368 251 (251)  w:sem  3
 332 wq:I2C2                         0  0.069   816/ 2312 245 (245)  w:sem  3
 505 wq:nav_and_controllers         18  1.887  1196/ 2216 242 (242)  w:sem  3
 507 wq:rate_ctrl                   38  3.853  2320/ 3120 255 (255)  w:sem  3
 510 wq:INS0                        25  2.506  4428/ 5976 241 (241)  w:sem  3
 517 wq:INS1                        16  1.665  1092/ 5976 240 (240)  w:sem  3
 521 commander                       4  0.403  1300/ 3192 140 (140)  w:sig  5
 599 gps                             0  0.024  1204/ 1936 205 (205)  w:sem  4
 636 wq:ttyS6                        0  0.020  1156/ 1704 228 (228)  w:sem  3
 724 mavlink_if0                     7  0.790  1688/ 2704 100 (100)  w:sig  4
 725 mavlink_rcv_if0                 1  0.135  1052/ 4592 175 (175)  w:sem  4
 785 mavlink_if1                    29  2.966  1700/ 2712 100 (100)  READY  4
 786 mavlink_rcv_if1                 1  0.174  1108/ 4592 175 (175)  w:sem  4
 816 wq:ttyS5                        5  0.573   916/ 1704 229 (229)  w:sem  3
 826 navigator                       0  0.048  1020/ 1896 105 (105)  w:sem  6
 910 logger                         62  6.231  2892/ 3616 236 (236)  RUN    4

Processes: 25 total, 4 running, 21 sleeping
CPU usage: 37.72% tasks, 1.24% sched, 61.04% idle
DMA Memory: 5120 total, 1536 used 1536 peak
Uptime: 3.627s total, 2.356s 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
logger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
gyro_calibration: calibration updated: 0 events
gyro_calibration: interval: 118 events, 19661.08 avg, min 57us max 20756us 1841.330us rms
gyro_fft: gyro FIFO data gap: 1 events
gyro_fft: FFT: 102 events, 16507us elapsed, 161.83us avg, min 136us max 292us 29.867us rms
gyro_fft: cycle interval: 803 events, 3001.25 avg, min 2190us max 3797us 233.718us rms
gyro_fft: cycle: 803 events, 21619us elapsed, 26.92us avg, min 5us max 299us 55.399us rms
navigator: 52 events, 805us elapsed, 15.48us avg, min 8us max 101us 17.981us rms
rc_input: publish interval: 574 events, 4160.54 avg, min 373us max 8098us 837.091us rms
rc_input: cycle time: 599 events, 9435us elapsed, 15.75us avg, min 4us max 874us 37.447us rms
mavlink: STATUSTEXT missed messages: 0 events
mavlink: forwarding error: 0 events
mavlink: send_bytes error: 0 events
mavlink: tx run interval: 796 events, 3012.14 avg, min 2171us max 8974us 319.788us rms
mavlink: tx run elapsed: 796 events, 97994us elapsed, 123.11us avg, min 58us max 1115us 102.416us rms
mavlink: STATUSTEXT missed messages: 0 events
mavlink: forwarding error: 0 events
mavlink: send_bytes error: 0 events
mavlink: tx run interval: 241 events, 9977.76 avg, min 9482us max 15015us 341.066us rms
mavlink: tx run elapsed: 241 events, 24382us elapsed, 101.17us avg, min 61us max 780us 70.128us rms
crsf_rc: publish interval: 23 events, 100427.43 avg, min 104830us max 105088us 58.079us rms
crsf_rc: cycle interval: 23 events, 100434.78 avg, min 104851us max 105096us 47.325us rms
mag_bias_estimator: cycle: 121 events, 380us elapsed, 3.14us avg, min 1us max 48us 5.817us rms
land_detector: cycle: 235 events, 2645us elapsed, 11.26us avg, min 8us max 108us 9.807us rms
mc_pos_control: cycle time: 235 events, 3691us elapsed, 15.71us avg, min 4us max 199us 18.083us rms
flight_mode_manager: cycle: 121 events, 20571us elapsed, 170.01us avg, min 3us max 558us 181.271us rms
mc_hover_thrust_estimator: cycle time: 233 events, 214us elapsed, 0.91us avg, min 1us max 2us 0.317us 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: 178 events, 3132us elapsed, 17.60us avg, min 14us max 148us 11.302us rms
mc_rate_control: cycle: 1660 events, 12968us elapsed, 7.81us avg, min 6us max 71us 2.330us rms
control_allocator: cycle: 1756 events, 32265us elapsed, 18.37us avg, min 16us max 147us 4.109us rms
ekf2: vehicle_air_data messages missed: 0 events
ekf2: IMU message missed: 1 events
ekf2: ECL full update: 257 events, 26810us elapsed, 104.32us avg, min 64us max 221us 34.438us rms
ekf2: ECL update: 257 events, 39us elapsed, 0.15us avg, min 0us max 3us 0.390us rms
pwm_out: interval: 10 events, 240020.70 avg, min 103us max 300155us 94252.664us rms
pwm_out: cycle: 10 events, 110us elapsed, 11.00us avg, min 3us max 50us 17.185us rms
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
dshot: cycle: 1757 events, 24686us elapsed, 14.05us avg, min 12us max 91us 2.124us rms
control latency: 1756 events, 182214us elapsed, 103.77us avg, min 97us max 254us 7.835us rms
commander: preflight check: 26 events, 2832us elapsed, 108.92us avg, min 63us max 309us 57.257us rms
commander: cycle: 239 events, 13489us elapsed, 56.44us avg, min 23us max 507us 68.121us rms
vehicle_imu: gyro data gap: 0 events
vehicle_imu: accel data gap: 2 events
vehicle_imu: gyro data gap: 1 events
vehicle_imu: accel data gap: 1 events
vehicle_gps_position: cycle: 9 events, 59us elapsed, 6.56us avg, min 1us max 44us 14.046us rms
vehicle_air_data: cycle: 83 events, 1524us elapsed, 18.36us avg, min 11us max 127us 16.494us rms
vehicle_angular_velocity: gyro selection changed: 1 events
vehicle_angular_velocity: gyro filter reset: 1 events
vehicle_angular_velocity: gyro filter: 1764 events, 17427us elapsed, 9.88us avg, min 6us max 158us 3.708us rms
sensors: 517 events, 16024us elapsed, 30.99us avg, min 10us max 1651us 85.740us rms
battery_status: 266 events, 2443us elapsed, 9.18us avg, min 6us max 224us 15.828us rms
spl06: comms errors: 0 events
spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
spl06: sample: 84 events, 72728us elapsed, 865.81us avg, min 855us max 971us 19.719us rms
bmi270: DRDY missed: 0 events
bmi270: FIFO reset: 1 events
bmi270: FIFO overflow: 0 events
bmi270: FIFO empty: 0 events
bmi270: bad transfer: 0 events
bmi270: bad register: 0 events
bmi088_gyro: DRDY missed: 0 events
bmi088_gyro: FIFO reset: 1 events
bmi088_gyro: FIFO overflow: 0 events
bmi088_gyro: FIFO empty: 0 events
bmi088_gyro: bad transfer: 0 events
bmi088_gyro: bad register: 0 events
bmi088_accel: DRDY missed: 0 events
bmi088_accel: FIFO reset: 1 events
bmi088_accel: FIFO overflow: 0 events
bmi088_accel: FIFO empty: 0 events
bmi088_accel: bad transfer: 0 events
bmi088_accel: bad register: 0 events
board_adc: sample: 822 events, 21399us elapsed, 26.03us avg, min 6us max 13884us 484.086us rms
manual_control: interval: 287 events, 9605.84 avg, min 443us max 200074us 25999.977us rms
manual_control: cycle: 287 events, 3246us elapsed, 11.31us avg, min 7us max 88us 9.027us rms
rc_update: valid data interval: 584 events, 4184.93 avg, min 396us max 23376us 1142.292us rms
rc_update: cycle interval: 610 events, 4183.41 avg, min 372us max 23377us 1148.449us rms
rc_update: cycle: 610 events, 11640us elapsed, 19.08us avg, min 8us max 848us 42.429us rms
load_mon: cycle: 6 events, 377us elapsed, 62.83us avg, min 1us max 183us 61.872us rms
dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
dataman: read: 5 events, 21543us elapsed, 4308.60us avg, min 14us max 18777us 8145.978us rms
dma_alloc: 4 events
param: set: 99 events, 1169us elapsed, 11.81us avg, min 1us max 21us 5.737us rms
param: get: 10761 events
param: find: 1704 events
param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms