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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
PX4 1.14.0-rc1 Cube Orange
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.14.0 (RC) (5359fe59) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:54 |
| Vehicle Life Flight Time: | 31 minutes 17 seconds |
| Vehicle UUID: | 000600000000353333393030511400470026 |
| Wind Speed: | Breeze |
| Flight Rating: | Unsatisfactory |
| Distance: | 99.8 m |
| Max Altitude Difference: | 11 m |
| Average Speed: | 1.6 km/h |
| Max Speed: | 10.2 km/h |
| Max Speed Horizontal: | 6.7 km/h |
| Max Speed Up: | 10.2 km/h |
| Max Speed Down: | 7.0 km/h |
| Max Tilt Angle: | 16.8 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE PX4 git-hash: 5359fe59e507896dace176d7fd8f9b0d00c2e3b6 PX4 version: 1.14.0 c0 (17694912) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 3f77354c0dc88793a47ff3b57595195ab45f7ba9 Build datetime: Jul 27 2023 18:35:28 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000353333393030511400470026 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3070 bytes, decoded 3070 bytes (INT32:55, FLOAT:89) 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 rgbled_ncp5623c #0 on I2C bus 2 address 0x39 rgbled_ncp5623c #1 on I2C bus 1 address 0x39 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 ist8310 #0 on I2C bus 2 address 0xE ist8310 #1 on I2C bus 1 address 0xE ekf2 [620:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Secondary GPS on /dev/ttyS5 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> [KWARN [uORB] orb_advertise_multi: failed to set queue size INFO [gps] u-blox firmware version: HPG 1.13 INFO [gps] u-blox protocol version: 27.12 INFO [gps] u-blox module: ZED-F9P INFO [gps] u-blox firmware version: HPG 1.13 INFO [gps] u-blox protocol version: 27.12 INFO [gps] u-blox module: ZED-F9P INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-08-22/12_56_14.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-08-22/12_56_14.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 44765 49.302 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 540/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 424/ 1232 255 (255) w:sem 1 987 log_writer_file 11 1.141 620/ 1144 60 ( 60) w:sem 4 255 wq:hp_default 50 5.003 1144/ 1872 237 (237) w:sem 1 270 dataman 0 0.010 852/ 1280 90 ( 90) w:sem 4 278 wq:lp_default 0 0.039 1068/ 1896 205 (205) w:sem 1 284 wq:I2C2 2 0.212 928/ 2312 245 (245) w:sem 1 285 wq:I2C1 1 0.199 1052/ 2312 246 (246) w:sem 1 331 wq:SPI4 84 8.479 1708/ 2368 250 (250) w:sem 1 329 wq:rate_ctrl 65 6.514 2308/ 3120 255 (255) w:sem 1 346 wq:SPI1 38 3.801 1576/ 2368 253 (253) w:sem 1 597 wq:nav_and_controllers 32 3.198 1308/ 2216 242 (242) w:sem 1 599 wq:INS0 39 3.918 4316/ 5976 241 (241) w:sem 1 600 wq:INS1 34 3.413 4316/ 5976 240 (240) w:sem 1 601 wq:INS2 34 3.463 4316/ 5976 239 (239) w:sem 1 606 commander 6 0.628 1424/ 3192 140 (140) w:sig 5 650 mavlink_if0 7 0.714 1908/ 2768 100 (100) w:sig 4 652 mavlink_rcv_if0 2 0.216 1436/ 4616 175 (175) w:sem 4 742 gps 8 0.810 1236/ 1896 205 (205) w:sig 4 743 gps 2 0.240 1276/ 1896 205 (205) w:sig 4 818 mavlink_if1 12 1.205 1900/ 2704 100 (100) READY 4 819 mavlink_rcv_if1 2 0.239 1700/ 4616 175 (175) w:sem 4 881 navigator 0 0.080 1056/ 1896 105 (105) READY 6 976 logger 47 4.763 2932/ 3616 230 (230) RUN 4 1005 wq:uavcan 9 0.990 2244/ 3600 236 (236) w:sem 1 Processes: 27 total, 4 running, 23 sleeping CPU usage: 49.28% tasks, 1.42% sched, 49.30% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 78.522s total, 44.765s 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: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events uavcan: cycle interval: 25767 events, 3000.00 avg, min 33us max 8167us 250.315us rms uavcan: cycle time: 25767 events, 724014us elapsed, 28.10us avg, min 13us max 1781us 55.762us 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 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, 189909us elapsed, 189909.00us avg, min 189909us max 189909us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3857 events, 19997.72 avg, min 61us max 51213us 628.560us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 14455 events, 2888385us elapsed, 199.82us avg, min 156us max 1374us 64.692us rms gyro_fft: cycle interval: 30865 events, 2505.42 avg, min 119us max 7345us 280.689us rms gyro_fft: cycle: 30865 events, 3226761us elapsed, 104.54us avg, min 2us max 1386us 111.153us rms navigator: 1630 events, 87932us elapsed, 53.95us avg, min 10us max 34770us 865.473us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7723 events, 10013.72 avg, min 9145us max 43323us 458.072us rms mavlink: tx run elapsed: 7723 events, 1411476us elapsed, 182.76us avg, min 81us max 1317us 130.033us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15450 events, 5009.60 avg, min 4037us max 43000us 395.446us rms mavlink: tx run elapsed: 15450 events, 685925us elapsed, 44.40us avg, min 22us max 2236us 64.704us rms mag_bias_estimator: cycle: 3860 events, 105658us elapsed, 27.37us avg, min 1us max 1134us 54.741us rms land_detector: cycle: 7736 events, 105233us elapsed, 13.60us avg, min 10us max 166us 8.922us rms mc_pos_control: cycle time: 7737 events, 253732us elapsed, 32.79us avg, min 26us max 225us 12.940us rms flight_mode_manager: cycle: 3872 events, 179418us elapsed, 46.34us avg, min 30us max 1119us 78.524us rms mc_hover_thrust_estimator: cycle time: 7736 events, 9394us elapsed, 1.21us avg, min 1us max 78us 2.156us 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: 15276 events, 184039us elapsed, 12.05us avg, min 8us max 193us 6.967us rms mc_rate_control: cycle: 61466 events, 629070us elapsed, 10.23us avg, min 8us max 91us 1.298us rms control_allocator: cycle: 61466 events, 1440568us elapsed, 23.44us avg, min 19us max 163us 2.986us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 7259 events, 1414409us elapsed, 194.85us avg, min 83us max 5043us 165.094us rms ekf2: ECL update: 7259 events, 4723us elapsed, 0.65us avg, min 1us max 560us 8.157us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 6686 events, 1450852us elapsed, 217.00us avg, min 82us max 1699us 136.852us rms ekf2: ECL update: 6667 events, 2984us elapsed, 0.44us avg, min 1us max 115us 1.716us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 7737 events, 1310068us elapsed, 169.33us avg, min 83us max 675us 75.732us rms ekf2: ECL update: 7737 events, 3604us elapsed, 0.46us avg, min 0us max 66us 1.764us rms pwm_out: interval: 260 events, 297692.48 avg, min 95us max 300721us 18599.996us rms pwm_out: cycle: 260 events, 1229us elapsed, 4.73us avg, min 3us max 56us 5.286us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 709 events, 285809us elapsed, 403.12us avg, min 243us max 3536us 230.255us rms commander: cycle: 7026 events, 692655us elapsed, 98.58us avg, min 29us max 3840us 163.367us 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: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 3598 events, 163228us elapsed, 45.37us avg, min 6us max 2427us 44.905us rms vehicle_gps_position: cycle: 1321 events, 38262us elapsed, 28.96us avg, min 2us max 195us 29.594us rms vehicle_air_data: cycle: 5758 events, 136430us elapsed, 23.69us avg, min 12us max 152us 11.645us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 61487 events, 966773us elapsed, 15.72us avg, min 9us max 195us 1.679us rms sensors: 15480 events, 621544us elapsed, 40.15us avg, min 16us max 4162us 61.976us rms battery_status: 7746 events, 152914us elapsed, 19.74us avg, min 12us max 977us 38.511us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 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: 7709 events, 31967us elapsed, 4.15us avg, min 3us max 99us 2.004us rms ms5611: read: 7708 events, 108143us elapsed, 14.03us avg, min 10us max 108us 3.061us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 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: 7684 events, 36306us elapsed, 4.72us avg, min 4us max 82us 2.766us rms ms5611: read: 7683 events, 137394us elapsed, 17.88us avg, min 11us max 160us 5.827us rms board_adc: sample: 54285 events, 621192us elapsed, 11.44us avg, min 7us max 14773us 70.063us rms manual_control: interval: 1384 events, 56036.82 avg, min 7140us max 200388us 49380.941us rms manual_control: cycle: 1384 events, 18870us elapsed, 13.63us avg, min 8us max 170us 10.721us rms rc_update: valid data interval: 3620 events, 21388.94 avg, min 13143us max 30194us 1808.126us rms rc_update: cycle interval: 3624 events, 21398.29 avg, min 13140us max 54098us 1886.270us rms rc_update: cycle: 3624 events, 69976us elapsed, 19.31us avg, min 10us max 1008us 25.709us rms control latency: 30835 events, 15151976us elapsed, 491.39us avg, min 450us max 1747us 136.434us rms px4io: interface write: 30853 events, 7224294us elapsed, 234.15us avg, min 120us max 331us 8.888us rms px4io: interface read: 21832 events, 5980389us elapsed, 273.93us avg, min 135us max 645us 152.911us rms px4io: interval: 30841 events, 2515.21 avg, min 297us max 50112us 549.066us rms px4io: cycle: 30841 events, 13789673us elapsed, 447.12us avg, min 109us max 11047us 634.356us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 52685 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 52685 events, 12978522us elapsed, 246.34us avg, min 116us max 641us 100.437us rms rgbled: led_control message missed: 0 events rgbled: led_control message missed: 0 events load_mon: cycle: 156 events, 21418us elapsed, 137.29us avg, min 2us max 715us 91.591us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 314 events, 86526us elapsed, 275.56us avg, min 18us max 34742us 2483.676us rms dma_alloc: 7 events param: set: 144 events, 2767us elapsed, 19.22us avg, min 2us max 41us 9.563us rms param: get: 23598 events param: find: 22574 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms