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PX4 Octorotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Octocopter + geometry Octorotor + (9001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | f48aaf93 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:09 |
| Vehicle Life Flight Time: | 2 hours 13 minutes 50 seconds |
| Vehicle UUID: | 000200000000203331354e305010003a0018 |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 0.2 km/h |
| Max Speed Horizontal: | 0.2 km/h |
| Max Speed Up: | -0.0 km/h |
| Max Speed Down: | 0.2 km/h |
| Max Tilt Angle: | 2.5 deg |
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Console Output
HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: f48aaf93093df687bf284f45126f09121121e8a3 FW version: 1.13.2 0 (17629696) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83 Build datetime: Sep 26 2023 10:22:49 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000203331354e305010003a0018 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 5096 bytes, decoded 5096 bytes (INT32:117, FLOAT:128) 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 rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 Loading airframe: /etc/init.d/airframes/9001_octo_+ INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20602 #0 on SPI bus 1 rotation 2 icm20689 #0 on SPI bus 1 rotation 2 ERROR [SPI_I2C] bmi055: no instance started (no device on bus?) ERROR [SPI_I2C] bmi055: no instance started (no device on bus?) ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 (external) address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 hmc5883 #0 on I2C bus 4 (external) address 0x1E WARN [SPI_I2C] Already running on bus 1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/octo_+.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/mount.aux.mix on /dev/pwm_output1 ekf2 [796:237] INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 2880 B/s on /dev/ttyS1 @ 57600B Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS3 @ 921600B Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Onboard, data rate: 2880 B/s on /dev/ttyS2 @ 57600B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [commander] Switching to Position is currently not available INFO [commander] Failsafe mode activated INFO [gyro_calibration] gyro 0 (3670026) updating offsets [0.020, 0.012, -0.007]->[0.008, 0.002, -0.004] 20.6 degC INFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 INFO [gps] u-blox module: NEO-M8N-0 INFO [gimbal] Configured primary gimbal control sysid/compid from 0/0 to 245/190 INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-02-06/15_48_32.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-02-06/15_48_32.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 16274 18.265 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.003 1068/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2348/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 468/ 1256 255 (255) w:sem 3 1239 log_writer_file 0 0.017 604/ 1176 60 ( 60) READY 4 71 wq:lp_default 2 0.102 1084/ 1920 205 (205) READY 3 78 wq:hp_default 210 10.293 1196/ 1904 237 (237) w:sem 3 111 dataman 0 0.005 828/ 1208 90 ( 90) w:sem 4 134 wq:I2C1 8 0.390 1004/ 2336 246 (246) w:sem 3 362 wq:uavcan 33 1.640 1700/ 3624 236 (236) PEND 3 408 wq:SPI1 223 10.907 1612/ 2336 253 (253) w:sem 3 421 wq:SPI4 7 0.356 816/ 2336 250 (250) w:sem 3 427 wq:I2C3 7 0.351 908/ 2336 244 (244) w:sem 3 601 wq:I2C4 20 1.016 996/ 2336 243 (243) w:sem 3 749 wq:nav_and_controllers 127 6.231 1260/ 2240 242 (242) w:sem 3 752 wq:rate_ctrl 202 9.895 1416/ 3152 255 (255) w:sem 3 753 wq:INS0 150 7.325 4260/ 6000 241 (241) w:sem 3 754 wq:INS1 134 6.587 4260/ 6000 240 (240) w:sem 3 756 commander 22 1.103 1620/ 3224 140 (140) READY 5 908 gps 4 0.205 1188/ 1680 205 (205) w:sem 4 987 mavlink_if0 83 4.053 1844/ 2736 100 (100) READY 4 988 mavlink_rcv_if0 9 0.442 1468/ 4712 175 (175) READY 4 1018 mavlink_if1 173 8.483 1868/ 2736 100 (100) READY 4 1021 mavlink_rcv_if1 7 0.387 1716/ 4712 175 (175) READY 4 1055 mavlink_if2 92 4.531 1844/ 2736 100 (100) READY 4 1064 mavlink_rcv_if2 8 0.408 1508/ 4712 175 (175) READY 4 1078 navigator 1 0.058 1060/ 1920 105 (105) w:sem 6 1139 gimbal 9 0.488 1500/ 2088 100 (100) READY 9 1225 logger 71 3.513 2884/ 3648 230 (230) RUN 4 Processes: 30 total, 13 running, 17 sleeping CPU usage: 78.79% tasks, 2.94% sched, 18.27% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 64.982s total, 16.275s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 17818 5.235 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 98 9.873 1068/ 1616 50 ( 50) w:sem 4 3 init 0 0.000 2348/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 468/ 1256 255 (255) w:sem 3 1239 log_writer_file 5 0.597 604/ 1176 60 ( 60) w:sem 4 71 wq:lp_default 2 0.220 1084/ 1920 205 (205) w:sem 3 78 wq:hp_default 94 9.489 1196/ 1904 237 (237) w:sem 3 111 dataman 0 0.021 828/ 1208 90 ( 90) w:sem 4 134 wq:I2C1 4 0.411 1004/ 2336 246 (246) w:sem 3 362 wq:uavcan 16 1.617 1700/ 3624 236 (236) w:sem 3 408 wq:SPI1 111 11.146 1612/ 2336 253 (253) w:sem 3 421 wq:SPI4 3 0.366 816/ 2336 250 (250) w:sem 3 427 wq:I2C3 3 0.347 908/ 2336 244 (244) w:sem 3 601 wq:I2C4 10 1.010 996/ 2336 243 (243) w:sem 3 749 wq:nav_and_controllers 64 6.400 1260/ 2240 242 (242) w:sem 3 752 wq:rate_ctrl 99 9.917 1416/ 3152 255 (255) w:sem 3 753 wq:INS0 75 7.564 4260/ 6000 241 (241) w:sem 3 754 wq:INS1 72 7.220 4260/ 6000 240 (240) w:sem 3 756 commander 27 2.720 1620/ 3224 140 (140) w:sig 5 908 gps 2 0.205 1188/ 1680 205 (205) READY 4 987 mavlink_if0 39 3.948 1844/ 2736 100 (100) READY 4 988 mavlink_rcv_if0 4 0.447 1468/ 4712 175 (175) READY 4 1018 mavlink_if1 85 8.573 1868/ 2736 100 (100) READY 4 1021 mavlink_rcv_if1 4 0.447 1716/ 4712 175 (175) READY 4 1055 mavlink_if2 44 4.477 1844/ 2736 100 (100) READY 4 1064 mavlink_rcv_if2 4 0.443 1508/ 4712 175 (175) READY 4 1078 navigator 1 0.182 1188/ 1920 105 (105) w:sem 6 1139 gimbal 4 0.492 1500/ 2088 100 (100) READY 9 1225 logger 35 3.532 2884/ 3648 230 (230) RUN 4 Processes: 30 total, 10 running, 20 sleeping CPU usage: 91.67% tasks, 3.10% sched, 5.23% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 73.945s total, 17.818s 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_gps_position 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 1 events gyro_calibration: interval: 3104 events, 19987.29 avg, min 75us max 25408us 593.881us rms gyro_fft: gyro FIFO data gap: 5 events gyro_fft: FFT: 5958 events, 5260232us elapsed, 882.89us avg, min 615us max 3276us 308.407us rms gyro_fft: cycle interval: 25495 events, 2509.80 avg, min 25us max 16773us 470.753us rms gyro_fft: cycle: 25495 events, 5787133us elapsed, 226.99us avg, min 3us max 3309us 407.674us rms navigator: 1260 events, 1541368us elapsed, 1223.31us avg, min 22us max 1374982us 38735.637us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11767 events, 5446.56 avg, min 4239us max 79244us 2255.771us rms mavlink: tx run elapsed: 11767 events, 4654049us elapsed, 395.52us avg, min 152us max 24046us 525.278us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16611 events, 3860.15 avg, min 2237us max 77989us 2073.394us rms mavlink: tx run elapsed: 16611 events, 12242575us elapsed, 737.02us avg, min 160us max 75488us 1187.260us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11775 events, 5447.50 avg, min 4205us max 80149us 2263.899us rms mavlink: tx run elapsed: 11775 events, 4175162us elapsed, 354.58us avg, min 137us max 19388us 408.424us rms mag_bias_estimator: cycle: 3114 events, 310962us elapsed, 99.86us avg, min 10us max 3268us 177.259us rms land_detector: cycle: 6388 events, 180299us elapsed, 28.22us avg, min 18us max 361us 23.381us rms mc_pos_control: cycle time: 6383 events, 435874us elapsed, 68.29us avg, min 1us max 711us 35.141us rms flight_mode_manager: cycle: 3187 events, 194867us elapsed, 61.14us avg, min 9us max 936us 34.917us rms mc_hover_thrust_estimator: cycle time: 6374 events, 15166us elapsed, 2.38us avg, min 1us max 194us 5.498us 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: 12673 events, 256320us elapsed, 20.23us avg, min 14us max 421us 10.958us rms mc_rate_control: cycle: 51107 events, 1145067us elapsed, 22.41us avg, min 18us max 454us 4.071us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 12866 events, 55917us elapsed, 4.35us avg, min 1us max 1814us 34.524us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 5 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 12870 events, 45106us elapsed, 3.50us avg, min 1us max 195us 8.388us rms ekf2: vehicle_magnetometer messages missed: 3 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 6379 events, 2332947us elapsed, 365.72us avg, min 155us max 1743us 213.591us rms ekf2: ECL update: 6491 events, 57190us elapsed, 8.81us avg, min 1us max 1552us 43.974us rms ekf2: vehicle_magnetometer messages missed: 2 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 5 events ekf2: ECL full update: 6381 events, 1814387us elapsed, 284.34us avg, min 155us max 1455us 127.223us rms ekf2: ECL update: 6492 events, 45235us elapsed, 6.97us avg, min 1us max 105us 6.529us rms pwm_out: interval: 66 events, 969879.79 avg, min 74us max 1001635us 123091.289us rms pwm_out: cycle: 66 events, 484us elapsed, 7.33us avg, min 5us max 39us 6.185us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 4832 events, 13329.69 avg, min 74us max 279190us 9432.300us rms pwm_out: cycle: 4832 events, 263386us elapsed, 54.51us avg, min 4us max 1781us 125.819us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 25597 events, 15602305us elapsed, 609.54us avg, min 540us max 1668us 145.240us rms px4io: interface write: 25617 events, 6291735us elapsed, 245.61us avg, min 129us max 381us 13.134us rms px4io: interface read: 17636 events, 5033625us elapsed, 285.42us avg, min 143us max 1040us 154.253us rms px4io: interval: 25602 events, 2516.44 avg, min 471us max 60871us 561.737us rms px4io: cycle: 25602 events, 12652844us elapsed, 494.21us avg, min 7us max 9427us 664.850us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 43253 events px4io: uarterrs: 0 events px4io: protoerrs: 2 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 43253 events, 10916397us elapsed, 252.38us avg, min 122us max 1033us 100.734us rms commander: preflight check: 127 events, 2345740us elapsed, 18470.39us avg, min 2047us max 67160us 4920.204us rms commander: cycle: 5527 events, 3741124us elapsed, 676.88us avg, min 74us max 67549us 2941.175us rms vehicle_imu: gyro data gap: 3 events vehicle_imu: accel data gap: 3 events vehicle_imu: gyro data gap: 3 events vehicle_imu: accel data gap: 3 events vehicle_magnetometer: cycle: 8117 events, 391021us elapsed, 48.17us avg, min 28us max 1392us 34.993us rms vehicle_gps_position: cycle: 295 events, 5854us elapsed, 19.84us avg, min 5us max 224us 23.543us rms vehicle_air_data: cycle: 4812 events, 182432us elapsed, 37.91us avg, min 22us max 370us 32.478us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 51225 events, 1596060us elapsed, 31.16us avg, min 14us max 402us 4.619us rms sensors: 12904 events, 949374us elapsed, 73.57us avg, min 24us max 8573us 154.968us rms battery_status: 6446 events, 306669us elapsed, 47.58us avg, min 24us max 1915us 112.972us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 8121 events, 7393687us elapsed, 910.44us avg, min 845us max 1782us 150.487us 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 ms5611: com_err: 0 events ms5611: measure: 6424 events, 34378us elapsed, 5.35us avg, min 3us max 252us 11.916us rms ms5611: read: 6423 events, 128914us elapsed, 20.07us avg, min 8us max 254us 23.043us rms 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 icm20602: DRDY missed: 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 board_adc: sample: 77472 events, 480559us elapsed, 6.20us avg, min 3us max 1865us 37.114us rms manual_control: interval: 1121 events, 57601.64 avg, min 1150us max 201290us 51303.902us rms manual_control: cycle: 1121 events, 36905us elapsed, 32.92us avg, min 10us max 1219us 61.784us rms rc_update: valid data interval: 2895 events, 22065.28 avg, min 12216us max 31895us 1863.784us rms rc_update: cycle interval: 2901 events, 22065.23 avg, min 12217us max 31482us 1859.365us rms rc_update: cycle: 2901 events, 117635us elapsed, 40.55us avg, min 16us max 1335us 62.831us rms uavcan: cycle interval: 21869 events, 2955.00 avg, min 25us max 28169us 770.523us rms uavcan: cycle time: 21869 events, 1112992us elapsed, 50.89us avg, min 13us max 3208us 136.241us 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 rgbled: led_control message missed: 16 events load_mon: cycle: 130 events, 20782us elapsed, 159.86us avg, min 3us max 1248us 161.321us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 50 events, 1562149us elapsed, 31242.98us avg, min 37us max 1374932us 194246.016us rms rgbled: led_control message missed: 15 events dma_alloc: 9 events param: set: 257 events, 18637us elapsed, 72.52us avg, min 2us max 3112us 200.102us rms param: get: 25063 events param: find: 21870 events param: export: 1 events, 88289us elapsed, 88289.00us avg, min 88289us max 88289us nanus rms
Post 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_gps_position 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: 22 events, 182492us elapsed, 8295.09us avg, min 1939us max 16139us 4875.308us rms logger_sd_write: 72 events, 380288us elapsed, 5281.78us avg, min 11us max 17559us 3095.623us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us infus rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 841 events, 877878us elapsed, 1043.85us avg, min 656us max 2853us 907.327us rms gyro_fft: cycle interval: 3556 events, 2522.03 avg, min 25us max 6337us 538.427us rms gyro_fft: cycle: 3556 events, 955147us elapsed, 268.60us avg, min 3us max 2893us 1196.929us rms navigator: 185 events, 50085us elapsed, 270.73us avg, min 22us max 9028us 101500.992us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1619 events, 5527.12 avg, min 4270us max 49391us 1641.557us rms mavlink: tx run elapsed: 1619 events, 810182us elapsed, 500.42us avg, min 186us max 4770us 1515.118us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2336 events, 3832.04 avg, min 2252us max 48491us 1604.377us rms mavlink: tx run elapsed: 2336 events, 1791382us elapsed, 766.86us avg, min 188us max 26695us 3293.884us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1619 events, 5527.29 avg, min 4313us max 46014us 1606.281us rms mavlink: tx run elapsed: 1619 events, 778092us elapsed, 480.60us avg, min 165us max 40692us 1583.225us rms mag_bias_estimator: cycle: 2 events, 146us elapsed, 73.00us avg, min 1us max 145us 9890.549us rms land_detector: cycle: 898 events, 26029us elapsed, 28.99us avg, min 20us max 257us 67.049us rms mc_pos_control: cycle time: 898 events, 65140us elapsed, 72.54us avg, min 49us max 372us 103.882us rms flight_mode_manager: cycle: 448 events, 32654us elapsed, 72.89us avg, min 43us max 449us 103.563us rms mc_hover_thrust_estimator: cycle time: 898 events, 1945us elapsed, 2.17us avg, min 1us max 39us 14.853us 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: 1796 events, 37383us elapsed, 20.81us avg, min 14us max 120us 31.343us rms mc_rate_control: cycle: 7133 events, 163831us elapsed, 22.97us avg, min 18us max 115us 11.598us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 1796 events, 6257us elapsed, 3.48us avg, min 2us max 159us 92.673us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 1796 events, 7311us elapsed, 4.07us avg, min 2us max 236us 25.361us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 898 events, 318655us elapsed, 354.85us avg, min 156us max 1227us 603.637us rms ekf2: ECL update: 898 events, 6133us elapsed, 6.83us avg, min 5us max 165us 118.509us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 898 events, 293497us elapsed, 326.83us avg, min 156us max 1232us 367.208us rms ekf2: ECL update: 898 events, 6857us elapsed, 7.64us avg, min 5us max 169us 19.987us rms pwm_out: interval: 9 events, 889204.22 avg, min 1000011us max 1000914us 364.242us rms pwm_out: cycle: 9 events, 60us elapsed, 6.67us avg, min 5us max 10us 17.715us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 829 events, 10796.94 avg, min 142us max 22241us 9410.028us rms pwm_out: cycle: 829 events, 36279us elapsed, 43.76us avg, min 23us max 819us 310.153us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 3573 events, 2150148us elapsed, 601.78us avg, min 544us max 1431us 412.485us rms px4io: interface write: 3577 events, 881449us elapsed, 246.42us avg, min 130us max 375us 37.710us rms px4io: interface read: 2451 events, 706766us elapsed, 288.36us avg, min 144us max 645us 441.927us rms px4io: interval: 3573 events, 2510.16 avg, min 570us max 9410us 389.338us rms px4io: cycle: 3573 events, 1776539us elapsed, 497.21us avg, min 283us max 9287us 1895.608us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6030 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6029 events, 1530218us elapsed, 253.81us avg, min 122us max 632us 288.162us rms commander: preflight check: 2 events, 47641us elapsed, 23820.50us avg, min 19652us max 27989us 55542.887us rms commander: cycle: 788 events, 280954us elapsed, 356.54us avg, min 82us max 28839us 7900.295us 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: 1130 events, 63303us elapsed, 56.02us avg, min 33us max 360us 97.952us rms vehicle_gps_position: cycle: 45 events, 875us elapsed, 19.44us avg, min 14us max 73us 61.959us rms vehicle_air_data: cycle: 671 events, 26691us elapsed, 39.78us avg, min 22us max 266us 93.111us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 7137 events, 229672us elapsed, 32.18us avg, min 26us max 233us 13.478us rms sensors: 1797 events, 115161us elapsed, 64.09us avg, min 49us max 678us 416.574us rms battery_status: 898 events, 42087us elapsed, 46.87us avg, min 25us max 1609us 317.298us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 1130 events, 1028496us elapsed, 910.17us avg, min 845us max 1832us 430.440us 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: 894 events, 4663us elapsed, 5.22us avg, min 3us max 227us 34.010us rms ms5611: read: 894 events, 17554us elapsed, 19.64us avg, min 7us max 236us 64.823us rms 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 icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 10776 events, 63575us elapsed, 5.90us avg, min 3us max 1721us 104.442us rms manual_control: interval: 163 events, 54599.67 avg, min 14798us max 200203us 46475.180us rms manual_control: cycle: 163 events, 4655us elapsed, 28.56us avg, min 16us max 277us 165.114us rms rc_update: valid data interval: 410 events, 21843.85 avg, min 12769us max 30540us 1870.872us rms rc_update: cycle interval: 410 events, 21843.75 avg, min 12769us max 30537us 1869.633us rms rc_update: cycle: 410 events, 15429us elapsed, 37.63us avg, min 22us max 396us 170.466us rms uavcan: cycle interval: 3029 events, 2964.33 avg, min 24us max 5676us 687.824us rms uavcan: cycle time: 3029 events, 159856us elapsed, 52.78us avg, min 13us max 3221us 393.604us 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 rgbled: led_control message missed: 54 events load_mon: cycle: 18 events, 3159us elapsed, 175.50us avg, min 96us max 390us 456.204us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 24 events, 36993us elapsed, 1541.38us avg, min 46us max 8548us 283527.313us rms rgbled: led_control message missed: 53 events dma_alloc: 3 events param: set: 2 events, 23us elapsed, 11.50us avg, min 11us max 12us 3201.625us rms param: get: 2727 events param: find: 1679 events param: export: 2 events, 246240us elapsed, 123120.00us avg, min 117775us max 128465us 7558.966us rms