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PX4 Tiltrotor VTOL | Open 3D ViewOpen PID Analysis |
Tiltrotor transition simulation
| Airframe: | PX4 Vision Dev Kit v1.5 Quadrotor x (4020) |
| Hardware: | PX4_SITL |
| Software Version: | v1.16.0 (alpha) (44d72983) branch: vtol |
| OS Version: | Linux, v6.8.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:09:33 |
| Vehicle Life Flight Time: | 2 hours 43 minutes 24 seconds |
| Distance: | 14.7 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.3 km/h |
| Max Speed: | 2.5 km/h |
| Max Speed Horizontal: | 0.2 km/h |
| Max Speed Up: | 2.5 km/h |
| Max Speed Down: | 0.9 km/h |
| Max Tilt Angle: | 0.7 deg |
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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 mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 24 events, 3833.33 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 24 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 28 events, 3857.14 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 28 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 32 events, 3875.00 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 32 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 118 events, 4203.39 avg, min 4000us max 8000us 948.679us rms mavlink: tx run elapsed: 118 events, 20000us elapsed, 169.49us avg, min 0us max 4000us 809.190us rms DatamanClient: sync: 4 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 27 events, 19111.11 avg, min 16000us max 28000us 2348.359us rms gyro_fft: gyro data gap: 1 events gyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 34 events, 15647.06 avg, min 12000us max 20000us 1199.939us rms gyro_fft: cycle: 34 events, 8000us elapsed, 235.29us avg, min 0us max 4000us 955.330us rms uxrce_dds_client: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms geofence_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms navigator: 15 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 79 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 35 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_att_control: cycle: 65 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_rate_control: cycle: 164 events, 12000us elapsed, 73.17us avg, min 0us max 4000us 537.673us 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: 90 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 93 events, 4000us elapsed, 43.01us avg, min 0us max 4000us 414.781us rms flight_mode_manager: cycle: 39 events, 4000us elapsed, 102.56us avg, min 0us max 4000us 640.513us rms mc_att_control: cycle: 65 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 190 events, 16000us elapsed, 84.21us avg, min 0us max 4000us 575.756us rms vtol_att_control: cycle: 191 events, 16000us elapsed, 83.77us avg, min 0us max 4000us 574.271us rms airspeed_selector: elapsed: 9 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control_allocator: cycle: 190 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms pwm_out_sim: cycle: 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 ekf2: IMU message missed: 0 events ekf2: EKF update: 107 events, 8000us elapsed, 74.77us avg, min 0us max 4000us 544.283us rms commander: preflight check: 10 events, 4000us elapsed, 400.00us avg, min 0us max 4000us 1264.911us rms commander: cycle: 75 events, 4000us elapsed, 53.33us avg, min 0us max 4000us 461.880us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 93 events, 12000us elapsed, 129.03us avg, min 0us max 4000us 710.569us rms vehicle_gps_position: cycle: 29 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_air_data: cycle: 47 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 226 events, 28000us elapsed, 123.89us avg, min 0us max 4000us 694.521us rms sensors: 224 events, 12000us elapsed, 53.57us avg, min 0us max 4000us 460.830us rms manual_control: interval: 5 events, 160000.00 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 5 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms system_power_simulator: cycle: 98 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_simulator: cycle: 98 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 3 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 control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 190 events, 252000us elapsed, 1326.32us avg, min 0us max 16000us 2968.769us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 12192 events param: find: 2337 events param: export: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms