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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
test px4 2
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V6C (V6C000001) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:47 |
| Vehicle Life Flight Time: | 3 minutes 25 seconds |
| Vehicle UUID: | 00060000000036383532313351180027003f |
| Distance: | 33.3 m |
| Max Altitude Difference: | 4 m |
| Average Speed: | 2.5 km/h |
| Max Speed: | 22.1 km/h |
| Max Speed Horizontal: | 16.9 km/h |
| Max Speed Up: | 7.1 km/h |
| Max Speed Down: | 16.2 km/h |
| Max Tilt Angle: | 101.7 deg |
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Console Output
ill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [commander] GCS connection regained WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [commander] GCS connection regained WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-04-12/09_11_21.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-04-12/09_11_21.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by RC INFO [logger] closed logfile, bytes written: 739920 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-04-12/09_13_21.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-04-12/09_13_21.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 2860217 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-04-12/09_15_29.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-04-12/09_15_29.ulg INFO [commander] Takeoff detected WARN [commander] Kill engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Landing detected INFO [commander] Takeoff detected INFO [commander] Disarmed by kill-switch WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [vehicle_imu] ACC 1 (2490378) offset committed: [-0.002 0.015 -0.097]->[-0.004 0.020 -0.033]) INFO [vehicle_imu] ACC 0 (4259850) offset committed: [-0.289 -0.018 0.017]->[-0.321 -0.018 -0.021]) INFO [logger] closed logfile, bytes written: 5502006 INFO [commander] Kill disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-04-12/09_21_18.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-04-12/09_21_18.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 1021202 64.934 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 3 5 wq:lp_default 0 0.027 1428/ 1896 205 (205) w:sem 3 351 wq:hp_default 36 3.684 1180/ 2776 237 (237) w:sem 3 375 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 390 wq:I2C1 1 0.191 896/ 2312 246 (246) w:sem 3 457 wq:I2C4 5 0.513 940/ 2312 243 (243) w:sem 3 440 wq:rate_ctrl 51 5.103 2524/ 3120 255 (255) w:sem 3 443 wq:SPI1 67 6.729 1836/ 2368 253 (253) w:sem 3 669 wq:nav_and_controllers 22 2.214 1436/ 2216 242 (242) w:sem 3 670 wq:INS0 37 3.716 3660/ 5976 241 (241) w:sem 3 682 wq:INS1 37 3.764 3660/ 5976 240 (240) w:sem 3 685 commander 5 0.517 1540/ 3192 140 (140) w:sig 5 1013 log_writer_file 9 0.976 628/ 1144 60 ( 60) w:sem 4 822 gps 1 0.135 1188/ 1936 205 (205) w:sem 4 892 mavlink_if0 9 0.992 1924/ 2704 100 (100) w:sig 5 903 mavlink_rcv_if0 1 0.185 1684/ 4776 175 (175) w:sem 5 947 navigator 0 0.067 1604/ 2104 105 (105) w:sem 11 1010 logger 44 4.440 3100/ 3616 230 (230) RUN 4 1032 wq:uavcan 8 0.806 2252/ 3600 236 (236) w:sem 3 Processes: 23 total, 2 running, 21 sleeping CPU usage: 34.07% tasks, 1.00% sched, 64.93% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1437.329s total, 1021.202s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: cycle interval: 116366 events, 2999.97 avg, min 76us max 5924us 152.439us rms uavcan: cycle time: 116366 events, 2472432us elapsed, 21.25us avg, min 11us max 1129us 76.893us 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: 374 events, 2319338us elapsed, 6201.44us avg, min 831us max 61235us 7568.514us rms logger_sd_write: 1299 events, 6699551us elapsed, 5157.47us avg, min 5us max 131424us 6523.424us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 10442 events, 32466.69 avg, min 68us max 10000346us 351937.563us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 65835 events, 10826071us elapsed, 164.44us avg, min 132us max 973us 118.144us rms gyro_fft: cycle interval: 140468 events, 2485.23 avg, min 239us max 4326us 107.943us rms gyro_fft: cycle: 140468 events, 12100085us elapsed, 86.14us avg, min 2us max 982us 185.416us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 7433 events, 148360us elapsed, 19.96us avg, min 11us max 1082us 48.541us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34898 events, 10002.86 avg, min 9103us max 30961us 171.903us rms mavlink: tx run elapsed: 34898 events, 4560121us elapsed, 130.67us avg, min 86us max 3526us 200.926us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 10625 events, 167323us elapsed, 15.75us avg, min 1us max 761us 85.556us rms land_detector: cycle: 35119 events, 335460us elapsed, 9.55us avg, min 8us max 119us 7.009us rms mc_pos_control: cycle time: 35119 events, 340489us elapsed, 9.70us avg, min 5us max 117us 18.302us rms flight_mode_manager: cycle: 17455 events, 119539us elapsed, 6.85us avg, min 3us max 167us 194.704us rms mc_hover_thrust_estimator: cycle time: 6486 events, 24608us elapsed, 3.79us avg, min 2us max 38us 5.043us 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: 70237 events, 1114826us elapsed, 15.87us avg, min 7us max 132us 10.304us rms mc_rate_control: cycle: 279225 events, 2399702us elapsed, 8.59us avg, min 7us max 31us 1.709us rms control_allocator: cycle: 279225 events, 5200546us elapsed, 18.62us avg, min 16us max 136us 4.379us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 35119 events, 6802095us elapsed, 193.69us avg, min 112us max 950us 240.479us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 38546 events, 7275571us elapsed, 188.75us avg, min 111us max 779us 219.478us rms pwm_out: interval: 1164 events, 299742.37 avg, min 299296us max 300703us 139.420us rms pwm_out: cycle: 1164 events, 5095us elapsed, 4.38us avg, min 2us max 304us 30.281us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 3182 events, 599835us elapsed, 188.51us avg, min 129us max 1136us 257.071us rms commander: cycle: 31731 events, 2288085us elapsed, 72.11us avg, min 30us max 2682us 191.276us 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: 16354 events, 442126us elapsed, 27.03us avg, min 18us max 505us 27.458us rms vehicle_gps_position: cycle: 2793 events, 20965us elapsed, 7.51us avg, min 5us max 121us 15.342us rms vehicle_air_data: cycle: 24219 events, 370235us elapsed, 15.29us avg, min 10us max 131us 25.912us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 279225 events, 3551842us elapsed, 12.72us avg, min 11us max 93us 2.341us rms sensors: 70237 events, 1712283us elapsed, 24.38us avg, min 17us max 1740us 38.552us rms battery_status: 34910 events, 565995us elapsed, 16.21us avg, min 11us max 1129us 67.614us 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: 32292 events, 6667068us elapsed, 206.46us avg, min 203us max 336us 22.277us rms ms5611: read: 32291 events, 19081475us elapsed, 590.92us avg, min 580us max 710us 38.778us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events board_adc: sample: 209460 events, 583664us elapsed, 2.79us avg, min 2us max 930us 24.623us rms manual_control: interval: 2534 events, 137655.15 avg, min 11us max 200833us 86015.289us rms manual_control: cycle: 2534 events, 31292us elapsed, 12.35us avg, min 6us max 645us 39.090us rms rc_update: valid data interval: 1586 events, 219935.78 avg, min 192940us max 1042520us 66053.141us rms rc_update: cycle interval: 1624 events, 214789.50 avg, min 192986us max 427502us 33958.699us rms rc_update: cycle: 1624 events, 26651us elapsed, 16.41us avg, min 9us max 267us 20.850us rms control latency: 139120 events, 54618105us elapsed, 392.60us avg, min 376us max 1666us 102.591us rms px4io: interface write: 139177 events, 33272631us elapsed, 239.07us avg, min 124us max 370us 17.877us rms px4io: interface read: 66619 events, 13264216us elapsed, 199.11us avg, min 139us max 661us 196.593us rms px4io: interval: 139119 events, 2509.35 avg, min 290us max 8976us 321.433us rms px4io: cycle: 139119 events, 48535456us elapsed, 348.88us avg, min 247us max 8912us 899.475us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 205797 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 205796 events, 45800665us elapsed, 222.55us avg, min 121us max 657us 118.335us rms rgbled: led_control message missed: 0 events load_mon: cycle: 698 events, 56202us elapsed, 80.52us avg, min 58us max 666us 152.357us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 25 events param: set: 32 events, 682us elapsed, 21.31us avg, min 1us max 265us 59.212us rms param: get: 63428 events param: find: 76182 events param: export: 12 events, 79463us elapsed, 6621.92us avg, min 6077us max 7127us 705.296us rms