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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.0 (alpha) (ca1ac3a6) branch: Vesta_V2_AlwaysBackIntoWind |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:04:58 |
| Dropouts: | 404 (15 s) |
| Vehicle Life Flight Time: | 3 days 2 hours 15 minutes 23 seconds |
| Vehicle UUID: | 000600000000343732343230510b00320031 |
| Distance: | 5.89 km |
| Max Altitude Difference: | 291 m |
| Average Speed MC: | 9.1 km/h |
| Average Speed FW: | 81.0 km/h |
| Max Speed: | 94.2 km/h |
| Max Speed Horizontal: | 94.2 km/h |
| Max Speed Up: | 16.2 km/h |
| Max Speed Down: | 12.3 km/h |
| Max Tilt Angle: | 43.9 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE FW git-hash: ca1ac3a61b89518f8b5fe62bf5ffe6ba7f9ad173 FW version: 1.13.0 40 (17629248) FW git-branch: Vesta_V2_AlwaysBackIntoWind OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: c5c7d2b4f26f52f1dfb425ebde83328606b65d4f Build datetime: Jun 12 2024 16:34:54 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000343732343230510b00320031 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 5539 bytes, decoded 5539 bytes (INT32:91, FLOAT:166) 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 Loading airframe: /etc/init.d/airframes/13006_vtol_standard_delta INFO [uavcan] Node ID 1, bitrate 1000000 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 ERROR [pwm_input] timer/channel alloc failed (0 -16) ll40ls #0 on I2C bus 2 (external) address 0x62 rotation 25 sdp3x_airspeed #0 on I2C bus 2 (external) address 0x21 ist8310 #0 on I2C bus 1 (external) address 0xE INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /fs/microsd/etc/mixers/quad_x_rw.main.mix on /dev/pwm_output0 INFO [init] Mixer: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [658:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS0 @ 115200B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS1 @ 921600B Conflicting config for /dev/ttyS1 INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [navigator] Mission #3 loaded, 115 WPs WARN [commander] Switching to Position is currently not available INFO [commander] Failsafe mode activated 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] Failsafe mode deactivated INFO [commander] Kill-switch engaged INFO [commander] Kill-switch disengaged INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-11-13/09_59_05.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-11-13/09_59_05.ulg INFO [navigator] Takeoff to 80.0 meters above home
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 257860 46.953 224/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 604/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 588/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 564/ 1256 255 (255) w:sem 1 63 wq:hp_default 98 5.289 1228/ 1904 237 (237) w:sem 1 78 dataman 0 0.033 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 1 0.070 1052/ 1920 205 (205) w:sem 1 363 wq:uavcan 24 1.304 2444/ 3624 236 (236) w:sem 1 407 wq:SPI4 98 5.304 1668/ 2336 250 (250) w:sem 1 412 wq:SPI1 44 2.366 1668/ 2336 253 (253) w:sem 1 441 wq:I2C2 8 0.477 856/ 2336 245 (245) w:sem 1 568 wq:I2C1 3 0.207 928/ 2336 246 (246) w:sem 1 618 wq:nav_and_controllers 75 4.066 1564/ 2240 242 (242) w:sem 1 621 wq:rate_ctrl 96 5.184 1464/ 3152 255 (255) w:sem 1 623 wq:INS0 56 3.049 4292/ 6000 241 (241) w:sem 1 624 wq:INS1 65 3.520 4292/ 6000 240 (240) w:sem 1 625 wq:INS2 61 3.291 4292/ 6000 239 (239) w:sem 1 627 commander 10 0.542 1604/ 3224 140 (140) w:sig 5 1179 log_writer_file 5 0.287 588/ 1176 60 ( 60) READY 5 701 mavlink_if0 14 0.763 1852/ 2792 100 (100) w:sig 4 702 mavlink_rcv_if0 5 0.278 1316/ 4712 175 (175) w:sem 4 808 gps 4 0.215 1148/ 1680 205 (205) w:sem 4 902 mavlink_if1 72 3.890 1964/ 2728 100 (100) w:sig 4 903 mavlink_rcv_if1 44 2.391 1708/ 4712 175 (175) w:sem 4 948 mavlink_if2 103 5.530 1876/ 2744 100 (100) w:sig 4 949 mavlink_rcv_if2 4 0.262 1748/ 4712 175 (175) w:sem 4 997 navigator 0 0.043 1468/ 1920 105 (105) w:sem 6 1146 logger 57 3.063 2900/ 3648 230 (230) RUN 5 Processes: 28 total, 3 running, 25 sleeping CPU usage: 51.43% tasks, 1.62% sched, 46.95% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 499.041s total, 257.861s 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 ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated 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: distance_sensor messages missed: 0 events ekf2: distance_sensor 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: 1 events, 638924us elapsed, 638924.00us avg, min 638924us max 638924us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 24824 events, 19998.39 avg, min 62us max 24121us 257.118us rms gyro_fft: gyro FIFO data gap: 2 events gyro_fft: FFT: 103102 events, 22433410us elapsed, 217.58us avg, min 160us max 1525us 71.527us rms gyro_fft: cycle interval: 103158 events, 4824.21 avg, min 445us max 8566us 174.632us rms gyro_fft: cycle: 103158 events, 24366127us elapsed, 236.20us avg, min 2us max 1541us 76.899us rms navigator: 10080 events, 2785887us elapsed, 276.38us avg, min 12us max 1227403us 12427.020us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 160309 events, 3104.39 avg, min 2118us max 25050us 875.372us rms mavlink: tx run elapsed: 160309 events, 37511120us elapsed, 233.99us avg, min 86us max 15820us 227.559us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 160273 events, 3105.17 avg, min 2104us max 26167us 889.143us rms mavlink: tx run elapsed: 160273 events, 26874425us elapsed, 167.68us avg, min 77us max 22615us 195.130us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 97434 events, 5108.35 avg, min 4034us max 25373us 1065.453us rms mavlink: tx run elapsed: 97434 events, 4634205us elapsed, 47.56us avg, min 22us max 2236us 88.740us rms ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events mag_bias_estimator: cycle: 24827 events, 599208us elapsed, 24.14us avg, min 1us max 933us 51.281us rms land_detector: cycle: 51454 events, 754958us elapsed, 14.67us avg, min 11us max 184us 6.194us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control_l1: cycle: 24804 events, 404447us elapsed, 16.31us avg, min 7us max 195us 6.912us rms fw_att_control: cycle: 102721 events, 2509119us elapsed, 24.43us avg, min 16us max 232us 13.440us rms mc_hover_thrust_estimator: cycle time: 51420 events, 66133us elapsed, 1.29us avg, min 1us max 66us 1.822us rms mc_pos_control: cycle time: 51438 events, 463757us elapsed, 9.02us avg, min 1us max 350us 7.736us rms flight_mode_manager: cycle: 24804 events, 200946us elapsed, 8.10us avg, min 5us max 471us 9.224us rms mc_att_control: cycle: 102721 events, 2146504us elapsed, 20.90us avg, min 8us max 295us 9.246us rms mc_rate_control: cycle: 205373 events, 2125253us elapsed, 10.35us avg, min 8us max 67us 1.219us rms vtol_att_control: cycle: 204872 events, 4462979us elapsed, 21.78us avg, min 2us max 265us 2.573us rms airspeed_selector: elapsed: 4964 events, 101253us elapsed, 20.40us avg, min 15us max 206us 14.345us rms 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: 104345 events, 210069us elapsed, 2.01us avg, min 1us max 905us 10.394us rms 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: 103189 events, 221969us elapsed, 2.15us avg, min 1us max 586us 6.433us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 99043 events, 169217us elapsed, 1.71us avg, min 1us max 203us 2.313us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 52005 events, 8251519us elapsed, 158.67us avg, min 85us max 1954us 136.537us rms ekf2: ECL update: 52340 events, 184445us elapsed, 3.52us avg, min 1us max 604us 7.807us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 51426 events, 8985595us elapsed, 174.73us avg, min 82us max 1314us 110.842us rms ekf2: ECL update: 51763 events, 238913us elapsed, 4.62us avg, min 1us max 290us 7.252us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 49354 events, 6509151us elapsed, 131.89us avg, min 81us max 720us 75.051us rms ekf2: ECL update: 49691 events, 160222us elapsed, 3.22us avg, min 1us max 129us 2.894us rms pwm_out: interval: 49775 events, 10001.69 avg, min 49us max 26914us 1471.438us rms pwm_out: cycle: 49775 events, 766033us elapsed, 15.39us avg, min 3us max 170us 1.687us rms control latency: 49769 events, 50498399us elapsed, 1014.66us avg, min 581us max 11460us 630.214us rms control latency: 197589 events, 161391824us elapsed, 816.81us avg, min 575us max 1313us 20.773us rms px4io: interface write: 197610 events, 43179328us elapsed, 218.51us avg, min 120us max 328us 6.527us rms px4io: interface read: 137103 events, 37489801us elapsed, 273.44us avg, min 135us max 643us 153.116us rms px4io: interval: 197593 events, 2519.51 avg, min 1995us max 47934us 656.751us rms px4io: cycle: 197593 events, 85569015us elapsed, 433.06us avg, min 4us max 10313us 622.338us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 334713 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 334713 events, 79064290us elapsed, 236.22us avg, min 116us max 637us 101.845us rms commander: preflight check: 989 events, 10900465us elapsed, 11021.70us avg, min 607us max 16371us 1364.730us rms commander: cycle: 44254 events, 14733579us elapsed, 332.93us avg, min 37us max 21949us 1652.216us 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: 24864 events, 744252us elapsed, 29.93us avg, min 5us max 1249us 11.597us rms vehicle_gps_position: cycle: 4937 events, 50990us elapsed, 10.33us avg, min 3us max 158us 9.867us rms vehicle_air_data: cycle: 36816 events, 830248us elapsed, 22.55us avg, min 13us max 227us 8.776us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 205412 events, 5317879us elapsed, 25.89us avg, min 8us max 363us 2.630us rms sensors: 103196 events, 4588827us elapsed, 44.47us avg, min 18us max 3155us 29.771us rms battery_status: 49786 events, 989052us elapsed, 19.87us avg, min 13us max 1764us 40.548us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events aspd_com_err: 0 events aspd_read: 46507 events, 31144510us elapsed, 669.67us avg, min 662us max 928us 18.378us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 9623 events, 13161764us elapsed, 1367.74us avg, min 1324us max 1573us 47.985us rms ll40ls: comms errors: 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: 49380 events, 204106us elapsed, 4.13us avg, min 3us max 45us 1.332us rms ms5611: read: 49379 events, 700813us elapsed, 14.19us avg, min 11us max 79us 2.804us 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: 49095 events, 225469us elapsed, 4.59us avg, min 4us max 56us 1.751us rms ms5611: read: 49094 events, 863098us elapsed, 17.58us avg, min 11us max 106us 3.965us rms board_adc: sample: 348579 events, 3715206us elapsed, 10.66us avg, min 7us max 14779us 39.002us rms manual_control: interval: 4162 events, 119633.35 avg, min 33us max 201647us 65769.289us rms manual_control: cycle: 4162 events, 59752us elapsed, 14.36us avg, min 6us max 808us 21.918us rms rc_update: valid data interval: 22754 events, 21872.70 avg, min 13539us max 37041us 1631.267us rms rc_update: cycle interval: 22758 events, 21874.22 avg, min 13540us max 49769us 1642.263us rms rc_update: cycle: 22758 events, 457295us elapsed, 20.09us avg, min 9us max 1739us 31.474us rms uavcan: gnss: rtcm pub: 4144 events, 118352.31 avg, min 65us max 957039us 261143.984us rms uavcan: cycle interval: 165996 events, 3000.16 avg, min 263us max 22701us 242.332us rms uavcan: cycle time: 165996 events, 6576126us elapsed, 39.62us avg, min 11us max 2429us 112.680us 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 load_mon: cycle: 997 events, 139934us elapsed, 140.36us avg, min 2us max 1474us 150.628us rms dataman: write: 118 events, 1081331us elapsed, 9163.82us avg, min 2947us max 28223us 4759.425us rms dataman: read: 4647 events, 2515911us elapsed, 541.41us avg, min 17us max 637789us 12483.944us rms dma_alloc: 9 events param: set: 257 events, 8300us elapsed, 32.30us avg, min 1us max 66us 17.066us rms param: get: 43681 events param: find: 51691 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms