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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Testing endurance / battery capacity Li-Ion 4S / 4P 18650
| Airframe: | Applied Aeronautics Albatross Plane A-Tail (2106) |
| Hardware: | PX4FMU_V4 |
| Software Version: | v1.8.2 (f13bbacd) branch: stable |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:57:52 |
| Dropouts: | 144 (37 s) |
| Vehicle Life Flight Time: | 2 hours 31 minutes 57 seconds |
| Vehicle UUID: | 003A00293335511737373430 (Searchwing - Peter2) |
| Feedback: | Testing the capacity of our self made Li-Ion battery. 4S, 4 in parallel. 16 Cells, 3.500 mAh per Cell. |
| Max Altitude Difference: | 3 m |
| Max Tilt Angle: | 6.8 deg |
| Max Rotation Speed: | 1.3 deg/s |
| Average Current: | 4.5 A |
| Max Current: | 25.5 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 57481 57.684 548/ 748 0 ( 0) READY 3 1 hpwork 1076 1.197 696/ 1780 249 (249) w:sig 8 2 lpwork 117 0.099 696/ 1780 50 ( 50) w:sig 8 3 init 8413 0.000 1880/ 2580 100 (100) w:sem 3 104 dataman 1 0.000 736/ 1180 90 ( 90) w:sem 4 108 gps 268 0.299 1064/ 1580 220 (220) w:sig 5 155 sensors 6515 4.091 1344/ 1964 249 (249) w:sem 17 157 commander 951 1.097 1928/ 3212 140 (140) w:sig 29 158 commander_low_prio 3 0.000 552/ 2996 50 ( 50) w:sem 29 170 fmu 2326 2.694 912/ 1324 251 (251) w:sem 9 174 mavlink_if0 5694 6.287 1712/ 2540 100 (100) READY 31 175 mavlink_rcv_if0 379 0.399 1056/ 2836 175 (175) w:sem 31 180 mavlink_if1 1935 2.195 1712/ 2564 100 (100) w:sig 31 181 mavlink_rcv_if1 380 0.399 1128/ 2836 175 (175) w:sem 31 185 frsky_telemetry 1 0.000 624/ 1188 104 (104) w:sem 4 199 mavlink_if2 1159 1.297 1736/ 2532 100 (100) READY 27 201 mavlink_rcv_if2 393 0.499 1192/ 2836 175 (175) w:sem 27 343 log_writer_file 16 0.998 560/ 1068 60 ( 60) w:sem 31 280 ekf2 10839 12.175 4608/ 6572 250 (250) w:sem 20 284 fw_att_controol 1609 1.996 984/ 1460 251 (251) w:sem 13 292 fw_pos_control_l1 29 0.000 880/ 1764 250 (250) w:sem 16 301 navigator 125 0.199 904/ 1764 105 (105) READY 15 339 logger 1233 5.489 3056/ 3540 245 (245) RUN 31 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 41.42% tasks, 0.90% sched, 57.68% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 92.630s total, 57.482s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 2076255 54.700 548/ 748 0 ( 0) READY 3 1 hpwork 42153 1.200 696/ 1780 249 (249) w:sig 8 2 lpwork 4663 4.200 1016/ 1780 50 ( 50) w:sig 8 3 init 8413 0.000 1880/ 2580 100 (100) w:sem 3 104 dataman 1 0.000 736/ 1180 90 ( 90) w:sem 4 108 gps 8211 0.200 1064/ 1580 220 (220) w:sem 5 155 sensors 149147 4.400 1344/ 1964 249 (249) w:sem 17 157 commander 37595 1.000 1928/ 3212 140 (140) w:sig 29 158 commander_low_prio 125 0.000 552/ 2996 50 ( 50) w:sem 29 170 fmu 93447 2.700 912/ 1324 251 (251) w:sem 9 174 mavlink_if0 221272 6.000 1792/ 2540 100 (100) READY 31 175 mavlink_rcv_if0 14862 0.400 1056/ 2836 175 (175) w:sem 31 180 mavlink_if1 76550 2.100 1792/ 2564 100 (100) w:sig 31 181 mavlink_rcv_if1 14798 0.400 1128/ 2836 175 (175) READY 31 185 frsky_telemetry 44 0.000 624/ 1188 104 (104) w:sem 4 199 mavlink_if2 45751 1.200 1736/ 2532 100 (100) w:sig 27 201 mavlink_rcv_if2 15875 0.500 1192/ 2836 175 (175) w:sem 27 343 log_writer_file 35165 1.000 576/ 1068 60 ( 60) w:sem 31 280 ekf2 436525 12.400 4608/ 6572 250 (250) w:sem 20 284 fw_att_controol 67770 1.800 984/ 1460 251 (251) w:sem 13 292 fw_pos_control_l1 992 0.000 880/ 1764 250 (250) w:sem 16 301 navigator 5087 0.200 904/ 1764 105 (105) w:sem 15 339 logger 177117 4.400 3056/ 3540 245 (245) RUN 31 Processes: 23 total, 4 running, 19 sleeping, max FDs: 54 CPU usage: 44.10% tasks, 1.20% sched, 54.70% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 3564.392s total, 2076.256s idle
Performance Counters
Pre Flight:
logger_sd_fsync: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 81443us elapsed, 27147us avg, min 10us max 42264us 23552.801us rms navigator: 1660 events, 48882us elapsed, 29us avg, min 22us max 1210us 43.282us rms land_detector_cycle: 4274 events, 83577us elapsed, 19us avg, min 12us max 674us 11.863us rms fw l1 control: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 20290 events, 853300us elapsed, 42us avg, min 37us max 377us 10.316us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 8010 events, 1383054us elapsed, 172us avg, min 47us max 2725us 266.643us rms mavlink_txe: 8 events mavlink_el: 8762 events, 2107540us elapsed, 240us avg, min 71us max 2903us 261.313us rms mavlink_txe: 0 events mavlink_el: 27983 events, 6926011us elapsed, 247us avg, min 72us max 10300us 311.718us rms fmu control latency: 20604 events, 11853376us elapsed, 575us avg, min 183us max 5998us 710.753us rms stack_check: 240 events, 9037us elapsed, 37us avg, min 1us max 1904us 155.493us rms sensors: 21834 events, 17946067us elapsed, 821us avg, min 87us max 2539us 380.442us rms mpu9250_dupe: 22838 events mpu9250_reset: 0 events mpu9250_good_trans: 88573 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 111411 events, 7089489us elapsed, 63us avg, min 42us max 82us 11.297us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 2 events mpu9250_mag_duplicates: 78896 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1217 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 22376 events mpu6k_reset: 0 events mpu6k_good_trans: 89063 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 111440 events, 7583207us elapsed, 68us avg, min 46us max 89us 12.489us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 2 events lis3mdl_read: 6469 events, 218676us elapsed, 33us avg, min 28us max 156us 18.463us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc_samples: 80181 events, 234670us elapsed, 2us avg, min 2us max 5us 0.308us rms ms5611_com_err: 0 events ms5611_measure: 8263 events, 88649us elapsed, 10us avg, min 9us max 102us 10.359us rms ms5611_read: 8262 events, 181499us elapsed, 21us avg, min 14us max 118us 16.724us rms dma_alloc: 4 events param_set: 150 events, 9873us elapsed, 65us avg, min 5us max 126us 33.935us rms param_get: 1968 events, 14038us elapsed, 7us avg, min 4us max 1031us 25.051us rms param_find: 966 events, 7975us elapsed, 8us avg, min 3us max 742us 25.228us rms param_export: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 3266 events, 34945150us elapsed, 10699us avg, min 1042us max 639862us 41110.426us rms logger_sd_write: 30250 events, 382271646us elapsed, 12637us avg, min 9us max 1185237us 33119.789us rms navigator: 69445 events, 2148176us elapsed, 30us avg, min 23us max 2395us 61.154us rms land_detector_cycle: 168145 events, 3661958us elapsed, 21us avg, min 18us max 133us 6.400us rms fw l1 control: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 852805 events, 35862609us elapsed, 42us avg, min 37us max 198us 10.018us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 312466 events, 54793806us elapsed, 175us avg, min 62us max 3451us 279.757us rms mavlink_txe: 0 events mavlink_el: 341494 events, 83629251us elapsed, 244us avg, min 115us max 3330us 261.397us rms mavlink_txe: 0 events mavlink_el: 1084109 events, 274063321us elapsed, 252us avg, min 115us max 5293us 322.971us rms fmu control latency: 860455 events, 468350907us elapsed, 544us avg, min 182us max 6375us 606.299us rms stack_check: 10089 events, 271317us elapsed, 26us avg, min 1us max 2378us 93.418us rms sensors: 852806 events, 708022175us elapsed, 830us avg, min 401us max 2547us 365.808us rms mpu9250_dupe: 869784 events mpu9250_reset: 0 events mpu9250_good_trans: 3471186 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 4340970 events, 276699485us elapsed, 63us avg, min 42us max 82us 11.375us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 3094757 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 47311 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu6k_duplicates: 862877 events mpu6k_reset: 0 events mpu6k_good_trans: 3478094 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 4340972 events, 295590591us elapsed, 68us avg, min 46us max 90us 12.580us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events lis3mdl_read: 252342 events, 8574621us elapsed, 33us avg, min 28us max 144us 18.932us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc_samples: 3125502 events, 9171119us elapsed, 2us avg, min 2us max 4us 0.309us rms ms5611_com_err: 0 events ms5611_measure: 319577 events, 3314693us elapsed, 10us avg, min 9us max 123us 9.170us rms ms5611_read: 319577 events, 6884846us elapsed, 21us avg, min 14us max 1229us 16.297us rms dma_alloc: 0 events param_set: 1 events, 12us elapsed, 12us avg, min 12us max 12us Infinityus rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 65342us elapsed, 65342us avg, min 65342us max 65342us NaNus rms