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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
Hexacopter oscillating yaw - with rotor orientation
| Airframe: | 6013 |
| Hardware: | PX4_SITL |
| Software Version: | 43a1da5b branch: main |
| OS Version: | Linux, v6.1.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:45 |
| Vehicle Life Flight Time: | 0 seconds |
| Feedback: | Related to this ticket:
https://discuss.px4.io/t/hexacopter-keeps-rotating-while-hovering-in-sitl/33598. Here I've tried adding the rotor orientation details in the airframe |
| Distance: | 4.8 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 0.1 km/h |
| Max Speed: | 0.6 km/h |
| Max Speed Horizontal: | 0.4 km/h |
| Max Speed Up: | 0.5 km/h |
| Max Speed Down: | 0.4 km/h |
| Max Tilt Angle: | 0.1 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: send_bytes error: 0 events mavlink: tx run interval: 19 events, 3789.47 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 19 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 22 events, 3818.18 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 22 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 25 events, 3840.00 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 25 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 66 events, 3939.39 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 66 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 15 events, 18133.33 avg, min 12000us max 20000us 2060.315us 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: 19 events, 15157.89 avg, min 16000us max 16000us 0.000us rms gyro_fft: cycle: 19 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 9 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 43 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 44 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms flight_mode_manager: cycle: 18 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 42 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 108 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 55 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 56 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control_allocator: cycle: 108 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 commander: preflight check: 5 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 41 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 9 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_gps_position: cycle: 5 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_air_data: cycle: 26 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: 124 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 123 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms manual_control: interval: 3 events, 133333.33 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 3 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 battery_simulator: cycle: 40 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_mag_sim: cycle: 22 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_gps_sim: cycle: 5 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: 108 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 6 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: 6156 events param: find: 1409 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_magnetometer 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: 115 events, 452000us elapsed, 3930.43us avg, min 4000us max 48000us 4495.069us rms logger_sd_write: 1948 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11378 events, 3999.65 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11378 events, 3999.65 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11378 events, 3999.65 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11378 events, 3999.65 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 955 events, 40858.64 avg, min 8000us max 10000000us 456291.406us rms gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 258 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 2844 events, 15994.37 avg, min 16000us max 16000us 0.000us rms gyro_fft: cycle: 2844 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 981 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 5689 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 5689 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms flight_mode_manager: cycle: 2276 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 5689 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 11189 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5689 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 5689 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control_allocator: cycle: 11378 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 commander: preflight check: 424 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 3793 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 2259 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_gps_position: cycle: 364 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_air_data: cycle: 2276 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms manual_control: interval: 228 events, 199122.81 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 228 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 battery_simulator: cycle: 4551 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 91 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_mag_sim: cycle: 2275 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_gps_sim: cycle: 364 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: 11378 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 206 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 4 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 29376 events param: find: 3606 events param: export: 2 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms