Console Output

HW arch: MICOAIR_H743_V2
PX4 git-hash: 33bdd21f40d044e2524ea4c522fbf3c2418ea64a
PX4 version: 1.14.3 0 (17695488)
PX4 git-branch: micoair743-v1.14.3
OS: NuttX
OS version: Release 11.0.0 (184549631)
OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d
Build datetime: Dec 18 2024 16:37:12
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 10.2.1 20201103 (release)
PX4GUID: 000600000000353539363333511000250029
MCU: STM32H7[4|5]xxx, rev. V
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
Loading airframe: /etc/init.d/airframes/4001_quad_x
INFO  [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes
Board sensors: /etc/init.d/rc.board_sensors
bmi088_accel #0 on SPI bus 2 rotation 6
bmi088_gyro #0 on SPI bus 2 rotation 6
bmi270 #0 on SPI bus 3
spl06 #0 on I2C bus 2 address 0x77
ERROR [SPI_I2C] qmc5883l: no instance started (no device on bus?)
ekf2 [530:237]
Starting Main GPS on /dev/ttyS2
Starting CRSF RC Input Driver on /dev/ttyS6
INFO  [crsf_rc] Crsf serial opened sucessfully
Starting MAVLink on /dev/ttyS0
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 115200B
Starting MAVLink on /dev/ttyS7
INFO  [mavlink] mode: Normal, data rate: 5760 B/s on /dev/ttyS7 @ 115200B
Board extras: /etc/init.d/rc.board_extras
INFO  [rc_input] RC scan: CRSF RC input locked
INFO  [logger] logger started (mode=all)
INFO  [logger] Logging FIFO data: increasing task prio and logging rate

NuttShell (NSH) NuttX-11.0.0
nsh> INFO  [commander] Armed by RC (switch)	
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] /fs/microsd/log/sess100/log100.ulg	
INFO  [logger] Opened full log file: /fs/microsd/log/sess100/log100.ulg

Processes

Pre Flight:

 PID COMMAND                   CPU(ms) CPU(%)  USED/STACK PRIO(BASE) STATE FD
   0 Idle Task                    3563 58.188   184/  768   0 (  0)  READY  0
   1 hpwork                          0  0.000   292/ 1224 249 (249)  w:sem  0
   2 lpwork                          0  0.001   660/ 1576  50 ( 50)  w:sem  0
   4 wq:manager                      0  0.000   548/ 1232 255 (255)  w:sem  3
 285 wq:hp_default                  21  2.099  1104/ 1872 237 (237)  w:sem  3
 295 dataman                         0  0.000   844/ 1280  90 ( 90)  w:sem  4
 303 wq:lp_default                   0  0.027  1028/ 1896 205 (205)  w:sem  3
 326 wq:SPI2                        36  3.602  1368/ 2368 252 (252)  w:sem  3
 330 wq:SPI3                        87  8.785  1652/ 2368 251 (251)  w:sem  3
 332 wq:I2C2                         0  0.070   900/ 2312 245 (245)  w:sem  3
 505 wq:nav_and_controllers         19  1.953  1364/ 2216 242 (242)  w:sem  3
 507 wq:rate_ctrl                   38  3.859  2320/ 3120 255 (255)  w:sem  3
 510 wq:INS0                        25  2.551  4428/ 5976 241 (241)  w:sem  3
 517 wq:INS1                        32  3.236  4428/ 5976 240 (240)  w:sem  3
 521 commander                       4  0.447  1300/ 3192 140 (140)  READY  5
 950 log_writer_file                19  1.972   604/ 1144  60 ( 60)  READY  4
 602 gps                             0  0.032  1180/ 1936 205 (205)  w:sem  4
 651 wq:ttyS6                        0  0.020  1072/ 1704 228 (228)  w:sem  3
 735 mavlink_if0                     9  0.944  1724/ 2704 100 (100)  w:sig  4
 744 mavlink_rcv_if0                 1  0.146  1108/ 4592 175 (175)  READY  4
 796 mavlink_if1                    30  3.095  1740/ 2712 100 (100)  READY  4
 813 mavlink_rcv_if1                 1  0.173  1108/ 4592 175 (175)  READY  4
 846 wq:ttyS5                        5  0.569   924/ 1704 229 (229)  w:sem  3
 852 navigator                       0  0.052  1084/ 1896 105 (105)  w:sem  6
 947 logger                         68  6.886  2892/ 3616 236 (236)  RUN    4

Processes: 25 total, 7 running, 18 sleeping
CPU usage: 40.52% tasks, 1.29% sched, 58.19% idle
DMA Memory: 5120 total, 1536 used 1536 peak
Uptime: 5.534s total, 3.564s idle

Performance Counters

Pre Flight:

ekf2: vehicle_air_data 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
gyro_calibration: calibration updated: 0 events
gyro_calibration: interval: 213 events, 19812.23 avg, min 56us max 21638us 1379.067us rms
gyro_fft: gyro FIFO data gap: 1 events
gyro_fft: FFT: 190 events, 32401us elapsed, 170.53us avg, min 135us max 446us 46.531us rms
gyro_fft: cycle interval: 1430 events, 3002.19 avg, min 2026us max 3913us 233.594us rms
gyro_fft: cycle: 1430 events, 41841us elapsed, 29.26us avg, min 5us max 453us 60.873us rms
navigator: 93 events, 1669us elapsed, 17.95us avg, min 8us max 336us 43.203us rms
rc_input: publish interval: 1019 events, 4184.32 avg, min 2228us max 9580us 855.379us rms
rc_input: cycle time: 1067 events, 16815us elapsed, 15.76us avg, min 4us max 406us 21.382us rms
mavlink: STATUSTEXT missed messages: 0 events
mavlink: forwarding error: 0 events
mavlink: send_bytes error: 0 events
mavlink: tx run interval: 1423 events, 3008.21 avg, min 2144us max 10675us 266.783us rms
mavlink: tx run elapsed: 1423 events, 162557us elapsed, 114.24us avg, min 62us max 1073us 74.571us rms
mavlink: STATUSTEXT missed messages: 0 events
mavlink: forwarding error: 0 events
mavlink: send_bytes error: 0 events
mavlink: tx run interval: 429 events, 9985.71 avg, min 9147us max 12227us 193.976us rms
mavlink: tx run elapsed: 429 events, 48569us elapsed, 113.21us avg, min 66us max 790us 91.658us rms
crsf_rc: publish interval: 41 events, 102437.56 avg, min 104897us max 105120us 38.407us rms
crsf_rc: cycle interval: 41 events, 102439.05 avg, min 104880us max 105120us 34.241us rms
mag_bias_estimator: cycle: 216 events, 633us elapsed, 2.93us avg, min 2us max 76us 5.895us rms
land_detector: cycle: 434 events, 4591us elapsed, 10.58us avg, min 8us max 118us 8.486us rms
mc_pos_control: cycle time: 435 events, 5012us elapsed, 11.52us avg, min 4us max 205us 14.738us rms
flight_mode_manager: cycle: 220 events, 25384us elapsed, 115.38us avg, min 3us max 534us 180.217us rms
mc_hover_thrust_estimator: cycle time: 434 events, 435us elapsed, 1.00us avg, min 1us max 17us 1.095us 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: 644 events, 11163us elapsed, 17.33us avg, min 8us max 129us 9.253us rms
mc_rate_control: cycle: 3010 events, 23439us elapsed, 7.79us avg, min 6us max 74us 1.876us rms
control_allocator: cycle: 3010 events, 55243us elapsed, 18.35us avg, min 16us max 142us 3.401us rms
ekf2: IMU message missed: 0 events
ekf2: ECL full update: 438 events, 48813us elapsed, 111.45us avg, min 64us max 1011us 74.381us rms
ekf2: ECL update: 438 events, 78us elapsed, 0.17us avg, min 0us max 4us 0.422us rms
ekf2: vehicle_air_data messages missed: 0 events
ekf2: IMU message missed: 1 events
ekf2: ECL full update: 449 events, 42451us elapsed, 94.55us avg, min 64us max 247us 37.035us rms
ekf2: ECL update: 447 events, 77us elapsed, 0.17us avg, min 0us max 1us 0.378us rms
pwm_out: interval: 17 events, 264709.00 avg, min 103us max 300113us 72592.719us rms
pwm_out: cycle: 17 events, 163us elapsed, 9.59us avg, min 2us max 50us 15.178us rms
control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
dshot: cycle: 3011 events, 42312us elapsed, 14.05us avg, min 12us max 92us 1.785us rms
control latency: 3011 events, 312722us elapsed, 103.86us avg, min 97us max 249us 6.949us rms
commander: preflight check: 44 events, 6193us elapsed, 140.75us avg, min 98us max 595us 79.878us rms
commander: cycle: 411 events, 24618us elapsed, 59.90us avg, min 23us max 1234us 93.991us rms
vehicle_imu: gyro data gap: 0 events
vehicle_imu: accel data gap: 2 events
vehicle_imu: gyro data gap: 1 events
vehicle_imu: accel data gap: 1 events
vehicle_gps_position: cycle: 16 events, 32us elapsed, 2.00us avg, min 1us max 3us 0.365us rms
vehicle_air_data: cycle: 142 events, 2345us elapsed, 16.51us avg, min 10us max 127us 14.137us rms
vehicle_angular_velocity: gyro selection changed: 1 events
vehicle_angular_velocity: gyro filter reset: 1 events
vehicle_angular_velocity: gyro filter: 3021 events, 29854us elapsed, 9.88us avg, min 7us max 158us 2.857us rms
sensors: 899 events, 26318us elapsed, 29.27us avg, min 13us max 1658us 65.669us rms
battery_status: 455 events, 4310us elapsed, 9.47us avg, min 6us max 337us 17.915us rms
spl06: comms errors: 0 events
spl06: measure: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
spl06: sample: 143 events, 123532us elapsed, 863.86us avg, min 855us max 935us 15.119us rms
bmi270: DRDY missed: 0 events
bmi270: FIFO reset: 1 events
bmi270: FIFO overflow: 0 events
bmi270: FIFO empty: 0 events
bmi270: bad transfer: 0 events
bmi270: bad register: 0 events
bmi088_gyro: DRDY missed: 0 events
bmi088_gyro: FIFO reset: 1 events
bmi088_gyro: FIFO overflow: 0 events
bmi088_gyro: FIFO empty: 0 events
bmi088_gyro: bad transfer: 0 events
bmi088_gyro: bad register: 0 events
bmi088_accel: DRDY missed: 0 events
bmi088_accel: FIFO reset: 1 events
bmi088_accel: FIFO overflow: 0 events
bmi088_accel: FIFO empty: 0 events
bmi088_accel: bad transfer: 0 events
bmi088_accel: bad register: 0 events
board_adc: sample: 1389 events, 26704us elapsed, 19.23us avg, min 6us max 13883us 372.433us rms
manual_control: interval: 402 events, 11540.10 avg, min 267us max 200852us 23423.408us rms
manual_control: cycle: 402 events, 4623us elapsed, 11.50us avg, min 7us max 88us 9.747us rms
rc_update: valid data interval: 1032 events, 4189.94 avg, min 193us max 27803us 1105.871us rms
rc_update: cycle interval: 1056 events, 4196.74 avg, min 194us max 27803us 1118.686us rms
rc_update: cycle: 1056 events, 19070us elapsed, 18.06us avg, min 8us max 475us 29.901us rms
load_mon: cycle: 10 events, 796us elapsed, 79.60us avg, min 1us max 308us 83.036us rms
dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
dataman: read: 5 events, 20979us elapsed, 4195.80us avg, min 14us max 20157us 8925.712us rms
dma_alloc: 4 events
param: set: 98 events, 1160us elapsed, 11.84us avg, min 1us max 22us 5.806us rms
param: get: 11772 events
param: find: 2122 events
param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms