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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Testing I factor & full airmode rp over yaw priority
| Airframe: | 4031 |
| Hardware: | PX4_FMU_V5 (V540) |
| Software Version: | 892ca1c2 branch: mixer_full_airmode_yaw_priority__i_gain |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:06:06 |
| Dropouts: | 9 (1.28 s) |
| Vehicle Life Flight Time: | 4 hours 26 minutes 49 seconds |
| Vehicle UUID: | 00020000000034323338303851150025003a |
| Max Altitude Difference: | 22 m |
| Max Tilt Angle: | 179.6 deg |
| Max Rotation Speed: | 1153.2 deg/s |
| Average Current: | 14.6 A |
| Max Current: | 103.3 A |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V540 HW version: 0x00000004 HW revision: 0x00000000 FW git-hash: 892ca1c2008729ee804c4812a4305c904a8fa878 FW version: 1.9.0 0 (17367040) FW git-branch: mixer_full_airmode_yaw_priority__i_gain OS: NuttX OS version: Release 7.28.0 (119275775) OS git-hash: 423371c7d4012e725ac4ca51323a18df64e581b3 Build datetime: Jun 15 2019 09:33:33 Build uri: localhost Toolchain: GNU GCC, 7.4.0 PX4GUID: 00020000000034323338303851150025003a MCU: STM32F76xxx, rev. Z INFO [tune_control] Publishing standard tune 1 INFO [param] selected parameter default file /fs/mtd_params Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes INFO [px4_work_queue] creating: wq:lp_default, priority: 205, stack: 1250 bytes INFO [px4_work_queue] creating: wq:I2C1, priority: 248, stack: 1250 bytes rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz) WARN [rgbled_ncp5623c] no RGB led on bus #1 WARN [blinkm] I2C init failed WARN [blinkm] init failed INFO [px4_work_queue] creating: wq:hp_default, priority: 244, stack: 1250 bytes Board sensors: /etc/init.d/rc.board_sensors WARN [mpu6000] no device on bus #3 (SPI1) MPU6000 on SPI bus 1 at 0 (1000 KHz) INFO [px4_work_queue] creating: wq:SPI1, priority: 254, stack: 1250 bytes BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz) BMI055_GYRO on SPI bus 1 at 2 (10000 KHz) IST8310 on I2C bus 1 at 0x0e (bus: 100 KHz, max: 400 KHz) INFO [px4_work_queue] creating: wq:I2C2, priority: 247, stack: 1250 bytes INFO [ist8310] no device on bus 2 WARN [hmc5883] no device on bus 1 (type: 2) WARN [hmc5883] no device on bus 2 (type: 2) WARN [hmc5883] no device on bus 4 (type: 2) WARN [qmc5883] no device on bus 1 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 4 (type: 2) INFO [px4_work_queue] creating: wq:I2C3, priority: 246, stack: 1250 bytes IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) INFO [px4_work_queue] creating: wq:SPI5, priority: 250, stack: 1250 bytes ERROR [pmw3901] driver start failed MS5611_SPI on SPI bus 4 at 0 (20000 KHz) INFO [px4_work_queue] creating: wq:SPI4, priority: 251, stack: 1250 bytes WARN [bst] no devices found INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting FrSky Telemetry on /dev/ttyS3 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 px4flow [338:100] INFO [px4flow] scanning I2C buses for device.. INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [frsky_telemetry] sending FrSky SmartPort telemetry WARN [load_mon] frsky_telemetry low on stack! (228 bytes left) INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14) WARN [commander] Preflight: not enough GPS Satellites INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2019-06-15/07_56_52.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 9183 31.568 284/ 748 0 ( 0) READY 3 1 hpwork 228 1.098 696/ 1780 249 (249) w:sig 6 2 lpwork 17 0.099 712/ 1780 50 ( 50) w:sig 8 3 init 1178 0.000 1976/ 2604 100 (100) w:sem 3 4 wq:manager 2 0.000 840/ 1172 244 (244) w:sem 7 17 dataman 1 0.000 800/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 18 0.000 928/ 1244 205 (205) READY 7 22 wq:I2C1 132 0.499 704/ 1244 248 (248) w:sem 7 27 wq:hp_default 79 0.399 680/ 1244 244 (244) w:sem 7 116 wq:SPI1 5103 24.175 696/ 1244 254 (254) w:sem 7 121 wq:I2C2 0 0.000 360/ 1244 247 (247) w:sem 7 125 wq:I2C3 94 0.499 872/ 1244 246 (246) w:sem 7 127 wq:SPI5 0 0.000 360/ 1244 250 (250) w:sem 7 139 wq:SPI4 71 0.399 528/ 1244 251 (251) w:sem 7 154 sensors 744 3.496 1172/ 1964 238 (238) w:sem 11 157 commander 378 1.498 1896/ 3212 140 (140) w:sig 6 158 commander_low_prio 0 0.000 632/ 2996 50 ( 50) w:sem 6 204 gps 57 0.399 1136/ 1516 209 (209) w:sem 4 211 frsky_telemetry 358 2.397 1008/ 1236 104 (104) w:sem 12 233 mavlink_if0 757 1.398 1648/ 2484 100 (100) w:sig 4 234 mavlink_rcv_if0 124 0.399 1424/ 2836 175 (175) w:sem 4 248 fmu 545 3.196 856/ 1324 241 (241) w:sem 8 314 ekf2 1639 8.491 4568/ 6572 239 (239) w:sem 4 316 mc_att_control 475 2.197 944/ 1660 240 (240) w:sem 5 325 mc_pos_control 89 0.499 944/ 1860 239 (239) w:sem 4 329 navigator 30 0.199 888/ 1764 105 (105) w:sem 4 354 log_writer_file 76 0.000 600/ 1164 60 ( 60) w:sem 33 352 logger 295 5.894 3064/ 3644 234 (234) RUN 33 Processes: 28 total, 3 running, 25 sleeping, max FDs: 54 CPU usage: 57.24% tasks, 11.19% sched, 31.57% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 22.457s total, 9.184s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 114782 29.600 284/ 748 0 ( 0) READY 3 1 hpwork 4180 1.000 696/ 1780 249 (249) w:sig 6 2 lpwork 360 3.200 968/ 1780 50 ( 50) w:sig 8 3 init 1178 0.000 1976/ 2604 100 (100) w:sem 3 4 wq:manager 2 0.000 840/ 1172 244 (244) w:sem 7 17 dataman 1 0.000 800/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 138 0.100 960/ 1244 205 (205) w:sem 7 22 wq:I2C1 1961 0.600 704/ 1244 248 (248) w:sem 7 27 wq:hp_default 805 0.200 680/ 1244 244 (244) w:sem 7 116 wq:SPI1 93567 24.100 696/ 1244 254 (254) w:sem 7 121 wq:I2C2 0 0.000 360/ 1244 247 (247) w:sem 7 125 wq:I2C3 1834 0.500 872/ 1244 246 (246) w:sem 7 127 wq:SPI5 0 0.000 360/ 1244 250 (250) w:sem 7 139 wq:SPI4 1491 0.400 528/ 1244 251 (251) w:sem 7 154 sensors 13633 3.800 1172/ 1964 238 (238) w:sem 11 157 commander 5510 1.500 1896/ 3212 140 (140) READY 6 158 commander_low_prio 9 0.000 632/ 2996 50 ( 50) w:sem 6 204 gps 933 0.200 1136/ 1516 209 (209) w:sem 4 211 frsky_telemetry 8909 2.400 1008/ 1236 104 (104) READY 12 233 mavlink_if0 5697 1.300 1656/ 2484 100 (100) READY 4 234 mavlink_rcv_if0 1601 0.400 1424/ 2836 175 (175) READY 4 248 fmu 11839 3.000 856/ 1324 241 (241) w:sem 8 314 ekf2 50628 9.900 4568/ 6572 239 (239) w:sem 4 316 mc_att_control 9286 2.200 944/ 1660 240 (240) w:sem 5 325 mc_pos_control 1391 0.300 1120/ 1860 239 (239) w:sem 9 329 navigator 438 0.100 888/ 1764 140 (105) w:sem 4 354 log_writer_file 22270 5.400 616/ 1164 60 ( 60) w:sem 35 352 logger 21610 6.000 3064/ 3644 234 (234) RUN 35 Processes: 28 total, 6 running, 22 sleeping, max FDs: 54 CPU usage: 66.60% tasks, 3.80% sched, 29.60% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 388.021s total, 114.782s idle
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 navigator: 200 events, 27924us elapsed, 139.62us avg, min 78us max 989us 115.535us rms land_detector_cycle: 828 events, 87823us elapsed, 106.07us avg, min 57us max 1919us 178.598us rms mc_att_control: 4138 events, 777170us elapsed, 187.81us avg, min 141us max 2134us 83.610us rms EKF2 update: 4138 events, 1233196us elapsed, 298.02us avg, min 3us max 1473us 358.221us rms EKF2 data acquisition: 4138 events, 696402us elapsed, 168.29us avg, min 33us max 3263us 207.668us rms fmu control latency: 5974 events, 3349721us elapsed, 560.72us avg, min 218us max 3952us 541.512us rms mavlink_int: 1514 events, 11044.27 avg, min 9137us max 51991us 1825.652us rms mavlink_el: 1514 events, 1440369us elapsed, 951.37us avg, min 91us max 4020us 758.095us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 4342 events, 3226070us elapsed, 742.99us avg, min 100us max 3968us 486.058us rms adc_samples: 20916 events, 60098us elapsed, 2.87us avg, min 2us max 4us 0.371us rms ms5611_com_err: 0 events ms5611_measure: 1737 events, 11222us elapsed, 6.46us avg, min 6us max 26us 1.187us rms ms5611_read: 1736 events, 26046us elapsed, 15.00us avg, min 10us max 139us 4.179us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 881 events, 788140us elapsed, 894.60us avg, min 852us max 1745us 74.992us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 957 events, 857768us elapsed, 896.31us avg, min 855us max 1744us 77.572us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 25512 events, 799.97 avg, min 610us max 980us 11.170us rms bmi055_gyro_read: 25512 events, 1274892us elapsed, 49.97us avg, min 43us max 99us 7.604us rms bmi055_accel_duplicates: 4887 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 25524 events, 799.97 avg, min 601us max 1026us 28.573us rms bmi055_accel_read: 25524 events, 948446us elapsed, 37.16us avg, min 30us max 68us 3.729us rms mpu6k_duplicates: 5176 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 25533 events, 799.97 avg, min 601us max 1024us 15.520us rms mpu6k_read: 25515 events, 1636362us elapsed, 64.13us avg, min 45us max 167us 16.797us rms rc_input publish interval: 2273 events, 8992.52 avg, min 4819us max 10231us 1991.812us rms rc_input cycle time: 4091 events, 230762us elapsed, 56.41us avg, min 10us max 240us 53.706us rms stack_check: 79 events, 651us elapsed, 8.24us avg, min 2us max 80us 10.807us rms dma_alloc: 4 events param_set: 156 events, 6550us elapsed, 41.99us avg, min 5us max 78us 20.489us rms param_get: 2517 events, 20889us elapsed, 8.30us avg, min 4us max 1387us 34.514us rms param_find: 916 events, 10874us elapsed, 11.87us avg, min 3us max 716us 32.855us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post 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: 681 events, 5003772us elapsed, 7347.68us avg, min 9us max 15066us 1925.758us rms logger_sd_write: 8630 events, 104366062us elapsed, 12093.40us avg, min 12us max 1148402us 19616.984us rms navigator: 6606 events, 334329us elapsed, 50.61us avg, min 13us max 1388us 122.699us rms land_detector_cycle: 18328 events, 427172us elapsed, 23.31us avg, min 16us max 798us 38.768us rms mc_att_control: 91521 events, 15333586us elapsed, 167.54us avg, min 143us max 511us 32.755us rms EKF2 update: 91521 events, 54706437us elapsed, 597.75us avg, min 14us max 3382us 877.701us rms EKF2 data acquisition: 91522 events, 6508759us elapsed, 71.12us avg, min 43us max 1477us 74.961us rms fmu control latency: 131689 events, 90046164us elapsed, 683.78us avg, min 219us max 4226us 876.648us rms mavlink_int: 34684 events, 10568.46 avg, min 9111us max 18323us 1174.382us rms mavlink_el: 34684 events, 9924205us elapsed, 286.13us avg, min 91us max 6322us 481.741us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 91522 events, 89930000us elapsed, 982.61us avg, min 137us max 4339us 954.505us rms adc_samples: 439896 events, 1263956us elapsed, 2.87us avg, min 2us max 4us 0.378us rms ms5611_com_err: 0 events ms5611_measure: 36393 events, 236363us elapsed, 6.49us avg, min 6us max 177us 2.511us rms ms5611_read: 36393 events, 546104us elapsed, 15.01us avg, min 10us max 159us 3.163us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 17190 events, 15375177us elapsed, 894.43us avg, min 850us max 1994us 81.732us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 17190 events, 15447507us elapsed, 898.63us avg, min 856us max 1998us 80.772us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 458228 events, 800.00 avg, min 704us max 891us 9.919us rms bmi055_gyro_read: 458228 events, 23309833us elapsed, 50.87us avg, min 43us max 112us 8.571us rms bmi055_accel_duplicates: 87773 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 458229 events, 800.00 avg, min 641us max 950us 29.597us rms bmi055_accel_read: 458229 events, 17096708us elapsed, 37.31us avg, min 30us max 93us 3.936us rms mpu6k_duplicates: 91911 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 458230 events, 800.00 avg, min 655us max 931us 15.310us rms mpu6k_read: 458230 events, 30004521us elapsed, 65.48us avg, min 45us max 193us 18.187us rms rc_input publish interval: 40732 events, 8999.68 avg, min 4787us max 10228us 1987.109us rms rc_input cycle time: 73317 events, 4217261us elapsed, 57.52us avg, min 9us max 269us 54.654us rms stack_check: 1670 events, 14263us elapsed, 8.54us avg, min 1us max 1188us 35.286us rms dma_alloc: 0 events param_set: 6 events, 117us elapsed, 19.50us avg, min 3us max 98us 120.387us rms param_get: 22 events, 122us elapsed, 5.55us avg, min 5us max 8us 377.781us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 99042us elapsed, 99042.00us avg, min 99042us max 99042us Infinityus rms