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PX4 Octorotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Octocopter + geometry Octorotor + (9001) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | f48aaf93 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:10 |
| Vehicle Life Flight Time: | 2 hours 16 minutes 55 seconds |
| Vehicle UUID: | 000200000000203331354e305010003a0018 |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.2 km/h |
| Max Speed: | 0.2 km/h |
| Max Speed Horizontal: | 0.2 km/h |
| Max Speed Up: | 0.1 km/h |
| Max Speed Down: | 0.2 km/h |
| Max Tilt Angle: | 2.5 deg |
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Console Output
HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: f48aaf93093df687bf284f45126f09121121e8a3 FW version: 1.13.2 0 (17629696) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83 Build datetime: Sep 26 2023 10:22:49 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000203331354e305010003a0018 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 5096 bytes, decoded 5096 bytes (INT32:117, FLOAT:128) 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 rgbled_ncp5623c #0 on I2C bus 1 (external) address 0x39 Loading airframe: /etc/init.d/airframes/9001_octo_+ INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm20602 #0 on SPI bus 1 rotation 2 icm20689 #0 on SPI bus 1 rotation 2 ERROR [SPI_I2C] bmi055: no instance started (no device on bus?) ERROR [SPI_I2C] bmi055: no instance started (no device on bus?) ms5611 #0 on SPI bus 4 ist8310 #0 on I2C bus 3 (external) address 0xE rotation 10 ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 hmc5883 #0 on I2C bus 4 (external) address 0x1E WARN [SPI_I2C] Already running on bus 1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/octo_+.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/mount.aux.mix on /dev/pwm_output1 ekf2 [796:237] INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 2880 B/s on /dev/ttyS1 @ 57600B Starting MAVLink on /dev/ttyS3 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS3 @ 921600B Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Onboard, data rate: 2880 B/s on /dev/ttyS2 @ 57600B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [commander] Switching to Position is currently not available INFO [commander] Failsafe mode activated INFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 INFO [gps] u-blox module: NEO-M8N-0 INFO [gimbal] Configured primary gimbal control sysid/compid from 0/0 to 245/190 INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-02-06/16_01_33.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-02-06/16_01_33.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 10903 17.379 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.003 604/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2364/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 596/ 1256 255 (255) w:sem 3 988 mavlink_rcv_if0 7 0.410 1316/ 4712 175 (175) READY 4 71 wq:lp_default 1 0.096 1012/ 1920 205 (205) READY 3 78 wq:hp_default 188 10.282 1140/ 1904 237 (237) w:sem 3 111 dataman 0 0.004 828/ 1208 90 ( 90) w:sem 4 134 wq:I2C1 7 0.394 988/ 2336 246 (246) w:sem 3 362 wq:uavcan 30 1.653 1700/ 3624 236 (236) w:sem 3 408 wq:SPI1 200 10.921 1684/ 2336 253 (253) w:sem 3 421 wq:SPI4 6 0.355 816/ 2336 250 (250) w:sem 3 427 wq:I2C3 6 0.346 908/ 2336 244 (244) w:sem 3 601 wq:I2C4 18 0.993 908/ 2336 243 (243) w:sem 3 749 wq:nav_and_controllers 114 6.244 1228/ 2240 242 (242) w:sem 3 752 wq:rate_ctrl 179 9.804 1420/ 3152 255 (255) w:sem 3 753 wq:INS0 135 7.368 4260/ 6000 241 (241) w:sem 3 754 wq:INS1 126 6.870 4260/ 6000 240 (240) w:sem 3 756 commander 19 1.086 1604/ 3224 140 (140) READY 5 908 gps 3 0.201 1204/ 1680 205 (205) w:sem 4 987 mavlink_if0 73 4.015 1844/ 2736 100 (100) READY 4 1239 log_writer_file 25 1.396 604/ 1176 60 ( 60) READY 4 1018 mavlink_if1 157 8.561 1868/ 2736 100 (100) READY 4 1021 mavlink_rcv_if1 7 0.428 1740/ 4712 175 (175) READY 4 1055 mavlink_if2 80 4.398 1852/ 2736 100 (100) READY 4 1064 mavlink_rcv_if2 7 0.411 1316/ 4712 175 (175) READY 4 1078 navigator 1 0.088 1076/ 1920 105 (105) READY 6 1139 gimbal 8 0.482 1604/ 2088 100 (100) READY 9 1225 logger 50 2.758 2884/ 3648 230 (230) RUN 4 Processes: 30 total, 13 running, 17 sleeping CPU usage: 79.57% tasks, 3.05% sched, 17.38% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 43.789s total, 10.903s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 12648 5.403 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 100 9.990 1060/ 1616 50 ( 50) READY 4 3 init 0 0.000 2364/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 596/ 1256 255 (255) w:sem 3 988 mavlink_rcv_if0 4 0.456 1316/ 4712 175 (175) w:sem 4 71 wq:lp_default 6 0.609 1012/ 1920 205 (205) READY 3 78 wq:hp_default 96 9.625 1180/ 1904 237 (237) w:sem 3 111 dataman 0 0.025 828/ 1208 90 ( 90) w:sem 4 134 wq:I2C1 4 0.414 988/ 2336 246 (246) w:sem 3 362 wq:uavcan 16 1.638 1700/ 3624 236 (236) w:sem 3 408 wq:SPI1 109 10.908 1684/ 2336 253 (253) w:sem 3 421 wq:SPI4 3 0.365 816/ 2336 250 (250) w:sem 3 427 wq:I2C3 3 0.343 908/ 2336 244 (244) w:sem 3 601 wq:I2C4 10 1.019 908/ 2336 243 (243) w:sem 3 749 wq:nav_and_controllers 63 6.369 1228/ 2240 242 (242) w:sem 3 752 wq:rate_ctrl 98 9.844 1420/ 3152 255 (255) w:sem 3 753 wq:INS0 74 7.427 4260/ 6000 241 (241) w:sem 3 754 wq:INS1 69 6.951 4260/ 6000 240 (240) w:sem 3 756 commander 27 2.758 1604/ 3224 140 (140) w:sig 5 908 gps 2 0.213 1204/ 1680 205 (205) w:sem 4 987 mavlink_if0 38 3.838 1844/ 2736 100 (100) READY 4 1239 log_writer_file 6 0.670 604/ 1176 60 ( 60) w:sem 4 1018 mavlink_if1 88 8.862 1868/ 2736 100 (100) READY 4 1021 mavlink_rcv_if1 4 0.444 1740/ 4712 175 (175) w:sem 4 1055 mavlink_if2 43 4.372 1852/ 2736 100 (100) READY 4 1064 mavlink_rcv_if2 4 0.424 1316/ 4712 175 (175) w:sem 4 1078 navigator 1 0.180 1196/ 1920 105 (105) w:sem 6 1139 gimbal 4 0.493 1604/ 2088 100 (100) w:sem 9 1225 logger 35 3.525 2884/ 3648 230 (230) RUN 4 Processes: 30 total, 7 running, 23 sleeping CPU usage: 91.77% tasks, 2.83% sched, 5.40% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 52.969s total, 12.648s 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 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: 2052 events, 19980.54 avg, min 111us max 30141us 707.776us rms gyro_fft: gyro FIFO data gap: 4 events gyro_fft: FFT: 3819 events, 3501532us elapsed, 916.87us avg, min 629us max 2653us 286.018us rms gyro_fft: cycle interval: 16166 events, 2541.27 avg, min 26us max 12525us 505.956us rms gyro_fft: cycle: 16166 events, 3836569us elapsed, 237.32us avg, min 3us max 2688us 418.170us rms navigator: 825 events, 138258us elapsed, 167.59us avg, min 22us max 5189us 631.235us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7819 events, 5477.71 avg, min 4240us max 80088us 2269.847us rms mavlink: tx run elapsed: 7819 events, 3112585us elapsed, 398.08us avg, min 149us max 19718us 475.331us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11382 events, 3765.78 avg, min 2227us max 79340us 2044.444us rms mavlink: tx run elapsed: 11382 events, 7732808us elapsed, 679.39us avg, min 167us max 76659us 1102.072us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7829 events, 5477.73 avg, min 4241us max 82699us 2301.243us rms mavlink: tx run elapsed: 7829 events, 2849464us elapsed, 363.96us avg, min 134us max 19276us 503.568us rms mag_bias_estimator: cycle: 2062 events, 189930us elapsed, 92.11us avg, min 5us max 2223us 165.221us rms land_detector: cycle: 4260 events, 119932us elapsed, 28.15us avg, min 18us max 538us 25.584us rms mc_pos_control: cycle time: 4255 events, 282644us elapsed, 66.43us avg, min 1us max 699us 34.561us rms flight_mode_manager: cycle: 2124 events, 123696us elapsed, 58.24us avg, min 10us max 875us 32.823us rms mc_hover_thrust_estimator: cycle time: 4246 events, 10473us elapsed, 2.47us avg, min 1us max 227us 6.157us 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: 8420 events, 173056us elapsed, 20.55us avg, min 14us max 406us 11.950us rms mc_rate_control: cycle: 34206 events, 762939us elapsed, 22.30us avg, min 17us max 463us 4.301us rms ekf2: vehicle_air_data messages missed: 0 events 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: 8614 events, 28937us elapsed, 3.36us avg, min 1us max 281us 8.438us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 4 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 8615 events, 31411us elapsed, 3.65us avg, min 1us max 222us 9.582us rms ekf2: vehicle_magnetometer messages missed: 1 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4253 events, 1390327us elapsed, 326.91us avg, min 156us max 1643us 162.447us rms ekf2: ECL update: 4364 events, 31698us elapsed, 7.26us avg, min 1us max 258us 11.996us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 4 events ekf2: ECL full update: 4253 events, 1239413us elapsed, 291.42us avg, min 155us max 1468us 132.114us rms ekf2: ECL update: 4364 events, 30602us elapsed, 7.01us avg, min 1us max 140us 7.043us rms pwm_out: interval: 45 events, 955779.51 avg, min 74us max 1001975us 149056.922us rms pwm_out: cycle: 45 events, 391us elapsed, 8.69us avg, min 5us max 90us 13.285us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 3093 events, 13947.80 avg, min 193us max 257161us 9508.763us rms pwm_out: cycle: 3093 events, 163384us elapsed, 52.82us avg, min 5us max 1938us 115.420us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 17146 events, 10401578us elapsed, 606.65us avg, min 542us max 1736us 144.868us rms px4io: interface write: 17163 events, 4217735us elapsed, 245.75us avg, min 129us max 376us 13.167us rms px4io: interface read: 11853 events, 3378459us elapsed, 285.03us avg, min 143us max 1165us 154.227us rms px4io: interval: 17151 events, 2516.66 avg, min 428us max 60017us 614.738us rms px4io: cycle: 17151 events, 8487168us elapsed, 494.85us avg, min 7us max 9433us 666.356us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 29017 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 29017 events, 7321136us elapsed, 252.31us avg, min 121us max 1158us 100.764us rms commander: preflight check: 85 events, 1559034us elapsed, 18341.58us avg, min 3324us max 21627us 2441.307us rms commander: cycle: 3709 events, 2453709us elapsed, 661.56us avg, min 75us max 37667us 2854.664us rms vehicle_imu: gyro data gap: 3 events vehicle_imu: accel data gap: 2 events vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 2 events vehicle_magnetometer: cycle: 5442 events, 266259us elapsed, 48.93us avg, min 28us max 1151us 31.921us rms vehicle_gps_position: cycle: 204 events, 3764us elapsed, 18.45us avg, min 5us max 154us 18.102us rms vehicle_air_data: cycle: 3225 events, 124761us elapsed, 38.69us avg, min 22us max 340us 34.388us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 34321 events, 1072982us elapsed, 31.26us avg, min 15us max 402us 4.722us rms sensors: 8647 events, 611103us elapsed, 70.67us avg, min 24us max 8297us 162.058us rms battery_status: 4320 events, 201010us elapsed, 46.53us avg, min 24us max 1730us 90.252us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 5446 events, 4945267us elapsed, 908.05us avg, min 842us max 1796us 151.114us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4308 events, 22994us elapsed, 5.34us avg, min 3us max 255us 12.074us rms ms5611: read: 4308 events, 86449us elapsed, 20.07us avg, min 7us max 276us 23.057us rms icm20689: DRDY missed: 0 events icm20689: FIFO reset: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 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 board_adc: sample: 51948 events, 311404us elapsed, 5.99us avg, min 3us max 1789us 35.186us rms manual_control: interval: 324 events, 133587.72 avg, min 2248us max 201654us 63101.172us rms manual_control: cycle: 324 events, 9676us elapsed, 29.86us avg, min 11us max 248us 30.104us rms rc_update: valid data interval: 1935 events, 22010.40 avg, min 12182us max 30866us 1858.416us rms rc_update: cycle interval: 1941 events, 22011.72 avg, min 12179us max 30871us 1855.419us rms rc_update: cycle: 1941 events, 67895us elapsed, 34.98us avg, min 15us max 1172us 58.416us rms uavcan: cycle interval: 14706 events, 2948.39 avg, min 26us max 26799us 760.549us rms uavcan: cycle time: 14706 events, 745926us elapsed, 50.72us avg, min 13us max 2781us 133.517us 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 rgbled: led_control message missed: 13 events load_mon: cycle: 87 events, 21587us elapsed, 248.13us avg, min 4us max 1564us 322.068us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 37 events, 1009509us elapsed, 27284.03us avg, min 37us max 804970us 132399.000us rms rgbled: led_control message missed: 13 events dma_alloc: 7 events param: set: 245 events, 14200us elapsed, 57.96us avg, min 3us max 112us 30.670us rms param: get: 17529 events param: find: 14862 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post 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 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: 25 events, 214279us elapsed, 8571.16us avg, min 146us max 32118us 6967.908us rms logger_sd_write: 75 events, 370861us elapsed, 4944.81us avg, min 67us max 16947us 2860.121us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 52 events, 19231.06 avg, min 66us max 21793us 2790.205us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 862 events, 774927us elapsed, 898.99us avg, min 625us max 2741us 701.370us rms gyro_fft: cycle interval: 3638 events, 2524.62 avg, min 260us max 5107us 408.379us rms gyro_fft: cycle: 3638 events, 855693us elapsed, 235.21us avg, min 3us max 2775us 999.726us rms navigator: 193 events, 85742us elapsed, 444.26us avg, min 23us max 9724us 58545.754us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1660 events, 5521.71 avg, min 4291us max 32152us 1230.245us rms mavlink: tx run elapsed: 1660 events, 822463us elapsed, 495.46us avg, min 183us max 5266us 1151.402us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2404 events, 3813.18 avg, min 2242us max 31443us 1253.595us rms mavlink: tx run elapsed: 2404 events, 1949649us elapsed, 811.00us avg, min 184us max 5015us 2505.043us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1658 events, 5526.38 avg, min 4242us max 31767us 1228.657us rms mavlink: tx run elapsed: 1658 events, 731293us elapsed, 441.07us avg, min 165us max 7119us 1202.266us rms mag_bias_estimator: cycle: 2 events, 691us elapsed, 345.50us avg, min 6us max 685us 7516.083us rms land_detector: cycle: 919 events, 29372us elapsed, 31.96us avg, min 20us max 270us 62.231us rms mc_pos_control: cycle time: 919 events, 72929us elapsed, 79.36us avg, min 50us max 413us 88.104us rms flight_mode_manager: cycle: 459 events, 41412us elapsed, 90.22us avg, min 44us max 766us 92.820us rms mc_hover_thrust_estimator: cycle time: 919 events, 2397us elapsed, 2.61us avg, min 1us max 198us 16.778us 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: 1839 events, 34545us elapsed, 18.78us avg, min 14us max 82us 26.184us rms mc_rate_control: cycle: 7302 events, 167735us elapsed, 22.97us avg, min 18us max 52us 10.230us rms ekf2: vehicle_air_data messages missed: 0 events 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: 1839 events, 7277us elapsed, 3.96us avg, min 1us max 326us 22.492us rms ekf2: vehicle_air_data messages missed: 0 events 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: 1839 events, 7099us elapsed, 3.86us avg, min 2us max 255us 24.292us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 920 events, 361113us elapsed, 392.51us avg, min 157us max 1288us 383.231us rms ekf2: ECL update: 919 events, 6858us elapsed, 7.46us avg, min 5us max 196us 28.385us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 920 events, 257675us elapsed, 280.08us avg, min 156us max 1074us 311.455us rms ekf2: ECL update: 920 events, 6405us elapsed, 6.96us avg, min 5us max 146us 16.737us rms pwm_out: interval: 9 events, 889092.78 avg, min 1000017us max 1001018us 331.850us rms pwm_out: cycle: 9 events, 53us elapsed, 5.89us avg, min 5us max 10us 31.198us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out: interval: 856 events, 10719.99 avg, min 96us max 22617us 9411.317us rms pwm_out: cycle: 856 events, 44969us elapsed, 52.53us avg, min 23us max 1130us 241.514us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 3660 events, 2352150us elapsed, 642.66us avg, min 542us max 1514us 344.014us rms px4io: interface write: 3661 events, 901760us elapsed, 246.32us avg, min 135us max 361us 31.177us rms px4io: interface read: 2529 events, 728253us elapsed, 287.96us avg, min 144us max 655us 368.015us rms px4io: interval: 3660 events, 2511.14 avg, min 476us max 9521us 385.514us rms px4io: cycle: 3660 events, 1830029us elapsed, 500.01us avg, min 284us max 9421us 1588.972us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6190 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6190 events, 1570449us elapsed, 253.71us avg, min 126us max 644us 240.495us rms commander: preflight check: 2 events, 49189us elapsed, 24594.50us avg, min 23553us max 25636us 22423.375us rms commander: cycle: 814 events, 282511us elapsed, 347.07us avg, min 81us max 26654us 6234.257us 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_magnetometer: cycle: 1158 events, 62277us elapsed, 53.78us avg, min 33us max 336us 74.937us rms vehicle_gps_position: cycle: 46 events, 1149us elapsed, 24.98us avg, min 14us max 178us 48.717us rms vehicle_air_data: cycle: 686 events, 27123us elapsed, 39.54us avg, min 22us max 300us 82.741us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 7306 events, 233709us elapsed, 31.99us avg, min 26us max 75us 11.280us rms sensors: 1840 events, 121108us elapsed, 65.82us avg, min 39us max 580us 352.992us rms battery_status: 919 events, 41883us elapsed, 45.57us avg, min 25us max 768us 205.319us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 1158 events, 1056052us elapsed, 911.96us avg, min 842us max 1745us 362.667us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 915 events, 4950us elapsed, 5.41us avg, min 3us max 222us 28.436us rms ms5611: read: 915 events, 20124us elapsed, 21.99us avg, min 8us max 256us 57.477us rms icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 11028 events, 60667us elapsed, 5.50us avg, min 3us max 748us 78.545us rms manual_control: interval: 69 events, 132655.48 avg, min 22110us max 200419us 58347.895us rms manual_control: cycle: 69 events, 1832us elapsed, 26.55us avg, min 16us max 85us 67.370us rms rc_update: valid data interval: 421 events, 21795.16 avg, min 11968us max 31038us 1913.271us rms rc_update: cycle interval: 421 events, 21795.20 avg, min 11967us max 31068us 1915.536us rms rc_update: cycle: 421 events, 15886us elapsed, 37.73us avg, min 22us max 1129us 143.383us rms uavcan: cycle interval: 3088 events, 2976.39 avg, min 29us max 6132us 623.423us rms uavcan: cycle time: 3088 events, 150647us elapsed, 48.78us avg, min 14us max 2055us 314.942us 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 rgbled: led_control message missed: 23 events load_mon: cycle: 19 events, 3934us elapsed, 207.05us avg, min 89us max 1268us 761.155us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 43 events, 70677us elapsed, 1643.65us avg, min 42us max 9534us 122596.047us rms rgbled: led_control message missed: 21 events dma_alloc: 2 events param: set: 2 events, 77us elapsed, 38.50us avg, min 13us max 64us 480.438us rms param: get: 768 events param: find: 764 events param: export: 1 events, 117426us elapsed, 117426.00us avg, min 117426us max 117426us nanus rms