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PX4 Quadrotor | Open PID Analysis |
Log1
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V2) |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:02 |
| Dropouts: | 147 (10 s) |
| Vehicle Life Flight Time: | 17 minutes 41 seconds |
| Vehicle UUID: | 000100000000323636373036510c004e002a |
| Max Altitude Difference: | 1 m |
| Max Tilt Angle: | 27.0 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 192919 33.637 208/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 1060/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 3 1349 mavlink_rcv_if0 3 0.389 1500/ 4616 175 (175) w:sem 4 223 wq:hp_default 14 1.447 1088/ 1872 237 (237) w:sem 3 238 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 246 wq:lp_default 0 0.077 1020/ 1896 205 (205) w:sem 3 268 wq:ttyS4 8 0.837 1060/ 1704 230 (230) w:sem 3 285 wq:I2C2 0 0.032 700/ 2312 245 (245) w:sem 3 309 wq:SPI1 162 16.274 1668/ 2368 253 (253) w:sem 3 504 wq:nav_and_controllers 49 4.931 1332/ 2216 242 (242) w:sem 3 505 wq:rate_ctrl 124 12.398 2316/ 3120 255 (255) w:sem 3 506 wq:INS0 104 10.460 4292/ 5976 241 (241) w:sem 3 519 commander 14 1.496 1548/ 3192 140 (140) READY 5 1293 gps 0 0.081 1236/ 1936 205 (205) w:sem 4 1342 mavlink_if0 21 2.183 1964/ 2704 100 (100) w:sig 4 1384 navigator 1 0.163 1260/ 1896 105 (105) w:sem 6 1426 logger 131 13.122 3500/ 3616 230 (230) RUN 4 1428 log_writer_file 5 0.533 700/ 1144 60 ( 60) w:sem 4 Processes: 21 total, 3 running, 18 sleeping CPU usage: 64.43% tasks, 1.94% sched, 33.64% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 413.657s total, 192.920s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 221479 38.284 208/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 53 5.305 1060/ 1576 50 ( 50) w:sem 4 3 nsh_main 0 0.000 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 3 1349 mavlink_rcv_if0 4 0.464 1500/ 4616 175 (175) w:sem 4 223 wq:hp_default 14 1.468 1088/ 1872 237 (237) w:sem 3 238 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 246 wq:lp_default 1 0.184 1020/ 1896 205 (205) w:sem 3 268 wq:ttyS4 9 0.951 1060/ 1704 230 (230) w:sem 3 285 wq:I2C2 0 0.059 700/ 2312 245 (245) w:sem 3 309 wq:SPI1 163 16.342 1668/ 2368 253 (253) w:sem 3 504 wq:nav_and_controllers 50 5.006 1332/ 2216 242 (242) w:sem 3 505 wq:rate_ctrl 121 12.148 2316/ 3120 255 (255) w:sem 3 506 wq:INS0 105 10.546 4292/ 5976 241 (241) w:sem 3 519 commander 14 1.437 1548/ 3192 140 (140) w:sig 5 1293 gps 0 0.095 1236/ 1936 205 (205) w:sem 4 1342 mavlink_if0 25 2.570 1964/ 2704 100 (100) w:sig 4 1384 navigator 1 0.157 1260/ 1896 105 (105) w:sem 6 1426 logger 26 2.656 3500/ 3616 230 (230) RUN 4 1428 log_writer_file 4 0.404 700/ 1144 60 ( 60) w:sem 4 Processes: 21 total, 2 running, 19 sleeping CPU usage: 59.80% tasks, 1.92% sched, 38.28% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 475.068s total, 221.480s 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: 43 events, 8077239us elapsed, 187842.77us avg, min 9004us max 217144us 139980.578us rms logger_sd_write: 171 events, 5148889us elapsed, 30110.46us avg, min 14us max 227330us 171369.844us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 521 events, 58195.67 avg, min 72us max 9999981us 617741.063us rms navigator: 842 events, 45383us elapsed, 53.90us avg, min 25us max 934us 337.159us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3918 events, 10270.36 avg, min 9239us max 48302us 1067.389us rms mavlink: tx run elapsed: 3918 events, 1771212us elapsed, 452.07us avg, min 220us max 11810us 1254.324us rms mag_bias_estimator: cycle: 767 events, 39872us elapsed, 51.98us avg, min 1us max 1370us 255.245us rms land_detector: cycle: 3608 events, 130208us elapsed, 36.09us avg, min 24us max 390us 129.941us rms mc_pos_control: cycle time: 3608 events, 109685us elapsed, 30.40us avg, min 10us max 438us 114.206us rms flight_mode_manager: cycle: 2014 events, 73024us elapsed, 36.26us avg, min 9us max 429us 131.467us rms mc_hover_thrust_estimator: cycle time: 1580 events, 3460us elapsed, 2.19us avg, min 1us max 316us 17.875us rms mc_att_control: cycle: 7197 events, 320686us elapsed, 44.56us avg, min 18us max 393us 84.571us rms mc_rate_control: cycle: 30267 events, 684236us elapsed, 22.61us avg, min 19us max 44us 9.558us rms control_allocator: cycle: 30267 events, 1940243us elapsed, 64.10us avg, min 55us max 106us 25.329us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 3609 events, 1233775us elapsed, 341.86us avg, min 188us max 1374us 732.515us rms ekf2: ECL update: 3589 events, 2246us elapsed, 0.62us avg, min 1us max 53us 7.016us rms pwm_out: interval: 30271 events, 1330.73 avg, min 191us max 3577us 319.374us rms pwm_out: cycle: 30271 events, 976375us elapsed, 32.25us avg, min 28us max 57us 9.787us rms control latency: 30271 events, 5381936us elapsed, 177.79us avg, min 160us max 247us 30.644us rms commander: preflight check: 384 events, 423999us elapsed, 1104.16us avg, min 425us max 25959us 3025.556us rms commander: cycle: 3595 events, 922377us elapsed, 256.57us avg, min 57us max 26032us 1496.740us 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: 3839 events, 183009us elapsed, 47.67us avg, min 36us max 294us 121.138us rms vehicle_gps_position: cycle: 135 events, 998us elapsed, 7.39us avg, min 5us max 121us 52.437us rms vehicle_air_data: cycle: 2879 events, 135809us elapsed, 47.17us avg, min 31us max 322us 139.490us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 30273 events, 785150us elapsed, 25.94us avg, min 23us max 51us 10.422us rms sensors: 7201 events, 589752us elapsed, 81.90us avg, min 53us max 486us 176.016us rms battery_status: 4029 events, 159830us elapsed, 39.67us avg, min 21us max 1694us 306.267us rms lsm303d: acc_dupe: 6958 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 3839 events, 107826us elapsed, 28.09us avg, min 22us max 50us 11.243us rms lsm303d: acc_read: 38370 events, 1076710us elapsed, 28.06us avg, min 21us max 62us 13.001us rms l3gd20: dupe: 26075 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 56350 events, 6760414us elapsed, 119.97us avg, min 23us max 278us 287.003us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 3840 events, 26670us elapsed, 6.95us avg, min 6us max 24us 4.474us rms ms5611: read: 3840 events, 75810us elapsed, 19.74us avg, min 11us max 40us 15.984us rms board_adc: sample: 40300 events, 292291us elapsed, 7.25us avg, min 4us max 1898us 129.537us rms rgbled: led_control message missed: 139 events manual_control: interval: 867 events, 46178.34 avg, min 3814us max 202137us 41977.191us rms manual_control: cycle: 867 events, 31553us elapsed, 36.39us avg, min 19us max 1869us 281.024us rms rc_update: valid data interval: 1814 events, 22204.87 avg, min 21252us max 55943us 1913.245us rms rc_update: cycle interval: 1814 events, 22204.87 avg, min 21249us max 55943us 1912.825us rms rc_update: cycle: 1814 events, 93104us elapsed, 51.33us avg, min 24us max 1946us 321.089us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 6 events, 2396us elapsed, 399.33us avg, min 134us max 1306us 818.448us rms px4io: interface read: 8858 events, 3344461us elapsed, 377.56us avg, min 148us max 3189us 1054.545us rms px4io: interval: 1814 events, 22205.37 avg, min 21246us max 56057us 1931.125us rms px4io: cycle: 1814 events, 3613589us elapsed, 1992.06us avg, min 1237us max 12844us 4790.489us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 8864 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 8864 events, 3216738us elapsed, 362.90us avg, min 125us max 3178us 1036.866us rms load_mon: cycle: 81 events, 24623us elapsed, 303.99us avg, min 172us max 1449us 1807.933us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 3 events param: set: 3 events, 11us elapsed, 3.67us avg, min 2us max 6us 237.886us rms param: get: 5331 events param: find: 6176 events param: export: 1 events, 29368us elapsed, 29368.00us avg, min 29368us max 29368us nanus 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: 96 events, 18659293us elapsed, 194367.64us avg, min 67000us max 212235us 95236.336us rms logger_sd_write: 380 events, 11544327us elapsed, 30379.81us avg, min 14us max 303655us 125209.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6 events, 8333383.33 avg, min 9999764us max 10000472us 229.875us rms navigator: 1290 events, 65252us elapsed, 50.58us avg, min 25us max 1166us 291.259us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6063 events, 10242.59 avg, min 9240us max 15348us 570.222us rms mavlink: tx run elapsed: 6063 events, 2757318us elapsed, 454.78us avg, min 220us max 5401us 1074.006us rms mag_bias_estimator: cycle: 25 events, 1019us elapsed, 40.76us avg, min 1us max 116us 1442.143us rms land_detector: cycle: 5527 events, 197111us elapsed, 35.66us avg, min 25us max 567us 112.139us rms mc_pos_control: cycle time: 5527 events, 84270us elapsed, 15.25us avg, min 10us max 397us 95.684us rms flight_mode_manager: cycle: 3106 events, 38859us elapsed, 12.51us avg, min 9us max 354us 107.862us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 11038 events, 556337us elapsed, 50.40us avg, min 38us max 410us 72.429us rms mc_rate_control: cycle: 46747 events, 1100864us elapsed, 23.55us avg, min 19us max 48us 8.233us rms control_allocator: cycle: 46747 events, 2986343us elapsed, 63.88us avg, min 55us max 102us 21.815us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 8 events ekf2: ECL full update: 5528 events, 1912173us elapsed, 345.91us avg, min 188us max 1379us 615.333us rms ekf2: ECL update: 5510 events, 3710us elapsed, 0.67us avg, min 1us max 212us 6.659us rms pwm_out: interval: 46748 events, 1329.15 avg, min 194us max 2887us 320.699us rms pwm_out: cycle: 46748 events, 1542833us elapsed, 33.00us avg, min 29us max 57us 8.382us rms control latency: 46748 events, 8374785us elapsed, 179.15us avg, min 162us max 260us 26.336us rms commander: preflight check: 589 events, 486278us elapsed, 825.60us avg, min 428us max 7510us 2495.030us rms commander: cycle: 5575 events, 1274271us elapsed, 228.57us avg, min 62us max 7936us 1254.228us rms vehicle_imu: gyro data gap: 1 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: 5922 events, 275155us elapsed, 46.46us avg, min 36us max 313us 104.021us rms vehicle_gps_position: cycle: 207 events, 1936us elapsed, 9.35us avg, min 5us max 305us 51.850us rms vehicle_air_data: cycle: 4441 events, 209530us elapsed, 47.18us avg, min 31us max 331us 120.479us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 46909 events, 1214752us elapsed, 25.90us avg, min 23us max 49us 8.905us rms sensors: 11086 events, 906476us elapsed, 81.77us avg, min 52us max 421us 145.250us rms battery_status: 6235 events, 235312us elapsed, 37.74us avg, min 21us max 1522us 262.007us rms lsm303d: acc_dupe: 10720 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 5943 events, 165757us elapsed, 27.89us avg, min 22us max 50us 9.609us rms lsm303d: acc_read: 59382 events, 1665667us elapsed, 28.05us avg, min 21us max 56us 11.212us rms l3gd20: dupe: 40294 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 87205 events, 10533173us elapsed, 120.79us avg, min 22us max 303us 247.705us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 5943 events, 41404us elapsed, 6.97us avg, min 6us max 26us 3.889us rms ms5611: read: 5943 events, 117331us elapsed, 19.74us avg, min 11us max 37us 13.763us rms board_adc: sample: 62350 events, 454133us elapsed, 7.28us avg, min 4us max 1850us 110.840us rms rgbled: led_control message missed: 590 events manual_control: interval: 1984 events, 31392.02 avg, min 21284us max 197515us 23044.596us rms manual_control: cycle: 1984 events, 73028us elapsed, 36.81us avg, min 22us max 2025us 205.577us rms rc_update: valid data interval: 2813 events, 22156.35 avg, min 21245us max 33035us 1486.594us rms rc_update: cycle interval: 2813 events, 22156.35 avg, min 21244us max 33650us 1491.814us rms rc_update: cycle: 2813 events, 138479us elapsed, 49.23us avg, min 23us max 1472us 277.591us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 1 events, 167us elapsed, 167.00us avg, min 167us max 167us infus rms px4io: interface read: 13665 events, 5221863us elapsed, 382.13us avg, min 147us max 3364us 907.653us rms px4io: interval: 2827 events, 22155.84 avg, min 21245us max 33056us 1489.882us rms px4io: cycle: 2827 events, 5653148us elapsed, 1999.70us avg, min 1236us max 13047us 4103.101us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 13666 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 13666 events, 5020831us elapsed, 367.40us avg, min 139us max 3354us 892.785us rms load_mon: cycle: 125 events, 41293us elapsed, 330.34us avg, min 172us max 1621us 1472.905us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 11us elapsed, 3.67us avg, min 2us max 6us 237.895us rms param: get: 4965 events param: find: 9137 events param: export: 1 events, 30420us elapsed, 30420.00us avg, min 30420us max 30420us nanus rms