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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Testing Geotagging
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:26 |
| Vehicle Life Flight Time: | 53 minutes 45 seconds |
| Vehicle UUID: | 000600000000343732343230510b00320031 |
| Feedback: | Tag on GPIO every 2 meters. |
| Distance: | 17.4 m |
| Max Altitude Difference: | 1 m |
| Average Speed: | 2.3 km/h |
| Max Speed: | 3.3 km/h |
| Max Speed Horizontal: | 3.3 km/h |
| Max Speed Up: | 0.8 km/h |
| Max Speed Down: | 0.7 km/h |
| Max Tilt Angle: | 8.0 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 2e8918da66af37922ededee1cc2d2efffec4cfb2 FW version: Release 1.12.3 (17564671) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: bf660cba2af81f055002b3817c87b1f63a78fd09 Build datetime: Sep 6 2021 16:34:11 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000343732343230510b00320031 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 2251 bytes, decoded 2251 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 INFO [ll40ls] probe success - hw: 23, sw:1, id: 12328 ll40ls #0 on I2C bus 2 (external) Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 ekf2 [382:100] INFO [ekf2] 0 - selected distance_sensor:0 INFO [ekf2] starting instance 0, IMU:0 (3670050), MAG:0 (0) INFO [ekf2] 1 - selected distance_sensor:0 INFO [ekf2] starting instance 1, IMU:1 (2621474), MAG:0 (0) INFO [ekf2] 2 - selected distance_sensor:0 INFO [ekf2] starting instance 2, IMU:2 (2424842), MAG:0 (0) INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.1.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [ekf2] 3 - selected distance_sensor:0 INFO [ekf2] starting instance 3, IMU:0 (3670050), MAG:1 (8944899) INFO [ekf2] 4 - selected distance_sensor:0 INFO [ekf2] starting instance 4, IMU:1 (2621474), MAG:1 (8944899) INFO [ekf2] 5 - selected distance_sensor:0 INFO [ekf2] starting instance 5, IMU:2 (2424842), MAG:1 (8944899) uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node ERROR [mavlink] instance 2: RADIO_STATUS timeout INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 WARN [commander] Switching to Offboard is currently not available. INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-03-11/08_16_00.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-03-11/08_16_00.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27821 56.173 264/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 332/ 1620 50 ( 50) w:sig 0 439 log_writer_file 7 0.781 604/ 1172 60 ( 60) w:sem 5 4 wq:manager 0 0.000 412/ 1260 255 (255) w:sem 3 28 wq:hp_default 9 0.939 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 14 1.491 1248/ 1924 205 (205) w:sem 3 163 wq:uavcan 14 1.476 1980/ 3628 236 (236) w:sem 3 176 wq:SPI4 77 7.699 1660/ 2340 250 (250) w:sem 3 180 wq:SPI1 33 3.350 1660/ 2340 253 (253) w:sem 3 197 wq:I2C2 2 0.214 872/ 2340 245 (245) w:sem 3 235 wq:nav_and_controllers 25 2.501 1380/ 2244 242 (242) w:sem 3 236 wq:rate_ctrl 25 2.530 1588/ 1956 255 (255) w:sem 3 237 wq:INS0 43 4.380 4460/ 6004 241 (241) w:sem 3 243 commander 3 0.373 1252/ 3220 140 (140) w:sig 5 255 mavlink_if1 4 0.426 1740/ 2796 100 (100) w:sig 4 262 mavlink_rcv_if1 1 0.163 1328/ 4460 175 (175) w:sem 4 305 gps 0 0.021 1028/ 1684 205 (205) w:sem 4 340 mavlink_if2 6 0.663 1764/ 2740 100 (100) w:sig 4 341 mavlink_rcv_if2 1 0.133 1316/ 4460 175 (175) w:sem 4 359 wq:INS1 43 4.360 4460/ 6004 240 (240) w:sem 3 360 px4io 17 1.796 1008/ 1484 237 (237) w:sem 4 366 wq:INS2 41 4.133 4460/ 6004 239 (239) w:sem 3 399 navigator 0 0.053 1144/ 1772 105 (105) w:sem 6 431 logger 47 4.717 2780/ 3644 230 (230) RUN 5 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 42.21% tasks, 1.61% sched, 56.17% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 45.248s total, 27.821s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 41901 51.594 264/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 18 1.838 1124/ 1620 50 ( 50) w:sig 0 439 log_writer_file 6 0.651 620/ 1172 60 ( 60) w:sem 4 4 wq:manager 0 0.000 412/ 1260 255 (255) w:sem 3 28 wq:hp_default 9 0.921 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.008 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 15 1.558 1248/ 1924 205 (205) w:sem 3 163 wq:uavcan 14 1.442 1980/ 3628 236 (236) w:sem 3 176 wq:SPI4 72 7.240 1660/ 2340 250 (250) w:sem 3 180 wq:SPI1 38 3.820 1660/ 2340 253 (253) w:sem 3 197 wq:I2C2 2 0.224 872/ 2340 245 (245) w:sem 3 235 wq:nav_and_controllers 23 2.334 1380/ 2244 242 (242) w:sem 3 236 wq:rate_ctrl 24 2.395 1588/ 1956 255 (255) w:sem 3 237 wq:INS0 56 5.669 4460/ 6004 241 (241) w:sem 3 243 commander 5 0.553 1252/ 3220 140 (140) w:sig 5 255 mavlink_if1 4 0.457 1764/ 2796 100 (100) w:sig 4 262 mavlink_rcv_if1 1 0.165 1328/ 4460 175 (175) READY 4 305 gps 0 0.029 1028/ 1684 205 (205) w:sem 4 340 mavlink_if2 6 0.675 1764/ 2740 100 (100) w:sig 4 341 mavlink_rcv_if2 1 0.169 1316/ 4460 175 (175) w:sem 4 359 wq:INS1 59 5.940 4460/ 6004 240 (240) w:sem 3 360 px4io 18 1.808 1008/ 1484 237 (237) w:sem 4 366 wq:INS2 59 5.956 4460/ 6004 239 (239) w:sem 3 399 navigator 0 0.060 1144/ 1772 105 (105) w:sem 6 431 logger 28 2.880 2780/ 3644 230 (230) RUN 4 Processes: 26 total, 3 running, 23 sleeping, max FDs: 12 CPU usage: 46.80% tasks, 1.61% sched, 51.59% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 70.781s total, 41.901s 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 ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: distance_sensor messages missed: 0 events 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: 3782 events, 505943us elapsed, 133.78us avg, min 72us max 1494us 90.073us rms ekf2: ECL update: 3190 events, 8413us elapsed, 2.64us avg, min 1us max 606us 15.344us rms ekf2: distance_sensor messages missed: 0 events 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: 3821 events, 503792us elapsed, 131.85us avg, min 72us max 604us 51.220us rms ekf2: ECL update: 4897 events, 11145us elapsed, 2.28us avg, min 1us max 249us 5.552us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 3828 events, 469176us elapsed, 122.56us avg, min 70us max 429us 48.321us rms ekf2: ECL update: 3924 events, 8212us elapsed, 2.09us avg, min 1us max 33us 2.044us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events 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: 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: 2180 events, 19981.63 avg, min 58us max 20628us 441.714us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4223 events, 547956us elapsed, 129.76us avg, min 75us max 3415us 78.610us rms ekf2: ECL update: 3639 events, 10168us elapsed, 2.79us avg, min 1us max 612us 10.586us rms gyro_fft: gyro FIFO data gap: 60 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 4011 events, 692128us elapsed, 172.56us avg, min 124us max 1358us 96.970us rms gyro_fft: cycle interval: 14425 events, 3025.03 avg, min 13us max 10945us 364.191us rms gyro_fft: cycle: 14425 events, 1066520us elapsed, 73.94us avg, min 1us max 1793us 171.178us rms navigator: 898 events, 47800us elapsed, 53.23us avg, min 9us max 22504us 759.378us rms ekf2: distance_sensor messages missed: 1 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4256 events, 542210us elapsed, 127.40us avg, min 74us max 454us 50.277us rms ekf2: ECL update: 5556 events, 13989us elapsed, 2.52us avg, min 1us max 30us 1.924us rms land_detector: cycle: 4279 events, 39463us elapsed, 9.22us avg, min 6us max 150us 4.647us rms mc_pos_control: cycle time: 4269 events, 39208us elapsed, 9.18us avg, min 4us max 177us 8.786us rms flight_mode_manager: cycle: 2129 events, 23318us elapsed, 10.95us avg, min 3us max 577us 18.141us rms mc_hover_thrust_estimator: cycle time: 2355 events, 2372us elapsed, 1.01us avg, min 1us max 26us 1.680us rms mc_att_control: cycle: 7299 events, 106274us elapsed, 14.56us avg, min 6us max 279us 7.113us rms mc_rate_control: cycle: 43697 events, 329128us elapsed, 7.53us avg, min 5us max 98us 1.252us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 4257 events, 533692us elapsed, 125.37us avg, min 71us max 348us 43.326us rms ekf2: ECL update: 4484 events, 12567us elapsed, 2.80us avg, min 1us max 60us 2.915us rms pwm_out: interval: 1262 events, 34648.15 avg, min 13us max 28453008us 800647.375us rms pwm_out: cycle: 1262 events, 22472us elapsed, 17.81us avg, min 3us max 2731us 80.599us rms control latency: 0 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events io control latency: 21776 events, 7525719us elapsed, 345.60us avg, min 178us max 1353us 224.738us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 21779 events, 9479931us elapsed, 435.28us avg, min 231us max 25676us 564.372us rms io_txns: 33816 events, 9161807us elapsed, 270.93us avg, min 116us max 3092us 144.140us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4357 events, 10008.96 avg, min 9106us max 14515us 228.550us rms mavlink: tx run elapsed: 4372 events, 347648us elapsed, 79.52us avg, min 51us max 1122us 64.835us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8729 events, 5016.47 avg, min 4044us max 37094us 445.492us rms mavlink: tx run elapsed: 8729 events, 207212us elapsed, 23.74us avg, min 13us max 10884us 121.470us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 3888 events, 72856us elapsed, 18.74us avg, min 5us max 323us 12.326us rms vehicle_gps_position: cycle: 193 events, 1647us elapsed, 8.53us avg, min 2us max 148us 11.873us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events battery_status: 4408 events, 57842us elapsed, 13.12us avg, min 10us max 258us 9.386us rms vehicle_air_data: cycle: 3294 events, 34902us elapsed, 10.60us avg, min 7us max 71us 3.347us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 8816 events, 279318us elapsed, 31.68us avg, min 16us max 3121us 61.049us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 854 events, 1135038us elapsed, 1329.08us avg, min 1312us max 1417us 22.492us rms ll40ls: comms errors: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4403 events, 15047us elapsed, 3.42us avg, min 3us max 7us 0.528us rms ms5611: read: 4402 events, 48794us elapsed, 11.08us avg, min 9us max 56us 1.033us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 2 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 11 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 4401 events, 15645us elapsed, 3.55us avg, min 3us max 40us 1.291us rms ms5611: read: 4400 events, 56748us elapsed, 12.90us avg, min 9us max 48us 2.579us rms board_adc: sample: 30933 events, 226928us elapsed, 7.34us avg, min 2us max 3482us 21.113us rms rc_update: valid data interval: 727 events, 21186.42 avg, min 15830us max 27963us 1376.416us rms rc_update: cycle interval: 729 events, 21180.16 avg, min 15830us max 27963us 1384.763us rms rc_update: cycle: 729 events, 15083us elapsed, 20.69us avg, min 6us max 1239us 56.755us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 19011 events, 2326.65 avg, min 18us max 7434us 1079.949us rms uavcan: cycle time: 19011 events, 774013us elapsed, 40.71us avg, min 11us max 5643us 79.193us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 89 events, 9953us elapsed, 111.83us avg, min 2us max 243us 41.101us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 139 events, 189992us elapsed, 1366.85us avg, min 15us max 155887us 13343.060us rms dma_alloc: 21 events param: set: 105 events, 1377us elapsed, 13.11us avg, min 1us max 92us 9.878us rms param: get: 50295 events param: find: 49373 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 ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: distance_sensor messages missed: 0 events 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: 2627 events, 659804us elapsed, 251.16us avg, min 73us max 4404us 391.391us rms ekf2: ECL update: 2102 events, 5944us elapsed, 2.83us avg, min 1us max 564us 22.803us rms ekf2: distance_sensor messages missed: 0 events 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: 2626 events, 579212us elapsed, 220.57us avg, min 72us max 2533us 256.043us rms ekf2: ECL update: 3285 events, 8378us elapsed, 2.55us avg, min 1us max 372us 10.542us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 2627 events, 533749us elapsed, 203.18us avg, min 69us max 1035us 231.503us rms ekf2: ECL update: 2626 events, 5776us elapsed, 2.20us avg, min 1us max 56us 3.573us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events logger_sd_fsync_mission: 51 events, 53186us elapsed, 1042.86us avg, min 3us max 8893us 2660.036us rms logger_sd_write_mission: 15 events, 2026us elapsed, 135.07us avg, min 3us max 1179us 353.256us rms logger_sd_fsync: 54 events, 362208us elapsed, 6707.56us avg, min 3us max 12698us 2399.677us rms logger_sd_write: 633 events, 7956487us elapsed, 12569.49us avg, min 5us max 101431us 5757.615us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000441.00 avg, min 10000882us max 10000882us 0.000us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2627 events, 674071us elapsed, 256.59us avg, min 75us max 4211us 433.279us rms ekf2: ECL update: 2102 events, 5925us elapsed, 2.82us avg, min 1us max 89us 14.382us rms gyro_fft: gyro FIFO data gap: 156 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 1711 events, 314906us elapsed, 184.05us avg, min 123us max 1568us 192.427us rms gyro_fft: cycle interval: 8250 events, 3183.78 avg, min 13us max 9627us 669.921us rms gyro_fft: cycle: 8250 events, 496466us elapsed, 60.18us avg, min 1us max 1820us 279.614us rms navigator: 546 events, 281940us elapsed, 516.37us avg, min 7us max 57192us 3118.609us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2627 events, 628121us elapsed, 239.10us avg, min 74us max 2636us 339.686us rms ekf2: ECL update: 3284 events, 8634us elapsed, 2.63us avg, min 2us max 32us 3.115us rms land_detector: cycle: 2629 events, 27315us elapsed, 10.39us avg, min 7us max 74us 8.212us rms mc_pos_control: cycle time: 2629 events, 15291us elapsed, 5.82us avg, min 4us max 73us 11.830us rms flight_mode_manager: cycle: 1314 events, 5935us elapsed, 4.52us avg, min 3us max 39us 23.291us rms mc_hover_thrust_estimator: cycle time: 565 events, 597us elapsed, 1.06us avg, min 1us max 79us 4.894us rms mc_att_control: cycle: 5095 events, 83193us elapsed, 16.33us avg, min 12us max 84us 10.537us rms mc_rate_control: cycle: 25470 events, 209198us elapsed, 8.21us avg, min 5us max 15us 2.051us rms ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 2627 events, 548165us elapsed, 208.67us avg, min 71us max 976us 226.075us rms ekf2: ECL update: 2626 events, 8052us elapsed, 3.07us avg, min 2us max 65us 5.756us rms pwm_out: interval: 2171 events, 12090.44 avg, min 12us max 25173us 9108.438us rms pwm_out: cycle: 2171 events, 33754us elapsed, 15.55us avg, min 9us max 564us 68.421us rms control latency: 0 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events io control latency: 12889 events, 4967260us elapsed, 385.39us avg, min 181us max 1513us 389.140us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 12889 events, 6106639us elapsed, 473.79us avg, min 231us max 11121us 971.062us rms io_txns: 20896 events, 5884754us elapsed, 281.62us avg, min 118us max 5660us 284.534us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2618 events, 10030.98 avg, min 9094us max 14864us 339.582us rms mavlink: tx run elapsed: 2618 events, 209635us elapsed, 80.07us avg, min 51us max 1496us 109.085us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5179 events, 5071.14 avg, min 4049us max 10564us 497.429us rms mavlink: tx run elapsed: 5179 events, 141845us elapsed, 27.39us avg, min 13us max 5266us 203.657us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 2362 events, 47398us elapsed, 20.07us avg, min 7us max 99us 18.964us rms vehicle_gps_position: cycle: 131 events, 1100us elapsed, 8.40us avg, min 7us max 57us 15.407us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 2627 events, 35629us elapsed, 13.56us avg, min 10us max 243us 17.122us rms vehicle_air_data: cycle: 1962 events, 21323us elapsed, 10.87us avg, min 7us max 69us 5.980us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events sensors: 5094 events, 153010us elapsed, 30.04us avg, min 23us max 191us 80.613us rms ll40ls: zero resets: 0 events ll40ls: resets: 0 events ll40ls: read: 509 events, 677188us elapsed, 1330.43us avg, min 1312us max 1447us 37.420us rms ll40ls: comms errors: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2620 events, 8971us elapsed, 3.42us avg, min 3us max 6us 0.869us rms ms5611: read: 2620 events, 29282us elapsed, 11.18us avg, min 9us max 18us 1.572us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 2616 events, 9529us elapsed, 3.64us avg, min 3us max 53us 2.734us rms ms5611: read: 2616 events, 34422us elapsed, 13.16us avg, min 9us max 68us 5.315us rms board_adc: sample: 18389 events, 132696us elapsed, 7.22us avg, min 2us max 338us 28.461us rms rc_update: valid data interval: 1235 events, 21251.99 avg, min 10972us max 29491us 1582.847us rms rc_update: cycle interval: 1235 events, 21251.99 avg, min 10972us max 29491us 1583.092us rms rc_update: cycle: 1235 events, 21962us elapsed, 17.78us avg, min 9us max 964us 54.998us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 11527 events, 2278.79 avg, min 18us max 8500us 1188.096us rms uavcan: cycle time: 11527 events, 515970us elapsed, 44.76us avg, min 11us max 5167us 172.740us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 53 events, 5828us elapsed, 109.96us avg, min 64us max 488us 84.726us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 141 events, 263294us elapsed, 1867.33us avg, min 15us max 57163us 14385.890us rms dma_alloc: 1 events param: set: 3 events, 35us elapsed, 11.67us avg, min 1us max 28us 72.668us rms param: get: 344 events param: find: 332 events param: export: 1 events, 32582us elapsed, 32582.00us avg, min 32582us max 32582us infus rms