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PX4 Quadrotor | Open PID Analysis |
| Airframe: | Holybro X500 V2 Quadrotor x (4019) |
| Hardware: | PX4_FMU_V6X (V6X008) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:32 |
| Vehicle Life Flight Time: | 8 hours 1 minutes 37 seconds |
| Vehicle UUID: | 000600000000393238343033510700420022 |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.0 km/h |
| Max Speed: | 0.1 km/h |
| Max Speed Horizontal: | 0.1 km/h |
| Max Speed Up: | -0.0 km/h |
| Max Speed Down: | 0.1 km/h |
| Max Tilt Angle: | 2.2 deg |
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Console Output
HW arch: PX4_FMU_V6X HW type: V6X HW FMUM ID: 0x008 HW BASE ID: 0x000 PX4 git-hash: 99c40407ffd7ac184e2d7b4b293f36f10fe561ef PX4 version: Release 1.15.4 (17761535) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Mar 20 2025 23:04:15 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000393238343033510700420022 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2376 bytes, decoded 2376 bytes (INT32:44, FLOAT:68) 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/4019_x500_v2 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm45686 #0 on SPI bus 3 icm45686 #1 on SPI bus 2 icm45686 #2 on SPI bus 1 rotation 10 bmm150 #0 on I2C bus 4 (external) address 0x10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) icp201xx #0 on I2C bus 4 (external) address 0x64 bmp388 #0 on I2C bus 2 (external) address 0x76 WARN [SPI_I2C] ms5611: no instance started (no device on bus?) WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3407898 ekf2 [590:237] Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B Starting MAVLink on ethernet INFO [mavlink] mode: Onboard, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [i2c_launcher] Found address 0x45, running 'ina228 -X -b 1 -t 1 start' ina228 #0 on I2C bus 1 (external) address 0x45 INFO [i2c_launcher] Started 0x45 successfully INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B WARN [timesync] RTT too high for timesync: 2470 ms WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/sess137/log100.ulg INFO [logger] Opened full log file: /fs/microsd/log/sess137/log100.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 21436 55.554 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 5 wq:lp_default 0 0.034 1428/ 1896 205 (205) w:sem 4 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.004 588/ 2024 49 ( 49) w:sem 4 60 wq:hp_default 3 0.393 864/ 2776 237 (237) w:sem 4 233 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 344 wq:I2C0 0 0.001 1020/ 2312 247 (247) w:sem 4 318 wq:rate_ctrl 51 5.097 2420/ 3120 255 (255) w:sem 4 347 wq:SPI0 0 0.001 788/ 2368 254 (254) w:sem 4 365 wq:SPI3 30 3.083 1844/ 2368 251 (251) w:sem 4 378 wq:SPI2 26 2.687 1816/ 2368 252 (252) w:sem 4 392 wq:SPI1 27 2.736 1816/ 2368 253 (253) w:sem 4 396 wq:I2C4 2 0.226 972/ 2312 243 (243) w:sem 4 406 wq:I2C2 1 0.152 808/ 2312 245 (245) w:sem 4 563 wq:nav_and_controllers 23 2.344 1292/ 2216 242 (242) w:sem 4 564 wq:INS0 33 3.338 3660/ 5976 241 (241) w:sem 4 565 wq:INS1 31 3.133 3660/ 5976 240 (240) w:sem 4 567 wq:INS2 30 3.091 3660/ 5976 239 (239) w:sem 4 573 commander 5 0.558 1656/ 3192 140 (140) w:sig 5 889 gps 0 0.037 1164/ 1936 205 (205) w:sem 4 1034 mavlink_if0 10 1.064 1884/ 3048 100 (100) w:sig 5 1035 mavlink_rcv_if0 1 0.163 2276/ 6136 175 (175) w:sem 5 1137 mavlink_if1 33 3.330 1716/ 3048 100 (100) w:sig 5 1138 mavlink_rcv_if1 1 0.191 2276/ 6136 175 (175) w:sem 5 1247 navigator 0 0.075 1512/ 2104 105 (105) w:sem 11 1456 logger 51 5.141 3100/ 3616 230 (230) RUN 4 1519 wq:uavcan 8 0.822 2252/ 3600 236 (236) w:sem 4 1526 log_writer_file 3 0.342 612/ 1144 60 ( 60) w:sem 4 1551 mavlink_if2 47 4.764 1996/ 3136 100 (100) READY 5 1549 wq:I2C1 0 0.039 1000/ 2312 246 (246) w:sem 4 1552 mavlink_rcv_if2 3 0.368 2636/ 6136 175 (175) w:sem 5 Processes: 35 total, 3 running, 32 sleeping CPU usage: 43.22% tasks, 1.22% sched, 55.55% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 36.870s total, 21.437s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 39791 52.253 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 5 wq:lp_default 42 4.213 1436/ 1896 205 (205) w:sem 4 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.000 588/ 2024 49 ( 49) w:sem 4 60 wq:hp_default 3 0.399 864/ 2776 237 (237) w:sem 4 233 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 344 wq:I2C0 0 0.004 1020/ 2312 247 (247) w:sem 4 318 wq:rate_ctrl 50 5.070 2420/ 3120 255 (255) w:sem 4 347 wq:SPI0 0 0.006 788/ 2368 254 (254) w:sem 4 365 wq:SPI3 30 3.079 1844/ 2368 251 (251) w:sem 4 378 wq:SPI2 26 2.659 1816/ 2368 252 (252) w:sem 4 392 wq:SPI1 27 2.791 1816/ 2368 253 (253) w:sem 4 396 wq:I2C4 2 0.230 972/ 2312 243 (243) w:sem 4 406 wq:I2C2 1 0.148 808/ 2312 245 (245) w:sem 4 563 wq:nav_and_controllers 24 2.420 1292/ 2216 242 (242) w:sem 4 564 wq:INS0 44 4.425 3660/ 5976 241 (241) w:sem 4 565 wq:INS1 43 4.304 3660/ 5976 240 (240) w:sem 4 567 wq:INS2 42 4.230 3660/ 5976 239 (239) w:sem 4 573 commander 5 0.524 1656/ 3192 140 (140) w:sig 5 889 gps 0 0.027 1188/ 1936 205 (205) w:sem 4 1034 mavlink_if0 10 1.096 1884/ 3048 100 (100) w:sig 5 1035 mavlink_rcv_if0 1 0.168 2292/ 6136 175 (175) w:sem 5 1137 mavlink_if1 33 3.345 1844/ 3048 100 (100) READY 5 1138 mavlink_rcv_if1 1 0.190 2276/ 6136 175 (175) w:sem 5 1247 navigator 0 0.077 1512/ 2104 105 (105) w:sem 11 1456 logger 18 1.873 3100/ 3616 230 (230) RUN 4 1519 wq:uavcan 8 0.836 2252/ 3600 236 (236) w:sem 4 1526 log_writer_file 3 0.314 628/ 1144 60 ( 60) w:sem 4 1551 mavlink_if2 39 3.905 1996/ 3136 100 (100) READY 5 1549 wq:I2C1 0 0.040 1000/ 2312 246 (246) w:sem 4 1552 mavlink_rcv_if2 1 0.142 2636/ 6136 175 (175) w:sem 5 Processes: 35 total, 4 running, 31 sleeping CPU usage: 46.52% tasks, 1.23% sched, 52.25% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 68.101s total, 39.792s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11044 events, 3051.62 avg, min 2178us max 25943us 400.238us rms mavlink: tx run elapsed: 11044 events, 1569029us elapsed, 142.07us avg, min 75us max 955us 49.793us rms DatamanClient: sync: 1 events, 29us elapsed, 29.00us avg, min 29us max 29us nanus rms ina228_measurement_err: 0 events ina228_collection_err: 0 events ina228_com_err: 0 events ina228_read: 336 events, 397563us elapsed, 1183.22us avg, min 1168us max 1266us 24.661us rms uavcan: cycle interval: 11596 events, 2999.40 avg, min 626us max 3797us 132.555us rms uavcan: cycle time: 11596 events, 195197us elapsed, 16.83us avg, min 13us max 194us 6.112us 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 mission_dm_cache_miss: 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: 1 events, 11258us elapsed, 11258.00us avg, min 11258us max 11258us infus rms DatamanClient: sync: 1 events, 6423us elapsed, 6423.00us avg, min 6423us max 6423us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 24us elapsed, 24.00us avg, min 24us max 24us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 28us elapsed, 28.00us avg, min 28us max 28us nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1734 events, 20011.55 avg, min 74us max 92503us 1832.308us rms DatamanClient: sync: 1 events, 7381us elapsed, 7381.00us avg, min 7381us max 7381us nanus rms navigator: 745 events, 28190us elapsed, 37.84us avg, min 19us max 7006us 256.134us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11386 events, 3057.40 avg, min 2184us max 55409us 640.757us rms mavlink: tx run elapsed: 11386 events, 1262004us elapsed, 110.84us avg, min 61us max 2042us 39.834us rms DatamanClient: sync: 1 events, 28us elapsed, 28.00us avg, min 28us max 28us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3475 events, 10021.31 avg, min 9352us max 61637us 952.632us rms mavlink: tx run elapsed: 3475 events, 355924us elapsed, 102.42us avg, min 71us max 1904us 36.961us rms DatamanClient: sync: 4 events, 3739us elapsed, 934.75us avg, min 32us max 3352us 1615.858us rms mag_bias_estimator: cycle: 1738 events, 9485us elapsed, 5.46us avg, min 2us max 163us 4.922us rms land_detector: cycle: 3494 events, 38869us elapsed, 11.12us avg, min 9us max 174us 5.221us rms mc_pos_control: cycle time: 3495 events, 93915us elapsed, 26.87us avg, min 21us max 229us 15.247us rms flight_mode_manager: cycle: 1748 events, 824726us elapsed, 471.81us avg, min 3us max 804us 197.088us rms mc_hover_thrust_estimator: cycle time: 3494 events, 3693us elapsed, 1.06us avg, min 1us max 23us 1.069us 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: 6903 events, 80576us elapsed, 11.67us avg, min 7us max 208us 6.934us rms mc_rate_control: cycle: 27847 events, 239233us elapsed, 8.59us avg, min 7us max 97us 0.964us rms control_allocator: cycle: 27847 events, 544174us elapsed, 19.54us avg, min 17us max 149us 2.278us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3495 events, 848962us elapsed, 242.91us avg, min 83us max 686us 102.090us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3495 events, 879777us elapsed, 251.72us avg, min 83us max 844us 121.393us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 3495 events, 955130us elapsed, 273.28us avg, min 82us max 665us 92.164us rms pwm_out: interval: 118 events, 294920.52 avg, min 324us max 300790us 27589.572us rms pwm_out: cycle: 118 events, 731us elapsed, 6.19us avg, min 3us max 269us 24.503us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 339 events, 72490us elapsed, 213.83us avg, min 153us max 3592us 193.949us rms commander: cycle: 3158 events, 216954us elapsed, 68.70us avg, min 33us max 4043us 98.385us 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 vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 959 events, 15381us elapsed, 16.04us avg, min 6us max 428us 14.432us rms vehicle_air_data: cycle: 806 events, 17012us elapsed, 21.11us avg, min 4us max 395us 17.850us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 27875 events, 333099us elapsed, 11.95us avg, min 10us max 40us 0.918us rms sensors: 6994 events, 235320us elapsed, 33.65us avg, min 20us max 1990us 38.604us rms battery_status: 3498 events, 14601us elapsed, 4.17us avg, min 3us max 53us 2.155us rms bmp388: comms errors: 0 events bmp388: measure: 807 events, 896078us elapsed, 1110.38us avg, min 1094us max 1422us 26.066us rms bmp388: read: 806 events, 772381us elapsed, 958.29us avg, min 947us max 1051us 20.966us rms icp201xx: bad transfer: 0 events icp201xx: read: 1049 events, 34934365us elapsed, 33302.54us avg, min 2151us max 33978us 1059.748us rms icp201xx: reset: 1 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 1 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events board_adc: sample: 28056 events, 68975us elapsed, 2.46us avg, min 2us max 91us 4.466us rms manual_control: interval: 176 events, 198879.72 avg, min 200008us max 200128us 18.291us rms manual_control: cycle: 176 events, 1463us elapsed, 8.31us avg, min 6us max 102us 10.007us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 13960 events, 5181183us elapsed, 371.14us avg, min 357us max 693us 12.456us rms px4io: interface write: 13980 events, 3323979us elapsed, 237.77us avg, min 124us max 279us 5.235us rms px4io: interface read: 6006 events, 1127814us elapsed, 187.78us avg, min 139us max 348us 74.545us rms px4io: interval: 13966 events, 2511.90 avg, min 972us max 50104us 534.293us rms px4io: cycle: 13966 events, 4648980us elapsed, 332.88us avg, min 76us max 8033us 314.208us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 19986 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 19986 events, 4382564us elapsed, 219.28us avg, min 120us max 343us 46.773us rms load_mon: cycle: 71 events, 6951us elapsed, 97.90us avg, min 2us max 236us 20.388us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 6 events, 11581us elapsed, 1930.17us avg, min 7us max 3334us 1552.101us rms dma_alloc: 8 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 2 events, 1064us elapsed, 532.00us avg, min 221us max 843us 439.820us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 2 events, 10175us elapsed, 5087.50us avg, min 221us max 9954us 6882.271us rms param: set: 112 events, 1518us elapsed, 13.55us avg, min 5us max 25us 5.740us rms param: get: 184212 events param: find: 12672 events param: export: 1 events, 13426us elapsed, 13426.00us avg, min 13426us max 13426us nanus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10660 events, 3010.03 avg, min 2122us max 54080us 573.416us rms mavlink: tx run elapsed: 10660 events, 1786296us elapsed, 167.57us avg, min 100us max 51549us 505.440us rms DatamanClient: sync: 3 events, 7337us elapsed, 2445.67us avg, min 400us max 3627us 1778.675us rms ina228_measurement_err: 0 events ina228_collection_err: 0 events ina228_com_err: 0 events ina228_read: 317 events, 374685us elapsed, 1181.97us avg, min 1169us max 1328us 36.028us rms uavcan: cycle interval: 10699 events, 2999.72 avg, min 2722us max 3266us 25.933us rms uavcan: cycle time: 10699 events, 176671us elapsed, 16.51us avg, min 14us max 76us 8.086us 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 mission_dm_cache_miss: 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: 89 events, 913702us elapsed, 10266.31us avg, min 4us max 147933us 22652.861us rms logger_sd_write: 344 events, 1664214us elapsed, 4837.83us avg, min 5us max 14256us 1577.589us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666666.67 avg, min 9999999us max 10000001us 0.969us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 673 events, 15231us elapsed, 22.63us avg, min 19us max 150us 269.766us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10663 events, 3009.40 avg, min 2098us max 51681us 554.700us rms mavlink: tx run elapsed: 10662 events, 1222482us elapsed, 114.66us avg, min 85us max 2248us 60.729us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3203 events, 10017.74 avg, min 9307us max 54605us 799.534us rms mavlink: tx run elapsed: 3203 events, 439259us elapsed, 137.14us avg, min 91us max 884us 50.632us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 13 events, 80us elapsed, 6.15us avg, min 3us max 17us 59.398us rms land_detector: cycle: 3210 events, 36070us elapsed, 11.24us avg, min 9us max 53us 6.880us rms mc_pos_control: cycle time: 3210 events, 80449us elapsed, 25.06us avg, min 22us max 294us 17.419us rms flight_mode_manager: cycle: 1605 events, 95485us elapsed, 59.49us avg, min 3us max 424us 223.277us rms mc_hover_thrust_estimator: cycle time: 3210 events, 2809us elapsed, 0.87us avg, min 1us max 21us 1.263us 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: 6420 events, 89253us elapsed, 13.90us avg, min 7us max 52us 10.568us rms mc_rate_control: cycle: 25586 events, 236967us elapsed, 9.26us avg, min 7us max 20us 1.288us rms control_allocator: cycle: 25586 events, 504856us elapsed, 19.73us avg, min 16us max 40us 3.249us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3210 events, 613597us elapsed, 191.15us avg, min 84us max 560us 151.850us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3210 events, 623883us elapsed, 194.36us avg, min 83us max 650us 172.698us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3210 events, 710662us elapsed, 221.39us avg, min 100us max 644us 138.784us rms pwm_out: interval: 107 events, 297198.48 avg, min 299698us max 300301us 81.800us rms pwm_out: cycle: 107 events, 399us elapsed, 3.73us avg, min 3us max 20us 25.841us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 293 events, 55613us elapsed, 189.81us avg, min 152us max 378us 212.530us rms commander: cycle: 2912 events, 199880us elapsed, 68.64us avg, min 34us max 429us 119.296us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 904 events, 15508us elapsed, 17.15us avg, min 8us max 26us 15.545us rms vehicle_air_data: cycle: 741 events, 15827us elapsed, 21.36us avg, min 14us max 113us 22.534us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 25586 events, 305737us elapsed, 11.95us avg, min 11us max 29us 1.317us rms sensors: 6420 events, 204995us elapsed, 31.93us avg, min 28us max 132us 40.436us rms battery_status: 3210 events, 12975us elapsed, 4.04us avg, min 3us max 43us 2.903us rms bmp388: comms errors: 0 events bmp388: measure: 741 events, 823709us elapsed, 1111.62us avg, min 1095us max 1203us 37.256us rms bmp388: read: 741 events, 709855us elapsed, 957.97us avg, min 948us max 1044us 29.895us rms icp201xx: bad transfer: 0 events icp201xx: read: 962 events, 32065695us elapsed, 33332.32us avg, min 32616us max 34046us 1192.509us rms icp201xx: reset: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 0 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events board_adc: sample: 25680 events, 64396us elapsed, 2.51us avg, min 2us max 95us 6.796us rms manual_control: interval: 160 events, 198774.17 avg, min 200008us max 200681us 66.787us rms manual_control: cycle: 160 events, 2448us elapsed, 15.30us avg, min 6us max 677us 64.845us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 12824 events, 4780849us elapsed, 372.80us avg, min 359us max 622us 17.646us rms px4io: interface write: 12825 events, 3048884us elapsed, 237.73us avg, min 124us max 278us 6.935us rms px4io: interface read: 5416 events, 1020729us elapsed, 188.47us avg, min 139us max 346us 108.530us rms px4io: interval: 12824 events, 2502.82 avg, min 962us max 5250us 155.288us rms px4io: cycle: 12824 events, 4253046us elapsed, 331.65us avg, min 248us max 5181us 446.997us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 18241 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 18241 events, 4005964us elapsed, 219.61us avg, min 121us max 342us 67.510us rms load_mon: cycle: 64 events, 6400us elapsed, 100.00us avg, min 96us max 111us 21.813us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 3 events, 7227us elapsed, 2409.00us avg, min 370us max 3577us 3027.001us rms dma_alloc: 2 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 3 events, 5us elapsed, 1.67us avg, min 1us max 3us 42.781us rms param: get: 25004 events param: find: 8570 events param: export: 1 events, 14518us elapsed, 14518.00us avg, min 14518us max 14518us nanus rms