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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Discussion 37125
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.3 (1c8ab2a0) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:33 |
| Vehicle Life Flight Time: | 1 hours 47 minutes 35 seconds |
| Vehicle UUID: | 0006000000003632373732325105003e0028 |
| Distance: | 134.2 m |
| Max Altitude Difference: | 19 m |
| Average Speed: | 10.2 km/h |
| Max Speed: | 25.9 km/h |
| Max Speed Horizontal: | 25.9 km/h |
| Max Speed Up: | 7.4 km/h |
| Max Speed Down: | 1.4 km/h |
| Max Tilt Angle: | 151.3 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE FW git-hash: 1c8ab2a0d7db2d14a6f320ebd8766b5ffaea28fa FW version: Release 1.13.3 (17630207) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 4a1dd8680cd29f51fb0fe66dcfbf6f69bec747cf Build datetime: Mar 14 2023 01:22:09 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003632373732325105003e0028 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 2526 bytes, decoded 2526 bytes (INT32:59, FLOAT:63) 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 Loading airframe: /etc/init.d/airframes/4001_quad_x 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 [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 ekf2 [570:237] Board mavlink: /etc/init.d/rc.board_mavlink 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: OnboardLowBandwidth, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS1 @ 921600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [commander] Switching to Altitude is currently not available uavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [uavcan:125:GPS] Registered Topic for 0x1 0x6 INFO [uavcan:125:GPS] Registered Topic for 0x5 0x1 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x8 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x1 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x24 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x70 INFO [uavcan:125:GPS] Registered Topic for 0x6 0x3E INFO [uavcan:125:GPS] Registered Topic for 0xA 0x4 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x7 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x61 INFO [uavcan:125:GPS] Registered Topic for 0x1 0x4 INFO [uavcan:125:GPS] try baud 115200 INFO [uavcan:125:GPS] try baud 4800 INFO [uavcan:125:GPS] try baud 19200 INFO [uavcan:125:GPS] try baud 38400 INFO [uavcan:125:GPS] try baud 57600 INFO [uavcan:125:GPS] try baud 230400 INFO [uavcan:125:GPS] initialised INFO [uavcan:125:GPS] 0 raw flags = 16842753 sz 36 INFO [uavcan:125:GPS] 3 raw flags = 16842752 sz 36 INFO [uavcan:125:GPS] 5 raw flags = 16842753 sz 36 INFO [uavcan:125:GPS] 6 raw flags = 16842753 sz 36 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 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-02-29/12_13_43.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-02-29/12_13_43.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 73674 42.721 184/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.002 588/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 444/ 1256 255 (255) w:sem 1 63 wq:hp_default 55 5.579 1132/ 1904 237 (237) w:sem 1 78 dataman 0 0.017 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.037 1012/ 1920 205 (205) w:sem 1 349 wq:SPI4 80 8.060 1592/ 2336 250 (250) w:sem 1 361 wq:SPI1 44 4.460 1596/ 2336 253 (253) w:sem 1 520 wq:nav_and_controllers 32 3.280 1252/ 2240 242 (242) w:sem 1 522 wq:rate_ctrl 52 5.284 1596/ 3152 255 (255) w:sem 1 523 wq:INS0 33 3.356 4260/ 6000 241 (241) w:sem 1 524 wq:INS1 31 3.104 4260/ 6000 240 (240) w:sem 1 533 wq:INS2 35 3.519 4260/ 6000 239 (239) w:sem 1 536 commander 5 0.502 1444/ 3224 140 (140) READY 5 601 mavlink_rcv_if0 2 0.263 1372/ 4712 175 (175) READY 4 599 mavlink_if0 7 0.762 1844/ 2792 100 (100) w:sig 4 754 mavlink_rcv_if1 4 0.455 1620/ 4712 175 (175) w:sem 4 687 gps 0 0.054 1204/ 1680 205 (205) w:sem 4 753 mavlink_if1 10 1.065 1852/ 2728 100 (100) READY 4 787 mavlink_rcv_if2 33 3.357 1608/ 4712 175 (175) w:sem 4 784 mavlink_if2 51 5.163 1932/ 2736 100 (100) w:sig 4 827 navigator 0 0.098 1100/ 1920 105 (105) w:sem 6 903 logger 42 4.247 2892/ 3648 230 (230) RUN 4 934 wq:uavcan 15 1.552 3108/ 3624 236 (236) w:sem 1 941 log_writer_file 13 1.301 588/ 1176 60 ( 60) w:sem 4 Processes: 26 total, 5 running, 21 sleeping CPU usage: 55.52% tasks, 1.76% sched, 42.72% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 151.191s total, 73.674s 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: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_visual_odometry messages missed: 1 events ekf2: vehicle_visual_odometry messages missed: 1 events ekf2: vehicle_visual_odometry messages missed: 1 events ekf2: vehicle_visual_odometry messages missed: 1 events ekf2: vehicle_visual_odometry messages missed: 1 events ekf2: vehicle_visual_odometry messages missed: 1 events uavcan: cycle interval: 65558 events, 2282.15 avg, min 18us max 17397us 1076.692us rms uavcan: cycle time: 65558 events, 2786941us elapsed, 42.51us avg, min 10us max 17392us 129.020us 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 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: 7482 events, 19997.32 avg, min 18319us max 21665us 198.431us rms gyro_fft: gyro FIFO data gap: 14 events gyro_fft: FFT: 31211 events, 6182602us elapsed, 198.09us avg, min 150us max 1087us 62.973us rms gyro_fft: cycle interval: 57240 events, 2614.61 avg, min 245us max 5658us 181.916us rms gyro_fft: cycle: 57240 events, 6945904us elapsed, 121.35us avg, min 2us max 1770us 111.698us rms navigator: 2975 events, 155278us elapsed, 52.19us avg, min 13us max 15580us 349.538us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 47753 events, 3133.75 avg, min 2131us max 23192us 975.008us rms mavlink: tx run elapsed: 47753 events, 11999700us elapsed, 251.29us avg, min 85us max 14284us 270.539us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 14709 events, 10173.85 avg, min 9101us max 27109us 1094.813us rms mavlink: tx run elapsed: 14709 events, 2325240us elapsed, 158.08us avg, min 72us max 14444us 199.930us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 29154 events, 5135.59 avg, min 4033us max 24977us 1145.202us rms mavlink: tx run elapsed: 29154 events, 1368396us elapsed, 46.94us avg, min 23us max 3068us 91.228us rms mag_bias_estimator: cycle: 7488 events, 204212us elapsed, 27.27us avg, min 3us max 1078us 55.134us rms land_detector: cycle: 13978 events, 208831us elapsed, 14.94us avg, min 10us max 208us 9.449us rms mc_pos_control: cycle time: 13951 events, 449211us elapsed, 32.20us avg, min 1us max 379us 13.935us rms flight_mode_manager: cycle: 7278 events, 213276us elapsed, 29.30us avg, min 23us max 446us 14.260us rms mc_hover_thrust_estimator: cycle time: 13906 events, 24021us elapsed, 1.73us avg, min 1us max 100us 3.153us 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: 27733 events, 335734us elapsed, 12.11us avg, min 8us max 242us 8.392us rms mc_rate_control: cycle: 113974 events, 1393268us elapsed, 12.22us avg, min 10us max 245us 1.631us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 13820 events, 2005172us elapsed, 145.09us avg, min 80us max 1073us 79.196us rms ekf2: ECL update: 14621 events, 60824us elapsed, 4.16us avg, min 1us max 395us 9.736us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 13126 events, 1966444us elapsed, 149.81us avg, min 79us max 983us 83.398us rms ekf2: ECL update: 13692 events, 52215us elapsed, 3.81us avg, min 1us max 259us 6.530us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 14482 events, 1872110us elapsed, 129.27us avg, min 79us max 488us 55.017us rms ekf2: ECL update: 15297 events, 52586us elapsed, 3.44us avg, min 1us max 136us 3.829us rms 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: 28441 events, 51137us elapsed, 1.80us avg, min 1us max 370us 6.318us rms 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: 26818 events, 45307us elapsed, 1.69us avg, min 1us max 350us 4.980us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 29780 events, 45589us elapsed, 1.53us avg, min 1us max 133us 2.269us rms pwm_out: interval: 7727 events, 19414.91 avg, min 243us max 89295us 2693.150us rms pwm_out: cycle: 7727 events, 154198us elapsed, 19.96us avg, min 2us max 865us 34.649us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 59725 events, 33549650us elapsed, 561.74us avg, min 442us max 1818us 132.605us rms px4io: interface write: 59741 events, 13993130us elapsed, 234.23us avg, min 121us max 346us 7.380us rms px4io: interface read: 41074 events, 11276321us elapsed, 274.54us avg, min 135us max 642us 153.588us rms px4io: interval: 59730 events, 2511.72 avg, min 289us max 53360us 563.993us rms px4io: cycle: 59730 events, 27058126us elapsed, 453.01us avg, min 3us max 9955us 623.834us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 100816 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 100816 events, 24757253us elapsed, 245.57us avg, min 117us max 637us 100.087us rms commander: preflight check: 306 events, 3667389us elapsed, 11984.93us avg, min 580us max 18368us 1291.958us rms commander: cycle: 13286 events, 4709193us elapsed, 354.45us avg, min 35us max 20142us 1825.029us 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: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 9865 events, 254641us elapsed, 25.81us avg, min 5us max 771us 18.437us rms vehicle_gps_position: cycle: 739 events, 8544us elapsed, 11.56us avg, min 3us max 151us 10.651us rms vehicle_air_data: cycle: 11124 events, 267415us elapsed, 24.04us avg, min 12us max 228us 15.310us rms vehicle_angular_velocity: gyro selection changed: 14 events vehicle_angular_velocity: gyro filter reset: 14 events vehicle_angular_velocity: gyro filter: 114061 events, 2094586us elapsed, 18.36us avg, min 8us max 392us 3.956us rms sensors: 28649 events, 1265991us elapsed, 44.19us avg, min 15us max 3403us 43.991us rms battery_status: 15005 events, 326703us elapsed, 21.77us avg, min 13us max 1087us 39.862us rms 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: 14874 events, 62597us elapsed, 4.21us avg, min 3us max 34us 0.929us rms ms5611: read: 14873 events, 213074us elapsed, 14.33us avg, min 10us max 108us 2.468us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 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: 14841 events, 72290us elapsed, 4.87us avg, min 4us max 128us 4.924us rms ms5611: read: 14840 events, 278417us elapsed, 18.76us avg, min 12us max 152us 10.022us rms board_adc: sample: 105112 events, 1196972us elapsed, 11.39us avg, min 7us max 14770us 54.095us rms manual_control: interval: 1083 events, 138659.68 avg, min 141us max 200789us 59731.789us rms manual_control: cycle: 1083 events, 16706us elapsed, 15.43us avg, min 6us max 372us 23.269us rms rc_update: valid data interval: 6816 events, 21988.05 avg, min 14004us max 29629us 1660.782us rms rc_update: cycle interval: 6821 events, 21992.77 avg, min 14004us max 55326us 1708.471us rms rc_update: cycle: 6821 events, 110465us elapsed, 16.19us avg, min 9us max 383us 16.011us rms load_mon: cycle: 301 events, 47235us elapsed, 156.93us avg, min 2us max 1018us 149.996us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 238 events, 98117us elapsed, 412.26us avg, min 19us max 22293us 1596.225us rms dma_alloc: 20 events param: set: 122 events, 2014us elapsed, 16.51us avg, min 1us max 32us 8.168us rms param: get: 18843 events param: find: 18292 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms