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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
loga1
| Airframe: | Generic Standard VTOL Standard VTOL (13000) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:08 |
| Dropouts: | 3 (1.69 s) |
| Vehicle Life Flight Time: | 1 hours 54 minutes 37 seconds |
| Vehicle UUID: | 000600000000373639313032510d003a0037 |
| Distance: | 260.5 m |
| Max Altitude Difference: | 3 m |
| Average Speed MC: | 17.9 km/h |
| Max Speed: | 55.0 km/h |
| Max Speed Horizontal: | 54.9 km/h |
| Max Speed Up: | 0.6 km/h |
| Max Speed Down: | 4.5 km/h |
| Max Tilt Angle: | 25.9 deg |
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Console Output
84e2d7b4b293f36f10fe561ef 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 22:39:33 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000373639313032510d003a0037 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 3622 bytes, decoded 3622 bytes (INT32:91, FLOAT:83) 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/13000_generic_vtol_standard 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 ms5611 #0 on SPI bus 4 icm42688p #0 on SPI bus 4 rotation 10 icm20948 #0 on SPI bus 4 rotation 10 icm20649 #0 on SPI bus 1 ms5611 #1 on SPI bus 1 ms4525do #0 on I2C bus 2 address 0x28 WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 2490402 ekf2 [776:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 100, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [vehicle_magnetometer] MAG switch from #0 -> #1 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 INFO [uavcan:125:] GPS 1: probing for u-blox at 230400 baud WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [uavcan:125:] GPS 1: detected u-blox WARN [health_and_arming_checks] Preflight: GPS fix too low INFO [uavcan:125:] u-blox 1 HW: 00080000 SW: EXT CORE 3.01 (db0c89) WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error INFO [uavcan:125:] GPS 1: u-blox saving config WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-20/18_10_34.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-20/18_10_34.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error INFO [logger] closed logfile, bytes written: 1052930 WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: height estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-20/18_11_05.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-20/18_11_05.ulg INFO [commander] Takeoff detected
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 37956 55.904 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.036 1444/ 1896 205 (205) w:sem 1 447 wq:hp_default 8 0.844 996/ 2776 237 (237) w:sem 1 471 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 539 wq:SPI1 23 2.319 1520/ 2368 253 (253) w:sem 1 524 wq:SPI4 53 5.336 1808/ 2368 250 (250) w:sem 1 525 wq:rate_ctrl 68 6.813 2548/ 3120 255 (255) w:sem 1 630 wq:I2C2 4 0.418 808/ 2312 245 (245) w:sem 1 750 wq:nav_and_controllers 44 4.405 1240/ 2216 242 (242) w:sem 1 760 wq:INS0 34 3.475 3660/ 5976 241 (241) w:sem 1 761 wq:INS1 38 3.842 3660/ 5976 240 (240) w:sem 1 762 wq:INS2 36 3.620 3660/ 5976 239 (239) w:sem 1 765 commander 6 0.643 1668/ 3192 140 (140) READY 5 817 mavlink_if0 7 0.705 1788/ 2768 100 (100) w:sig 5 818 mavlink_rcv_if0 2 0.226 1420/ 4776 175 (175) w:sem 5 990 mavlink_if1 12 1.290 1924/ 2704 100 (100) w:sig 5 998 mavlink_rcv_if1 2 0.259 1724/ 4776 175 (175) w:sem 5 1039 navigator 0 0.080 1668/ 2104 105 (105) w:sem 11 1104 logger 59 5.916 3100/ 3616 230 (230) RUN 4 1116 log_writer_file 9 0.949 636/ 1144 60 ( 60) w:sem 4 1127 wq:uavcan 18 1.834 3148/ 3600 236 (236) w:sem 1 Processes: 24 total, 3 running, 21 sleeping CPU usage: 43.01% tasks, 1.08% sched, 55.90% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 62.429s total, 37.956s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 79561 50.577 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 1 5 wq:lp_default 75 7.551 1452/ 1896 205 (205) w:sem 1 447 wq:hp_default 8 0.870 996/ 2776 237 (237) w:sem 1 471 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 539 wq:SPI1 23 2.332 1520/ 2368 253 (253) w:sem 1 524 wq:SPI4 53 5.342 1808/ 2368 250 (250) w:sem 1 525 wq:rate_ctrl 67 6.731 2548/ 3120 255 (255) w:sem 1 630 wq:I2C2 4 0.431 808/ 2312 245 (245) w:sem 1 750 wq:nav_and_controllers 50 4.997 1476/ 2216 242 (242) w:sem 1 760 wq:INS0 37 3.728 3660/ 5976 241 (241) w:sem 1 761 wq:INS1 41 4.109 3660/ 5976 240 (240) w:sem 1 762 wq:INS2 38 3.843 3660/ 5976 239 (239) w:sem 1 765 commander 6 0.648 1668/ 3192 140 (140) READY 5 817 mavlink_if0 6 0.636 1916/ 2768 100 (100) w:sig 5 818 mavlink_rcv_if0 6 0.620 1508/ 4776 175 (175) w:sem 5 990 mavlink_if1 12 1.223 1956/ 2704 100 (100) w:sig 5 998 mavlink_rcv_if1 6 0.655 1724/ 4776 175 (175) w:sem 5 1039 navigator 0 0.093 1668/ 2104 105 (105) w:sem 11 1104 logger 22 2.268 3100/ 3616 230 (230) RUN 4 1116 log_writer_file 4 0.457 636/ 1144 60 ( 60) w:sem 4 1127 wq:uavcan 18 1.834 3148/ 3600 236 (236) w:sem 1 Processes: 24 total, 3 running, 21 sleeping CPU usage: 48.37% tasks, 1.05% sched, 50.58% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 130.210s total, 79.561s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: cycle interval: 15282 events, 1903.85 avg, min 17us max 4780us 1261.214us rms uavcan: cycle time: 15282 events, 627324us elapsed, 41.05us avg, min 11us max 1650us 392.859us 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 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 0.000us 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 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: 49 events, 514043us elapsed, 10490.67us avg, min 5us max 14491us 3151.520us rms logger_sd_write: 213 events, 3662138us elapsed, 17193.14us avg, min 1328us max 164422us 14447.183us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 515 events, 39591.64 avg, min 59us max 10000813us 439846.250us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 617 events, 16891us elapsed, 27.38us avg, min 15us max 716us 432.783us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2890 events, 10055.29 avg, min 9160us max 94672us 1659.639us rms mavlink: tx run elapsed: 2890 events, 545123us elapsed, 188.62us avg, min 108us max 2517us 217.135us rms DatamanClient: sync: 2 events, 6704us elapsed, 3352.00us avg, min 3267us max 3437us 120.209us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5778 events, 5030.25 avg, min 4043us max 94465us 1266.921us rms mavlink: tx run elapsed: 5778 events, 227084us elapsed, 39.30us avg, min 23us max 1227us 101.047us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 513 events, 11790us elapsed, 22.98us avg, min 14us max 972us 98.606us rms land_detector: cycle: 2994 events, 36484us elapsed, 12.19us avg, min 10us max 77us 8.567us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 1455 events, 28172us elapsed, 19.36us avg, min 16us max 94us 11.098us rms fw_att_control: cycle: 5986 events, 111653us elapsed, 18.65us avg, min 9us max 153us 29.370us rms fw_rate_control: cycle: 11912 events, 263285us elapsed, 22.10us avg, min 17us max 121us 12.202us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 168 events, 268us elapsed, 1.60us avg, min 1us max 97us 11.673us rms mc_pos_control: cycle time: 2994 events, 25449us elapsed, 8.50us avg, min 7us max 79us 9.025us rms flight_mode_manager: cycle: 1455 events, 6788us elapsed, 4.67us avg, min 4us max 69us 34.871us rms mc_att_control: cycle: 5986 events, 165764us elapsed, 27.69us avg, min 17us max 159us 30.297us rms mc_rate_control: cycle: 11912 events, 127356us elapsed, 10.69us avg, min 8us max 20us 1.846us rms vtol_att_control: cycle: 24157 events, 280980us elapsed, 11.63us avg, min 2us max 33us 12.351us rms airspeed_selector: elapsed: 291 events, 4923us elapsed, 16.92us avg, min 14us max 175us 12.064us rms control_allocator: cycle: 11913 events, 423917us elapsed, 35.58us avg, min 30us max 53us 8.213us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3013 events, 679808us elapsed, 225.62us avg, min 123us max 1861us 326.084us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3000 events, 651124us elapsed, 217.04us avg, min 122us max 1214us 318.369us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2910 events, 543862us elapsed, 186.89us avg, min 120us max 759us 161.545us rms pwm_out: interval: 11913 events, 2442.72 avg, min 356us max 11070us 841.664us rms pwm_out: cycle: 11913 events, 174762us elapsed, 14.67us avg, min 12us max 27us 1.856us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 266 events, 95137us elapsed, 357.66us avg, min 207us max 2137us 376.983us rms commander: cycle: 2628 events, 263206us elapsed, 100.15us avg, min 37us max 2308us 260.675us 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: 2329 events, 70751us elapsed, 30.38us avg, min 21us max 247us 32.912us rms vehicle_gps_position: cycle: 146 events, 1475us elapsed, 10.10us avg, min 7us max 39us 16.611us rms vehicle_air_data: cycle: 2160 events, 45531us elapsed, 21.08us avg, min 13us max 119us 13.311us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 11914 events, 268870us elapsed, 22.57us avg, min 20us max 264us 4.417us rms sensors: 5986 events, 232413us elapsed, 38.83us avg, min 24us max 314us 72.094us rms battery_status: 2910 events, 45685us elapsed, 15.70us avg, min 11us max 1012us 47.272us rms ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 2201 events, 2135902us elapsed, 970.42us avg, min 951us max 1244us 53.956us rms ms5611: com_err: 0 events ms5611: measure: 2893 events, 11625us elapsed, 4.02us avg, min 3us max 45us 2.559us rms ms5611: read: 2893 events, 40668us elapsed, 14.06us avg, min 11us max 64us 5.119us rms 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 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 icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2880 events, 12958us elapsed, 4.50us avg, min 4us max 50us 3.122us rms ms5611: read: 2880 events, 50804us elapsed, 17.64us avg, min 12us max 90us 8.281us rms board_adc: sample: 20370 events, 69028us elapsed, 3.39us avg, min 2us max 1344us 35.409us rms manual_control: interval: 330 events, 87513.45 avg, min 15005us max 200679us 66511.031us rms manual_control: cycle: 330 events, 6354us elapsed, 19.25us avg, min 9us max 747us 68.543us rms rc_update: valid data interval: 1329 events, 21879.84 avg, min 13254us max 31535us 1656.766us rms rc_update: cycle interval: 1329 events, 21879.84 avg, min 13255us max 31534us 1657.316us rms rc_update: cycle: 1329 events, 27603us elapsed, 20.77us avg, min 14us max 1366us 61.427us rms control latency: 11581 events, 9717042us elapsed, 839.05us avg, min 530us max 2533us 167.619us rms px4io: interface write: 11583 events, 2707887us elapsed, 233.78us avg, min 121us max 340us 13.525us rms px4io: interface read: 8089 events, 2202712us elapsed, 272.31us avg, min 135us max 629us 223.712us rms px4io: interval: 11581 events, 2512.96 avg, min 784us max 8796us 516.391us rms px4io: cycle: 11580 events, 5140249us elapsed, 443.89us avg, min 246us max 8647us 923.208us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 19673 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 19674 events, 4828682us elapsed, 245.43us avg, min 117us max 624us 146.402us rms load_mon: cycle: 58 events, 6421us elapsed, 110.71us avg, min 89us max 522us 149.384us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 2 events, 6550us elapsed, 3275.00us avg, min 3186us max 3364us 9377.148us rms dma_alloc: 3 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 4us 96.669us rms param: get: 8144 events param: find: 9568 events param: export: 1 events, 26144us elapsed, 26144.00us avg, min 26144us max 26144us nanus rms
Post Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: cycle interval: 35113 events, 1952.10 avg, min 15us max 10597us 1250.231us rms uavcan: cycle time: 35113 events, 1461034us elapsed, 41.61us avg, min 10us max 10592us 277.320us 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 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 0.000us 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 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: 158 events, 1477931us elapsed, 9353.99us avg, min 5us max 17247us 3018.482us rms logger_sd_write: 696 events, 13771233us elapsed, 19786.25us avg, min 6us max 1946122us 85220.867us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6 events, 8333333.33 avg, min 9999979us max 10000018us 12.400us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 1451 events, 41589us elapsed, 28.66us avg, min 14us max 1263us 287.557us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6832 events, 10031.49 avg, min 9189us max 105136us 1192.785us rms mavlink: tx run elapsed: 6832 events, 1254658us elapsed, 183.64us avg, min 113us max 1952us 214.267us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13660 events, 5017.25 avg, min 4031us max 100305us 876.096us rms mavlink: tx run elapsed: 13660 events, 528401us elapsed, 38.68us avg, min 23us max 2258us 91.512us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 32 events, 554us elapsed, 17.31us avg, min 1us max 37us 400.778us rms land_detector: cycle: 7025 events, 87509us elapsed, 12.46us avg, min 10us max 238us 8.976us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 3427 events, 66991us elapsed, 19.55us avg, min 16us max 129us 10.624us rms fw_att_control: cycle: 14049 events, 277428us elapsed, 19.75us avg, min 8us max 148us 29.819us rms fw_rate_control: cycle: 27960 events, 614037us elapsed, 21.96us avg, min 17us max 131us 12.458us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 7025 events, 59468us elapsed, 8.47us avg, min 7us max 85us 7.604us rms flight_mode_manager: cycle: 3427 events, 15649us elapsed, 4.57us avg, min 4us max 65us 22.919us rms mc_att_control: cycle: 14049 events, 408996us elapsed, 29.11us avg, min 17us max 178us 29.415us rms mc_rate_control: cycle: 27960 events, 300711us elapsed, 10.76us avg, min 8us max 30us 1.653us rms vtol_att_control: cycle: 56600 events, 659551us elapsed, 11.65us avg, min 2us max 50us 11.745us rms airspeed_selector: elapsed: 686 events, 11400us elapsed, 16.62us avg, min 14us max 171us 12.261us rms control_allocator: cycle: 27960 events, 983884us elapsed, 35.19us avg, min 29us max 300us 7.687us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 7098 events, 1662850us elapsed, 234.27us avg, min 120us max 2143us 281.433us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 7067 events, 1696590us elapsed, 240.07us avg, min 121us max 1843us 267.740us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 6856 events, 1395025us elapsed, 203.48us avg, min 119us max 944us 156.252us rms pwm_out: interval: 27960 events, 2451.63 avg, min 340us max 12035us 842.287us rms pwm_out: cycle: 27961 events, 418942us elapsed, 14.98us avg, min 13us max 43us 1.752us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 629 events, 214925us elapsed, 341.69us avg, min 206us max 1843us 343.392us rms commander: cycle: 6209 events, 604969us elapsed, 97.43us avg, min 37us max 2761us 238.336us 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: 5484 events, 170542us elapsed, 31.10us avg, min 21us max 2935us 49.410us rms vehicle_gps_position: cycle: 342 events, 3355us elapsed, 9.81us avg, min 7us max 192us 15.916us rms vehicle_air_data: cycle: 5087 events, 107507us elapsed, 21.13us avg, min 13us max 185us 12.614us rms vehicle_angular_velocity: gyro selection changed: 6 events vehicle_angular_velocity: gyro filter reset: 6 events vehicle_angular_velocity: gyro filter: 27965 events, 627201us elapsed, 22.43us avg, min 20us max 317us 4.952us rms sensors: 14050 events, 543336us elapsed, 38.67us avg, min 24us max 3496us 56.161us rms battery_status: 6856 events, 107699us elapsed, 15.71us avg, min 11us max 1359us 44.649us rms ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 5185 events, 5027414us elapsed, 969.61us avg, min 951us max 1202us 51.626us rms ms5611: com_err: 0 events ms5611: measure: 6810 events, 27494us elapsed, 4.04us avg, min 3us max 51us 2.369us rms ms5611: read: 6810 events, 96164us elapsed, 14.12us avg, min 11us max 59us 4.646us rms 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 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 icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 6783 events, 31284us elapsed, 4.61us avg, min 4us max 160us 4.036us rms ms5611: read: 6783 events, 121845us elapsed, 17.96us avg, min 12us max 189us 11.188us rms board_adc: sample: 47992 events, 154331us elapsed, 3.22us avg, min 2us max 1130us 28.815us rms manual_control: interval: 1401 events, 48896.53 avg, min 14644us max 200341us 47276.855us rms manual_control: cycle: 1401 events, 22731us elapsed, 16.22us avg, min 9us max 526us 41.379us rms rc_update: valid data interval: 3149 events, 21761.09 avg, min 13053us max 31414us 1675.973us rms rc_update: cycle interval: 3149 events, 21761.09 avg, min 13054us max 31413us 1674.527us rms rc_update: cycle: 3149 events, 68677us elapsed, 21.81us avg, min 13us max 2236us 66.417us rms control latency: 27282 events, 20941293us elapsed, 767.59us avg, min 528us max 2471us 177.642us rms px4io: interface write: 27287 events, 6373117us elapsed, 233.56us avg, min 123us max 336us 12.355us rms px4io: interface read: 18963 events, 5191112us elapsed, 273.75us avg, min 135us max 635us 211.911us rms px4io: interval: 27283 events, 2512.65 avg, min 830us max 9711us 490.881us rms px4io: cycle: 27283 events, 12107752us elapsed, 443.78us avg, min 246us max 9518us 868.753us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 46251 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 46251 events, 11369854us elapsed, 245.83us avg, min 119us max 630us 138.529us rms load_mon: cycle: 138 events, 16521us elapsed, 119.72us avg, min 89us max 1034us 139.892us 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: 57 events, 716us elapsed, 12.56us avg, min 1us max 113us 37.906us rms param: get: 14226 events param: find: 22249 events param: export: 1 events, 26919us elapsed, 26919.00us avg, min 26919us max 26919us nanus rms