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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Mission Mode CUAV Pixhack V5 px4fmu-v5-fixed-wing
| Airframe: | Generic Standard Plane Standard Plane (2100) |
| Hardware: | PX4_FMU_V5 (V515) |
| Software Version: | 10690587 |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:53:58 |
| Dropouts: | 19 (3.25 s) |
| Vehicle Life Flight Time: | 57 seconds |
| Vehicle UUID: | 0002000000003038323331385115001d0038 |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | Plane fell out of the sky in Mission mode and was unrecoverable. Seems like at 35:45 actuator commands were set to min (1000 PWM) and roll aggressively diverged from setpoint. |
| Distance: | 11.40 km |
| Max Altitude Difference: | 94 m |
| Average Speed: | 12.1 km/h |
| Max Speed: | 220.6 km/h |
| Max Speed Horizontal: | 220.5 km/h |
| Max Speed Up: | 17.0 km/h |
| Max Speed Down: | 68.5 km/h |
| Max Tilt Angle: | 160.0 deg |
| Max Rotation Speed: | 858.6 deg/s |
| Average Current: | 2.4 A |
| Max Current: | 30.5 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 650483 40.319 460/ 748 0 ( 0) READY 3 1 hpwork 44448 3.592 712/ 1780 249 (249) w:sig 9 2 lpwork 12231 0.299 968/ 1780 50 ( 50) w:sig 13 3 init 1233 0.000 2024/ 2604 100 (100) w:sem 3 488 log_writer_file 59 0.000 600/ 1148 60 ( 60) w:sem 40 16 dataman 472 0.000 752/ 1180 90 ( 90) w:sem 4 152 sensors 74836 5.389 1304/ 1964 249 (249) w:sem 18 154 commander 18463 1.596 1512/ 3212 140 (140) w:sig 29 155 commander_low_prio 54 0.000 664/ 2996 50 ( 50) w:sem 29 228 gps 5685 0.399 1008/ 1516 220 (220) READY 5 252 mavlink_if0 30955 2.495 1800/ 2484 100 (100) READY 42 253 mavlink_rcv_if0 12943 0.998 1348/ 2836 175 (175) READY 42 266 mavlink_if1 58841 4.790 1536/ 2492 100 (100) READY 31 267 mavlink_rcv_if1 10880 0.798 1584/ 2836 175 (175) w:sem 31 277 px4io 67972 5.289 880/ 1484 252 (252) w:sem 11 287 fmu 15361 1.297 816/ 1324 252 (252) w:sem 7 431 ekf2 153869 12.574 4576/ 6572 250 (250) w:sem 20 434 fw_att_controol 43362 3.592 880/ 1460 251 (251) w:sem 14 436 fw_pos_control_l1 10141 0.798 856/ 1764 250 (250) w:sem 16 446 navigator 3271 0.299 992/ 1764 105 (105) w:sem 16 486 logger 20555 7.884 3048/ 3644 245 (245) RUN 40 Processes: 21 total, 6 running, 15 sleeping, max FDs: 54 CPU usage: 52.10% tasks, 7.58% sched, 40.32% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1259.177s total, 650.484s 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: 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 navigator: 24958 events, 3841653us elapsed, 153.92us avg, min 25us max 14178us 334.106us rms land_detector_cycle: 60925 events, 2529320us elapsed, 41.52us avg, min 20us max 815us 35.979us rms fw_l1_control: 62166 events, 7681976us elapsed, 123.57us avg, min 54us max 599us 70.363us rms fwa_nano: 0 events fwa_nani: 0 events fwa_dt: 309775 events, 67961425us elapsed, 219.39us avg, min 98us max 630us 46.267us rms EKF2 update: 311353 events, 99676934us elapsed, 320.14us avg, min 3us max 2794us 377.355us rms EKF2 data acquisition: 311353 events, 120144805us elapsed, 385.88us avg, min 47us max 2798us 43.758us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 309776 events, 145985920us elapsed, 471.26us avg, min 340us max 1015us 83.498us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 310065 events, 238930038us elapsed, 770.58us avg, min 265us max 21264us 832.970us rms io_txns: 661835 events, 214476398us elapsed, 324.06us avg, min 134us max 911us 114.969us rms mavlink_int: 376085 events, 3335.80 avg, min 2057us max 34351us 725.245us rms mavlink_el: 376084 events, 57616413us elapsed, 153.20us avg, min 35us max 10756us 274.010us rms mavlink_int: 122081 events, 10276.45 avg, min 9116us max 32900us 639.938us rms mavlink_el: 122081 events, 34849083us elapsed, 285.46us avg, min 82us max 5973us 326.381us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 311596 events, 315475860us elapsed, 1012.45us avg, min 83us max 8911us 463.690us rms aspd_com_err: 0 events aspd_read: 95208 events, 87244596us elapsed, 916.36us avg, min 598us max 5145us 480.970us rms adc_samples: 1506420 events, 4323807us elapsed, 2.87us avg, min 2us max 4us 0.364us rms ms5611_com_err: 0 events ms5611_measure: 104747 events, 1504814us elapsed, 14.37us avg, min 6us max 385us 25.425us rms ms5611_read: 104746 events, 3437897us elapsed, 32.82us avg, min 11us max 411us 38.656us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 52433 events, 52848082us elapsed, 1007.92us avg, min 846us max 4551us 304.515us rms bmi055_gyro_bad_registers: 1 events bmi055_gyro_bad_transfers: 1 events bmi055_gyro_measure_interval: 1571143 events, 800.00 avg, min 674us max 1356us 27.432us rms bmi055_gyro_read: 1571112 events, 80102324us elapsed, 50.98us avg, min 47us max 168us 2.046us rms bmi055_accel_duplicates: 285877 events bmi055_accel_bad_registers: 1 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 1571164 events, 800.00 avg, min 678us max 1268us 30.460us rms bmi055_accel_read: 1571132 events, 60549644us elapsed, 38.54us avg, min 29us max 46us 4.097us rms mpu6k_duplicates: 313790 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 1571172 events, 800.00 avg, min 732us max 868us 7.957us rms mpu6k_read: 1571156 events, 111324868us elapsed, 70.86us avg, min 47us max 86us 11.604us rms mpu6k_duplicates: 312040 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 1571206 events, 800.00 avg, min 4us max 9335us 17.513us rms mpu6k_read: 1571189 events, 113199728us elapsed, 72.05us avg, min 46us max 97us 13.917us rms stack_check: 3822 events, 87394us elapsed, 22.87us avg, min 2us max 2364us 101.992us rms dma_alloc: 4 events param_set: 149 events, 6280us elapsed, 42.15us avg, min 5us max 171us 22.885us rms param_get: 3783 events, 50357us elapsed, 13.31us avg, min 3us max 8368us 148.119us rms param_find: 1390 events, 17716us elapsed, 12.75us avg, min 3us max 1145us 47.630us rms param_export: 1 events, 81178us elapsed, 81178.00us avg, min 81178us max 81178us NaNus rms