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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
VTOL With Wings, vibrations on one wing
| Airframe: | 13006 |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:28 |
| Dropouts: | 4 (6 s) |
| Vehicle Life Flight Time: | 1 hours 38 minutes 6 seconds |
| Vehicle UUID: | 0006000000003735343732305103001e0021 |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Testing VTOL Multicopter hover and movement in Position mode, with wings. |
| Distance: | 108.3 m |
| Max Altitude Difference: | 5 m |
| Average Speed MC: | 2.7 km/h |
| Max Speed: | 11.3 km/h |
| Max Speed Horizontal: | 11.3 km/h |
| Max Speed Up: | 2.8 km/h |
| Max Speed Down: | 1.8 km/h |
| Max Tilt Angle: | 14.3 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: 0006000000003735343732305103001e0021 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 3155 bytes, decoded 3155 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults rgbled_ncp5623c #0 on I2C bus 2 (external) address 0x39 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 ist8310 #0 on I2C bus 2 (external) address 0xE ms4525_airspeed #0 on I2C bus 2 (external) address 0x28 Board extras: /etc/init.d/rc.board_mavlink ERROR [mavlink] offboard mission init failed (-1) 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/ttyS5 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: /fs/microsd/etc/mixers/vtol_delta.aux.mix on /dev/pwm_output1 ekf2 [430:100] INFO [ekf2] starting instance 0, IMU:0 (3670050), MAG:0 (0) INFO [ekf2] starting instance 1, IMU:1 (2621474), MAG:0 (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> [KINFO [ekf2] starting instance 3, IMU:0 (3670050), MAG:1 (589858) INFO [ekf2] starting instance 4, IMU:1 (2621474), MAG:1 (589858) INFO [ekf2] starting instance 5, IMU:2 (2424842), MAG:1 (589858) ERROR [uavcan] couldn't start parameter count: -2 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/12_11_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/12_11_12.ulg INFO [commander] Takeoff detected WARN [commander] Kill-switch engaged INFO [commander] Disarmed by kill-switch INFO [logger] closed logfile, bytes written: 3758946 INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/12_12_03.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/12_12_03.ulg INFO [commander] Takeoff detected WARN [commander] Kill-switch engaged INFO [commander] Disarmed by kill-switch INFO [logger] closed logfile, bytes written: 4093386 WARN [commander] Manual control lost WARN [mc_pos_control] Manual speed has been constrained by max speed INFO [commander] Manual control regained after 123.4s INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-04-12/12_16_25.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-04-12/12_16_25.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 241210 59.606 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 0 0.000 1124/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 8 0.805 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 14 1.468 1248/ 1924 205 (205) w:sem 3 40 wq:I2C2 5 0.553 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 7 0.797 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 40 4.023 1640/ 2340 250 (250) w:sem 3 228 wq:SPI1 18 1.808 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 31 3.130 1484/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 23 2.347 1524/ 1956 255 (255) w:sem 3 295 wq:INS0 45 4.556 4460/ 6004 241 (241) w:sem 3 301 commander 3 0.360 1244/ 3220 140 (140) w:sig 5 308 mavlink_if1 4 0.427 1772/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 2 0.260 1588/ 4460 175 (175) w:sem 4 353 gps 1 0.102 940/ 1684 205 (205) w:sem 4 392 mavlink_if2 7 0.725 1772/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 1 0.185 1596/ 4460 175 (175) w:sem 4 408 wq:INS1 45 4.566 4460/ 6004 240 (240) w:sem 3 409 px4io 20 2.065 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 45 4.513 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 9 0.987 604/ 1172 60 ( 60) w:sem 4 446 navigator 0 0.057 1212/ 1772 105 (105) w:sem 6 479 logger 54 5.395 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 39.14% tasks, 1.25% sched, 59.61% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 372.296s total, 241.210s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 328141 59.053 192/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 0 2 lpwork 22 2.282 1124/ 1620 50 ( 50) w:sig 0 4 wq:manager 0 0.000 396/ 1260 255 (255) w:sem 3 28 wq:hp_default 8 0.810 1224/ 1900 237 (237) w:sem 3 32 dataman 0 0.007 796/ 1204 90 ( 90) w:sem 4 34 wq:lp_default 18 1.874 1248/ 1924 205 (205) w:sem 3 40 wq:I2C2 5 0.574 952/ 2340 245 (245) w:sem 3 208 wq:uavcan 8 0.820 1852/ 3628 236 (236) w:sem 3 222 wq:SPI4 40 4.025 1640/ 2340 250 (250) w:sem 3 228 wq:SPI1 18 1.813 1576/ 2340 253 (253) w:sem 3 293 wq:nav_and_controllers 31 3.153 1484/ 2244 242 (242) w:sem 3 294 wq:rate_ctrl 23 2.354 1524/ 1956 255 (255) w:sem 3 295 wq:INS0 46 4.636 4460/ 6004 241 (241) w:sem 3 301 commander 5 0.534 1244/ 3220 140 (140) w:sig 5 308 mavlink_if1 4 0.453 1772/ 2796 100 (100) w:sig 4 309 mavlink_rcv_if1 3 0.340 1588/ 4460 175 (175) w:sem 4 353 gps 1 0.105 940/ 1684 205 (205) w:sem 4 392 mavlink_if2 7 0.742 1772/ 2740 100 (100) w:sig 4 393 mavlink_rcv_if2 1 0.180 1596/ 4460 175 (175) w:sem 4 408 wq:INS1 46 4.651 4460/ 6004 240 (240) w:sem 3 409 px4io 20 2.053 1008/ 1484 237 (237) w:sem 4 413 wq:INS2 46 4.613 4460/ 6004 239 (239) w:sem 3 490 log_writer_file 7 0.724 612/ 1172 60 ( 60) w:sem 4 446 navigator 0 0.067 1212/ 1772 105 (105) w:sem 6 479 logger 29 2.897 2820/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 12 CPU usage: 39.71% tasks, 1.23% sched, 59.05% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 519.712s total, 328.141s 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_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 26186 events, 4192897us elapsed, 160.12us avg, min 72us max 4559us 203.691us rms ekf2: ECL update: 27386 events, 63514us elapsed, 2.32us avg, min 1us max 659us 10.189us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 26199 events, 4202062us elapsed, 160.39us avg, min 73us max 2712us 182.552us rms ekf2: ECL update: 27401 events, 60519us elapsed, 2.21us avg, min 1us max 344us 4.714us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 26200 events, 3654309us elapsed, 139.48us avg, min 72us max 920us 113.977us rms ekf2: ECL update: 26200 events, 46861us elapsed, 1.79us avg, min 1us max 46us 1.714us 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: 67 events, 505794us elapsed, 7549.16us avg, min 3us max 13658us 2380.978us rms logger_sd_write: 861 events, 14406379us elapsed, 16732.15us avg, min 4us max 2941367us 101174.211us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 11105 events, 22690.69 avg, min 58us max 10000040us 164013.438us rms gyro_fft: gyro FIFO data gap: 12 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 24393 events, 3965150us elapsed, 162.55us avg, min 124us max 3887us 238.451us rms gyro_fft: cycle interval: 34846 events, 7518.65 avg, min 106us max 35044us 692.981us rms gyro_fft: cycle: 34846 events, 5672904us elapsed, 162.80us avg, min 1us max 4582us 327.868us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 26199 events, 3997707us elapsed, 152.59us avg, min 75us max 1986us 145.492us rms ekf2: ECL update: 27400 events, 66613us elapsed, 2.43us avg, min 1us max 704us 10.994us rms navigator: 5440 events, 3478590us elapsed, 639.45us avg, min 8us max 2717248us 37080.293us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events land_detector: cycle: 26200 events, 284972us elapsed, 10.88us avg, min 9us max 100us 5.915us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 26199 events, 4362734us elapsed, 166.52us avg, min 74us max 3156us 163.381us rms ekf2: ECL update: 27401 events, 73451us elapsed, 2.68us avg, min 2us max 79us 3.279us rms fw_pos_control_l1: cycle: 13100 events, 161290us elapsed, 12.31us avg, min 10us max 269us 7.991us rms fw_att_control: cycle: 52400 events, 1137686us elapsed, 21.71us avg, min 20us max 238us 5.240us rms mc_hover_thrust_estimator: cycle time: 26200 events, 29034us elapsed, 1.11us avg, min 0us max 81us 2.464us rms mc_pos_control: cycle time: 26200 events, 630021us elapsed, 24.05us avg, min 21us max 113us 9.091us rms flight_mode_manager: cycle: 13100 events, 314279us elapsed, 23.99us avg, min 14us max 145us 13.522us rms mc_att_control: cycle: 52400 events, 432602us elapsed, 8.26us avg, min 7us max 68us 3.709us rms mc_rate_control: cycle: 104801 events, 796254us elapsed, 7.60us avg, min 6us max 102us 1.133us rms vtol_att_control: cycle: 104801 events, 2343079us elapsed, 22.36us avg, min 17us max 146us 4.292us rms airspeed_selector: elapsed: 2620 events, 41291us elapsed, 15.76us avg, min 13us max 79us 6.653us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 26201 events, 3567254us elapsed, 136.15us avg, min 72us max 978us 115.970us rms ekf2: ECL update: 26200 events, 69123us elapsed, 2.64us avg, min 2us max 46us 1.870us rms pwm_out: interval: 26200 events, 9999.62 avg, min 9595us max 10460us 112.348us rms pwm_out: cycle: 26200 events, 340998us elapsed, 13.02us avg, min 12us max 19us 2.372us rms control latency: 26200 events, 128094069us elapsed, 4889.09us avg, min 4538us max 5329us 99.181us 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: 104009 events, 80133839us elapsed, 770.45us avg, min 438us max 3158us 408.708us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 104008 events, 77967911us elapsed, 749.63us avg, min 231us max 14268us 885.552us rms io_txns: 284657 events, 75526791us elapsed, 265.33us avg, min 115us max 6453us 173.770us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 26150 events, 10019.01 avg, min 9066us max 38339us 390.469us rms mavlink: tx run elapsed: 26150 events, 2132521us elapsed, 81.55us avg, min 57us max 4208us 93.601us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 52174 events, 5021.64 avg, min 4020us max 34295us 370.685us rms mavlink: tx run elapsed: 52174 events, 1096895us elapsed, 21.02us avg, min 12us max 3433us 54.417us 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: 24420 events, 435396us elapsed, 17.83us avg, min 9us max 481us 13.039us rms vehicle_gps_position: cycle: 2096 events, 16769us elapsed, 8.00us avg, min 6us max 105us 5.620us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 26200 events, 402813us elapsed, 15.37us avg, min 10us max 7716us 73.859us rms vehicle_air_data: cycle: 19523 events, 221587us elapsed, 11.35us avg, min 7us max 73us 3.978us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 5 events sensors: 52401 events, 1749487us elapsed, 33.39us avg, min 23us max 2886us 36.552us rms aspd_com_err: 0 events aspd_read: 24419 events, 11768185us elapsed, 481.93us avg, min 477us max 619us 16.632us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 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: 26074 events, 89801us elapsed, 3.44us avg, min 3us max 8us 0.654us rms ms5611: read: 26074 events, 294211us elapsed, 11.28us avg, min 9us max 17us 1.049us 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: 26032 events, 92690us elapsed, 3.56us avg, min 3us max 48us 1.440us rms ms5611: read: 26032 events, 336935us elapsed, 12.94us avg, min 9us max 71us 2.674us rms board_adc: sample: 183407 events, 1575956us elapsed, 8.59us avg, min 2us max 2846us 38.637us rms rc_update: valid data interval: 6549 events, 40002.25 avg, min 8602us max 122867254us 1518000.000us rms rc_update: cycle interval: 12339 events, 21231.44 avg, min 8603us max 31612us 1658.503us rms rc_update: cycle: 12339 events, 143236us elapsed, 11.61us avg, min 4us max 6440us 75.253us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 87218 events, 3004.00 avg, min 21us max 11034us 464.237us rms uavcan: cycle time: 87218 events, 2192316us elapsed, 25.14us avg, min 11us max 3157us 84.553us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 525 events, 48394us elapsed, 92.18us avg, min 65us max 859us 61.380us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1421 events, 3362909us elapsed, 2366.58us avg, min 14us max 2717188us 72542.781us rms dma_alloc: 1 events param: set: 8 events, 29us elapsed, 3.63us avg, min 1us max 6us 47.323us rms param: get: 66360 events param: find: 64727 events param: export: 5 events, 170069us elapsed, 34013.80us avg, min 31297us max 42101us 4546.382us 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: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 14824 events, 3468888us elapsed, 234.00us avg, min 73us max 3105us 415.011us rms ekf2: ECL update: 15504 events, 38546us elapsed, 2.49us avg, min 1us max 367us 15.234us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 14824 events, 3471433us elapsed, 234.18us avg, min 73us max 3319us 380.414us rms ekf2: ECL update: 15504 events, 36667us elapsed, 2.37us avg, min 1us max 64us 7.003us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 14824 events, 2946679us elapsed, 198.78us avg, min 71us max 1010us 249.281us rms ekf2: ECL update: 14825 events, 28890us elapsed, 1.95us avg, min 1us max 46us 2.593us 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: 290 events, 2094630us elapsed, 7222.86us avg, min 2us max 33693us 2389.533us rms logger_sd_write: 3608 events, 50443738us elapsed, 13981.08us avg, min 4us max 3445584us 85847.953us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 14 events, 9285714.29 avg, min 9999804us max 10000196us 77.013us rms gyro_fft: gyro FIFO data gap: 25 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 13637 events, 2337517us elapsed, 171.41us avg, min 124us max 2991us 347.324us rms gyro_fft: cycle interval: 19592 events, 7565.98 avg, min 107us max 13630us 938.050us rms gyro_fft: cycle: 19592 events, 3348157us elapsed, 170.89us avg, min 1us max 3580us 510.593us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 14824 events, 3161099us elapsed, 213.24us avg, min 76us max 2699us 301.610us rms ekf2: ECL update: 15504 events, 40176us elapsed, 2.59us avg, min 1us max 679us 17.764us rms navigator: 2986 events, 7864320us elapsed, 2633.73us avg, min 7us max 3351302us 88935.188us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events land_detector: cycle: 14824 events, 166803us elapsed, 11.25us avg, min 9us max 93us 9.309us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 14825 events, 3446534us elapsed, 232.48us avg, min 75us max 3137us 340.901us rms ekf2: ECL update: 15503 events, 44042us elapsed, 2.84us avg, min 2us max 81us 5.221us rms fw_pos_control_l1: cycle: 7412 events, 91272us elapsed, 12.31us avg, min 10us max 94us 11.925us rms fw_att_control: cycle: 29649 events, 642423us elapsed, 21.67us avg, min 20us max 74us 8.013us rms mc_hover_thrust_estimator: cycle time: 14824 events, 53825us elapsed, 3.63us avg, min 0us max 66us 4.675us rms mc_pos_control: cycle time: 14824 events, 366837us elapsed, 24.75us avg, min 21us max 124us 14.038us rms flight_mode_manager: cycle: 7412 events, 216704us elapsed, 29.24us avg, min 25us max 107us 19.451us rms mc_att_control: cycle: 29649 events, 251029us elapsed, 8.47us avg, min 7us max 54us 5.574us rms mc_rate_control: cycle: 59298 events, 483724us elapsed, 8.16us avg, min 6us max 16us 1.671us rms vtol_att_control: cycle: 59298 events, 1552125us elapsed, 26.17us avg, min 18us max 38us 6.440us rms airspeed_selector: elapsed: 1482 events, 22558us elapsed, 15.22us avg, min 13us max 39us 9.480us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: airspeed messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 14824 events, 2855737us elapsed, 192.64us avg, min 71us max 1021us 250.997us rms ekf2: ECL update: 14825 events, 41157us elapsed, 2.78us avg, min 2us max 63us 3.023us rms pwm_out: interval: 14825 events, 9999.33 avg, min 9614us max 10479us 112.685us rms pwm_out: cycle: 14825 events, 197587us elapsed, 13.33us avg, min 12us max 21us 3.238us rms control latency: 14825 events, 72490081us elapsed, 4889.72us avg, min 4609us max 5359us 156.023us 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: 58048 events, 48936870us elapsed, 843.04us avg, min 438us max 3185us 705.663us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 58048 events, 47240570us elapsed, 813.82us avg, min 231us max 13862us 1479.902us rms io_txns: 164991 events, 45871044us elapsed, 278.02us avg, min 117us max 5900us 307.347us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 14788 events, 10023.70 avg, min 9077us max 15166us 279.641us rms mavlink: tx run elapsed: 14788 events, 1259161us elapsed, 85.15us avg, min 57us max 3997us 174.224us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 29418 events, 5038.94 avg, min 4021us max 11037us 386.103us rms mavlink: tx run elapsed: 29418 events, 640895us elapsed, 21.79us avg, min 12us max 3633us 95.545us 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: 13853 events, 252959us elapsed, 18.26us avg, min 9us max 168us 20.009us rms vehicle_gps_position: cycle: 1186 events, 9559us elapsed, 8.06us avg, min 6us max 92us 8.839us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events battery_status: 14824 events, 238603us elapsed, 16.10us avg, min 10us max 2035us 109.573us rms vehicle_air_data: cycle: 11047 events, 124908us elapsed, 11.31us avg, min 7us max 70us 6.142us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events sensors: 29649 events, 952771us elapsed, 32.14us avg, min 23us max 210us 49.040us rms aspd_com_err: 0 events aspd_read: 13854 events, 6688502us elapsed, 482.78us avg, min 478us max 618us 27.263us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 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: 14753 events, 50740us elapsed, 3.44us avg, min 3us max 9us 1.031us rms ms5611: read: 14753 events, 167517us elapsed, 11.35us avg, min 9us max 17us 1.639us 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: 14729 events, 52735us elapsed, 3.58us avg, min 3us max 28us 2.317us rms ms5611: read: 14729 events, 191490us elapsed, 13.00us avg, min 9us max 56us 4.224us rms board_adc: sample: 103768 events, 933114us elapsed, 8.99us avg, min 2us max 2685us 67.129us rms rc_update: valid data interval: 6979 events, 21240.87 avg, min 10247us max 33723us 1934.021us rms rc_update: cycle interval: 6979 events, 21240.87 avg, min 10247us max 33724us 1933.321us rms rc_update: cycle: 6979 events, 104701us elapsed, 15.00us avg, min 9us max 2222us 109.735us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 49147 events, 3016.30 avg, min 19us max 9788us 646.549us rms uavcan: cycle time: 49147 events, 1278322us elapsed, 26.01us avg, min 11us max 4668us 151.959us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 296 events, 27429us elapsed, 92.67us avg, min 65us max 467us 93.522us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 765 events, 7800636us elapsed, 10196.91us avg, min 14us max 3351275us 175549.391us rms dma_alloc: 0 events param: set: 3 events, 7us elapsed, 2.33us avg, min 0us max 5us 88.568us rms param: get: 531 events param: find: 274 events param: export: 1 events, 35484us elapsed, 35484.00us avg, min 35484us max 35484us infus rms