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PX4 Surface Vessel, Boat, Ship | Open 3D ViewOpen PID Analysis |
| Airframe: | 70000 |
| Hardware: | CUAV_X7PRO |
| Software Version: | fac4044a branch: qutboat |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:57 |
| Vehicle Life Flight Time: | 19 minutes 38 seconds |
| Vehicle UUID: | 000600000000363938333033511800210039 |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 3.3 deg |
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Console Output
ger] [logger] /fs/microsd/log/2025-07-09/09_25_33.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_33.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 259642 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_38.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_38.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 179920 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_41.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_41.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_43.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 164487 INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_43.ulg INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_44.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 145350 INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_44.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 119308 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_45.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_45.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_46.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 127144 INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_46.ulg INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_47.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 126637 INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_47.ulg INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 166863 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_25_55.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_25_55.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 866481 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_26_20.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_26_20.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [logger] closed logfile, bytes written: 371129 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_26_30.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_26_30.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-07-09/09_26_42.ulg INFO [commander] Takeoff detected INFO [logger] closed logfile, bytes written: 482780 INFO [logger] Opened full log file: /fs/microsd/log/2025-07-09/09_26_42.ulg
Processes
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 567201 68.533 192/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.001 556/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 4 5 wq:lp_default 32 2.947 1460/ 1896 205 (205) w:sem 4 1481 log_writer_file 6 0.595 716/ 1144 60 ( 60) READY 4 94 wq:hp_default 7 0.692 1012/ 2368 237 (237) w:sem 4 710 dataman 0 0.001 852/ 1376 90 ( 90) w:sem 5 761 wq:SPI1 18 1.637 1568/ 2368 253 (253) w:sem 4 763 wq:SPI2 16 1.511 920/ 2368 252 (252) w:sem 4 778 wq:SPI4 23 2.077 1840/ 2368 250 (250) w:sem 4 792 wq:SPI6 21 1.955 1580/ 2368 248 (248) w:sem 4 799 wq:I2C1 2 0.190 1004/ 2312 246 (246) w:sem 4 1159 wq:nav_and_controllers 19 1.760 1372/ 2216 242 (242) w:sem 4 1164 wq:rate_ctrl 11 1.039 1596/ 3120 255 (255) w:sem 4 1165 wq:INS0 34 3.085 3668/ 5976 241 (241) w:sem 4 1166 wq:INS1 36 3.264 3668/ 5976 240 (240) w:sem 4 1167 wq:INS2 34 3.111 3676/ 5976 239 (239) w:sem 4 1169 commander 5 0.475 1604/ 3192 140 (140) READY 5 1267 gps 1 0.165 1220/ 1936 205 (205) READY 4 1333 mavlink_if0 11 1.068 1932/ 2704 100 (100) w:sig 5 1334 mavlink_rcv_if0 2 0.231 1684/ 4776 175 (175) READY 5 1373 wq:ttyS5 3 0.301 1164/ 1704 229 (229) READY 4 1392 navigator 0 0.068 1616/ 2104 105 (105) w:sem 11 1468 logger 40 3.619 3116/ 3616 230 (230) RUN 4 1492 wq:uavcan 10 0.930 3156/ 3600 236 (236) w:sem 4 Processes: 27 total, 7 running, 20 sleeping CPU usage: 30.73% tasks, 0.73% sched, 68.53% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 751.529s total, 567.202s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events uavcan: cycle interval: 4290 events, 2762.24 avg, min 24us max 4067us 763.781us rms uavcan: cycle time: 4290 events, 80766us elapsed, 18.83us avg, min 10us max 551us 385.276us 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 rtl_dm_cache_miss_geo: 0 events mission_dm_cache_miss: 0 events 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: 36 events, 121725us elapsed, 3381.25us avg, min 4us max 8263us 15579.483us rms logger_sd_write: 94 events, 803123us elapsed, 8543.86us avg, min 5us max 63499us 92331.766us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us nanus rms navigator: 253 events, 4968us elapsed, 19.64us avg, min 14us max 370us 2201.057us rms rc_input: publish interval: 592 events, 19968.80 avg, min 19138us max 21531us 121.839us rms rc_input: cycle time: 2957 events, 17637us elapsed, 5.96us avg, min 4us max 630us 135.872us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1179 events, 10017.81 avg, min 9170us max 39786us 873.447us rms mavlink: tx run elapsed: 1179 events, 154873us elapsed, 131.36us avg, min 94us max 1242us 1117.395us rms mag_bias_estimator: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 1170 events, 7612us elapsed, 6.51us avg, min 5us max 38us 38.975us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1183 events, 232816us elapsed, 196.80us avg, min 155us max 725us 734.496us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1170 events, 215926us elapsed, 184.55us avg, min 155us max 708us 444.147us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1186 events, 214857us elapsed, 181.16us avg, min 154us max 472us 333.202us rms pwm_out: interval: 1185 events, 9991.56 avg, min 9955us max 10044us 4.430us rms pwm_out: cycle: 1185 events, 15652us elapsed, 13.21us avg, min 11us max 19us 10.481us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 108 events, 24145us elapsed, 223.56us avg, min 169us max 693us 907.796us rms commander: cycle: 1073 events, 61974us elapsed, 57.76us avg, min 26us max 792us 729.939us 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: 555 events, 12469us elapsed, 22.47us avg, min 17us max 130us 130.228us rms vehicle_gps_position: cycle: 118 events, 963us elapsed, 8.16us avg, min 6us max 86us 35.033us rms vehicle_air_data: cycle: 878 events, 15611us elapsed, 17.78us avg, min 11us max 244us 77.392us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 4683 events, 68269us elapsed, 14.58us avg, min 13us max 23us 9.231us rms sensors: 2341 events, 74532us elapsed, 31.84us avg, min 25us max 255us 219.429us rms battery_status: 1186 events, 31619us elapsed, 26.66us avg, min 11us max 568us 496.002us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1179 events, 4696us elapsed, 3.98us avg, min 3us max 86us 27.046us rms ms5611: read: 1179 events, 16657us elapsed, 14.13us avg, min 10us max 109us 73.522us rms icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1183 events, 4240us elapsed, 3.58us avg, min 3us max 25us 33.460us rms ms5611: read: 1183 events, 16524us elapsed, 13.97us avg, min 10us max 228us 60.706us rms icm42688p: DRDY missed: 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 rm3100: bad transfer: 0 events rm3100: range error: 0 events rm3100: reset: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 14388 events, 37671us elapsed, 2.62us avg, min 2us max 700us 96.135us rms manual_control: interval: 287 events, 41329.38 avg, min 19568us max 160128us 33051.109us rms manual_control: cycle: 287 events, 3428us elapsed, 11.94us avg, min 9us max 366us 154.042us rms rc_update: valid data interval: 600 events, 19969.22 avg, min 9309us max 30690us 629.526us rms rc_update: cycle interval: 600 events, 19969.22 avg, min 9308us max 30690us 629.518us rms rc_update: cycle: 600 events, 8327us elapsed, 13.88us avg, min 10us max 304us 169.927us rms load_mon: cycle: 24 events, 2281us elapsed, 95.04us avg, min 64us max 636us 429.678us 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 rgbled: led_control message missed: 0 events dma_alloc: 3 events param: set: 3 events, 5us elapsed, 1.67us avg, min 1us max 3us 219.683us rms param: get: 3875 events param: find: 3755 events param: export: 1 events, 9948us elapsed, 9948.00us avg, min 9948us max 9948us infus rms
Post Flight:
mission_dm_cache_miss: 0 events uavcan: cycle interval: 20914 events, 2759.87 avg, min 16us max 4021us 768.895us rms uavcan: cycle time: 20914 events, 405623us elapsed, 19.39us avg, min 9us max 981us 176.959us 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 rtl_dm_cache_miss_geo: 0 events mission_dm_cache_miss: 0 events 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: 155 events, 582183us elapsed, 3756.02us avg, min 1738us max 38346us 8450.634us rms logger_sd_write: 446 events, 3928949us elapsed, 8809.30us avg, min 5us max 76973us 43149.102us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6 events, 8333333.50 avg, min 9999995us max 10000005us 4.244us rms navigator: 1225 events, 22248us elapsed, 18.16us avg, min 13us max 336us 998.873us rms rc_input: publish interval: 2873 events, 20083.54 avg, min 15890us max 183750us 3185.455us rms rc_input: cycle time: 14430 events, 92074us elapsed, 6.38us avg, min 4us max 524us 63.428us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5758 events, 10023.62 avg, min 9178us max 38965us 825.592us rms mavlink: tx run elapsed: 5757 events, 769135us elapsed, 133.60us avg, min 94us max 1455us 513.433us rms mag_bias_estimator: cycle: 42 events, 683us elapsed, 16.26us avg, min 1us max 56us 657.152us rms land_detector: cycle: 5701 events, 36489us elapsed, 6.40us avg, min 5us max 233us 18.272us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 5761 events, 1132175us elapsed, 196.52us avg, min 155us max 1097us 344.332us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 5701 events, 1048102us elapsed, 183.85us avg, min 92us max 711us 207.211us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 5778 events, 1045060us elapsed, 180.87us avg, min 155us max 521us 155.465us rms pwm_out: interval: 5772 events, 9998.27 avg, min 9947us max 10053us 5.146us rms pwm_out: cycle: 5772 events, 76719us elapsed, 13.29us avg, min 12us max 81us 5.095us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 528 events, 119598us elapsed, 226.51us avg, min 168us max 1265us 424.135us rms commander: cycle: 5234 events, 305179us elapsed, 58.31us avg, min 26us max 1299us 342.080us 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: 2704 events, 61992us elapsed, 22.93us avg, min 18us max 261us 60.205us rms vehicle_gps_position: cycle: 578 events, 4340us elapsed, 7.51us avg, min 6us max 65us 16.318us rms vehicle_air_data: cycle: 4276 events, 76568us elapsed, 17.91us avg, min 11us max 232us 36.481us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 22804 events, 332276us elapsed, 14.57us avg, min 13us max 88us 4.387us rms sensors: 11402 events, 363910us elapsed, 31.92us avg, min 24us max 270us 100.206us rms battery_status: 5773 events, 157475us elapsed, 27.28us avg, min 10us max 921us 233.117us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 5740 events, 21930us elapsed, 3.82us avg, min 3us max 220us 12.912us rms ms5611: read: 5740 events, 84301us elapsed, 14.69us avg, min 10us max 282us 35.612us rms icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 5701 events, 21008us elapsed, 3.68us avg, min 3us max 224us 16.000us rms ms5611: read: 5701 events, 79952us elapsed, 14.02us avg, min 10us max 224us 28.816us rms icm42688p: DRDY missed: 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 rm3100: bad transfer: 0 events rm3100: range error: 0 events rm3100: reset: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events board_adc: sample: 69276 events, 185269us elapsed, 2.67us avg, min 2us max 719us 45.206us rms manual_control: interval: 913 events, 63154.44 avg, min 3873us max 200012us 55107.465us rms manual_control: cycle: 913 events, 12291us elapsed, 13.46us avg, min 8us max 508us 91.719us rms rc_update: valid data interval: 2873 events, 20083.54 avg, min 15889us max 183750us 3185.609us rms rc_update: cycle interval: 2873 events, 20083.54 avg, min 15889us max 183750us 3185.521us rms rc_update: cycle: 2873 events, 40022us elapsed, 13.93us avg, min 10us max 703us 82.027us rms load_mon: cycle: 115 events, 8472us elapsed, 73.67us avg, min 61us max 347us 195.856us 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 rgbled: led_control message missed: 0 events dma_alloc: 10 events param: set: 7 events, 18us elapsed, 2.57us avg, min 1us max 4us 126.839us rms param: get: 15005 events param: find: 18879 events param: export: 5 events, 48210us elapsed, 9642.00us avg, min 9462us max 9855us 682.361us rms