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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
Hexacopter oscillating yaw
| Airframe: | 6013 |
| Hardware: | PX4_SITL |
| Software Version: | 43a1da5b branch: main |
| OS Version: | Linux, v6.1.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:44 |
| Vehicle Life Flight Time: | 5 minutes 52 seconds |
| Feedback: | Related to this ticket:
https://discuss.px4.io/t/hexacopter-keeps-rotating-while-hovering-in-sitl/33598 |
| Distance: | 8.9 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 0.6 km/h |
| Max Speed: | 2.7 km/h |
| Max Speed Horizontal: | 0.9 km/h |
| Max Speed Up: | 2.4 km/h |
| Max Speed Down: | 2.7 km/h |
| Max Tilt Angle: | 2.3 deg |
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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 mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 18 events, 3777.78 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 18 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 21 events, 3809.52 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 21 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 24 events, 3833.33 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 24 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 63 events, 3936.51 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 63 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 14 events, 18285.71 avg, min 16000us max 20000us 1065.877us rms gyro_fft: gyro data gap: 1 events gyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 17 events, 15058.82 avg, min 16000us max 16000us 0.000us rms gyro_fft: cycle: 17 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 8 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 31 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 31 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms flight_mode_manager: cycle: 13 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 29 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 41 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 41 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control_allocator: cycle: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms pwm_out_sim: cycle: 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 commander: preflight check: 4 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 32 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 8 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_gps_position: cycle: 4 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_air_data: cycle: 21 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 98 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 97 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms manual_control: interval: 3 events, 133333.33 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 3 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_simulator: cycle: 36 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 1 events, 0us elapsed, 0.00us avg, min 0us max 0us -nanus rms sensor_mag_sim: cycle: 20 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_gps_sim: cycle: 4 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 control latency: 78 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 6 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 5583 events param: find: 1397 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
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: 115 events, 832000us elapsed, 7234.78us avg, min 4000us max 156000us 14264.624us rms logger_sd_write: 1911 events, 12000us elapsed, 6.28us avg, min 0us max 4000us 158.403us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11204 events, 3999.64 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11204 events, 3999.64 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11204 events, 3999.64 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11204 events, 3999.64 avg, min 4000us max 4000us 0.000us rms mavlink: tx run elapsed: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 526 events, 76844.11 avg, min 4000us max 10000000us 752160.688us rms gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 255 events, 4000us elapsed, 15.69us avg, min 0us max 4000us 250.490us rms gyro_fft: cycle interval: 2801 events, 15995.72 avg, min 12000us max 20000us 130.924us rms gyro_fft: cycle: 2801 events, 4000us elapsed, 1.43us avg, min 0us max 4000us 75.579us rms navigator: 967 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector: cycle: 5602 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_pos_control: cycle time: 5602 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms flight_mode_manager: cycle: 2241 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 5602 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 11004 events, 4000us elapsed, 0.36us avg, min 0us max 4000us 38.131us rms mc_rate_control: cycle: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 5602 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ekf2: ECL update: 5602 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control_allocator: cycle: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms pwm_out_sim: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms pwm_out_sim: cycle: 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 commander: preflight check: 417 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: cycle: 3735 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 2222 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_gps_position: cycle: 359 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_air_data: cycle: 2240 events, 4000us elapsed, 1.79us avg, min 0us max 4000us 84.516us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 11204 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 11202 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms manual_control: interval: 224 events, 199107.14 avg, min 200000us max 200000us 0.000us rms manual_control: cycle: 224 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms battery_simulator: cycle: 4482 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 90 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_mag_sim: cycle: 2241 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensor_gps_sim: cycle: 359 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 control latency: 11204 events, 4000us elapsed, 0.36us avg, min 0us max 4000us 37.789us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 203 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 3 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 29438 events param: find: 3563 events param: export: 1 events, 4000us elapsed, 4000.00us avg, min 4000us max 4000us -nanus rms