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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V2) |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:46 |
| Dropouts: | 1 (0.02 s) |
| Vehicle Life Flight Time: | 54 minutes 42 seconds |
| Vehicle UUID: | 000100000000203036554e5650080047002d |
| Max Altitude Difference: | 1 m |
| Max Tilt Angle: | 1.5 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 7559 34.233 232/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 868/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2332/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 3 222 wq:hp_default 12 1.294 1088/ 1872 237 (237) w:sem 3 237 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 245 wq:lp_default 0 0.083 988/ 1896 205 (205) w:sem 3 262 wq:I2C1 3 0.317 940/ 2312 246 (246) w:sem 3 267 wq:ttyS4 6 0.653 1060/ 1704 230 (230) w:sem 3 287 wq:I2C2 0 0.019 700/ 2312 245 (245) w:sem 3 300 wq:SPI1 142 14.186 1580/ 2368 253 (253) w:sem 3 506 wq:nav_and_controllers 52 5.281 1292/ 2216 242 (242) w:sem 3 519 wq:rate_ctrl 70 7.026 2316/ 3120 255 (255) w:sem 3 520 wq:INS0 107 10.719 4292/ 5976 241 (241) w:sem 3 522 commander 14 1.426 1464/ 3192 140 (140) w:sig 5 623 gps 3 0.398 1260/ 1936 205 (205) w:sem 4 668 mavlink_if0 23 2.322 1908/ 2704 100 (100) READY 4 669 mavlink_rcv_if0 45 4.524 1716/ 4616 175 (175) READY 4 718 navigator 1 0.171 1292/ 1896 105 (105) w:sem 6 760 logger 142 14.232 3476/ 3616 230 (230) RUN 4 763 log_writer_file 11 1.163 644/ 1144 60 ( 60) w:sem 4 Processes: 22 total, 4 running, 18 sleeping CPU usage: 63.82% tasks, 1.95% sched, 34.23% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 16.074s total, 7.560s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 31001 38.951 232/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 89 8.955 1036/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2332/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 3 222 wq:hp_default 12 1.268 1088/ 1872 237 (237) w:sem 3 237 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 245 wq:lp_default 4 0.403 988/ 1896 205 (205) w:sem 3 262 wq:I2C1 4 0.482 940/ 2312 246 (246) w:sem 3 267 wq:ttyS4 7 0.709 1060/ 1704 230 (230) w:sem 3 287 wq:I2C2 0 0.068 700/ 2312 245 (245) w:sem 3 300 wq:SPI1 140 14.018 1580/ 2368 253 (253) w:sem 3 506 wq:nav_and_controllers 52 5.222 1292/ 2216 242 (242) w:sem 3 519 wq:rate_ctrl 68 6.879 2316/ 3120 255 (255) w:sem 3 520 wq:INS0 103 10.369 4292/ 5976 241 (241) w:sem 3 522 commander 13 1.346 1464/ 3192 140 (140) READY 5 623 gps 4 0.420 1260/ 1936 205 (205) READY 4 668 mavlink_if0 26 2.690 1972/ 2704 100 (100) READY 4 669 mavlink_rcv_if0 11 1.185 1716/ 4616 175 (175) READY 4 718 navigator 1 0.163 1292/ 1896 105 (105) READY 6 760 logger 38 3.797 3476/ 3616 230 (230) RUN 4 763 log_writer_file 11 1.119 644/ 1144 60 ( 60) w:sem 4 Processes: 22 total, 7 running, 15 sleeping CPU usage: 59.10% tasks, 1.95% sched, 38.95% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 61.981s total, 31.001s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 13 events, 147793us elapsed, 11368.69us avg, min 2148us max 34203us 10966.361us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 709 events, 19962.96 avg, min 86us max 33547us 1264.959us rms navigator: 301 events, 16896us elapsed, 56.13us avg, min 26us max 1158us 103.328us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1380 events, 10499.95 avg, min 9233us max 63749us 2012.468us rms mavlink: tx run elapsed: 1380 events, 532279us elapsed, 385.71us avg, min 176us max 14069us 530.495us rms mag_bias_estimator: cycle: 726 events, 83568us elapsed, 115.11us avg, min 9us max 14871us 603.058us rms land_detector: cycle: 1401 events, 50350us elapsed, 35.94us avg, min 25us max 573us 34.639us rms mc_pos_control: cycle time: 1402 events, 96944us elapsed, 69.15us avg, min 11us max 921us 60.838us rms flight_mode_manager: cycle: 741 events, 857086us elapsed, 1156.66us avg, min 9us max 2185us 772.711us rms mc_hover_thrust_estimator: cycle time: 1401 events, 3347us elapsed, 2.39us avg, min 1us max 272us 10.022us rms mc_att_control: cycle: 2664 events, 79557us elapsed, 29.86us avg, min 18us max 482us 21.525us rms mc_rate_control: cycle: 5383 events, 123838us elapsed, 23.01us avg, min 19us max 240us 5.391us rms control_allocator: cycle: 5383 events, 376588us elapsed, 69.96us avg, min 56us max 596us 12.360us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 10 events ekf2: ECL full update: 1404 events, 553777us elapsed, 394.43us avg, min 188us max 1325us 187.946us rms ekf2: ECL update: 1402 events, 789us elapsed, 0.56us avg, min 0us max 43us 1.267us rms pwm_out: interval: 51 events, 288242.59 avg, min 415us max 302686us 41954.152us rms pwm_out: cycle: 51 events, 1072us elapsed, 21.02us avg, min 6us max 357us 59.708us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 5385 events, 221651us elapsed, 41.16us avg, min 38us max 350us 5.779us rms control latency: 5384 events, 1085440us elapsed, 201.60us avg, min 178us max 742us 14.977us rms commander: preflight check: 144 events, 145235us elapsed, 1008.58us avg, min 472us max 4179us 643.506us rms commander: cycle: 1303 events, 344942us elapsed, 264.73us avg, min 56us max 17404us 692.795us rms vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 3 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 668 events, 44338us elapsed, 66.37us avg, min 23us max 3407us 137.731us rms vehicle_gps_position: cycle: 84 events, 1720us elapsed, 20.48us avg, min 5us max 340us 36.675us rms vehicle_air_data: cycle: 1106 events, 58020us elapsed, 52.46us avg, min 31us max 532us 47.724us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 5398 events, 195809us elapsed, 36.27us avg, min 25us max 690us 9.835us rms sensors: 2958 events, 287639us elapsed, 97.24us avg, min 30us max 11138us 366.852us rms battery_status: 1487 events, 41379us elapsed, 27.83us avg, min 21us max 473us 23.305us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events lsm303d: acc_dupe: 3368 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 1418 events, 32631us elapsed, 23.01us avg, min 20us max 173us 5.064us rms lsm303d: acc_read: 14214 events, 395087us elapsed, 27.80us avg, min 21us max 59us 4.359us rms l3gd20: dupe: 8839 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 19694 events, 1625782us elapsed, 82.55us avg, min 23us max 769us 91.357us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 1 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 1483 events, 10386us elapsed, 7.00us avg, min 6us max 30us 1.380us rms ms5611: read: 1482 events, 28807us elapsed, 19.44us avg, min 11us max 168us 6.120us rms board_adc: sample: 14960 events, 92656us elapsed, 6.19us avg, min 4us max 2739us 31.734us rms rgbled: led_control message missed: 0 events manual_control: interval: 170 events, 88181.29 avg, min 11577us max 200509us 72325.094us rms manual_control: cycle: 170 events, 7638us elapsed, 44.93us avg, min 13us max 1504us 135.699us 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 control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 13 events, 2384us elapsed, 183.38us avg, min 140us max 255us 51.188us rms px4io: interface read: 2596 events, 770193us elapsed, 296.68us avg, min 155us max 14110us 456.111us rms px4io: interval: 701 events, 21416.97 avg, min 7670us max 46636us 2064.740us rms px4io: cycle: 701 events, 793873us elapsed, 1132.49us avg, min 12us max 22226us 1515.330us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 2609 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 2609 events, 737863us elapsed, 282.81us avg, min 130us max 14102us 452.386us rms rgbled: led_control message missed: 0 events load_mon: cycle: 31 events, 33191us elapsed, 1070.68us avg, min 3us max 22034us 3909.108us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 138537us elapsed, 27707.40us avg, min 54us max 135973us 60524.074us rms dma_alloc: 4 events param: set: 104 events, 4742us elapsed, 45.60us avg, min 4us max 86us 23.093us rms param: get: 62843 events param: find: 5486 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_gps_position 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: 137 events, 1075564us elapsed, 7850.83us avg, min 12us max 32114us 4261.308us rms logger_sd_write: 1140 events, 2327043us elapsed, 2041.27us avg, min 693us max 21837us 2063.750us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4 events, 7500001.00 avg, min 9999973us max 10000027us 22.091us rms navigator: 969 events, 47839us elapsed, 49.37us avg, min 26us max 1691us 119.777us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4574 events, 10169.93 avg, min 9250us max 16049us 483.531us rms mavlink: tx run elapsed: 4574 events, 1728550us elapsed, 377.91us avg, min 219us max 3324us 407.521us rms mag_bias_estimator: cycle: 46 events, 2723us elapsed, 59.20us avg, min 1us max 170us 2420.716us rms land_detector: cycle: 4411 events, 157324us elapsed, 35.67us avg, min 25us max 556us 40.140us rms mc_pos_control: cycle time: 4412 events, 67429us elapsed, 15.28us avg, min 11us max 447us 39.615us rms flight_mode_manager: cycle: 2329 events, 28728us elapsed, 12.33us avg, min 9us max 431us 437.870us rms mc_hover_thrust_estimator: cycle time: 4412 events, 9333us elapsed, 2.12us avg, min 1us max 263us 8.934us rms mc_att_control: cycle: 8824 events, 457977us elapsed, 51.90us avg, min 41us max 429us 25.624us rms mc_rate_control: cycle: 16896 events, 412228us elapsed, 24.40us avg, min 19us max 55us 4.563us rms control_allocator: cycle: 16896 events, 1166236us elapsed, 69.02us avg, min 55us max 109us 11.632us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 27 events ekf2: ECL full update: 4413 events, 1789027us elapsed, 405.40us avg, min 254us max 1296us 185.172us rms ekf2: ECL update: 4412 events, 3005us elapsed, 0.68us avg, min 0us max 144us 3.046us rms pwm_out: interval: 155 events, 298055.50 avg, min 298631us max 301349us 404.885us rms pwm_out: cycle: 155 events, 1339us elapsed, 8.64us avg, min 6us max 63us 34.621us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 16897 events, 716225us elapsed, 42.39us avg, min 38us max 74us 5.032us rms control latency: 16897 events, 3431579us elapsed, 203.09us avg, min 181us max 257us 13.727us rms commander: preflight check: 444 events, 428326us elapsed, 964.70us avg, min 555us max 3167us 569.307us rms commander: cycle: 4177 events, 987374us elapsed, 236.38us avg, min 61us max 3772us 541.274us 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_magnetometer: cycle: 2173 events, 132009us elapsed, 60.75us avg, min 43us max 508us 88.133us rms vehicle_gps_position: cycle: 373 events, 10141us elapsed, 27.19us avg, min 17us max 441us 47.254us rms vehicle_air_data: cycle: 3462 events, 183287us elapsed, 52.94us avg, min 31us max 402us 57.442us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 16898 events, 605155us elapsed, 35.81us avg, min 32us max 78us 6.852us rms sensors: 9345 events, 750112us elapsed, 80.27us avg, min 34us max 465us 209.143us rms battery_status: 4658 events, 176292us elapsed, 37.85us avg, min 22us max 1818us 101.579us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events lsm303d: acc_dupe: 10576 events lsm303d: bad_val: 0 events lsm303d: bad_reg: 0 events lsm303d: mag_read: 4421 events, 101190us elapsed, 22.89us avg, min 20us max 50us 4.419us rms lsm303d: acc_read: 44339 events, 1228776us elapsed, 27.71us avg, min 21us max 63us 5.005us rms l3gd20: dupe: 27658 events l3gd20: bad_reg: 0 events l3gd20: err: 0 events l3gd20: read: 61461 events, 5108016us elapsed, 83.11us avg, min 23us max 288us 105.555us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4617 events, 32098us elapsed, 6.95us avg, min 6us max 21us 1.399us rms ms5611: read: 4617 events, 89514us elapsed, 19.39us avg, min 11us max 41us 5.925us rms board_adc: sample: 46590 events, 325157us elapsed, 6.98us avg, min 4us max 1693us 43.072us rms rgbled: led_control message missed: 0 events manual_control: interval: 1106 events, 42002.72 avg, min 2151us max 124079us 9629.872us rms manual_control: cycle: 1106 events, 42269us elapsed, 38.22us avg, min 22us max 1332us 102.807us 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 control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 1 events, 146us elapsed, 146.00us avg, min 146us max 146us infus rms px4io: interface read: 7975 events, 2257578us elapsed, 283.08us avg, min 155us max 2176us 349.719us rms px4io: interval: 2198 events, 21184.11 avg, min 20664us max 29364us 1107.656us rms px4io: cycle: 2198 events, 2328937us elapsed, 1059.57us avg, min 655us max 8970us 1375.338us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 7976 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 7976 events, 2155845us elapsed, 270.29us avg, min 133us max 2126us 345.878us rms rgbled: led_control message missed: 0 events load_mon: cycle: 93 events, 25922us elapsed, 278.73us avg, min 180us max 1801us 2244.801us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 2 events, 1091us elapsed, 545.50us avg, min 359us max 732us 121048.430us rms dma_alloc: 2 events param: set: 3 events, 159us elapsed, 53.00us avg, min 3us max 148us 185.037us rms param: get: 5501 events param: find: 9212 events param: export: 1 events, 32792us elapsed, 32792.00us avg, min 32792us max 32792us infus rms