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PX4 VTOL Standard | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Standard VTOL Standard VTOL (13000) |
| Hardware: | PX4_FMU_V5 (V5006000) |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:32 |
| Vehicle Life Flight Time: | 32 minutes 43 seconds |
| Vehicle UUID: | 00020000000036323635303351060040003d |
| Distance: | 1.14 km |
| Max Altitude Difference: | 97 m |
| Average Speed MC: | 6.8 km/h |
| Average Speed FW: | 83.8 km/h |
| Max Speed: | 152.3 km/h |
| Max Speed Horizontal: | 110.7 km/h |
| Max Speed Up: | 18.1 km/h |
| Max Speed Down: | 133.7 km/h |
| Max Tilt Angle: | 102.1 deg |
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Console Output
netometer] MAG switch from #0 -> #1 uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [uavcan:125:] GPS 1: probing for NMEA at 230400 baud INFO [uavcan:125:] GPS 1: detected NMEA WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [uavcan:125:] NMEA "UM982" "R4.10Build11826" "2023/11/24" WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [rc_input] RC scan: SBUS RC input locked WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] [cal] calibration started: 2 airspeed WARN [commander] [cal] Ensure sensor is not measuring wind INFO [commander] [cal] progress <3> INFO [commander] [cal] progress <7> INFO [commander] [cal] progress <11> INFO [commander] [cal] progress <15> INFO [commander] [cal] progress <19> INFO [commander] [cal] progress <23> INFO [commander] [cal] progress <26> INFO [commander] [cal] progress <30> INFO [commander] [cal] progress <34> INFO [commander] [cal] progress <38> INFO [commander] [cal] progress <42> INFO [commander] [cal] progress <46> INFO [commander] [cal] progress <49> INFO [commander] [cal] progress <53> INFO [commander] [cal] progress <57> INFO [commander] [cal] progress <61> INFO [commander] [cal] progress <65> INFO [commander] [cal] progress <69> INFO [commander] [cal] progress <73> INFO [commander] [cal] progress <76> INFO [commander] [cal] Offset of -13 Pascal WARN [commander] [cal] Blow into front of pitot without touching INFO [commander] [cal] Create air pressure! (got 2, wanted: 50 Pa) INFO [commander] [cal] Create air pressure! (got 18, wanted: 50 Pa) WARN [commander] [cal] calibration failed: airspeed INFO [commander] [cal] calibration started: 2 airspeed WARN [commander] [cal] Ensure sensor is not measuring wind INFO [commander] [cal] progress <3> INFO [commander] [cal] progress <7> INFO [commander] [cal] progress <11> INFO [commander] [cal] progress <15> INFO [commander] [cal] progress <19> INFO [commander] [cal] progress <23> INFO [commander] [cal] progress <26> INFO [commander] [cal] progress <30> INFO [commander] [cal] progress <34> INFO [commander] [cal] progress <38> INFO [commander] [cal] progress <42> INFO [commander] [cal] progress <46> INFO [commander] [cal] progress <49> INFO [commander] [cal] progress <53> INFO [commander] [cal] progress <57> INFO [commander] [cal] progress <61> INFO [commander] [cal] progress <65> INFO [commander] [cal] progress <69> INFO [commander] [cal] progress <73> INFO [commander] [cal] progress <76> INFO [commander] [cal] Offset of -11 Pascal WARN [commander] [cal] Blow into front of pitot without touching INFO [commander] [cal] Create air pressure! (got -2, wanted: 50 Pa) INFO [commander] [cal] Create air pressure! (got 12, wanted: 50 Pa) INFO [commander] [cal] Positive pressure: OK (52 Pa) INFO [commander] [cal] progress <100> INFO [commander] [cal] calibration done: airspeed WARN [health_and_arming_checks] Preflight Fail: Vehicle is not in multicopter mode INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-14/09_54_10.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-14/09_54_10.ulg INFO [commander] Disarmed by auto preflight disarming INFO [vehicle_imu] ACC 2 (4259850) offset committed: [0.275 0.061 0.361]->[0.224 0.055 0.383]) INFO [logger] closed logfile, bytes written: 602152 INFO [commander] Connection to ground station lost INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-14/09_56_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-14/09_56_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 153652 33.327 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 1044/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 2896 100 (100) w:sem 3 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 4 62 wq:lp_default 0 0.069 1084/ 1896 205 (205) w:sem 4 69 wq:hp_default 17 1.777 1144/ 1872 237 (237) w:sem 4 870 dataman 0 0.022 852/ 1280 90 ( 90) w:sem 4 923 wq:SPI1 88 8.814 1796/ 2368 253 (253) w:sem 4 936 wq:SPI4 3 0.331 940/ 2368 250 (250) w:sem 4 938 wq:I2C3 2 0.266 928/ 2312 244 (244) w:sem 4 1031 wq:I2C2 6 0.610 860/ 2312 245 (245) w:sem 4 1196 wq:nav_and_controllers 83 8.381 1260/ 2216 242 (242) w:sem 4 1197 wq:rate_ctrl 96 9.618 2572/ 3120 255 (255) w:sem 4 1199 wq:INS0 61 6.151 4316/ 5976 241 (241) w:sem 4 1200 wq:INS1 57 5.790 4316/ 5976 240 (240) w:sem 4 1201 wq:INS2 58 5.812 4316/ 5976 239 (239) w:sem 4 1203 commander 12 1.263 1604/ 3192 140 (140) w:sig 5 1323 gps 0 0.066 1236/ 1936 205 (205) w:sem 4 1401 mavlink_if0 21 2.169 1948/ 2704 100 (100) w:sig 4 1402 mavlink_rcv_if0 5 0.583 1668/ 4616 175 (175) w:sem 4 1439 wq:ttyS4 6 0.653 1004/ 1704 230 (230) READY 4 1460 navigator 1 0.162 1332/ 1896 105 (105) w:sem 6 1526 logger 92 9.242 2972/ 3616 230 (230) RUN 4 1528 log_writer_file 7 0.704 660/ 1144 60 ( 60) w:sem 4 1545 wq:uavcan 21 2.168 3140/ 3600 236 (236) w:sem 4 Processes: 26 total, 3 running, 23 sleeping CPU usage: 64.66% tasks, 2.02% sched, 33.33% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 345.094s total, 153.653s idle
Performance Counters
Pre Flight:
ekf2: airspeed messages missed: 9 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: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events ekf2: airspeed validated messages missed: 0 events uavcan: gnss: moving baseline data rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 57898 events, 2194.58 avg, min 27us max 16677us 1270.863us rms uavcan: cycle time: 57898 events, 3496545us elapsed, 60.39us avg, min 14us max 4191us 296.179us 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 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: 34 events, 152899us elapsed, 4497.03us avg, min 249us max 10915us 2852.136us rms logger_sd_write: 118 events, 362786us elapsed, 3074.46us avg, min 10us max 11529us 1623.144us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 5356 events, 21863.83 avg, min 66us max 9999795us 136368.781us rms navigator: 2638 events, 193590us elapsed, 73.39us avg, min 17us max 4676us 376.060us rms rc_input: publish interval: 8470 events, 14995.14 avg, min 601us max 70300us 1983.508us rms rc_input: cycle time: 31715 events, 762563us elapsed, 24.04us avg, min 8us max 4423us 165.255us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 12634 events, 10053.12 avg, min 9231us max 72009us 749.655us rms mavlink: tx run elapsed: 12634 events, 3932279us elapsed, 311.25us avg, min 201us max 43361us 492.121us rms mag_bias_estimator: cycle: 5803 events, 238548us elapsed, 41.11us avg, min 1us max 2029us 208.239us rms land_detector: cycle: 12698 events, 304130us elapsed, 23.95us avg, min 19us max 136us 17.965us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms fw_pos_control: cycle: 6354 events, 286517us elapsed, 45.09us avg, min 36us max 174us 30.195us rms fw_att_control: cycle: 25395 events, 635980us elapsed, 25.04us avg, min 20us max 163us 19.659us rms fw_rate_control: cycle: 50791 events, 3552061us elapsed, 69.93us avg, min 50us max 222us 48.748us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 12698 events, 25300us elapsed, 1.99us avg, min 1us max 70us 4.260us rms mc_pos_control: cycle time: 12698 events, 194127us elapsed, 15.29us avg, min 12us max 96us 47.575us rms flight_mode_manager: cycle: 6354 events, 59006us elapsed, 9.29us avg, min 7us max 89us 623.805us rms mc_att_control: cycle: 25395 events, 1194626us elapsed, 47.04us avg, min 33us max 224us 37.964us rms mc_rate_control: cycle: 50793 events, 963966us elapsed, 18.98us avg, min 15us max 77us 5.028us rms vtol_att_control: cycle: 50793 events, 2080077us elapsed, 40.95us avg, min 5us max 99us 6.899us rms airspeed_selector: elapsed: 1271 events, 48445us elapsed, 38.12us avg, min 27us max 427us 56.584us rms control_allocator: cycle: 50792 events, 3534938us elapsed, 69.60us avg, min 56us max 683us 19.188us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 12694 events, 4009378us elapsed, 315.85us avg, min 194us max 4011us 533.612us rms ekf2: ECL update: 12695 events, 9402us elapsed, 0.74us avg, min 1us max 473us 5.078us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 12683 events, 3966894us elapsed, 312.77us avg, min 194us max 3155us 469.047us rms ekf2: ECL update: 12683 events, 8930us elapsed, 0.70us avg, min 0us max 80us 2.310us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 12698 events, 3396894us elapsed, 267.51us avg, min 192us max 1037us 203.688us rms ekf2: ECL update: 12698 events, 8323us elapsed, 0.65us avg, min 1us max 83us 2.430us rms pwm_out: interval: 50793 events, 2501.76 avg, min 1566us max 5002us 31.520us rms pwm_out: cycle: 50793 events, 1778951us elapsed, 35.02us avg, min 32us max 275us 5.322us rms control latency: 50793 events, 31784157us elapsed, 625.76us avg, min 566us max 1530us 1309231.875us rms commander: preflight check: 1233 events, 1224164us elapsed, 992.83us avg, min 510us max 6590us 1017.438us rms commander: cycle: 11316 events, 2731456us elapsed, 241.38us avg, min 61us max 6762us 732.205us 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: 3173 events, 237261us elapsed, 74.77us avg, min 44us max 448us 97.945us rms vehicle_gps_position: cycle: 635 events, 15131us elapsed, 23.83us avg, min 14us max 342us 54.337us rms vehicle_air_data: cycle: 9492 events, 340368us elapsed, 35.86us avg, min 23us max 409us 62.717us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 50794 events, 2050366us elapsed, 40.37us avg, min 35us max 231us 5.067us rms sensors: 25398 events, 1910281us elapsed, 75.21us avg, min 30us max 7568us 135.616us rms battery_status: 12707 events, 552239us elapsed, 43.46us avg, min 23us max 3395us 206.422us rms ms4525do: fault detected: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms ms4525do: communication errors: 0 events ms4525do: read: 9529 events, 9626029us elapsed, 1010.18us avg, min 929us max 1308us 173.041us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 12657 events, 62326us elapsed, 4.92us avg, min 3us max 319us 22.365us rms ms5611: read: 12657 events, 219954us elapsed, 17.38us avg, min 7us max 355us 38.350us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 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 icm20602: DRDY missed: 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 board_adc: sample: 152496 events, 949034us elapsed, 6.22us avg, min 3us max 3336us 75.094us rms manual_control: interval: 923 events, 137568.33 avg, min 2855us max 201387us 60265.059us rms manual_control: cycle: 923 events, 27858us elapsed, 30.18us avg, min 17us max 1740us 141.409us rms rc_update: valid data interval: 8470 events, 14995.14 avg, min 460us max 70759us 1994.298us rms rc_update: cycle interval: 8470 events, 14995.14 avg, min 601us max 70302us 1988.732us rms rc_update: cycle: 8470 events, 382529us elapsed, 45.16us avg, min 25us max 4015us 222.707us rms load_mon: cycle: 254 events, 60526us elapsed, 238.29us avg, min 140us max 1936us 396.763us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 706 events, 70048us elapsed, 99.22us avg, min 33us max 4629us 3563.960us rms rgbled: led_control message missed: 0 events dma_alloc: 3 events param: set: 10 events, 722us elapsed, 72.20us avg, min 2us max 696us 245.488us rms param: get: 30356 events param: find: 40636 events param: export: 1 events, 41063us elapsed, 41063.00us avg, min 41063us max 41063us infus rms