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PX4 Octorotor | Open PID Analysis |
Hover Flight
| Airframe: | 12002 |
| Hardware: | PX4_FMU_V3 (V2) |
| Software Version: | v1.9.2 (10690587) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:58 |
| Dropouts: | 10 (1.96 s) |
| Vehicle Life Flight Time: | 2 hours 23 minutes 33 seconds |
| Vehicle UUID: | 000100000000313238313138511300270034 (Custom Build) |
| Wind Speed: | Calm |
| Flight Rating: | Unsatisfactory |
| Feedback: | Pitches Back during takeoff |
| Max Altitude Difference: | 2 m |
| Max Tilt Angle: | 8.7 deg |
| Max Rotation Speed: | 110.3 deg/s |
| Average Current: | 28.0 A |
| Max Current: | 38.4 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 178135 62.700 460/ 748 0 ( 0) READY 3 1 hpwork 8050 3.100 904/ 1780 249 (249) w:sig 17 2 lpwork 730 0.100 968/ 1780 50 ( 50) w:sig 10 3 init 1721 0.000 2024/ 2604 100 (100) w:sem 3 16 dataman 87 0.000 752/ 1180 90 ( 90) w:sem 4 151 sensors 12200 4.500 1256/ 1964 249 (249) w:sem 16 153 commander 2991 1.200 1528/ 3212 140 (140) w:sig 29 154 commander_low_prio 8 0.000 568/ 2996 50 ( 50) w:sem 29 223 gps 280 0.100 1080/ 1516 220 (220) w:sem 5 251 mavlink_if0 5380 2.100 1632/ 2484 100 (100) w:sig 35 252 mavlink_rcv_if0 1386 0.500 1400/ 2836 175 (175) w:sem 35 271 px4io 8425 3.200 880/ 1484 252 (252) w:sem 11 406 ekf2 28275 10.500 4576/ 6572 250 (250) w:sem 20 413 mc_att_control 9009 3.400 952/ 1660 251 (251) w:sem 18 421 mc_pos_control 1360 0.500 968/ 1860 250 (250) w:sem 15 425 navigator 309 0.100 840/ 1764 105 (105) READY 16 456 log_writer_file 1399 1.300 792/ 1148 60 ( 60) w:sem 41 454 logger 8246 5.800 3056/ 3644 245 (245) RUN 41 Processes: 18 total, 3 running, 15 sleeping, max FDs: 54 CPU usage: 36.40% tasks, 0.90% sched, 62.70% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 271.557s total, 178.135s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 251950 59.640 460/ 748 0 ( 0) READY 3 1 hpwork 11593 2.897 904/ 1780 249 (249) w:sig 17 2 lpwork 941 3.796 968/ 1780 50 ( 50) READY 10 3 init 1721 0.000 2024/ 2604 100 (100) w:sem 3 16 dataman 87 0.000 752/ 1180 90 ( 90) w:sem 4 151 sensors 17377 4.595 1256/ 1964 249 (249) w:sem 16 153 commander 4363 1.098 1528/ 3212 140 (140) w:sig 29 154 commander_low_prio 12 0.000 568/ 2996 50 ( 50) w:sem 29 223 gps 400 0.099 1080/ 1516 220 (220) w:sem 5 251 mavlink_if0 7719 1.898 1632/ 2484 100 (100) w:sig 35 252 mavlink_rcv_if0 1985 0.499 1400/ 2836 175 (175) w:sem 35 271 px4io 12120 3.096 880/ 1484 252 (252) w:sem 11 406 ekf2 40726 10.589 4576/ 6572 250 (250) w:sem 20 413 mc_att_control 13006 3.396 952/ 1660 251 (251) w:sem 18 421 mc_pos_control 2295 0.299 968/ 1860 250 (250) w:sem 15 425 navigator 445 0.099 840/ 1764 105 (105) READY 16 456 log_writer_file 2751 1.198 792/ 1148 60 ( 60) w:sem 41 454 logger 14792 5.594 3056/ 3644 245 (245) RUN 41 Processes: 18 total, 4 running, 14 sleeping, max FDs: 54 CPU usage: 39.16% tasks, 1.20% sched, 59.64% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 389.396s total, 251.950s idle
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: 282 events, 1694313us elapsed, 6008.20us avg, min 8us max 127150us 7617.965us rms logger_sd_write: 1319 events, 15935195us elapsed, 12081.27us avg, min 11us max 1168426us 39442.801us rms navigator: 3946 events, 116470us elapsed, 29.52us avg, min 21us max 1715us 57.576us rms land_detector_cycle: 9607 events, 637681us elapsed, 66.38us avg, min 34us max 576us 69.434us rms mc_att_control: 49182 events, 8166422us elapsed, 166.04us avg, min 139us max 360us 31.603us rms EKF2 update: 49183 events, 13349424us elapsed, 271.42us avg, min 19us max 1119us 344.101us rms EKF2 data acquisition: 49183 events, 4984054us elapsed, 101.34us avg, min 62us max 301us 45.004us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 49183 events, 8101333us elapsed, 164.72us avg, min 139us max 301us 27.047us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 49183 events, 28898975us elapsed, 587.58us avg, min 264us max 2480us 694.965us rms io_txns: 91288 events, 26507064us elapsed, 290.37us avg, min 132us max 750us 124.040us rms mavlink_int: 19563 events, 10086.27 avg, min 9140us max 38650us 492.306us rms mavlink_el: 19563 events, 4478310us elapsed, 228.92us avg, min 115us max 3097us 252.031us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 49184 events, 30566416us elapsed, 621.47us avg, min 200us max 1922us 407.816us rms adc_samples: 197350 events, 550016us elapsed, 2.79us avg, min 2us max 4us 0.480us rms ms5611_com_err: 0 events ms5611_measure: 18129 events, 149630us elapsed, 8.25us avg, min 6us max 337us 12.303us rms ms5611_read: 18129 events, 624920us elapsed, 34.47us avg, min 11us max 583us 63.682us rms lsm303d_acc_dupe: 29063 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 19735 events, 480104us elapsed, 24.33us avg, min 23us max 25us 0.553us rms lsm303d_acc_read: 187951 events, 5981889us elapsed, 31.83us avg, min 21us max 37us 5.490us rms l3gd20_dupe: 131801 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 276012 events, 7929284us elapsed, 28.73us avg, min 21us max 38us 7.298us rms mpu6k_duplicates: 49195 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 246686 events, 800.00 avg, min 715us max 885us 17.632us rms mpu6k_read: 246686 events, 14170228us elapsed, 57.44us avg, min 33us max 82us 16.642us rms stack_check: 752 events, 18090us elapsed, 24.06us avg, min 1us max 1423us 113.198us rms dma_alloc: 1 events param_set: 3 events, 19us elapsed, 6.33us avg, min 3us max 12us 297.203us rms param_get: 874 events, 7502us elapsed, 8.58us avg, min 4us max 1275us 63.810us rms param_find: 113 events, 1889us elapsed, 16.72us avg, min 3us max 1065us 107.062us rms param_export: 1 events, 56254us elapsed, 56254.00us avg, min 56254us max 56254us Infinityus rms
Post 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: 275 events, 1617768us elapsed, 5882.79us avg, min 8us max 13083us 8077.585us rms logger_sd_write: 1303 events, 16811120us elapsed, 12901.86us avg, min 11us max 805106us 54983.141us rms navigator: 2376 events, 68759us elapsed, 28.94us avg, min 21us max 1926us 94.194us rms land_detector_cycle: 5783 events, 408033us elapsed, 70.56us avg, min 34us max 609us 108.807us rms mc_att_control: 29631 events, 4937596us elapsed, 166.64us avg, min 139us max 360us 48.462us rms EKF2 update: 29631 events, 8043383us elapsed, 271.45us avg, min 19us max 1102us 532.602us rms EKF2 data acquisition: 29631 events, 3005088us elapsed, 101.42us avg, min 62us max 302us 69.293us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 29631 events, 4905406us elapsed, 165.55us avg, min 139us max 301us 42.092us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 29631 events, 17429219us elapsed, 588.21us avg, min 264us max 2198us 1073.995us rms io_txns: 55041 events, 15995143us elapsed, 290.60us avg, min 132us max 712us 191.967us rms mavlink_int: 11781 events, 10086.64 avg, min 9139us max 13271us 407.145us rms mavlink_el: 11781 events, 2809567us elapsed, 238.48us avg, min 116us max 2895us 399.172us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 29632 events, 18344310us elapsed, 619.07us avg, min 189us max 1760us 630.860us rms adc_samples: 118850 events, 331240us elapsed, 2.79us avg, min 2us max 4us 0.744us rms ms5611_com_err: 0 events ms5611_measure: 10915 events, 92756us elapsed, 8.50us avg, min 6us max 346us 20.493us rms ms5611_read: 10915 events, 370225us elapsed, 33.92us avg, min 11us max 566us 98.492us rms lsm303d_acc_dupe: 17542 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 11886 events, 289049us elapsed, 24.32us avg, min 23us max 25us 0.854us rms lsm303d_acc_read: 113194 events, 3601987us elapsed, 31.82us avg, min 21us max 37us 8.502us rms l3gd20_dupe: 79365 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 166229 events, 4776203us elapsed, 28.73us avg, min 21us max 38us 11.294us rms mpu6k_duplicates: 29632 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 148569 events, 799.99 avg, min 714us max 892us 17.763us rms mpu6k_read: 148570 events, 8535502us elapsed, 57.45us avg, min 33us max 82us 25.782us rms stack_check: 448 events, 8964us elapsed, 20.01us avg, min 1us max 969us 158.320us rms dma_alloc: 0 events param_set: 3 events, 21us elapsed, 7.00us avg, min 4us max 13us 297.249us rms param_get: 19 events, 127us elapsed, 6.68us avg, min 5us max 34us 444.434us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 56781us elapsed, 56781.00us avg, min 56781us max 56781us Infinityus rms