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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Critical Reject Position Control
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V540) |
| Software Version: | v1.9.2 (10690587) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:35 |
| Vehicle Life Flight Time: | 47 minutes 47 seconds |
| Vehicle UUID: | 000200000000353436333138511800450027 (Quad X) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | On initial arming I got Critical Reject Position Control error. Changed position and carried out compass calibration, and re-armed. No error's on second attempt, but flight was out of control, hence I have apply Emergency Stop. |
| Distance: | 153.0 m |
| Max Altitude Difference: | 35 m |
| Average Speed: | 2.5 km/h |
| Max Speed: | 12.6 km/h |
| Max Speed Horizontal: | 9.6 km/h |
| Max Speed Up: | 10.2 km/h |
| Max Speed Down: | 10.7 km/h |
| Max Tilt Angle: | 73.0 deg |
| Max Rotation Speed: | 599.4 deg/s |
| Average Current: | 7.3 A |
| Max Current: | 49.8 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 167049 57.884 460/ 748 0 ( 0) READY 3 1 hpwork 7853 3.592 768/ 1780 249 (249) w:sem 16 2 lpwork 1156 0.199 952/ 1780 50 ( 50) w:sig 11 3 init 1196 0.000 1896/ 2604 100 (100) w:sem 3 16 dataman 55 0.000 752/ 1180 90 ( 90) w:sem 4 150 sensors 12202 4.690 1344/ 1964 249 (249) w:sem 17 152 commander 2896 1.297 1960/ 3212 140 (140) w:sig 29 153 commander_low_prio 1577 0.000 2176/ 2996 50 ( 50) w:sem 29 222 gps 766 0.299 928/ 1516 220 (220) w:sem 5 250 mavlink_if0 4760 1.996 1760/ 2484 100 (100) w:sig 40 251 mavlink_rcv_if0 1502 0.698 1584/ 2836 175 (175) READY 40 270 fmu 5410 2.594 856/ 1324 252 (252) w:sem 8 338 ekf2 20024 7.884 4576/ 6572 250 (250) w:sem 20 340 mc_att_control 7272 3.093 888/ 1660 251 (251) w:sem 18 343 mc_pos_control 997 0.598 1072/ 1860 250 (250) w:sem 16 357 navigator 511 0.299 960/ 1764 105 (105) w:sem 16 388 log_writer_file 60 0.000 600/ 1148 60 ( 60) w:sem 38 380 logger 3330 7.684 3080/ 3644 245 (245) RUN 38 Processes: 18 total, 3 running, 15 sleeping, max FDs: 54 CPU usage: 34.93% tasks, 7.19% sched, 57.88% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 241.648s total, 167.049s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 290998 57.642 460/ 748 0 ( 0) READY 3 1 hpwork 14894 3.696 768/ 1780 249 (249) w:sem 16 2 lpwork 1588 2.897 952/ 1780 50 ( 50) w:sig 11 3 init 1196 0.000 1896/ 2604 100 (100) w:sem 3 16 dataman 108 0.000 752/ 1180 90 ( 90) w:sem 4 150 sensors 22011 4.995 1344/ 1964 249 (249) w:sem 17 152 commander 5813 1.298 1960/ 3212 140 (140) w:sig 29 153 commander_low_prio 1585 0.000 2176/ 2996 50 ( 50) w:sem 29 222 gps 1461 0.299 928/ 1516 220 (220) w:sem 5 250 mavlink_if0 9150 2.097 1760/ 2484 100 (100) w:sig 40 251 mavlink_rcv_if0 2778 0.699 1584/ 2836 175 (175) READY 40 270 fmu 10331 2.297 856/ 1324 252 (252) w:sem 8 338 ekf2 40751 8.191 4576/ 6572 250 (250) w:sem 20 340 mc_att_control 14060 3.296 888/ 1660 251 (251) w:sem 18 343 mc_pos_control 3986 0.399 1072/ 1860 250 (250) w:sem 19 357 navigator 982 0.199 1048/ 1764 105 (105) w:sem 16 388 log_writer_file 10882 4.095 600/ 1148 60 ( 60) w:sem 40 380 logger 17742 6.493 3080/ 3644 245 (245) RUN 40 Processes: 18 total, 3 running, 15 sleeping, max FDs: 54 CPU usage: 40.96% tasks, 1.40% sched, 57.64% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 456.075s total, 290.999s 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: 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 navigator: 4609 events, 428091us elapsed, 92.88us avg, min 25us max 4441us 195.249us rms land_detector_cycle: 11419 events, 662431us elapsed, 58.01us avg, min 31us max 1308us 30.579us rms mc_att_control: 58943 events, 10439064us elapsed, 177.10us avg, min 132us max 2177us 21.478us rms EKF2 update: 58938 events, 10703547us elapsed, 181.61us avg, min 3us max 1106us 190.954us rms EKF2 data acquisition: 58938 events, 4027029us elapsed, 68.33us avg, min 45us max 2749us 24.932us rms fmu control latency: 64385 events, 16298474us elapsed, 253.14us avg, min 173us max 2479us 227.247us rms mavlink_int: 23527 events, 10032.17 avg, min 9139us max 46540us 569.569us rms mavlink_el: 23527 events, 4447706us elapsed, 189.05us avg, min 86us max 2303us 147.950us 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: 59141 events, 31437482us elapsed, 531.57us avg, min 73us max 11825us 267.877us rms adc_samples: 284100 events, 859353us elapsed, 3.02us avg, min 2us max 68us 0.298us rms ms5611_com_err: 0 events ms5611_measure: 21651 events, 259994us elapsed, 12.01us avg, min 6us max 470us 28.530us rms ms5611_read: 21650 events, 464414us elapsed, 21.45us avg, min 11us max 473us 18.952us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 10885 events, 11067554us elapsed, 1016.77us avg, min 852us max 3484us 262.678us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 10964 events, 11070690us elapsed, 1009.73us avg, min 852us max 24272us 327.381us rms bmi055_gyro_bad_registers: 1 events bmi055_gyro_bad_transfers: 1 events bmi055_gyro_measure_interval: 299615 events, 800.00 avg, min 728us max 1258us 13.027us rms bmi055_gyro_read: 299584 events, 15264981us elapsed, 50.95us avg, min 42us max 58us 2.320us rms bmi055_accel_duplicates: 60969 events bmi055_accel_bad_registers: 1 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 299633 events, 800.00 avg, min 721us max 1196us 8.968us rms bmi055_accel_read: 299601 events, 11677739us elapsed, 38.98us avg, min 30us max 48us 4.489us rms mpu6k_duplicates: 60383 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 299640 events, 800.00 avg, min 733us max 866us 8.367us rms mpu6k_read: 299624 events, 21324608us elapsed, 71.17us avg, min 47us max 103us 14.719us rms rc_input publish interval: 5443 events, 40653.68 avg, min 22189us max 62534us 6289.690us rms rc_input cycle time: 48601 events, 977443us elapsed, 20.11us avg, min 10us max 471us 30.638us rms stack_check: 870 events, 13827us elapsed, 15.89us avg, min 2us max 1198us 71.039us rms dma_alloc: 4 events param_set: 129 events, 3418us elapsed, 26.50us avg, min 3us max 78us 16.425us rms param_get: 4951 events, 41119us elapsed, 8.31us avg, min 3us max 1555us 35.451us rms param_find: 1655 events, 16756us elapsed, 10.12us avg, min 3us max 626us 20.041us rms param_export: 6 events, 226046us elapsed, 37674.33us avg, min 36447us max 40529us 1493.401us 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: 504 events, 2931944us elapsed, 5817.35us avg, min 138us max 13980us 2716.843us rms logger_sd_write: 1841 events, 26293956us elapsed, 14282.43us avg, min 13us max 980595us 38629.137us rms navigator: 4252 events, 4260733us elapsed, 1002.05us avg, min 30us max 780541us 20771.918us rms land_detector_cycle: 10424 events, 714991us elapsed, 68.59us avg, min 41us max 756us 47.428us rms mc_att_control: 53828 events, 9578009us elapsed, 177.94us avg, min 163us max 347us 26.367us rms EKF2 update: 53828 events, 12210702us elapsed, 226.85us avg, min 13us max 1740us 360.677us rms EKF2 data acquisition: 53828 events, 3694223us elapsed, 68.63us avg, min 54us max 274us 30.160us rms fmu control latency: 59115 events, 15290310us elapsed, 258.65us avg, min 176us max 2666us 343.275us rms mavlink_int: 21355 events, 10086.89 avg, min 9138us max 13286us 397.761us rms mavlink_el: 21355 events, 4737891us elapsed, 221.86us avg, min 96us max 3151us 280.281us 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: 53829 events, 30726023us elapsed, 570.81us avg, min 181us max 2400us 448.216us rms adc_samples: 258528 events, 781989us elapsed, 3.02us avg, min 2us max 4us 0.414us rms ms5611_com_err: 0 events ms5611_measure: 19638 events, 225663us elapsed, 11.49us avg, min 6us max 602us 39.388us rms ms5611_read: 19638 events, 420072us elapsed, 21.39us avg, min 11us max 396us 28.615us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 9819 events, 10298917us elapsed, 1048.88us avg, min 852us max 3299us 440.698us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 9819 events, 9871575us elapsed, 1005.35us avg, min 852us max 3019us 425.850us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 269301 events, 800.00 avg, min 731us max 871us 13.791us rms bmi055_gyro_read: 269301 events, 13782374us elapsed, 51.18us avg, min 47us max 58us 3.409us rms bmi055_accel_duplicates: 54755 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 269304 events, 800.00 avg, min 726us max 874us 9.810us rms bmi055_accel_read: 269304 events, 10543083us elapsed, 39.15us avg, min 30us max 48us 6.541us rms mpu6k_duplicates: 53833 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 269305 events, 800.00 avg, min 735us max 865us 9.322us rms mpu6k_read: 269305 events, 19257329us elapsed, 71.51us avg, min 47us max 101us 21.538us rms rc_input publish interval: 5288 events, 40737.05 avg, min 22986us max 71680us 6482.356us rms rc_input cycle time: 43463 events, 906568us elapsed, 20.86us avg, min 10us max 599us 46.535us rms stack_check: 806 events, 8380us elapsed, 10.40us avg, min 2us max 414us 77.124us rms dma_alloc: 0 events param_set: 3 events, 24us elapsed, 8.00us avg, min 4us max 15us 131.538us rms param_get: 116 events, 869us elapsed, 7.49us avg, min 5us max 94us 232.834us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 52511us elapsed, 52511.00us avg, min 52511us max 52511us Infinityus rms