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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
crash on landing
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V515) |
| Software Version: | v1.9.2 (10690587) |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:47 |
| Vehicle Life Flight Time: | 17 minutes 42 seconds |
| Vehicle UUID: | 000200000000303832333138511700370035 (quadcopter 18 inch props) |
| Wind Speed: | Breeze |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | first test flight. flew well in stabilised. flew well in position but it landed very quickly. front motors started again nearly immediatly after slowing down and tipped backwards. applied full ritch forward and disarm at the same time but couldnt save it and it flipped over. Any ideas. barometer looks crazy noisy but im not an expert at reading the log data. height is set to use GPS anyway not barometer. |
| Distance: | 41.6 m |
| Max Altitude Difference: | 5 m |
| Average Speed: | 3.1 km/h |
| Max Speed: | 9.8 km/h |
| Max Speed Horizontal: | 9.8 km/h |
| Max Speed Up: | 4.5 km/h |
| Max Speed Down: | 7.6 km/h |
| Max Tilt Angle: | 179.5 deg |
| Max Rotation Speed: | 524.7 deg/s |
| Average Current: | 0.0 A |
| Max Current: | 0.1 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 32816 43.800 460/ 748 0 ( 0) READY 3 1 hpwork 1675 3.000 888/ 1780 249 (249) w:sig 13 2 lpwork 289 0.200 968/ 1780 50 ( 50) w:sig 11 3 init 1116 0.000 2056/ 2604 100 (100) w:sem 3 16 dataman 95 0.000 752/ 1180 90 ( 90) w:sem 4 149 sensors 5210 9.500 1192/ 1964 249 (249) w:sem 19 151 commander 860 1.700 1520/ 3212 140 (140) w:sig 29 152 commander_low_prio 2 0.000 576/ 2996 50 ( 50) w:sem 29 221 gps 208 0.400 1024/ 1516 220 (220) w:sem 5 249 mavlink_if0 1346 2.600 1760/ 2484 100 (100) w:sig 38 250 mavlink_rcv_if0 596 0.800 1584/ 2836 175 (175) w:sem 38 269 px4io 1860 3.400 896/ 1484 252 (252) w:sem 11 275 fmu 631 1.100 744/ 1324 252 (252) w:sem 7 420 ekf2 5924 9.200 4576/ 6572 250 (250) w:sem 20 422 mc_att_control 2607 3.700 960/ 1660 251 (251) w:sem 19 424 mc_pos_control 357 1.300 1080/ 1860 250 (250) w:sem 16 428 navigator 115 0.300 896/ 1764 105 (105) w:sem 16 462 log_writer_file 1700 9.900 816/ 1148 60 ( 60) READY 39 458 logger 2829 7.400 3080/ 3644 245 (245) RUN 39 Processes: 19 total, 3 running, 16 sleeping, max FDs: 54 CPU usage: 54.50% tasks, 1.70% sched, 43.80% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 61.419s total, 32.816s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 54372 42.057 460/ 748 0 ( 0) READY 3 1 hpwork 3056 3.096 888/ 1780 249 (249) w:sig 13 2 lpwork 455 5.594 968/ 1780 50 ( 50) w:sig 11 3 init 1116 0.000 2056/ 2604 100 (100) w:sem 3 16 dataman 109 0.099 752/ 1180 90 ( 90) w:sem 4 149 sensors 9569 8.791 1192/ 1964 249 (249) w:sem 19 151 commander 1610 1.398 1520/ 3212 140 (140) w:sig 29 152 commander_low_prio 5 0.000 576/ 2996 50 ( 50) w:sem 29 221 gps 402 0.499 1024/ 1516 220 (220) w:sem 5 249 mavlink_if0 2441 2.197 1760/ 2484 100 (100) w:sig 38 250 mavlink_rcv_if0 968 0.899 1584/ 2836 175 (175) READY 38 269 px4io 3402 3.496 896/ 1484 252 (252) w:sem 11 275 fmu 1161 1.098 744/ 1324 252 (252) w:sem 7 420 ekf2 10876 9.790 4576/ 6572 250 (250) w:sem 20 422 mc_att_control 4390 4.895 960/ 1660 251 (251) w:sem 19 424 mc_pos_control 1130 0.899 1080/ 1860 250 (250) w:sem 16 428 navigator 223 0.199 896/ 1764 105 (105) w:sem 16 462 log_writer_file 4471 6.093 816/ 1148 60 ( 60) w:sem 39 458 logger 6236 7.192 3080/ 3644 245 (245) RUN 39 Processes: 19 total, 3 running, 16 sleeping, max FDs: 54 CPU usage: 56.24% tasks, 1.70% sched, 42.06% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 107.924s total, 54.373s 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: 69 events, 510619us elapsed, 7400.28us avg, min 138us max 21951us 4310.749us rms logger_sd_write: 264 events, 4417775us elapsed, 16734.00us avg, min 13us max 173891us 10419.182us rms navigator: 840 events, 197895us elapsed, 235.59us avg, min 26us max 16900us 1234.000us rms land_detector_cycle: 2034 events, 132658us elapsed, 65.22us avg, min 41us max 616us 63.739us rms mc_att_control: 10493 events, 2223649us elapsed, 211.92us avg, min 153us max 535us 71.011us rms EKF2 update: 10493 events, 2620873us elapsed, 249.77us avg, min 13us max 2429us 369.280us rms EKF2 data acquisition: 10493 events, 1082542us elapsed, 103.17us avg, min 55us max 450us 82.456us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 10493 events, 2325536us elapsed, 221.63us avg, min 196us max 315us 13.936us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 10493 events, 7605067us elapsed, 724.78us avg, min 266us max 3144us 929.531us rms io_txns: 21155 events, 7112006us elapsed, 336.19us avg, min 150us max 839us 130.790us rms mavlink_int: 4097 events, 10236.19 avg, min 9131us max 28841us 683.109us rms mavlink_el: 4097 events, 1194689us elapsed, 291.60us avg, min 102us max 3973us 405.141us 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: 10494 events, 7783903us elapsed, 741.75us avg, min 190us max 3220us 465.829us rms adc_samples: 50460 events, 152191us elapsed, 3.02us avg, min 2us max 4us 0.308us rms ms5611_com_err: 0 events ms5611_measure: 3682 events, 49215us elapsed, 13.37us avg, min 7us max 400us 27.600us rms ms5611_read: 3682 events, 124160us elapsed, 33.72us avg, min 11us max 698us 70.810us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 1841 events, 2105155us elapsed, 1143.48us avg, min 849us max 3625us 467.759us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 1848 events, 2121260us elapsed, 1147.87us avg, min 850us max 3491us 670.256us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 52569 events, 799.99 avg, min 708us max 880us 25.391us rms bmi055_gyro_read: 52569 events, 2644128us elapsed, 50.30us avg, min 47us max 57us 2.555us rms bmi055_accel_duplicates: 9664 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 52570 events, 799.98 avg, min 692us max 905us 26.185us rms bmi055_accel_read: 52571 events, 2023224us elapsed, 38.49us avg, min 30us max 47us 4.842us rms mpu6k_duplicates: 10527 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 52571 events, 799.98 avg, min 708us max 893us 13.672us rms mpu6k_read: 52571 events, 3604824us elapsed, 68.57us avg, min 47us max 84us 12.673us rms mpu6k_duplicates: 10600 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 52574 events, 799.99 avg, min 709us max 889us 14.478us rms mpu6k_read: 52574 events, 3713222us elapsed, 70.63us avg, min 47us max 100us 16.979us rms stack_check: 153 events, 3801us elapsed, 24.84us avg, min 2us max 910us 109.441us rms dma_alloc: 1 events param_set: 4 events, 29us elapsed, 7.25us avg, min 4us max 15us 176.018us rms param_get: 971 events, 9997us elapsed, 10.30us avg, min 4us max 422us 123.009us rms param_find: 122 events, 3325us elapsed, 27.25us avg, min 3us max 1832us 203.618us rms param_export: 1 events, 97662us elapsed, 97662.00us avg, min 97662us max 97662us NaNus 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: 105 events, 772994us elapsed, 7361.85us avg, min 9us max 25268us 5816.229us rms logger_sd_write: 408 events, 8452876us elapsed, 20717.83us avg, min 13us max 1181964us 62721.820us rms navigator: 929 events, 1549678us elapsed, 1668.11us avg, min 32us max 982315us 33158.934us rms land_detector_cycle: 2300 events, 181427us elapsed, 78.88us avg, min 42us max 638us 82.380us rms mc_att_control: 11863 events, 2017715us elapsed, 170.08us avg, min 153us max 466us 71.583us rms EKF2 update: 11863 events, 3189804us elapsed, 268.89us avg, min 13us max 2340us 504.973us rms EKF2 data acquisition: 11864 events, 984303us elapsed, 82.97us avg, min 54us max 369us 93.152us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 11864 events, 2641533us elapsed, 222.65us avg, min 198us max 314us 18.017us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 11864 events, 8470807us elapsed, 713.99us avg, min 266us max 3137us 1180.544us rms io_txns: 23883 events, 7917071us elapsed, 331.49us avg, min 149us max 837us 158.143us rms mavlink_int: 4630 events, 10259.08 avg, min 9120us max 14743us 652.530us rms mavlink_el: 4630 events, 1375098us elapsed, 297.00us avg, min 101us max 4218us 536.175us 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: 11865 events, 9567566us elapsed, 806.37us avg, min 199us max 3044us 626.474us rms adc_samples: 57024 events, 172007us elapsed, 3.02us avg, min 2us max 4us 0.391us rms ms5611_com_err: 0 events ms5611_measure: 4179 events, 55087us elapsed, 13.18us avg, min 6us max 412us 36.150us rms ms5611_read: 4179 events, 129179us elapsed, 30.91us avg, min 11us max 631us 81.445us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 2090 events, 2337024us elapsed, 1118.19us avg, min 849us max 3681us 598.530us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2089 events, 2424190us elapsed, 1160.45us avg, min 850us max 3858us 763.029us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 59403 events, 799.99 avg, min 733us max 868us 25.331us rms bmi055_gyro_read: 59403 events, 2992182us elapsed, 50.37us avg, min 47us max 57us 3.239us rms bmi055_accel_duplicates: 10923 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 59405 events, 799.99 avg, min 687us max 908us 25.964us rms bmi055_accel_read: 59405 events, 2287667us elapsed, 38.51us avg, min 30us max 47us 6.133us rms mpu6k_duplicates: 11865 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 59405 events, 799.99 avg, min 711us max 889us 13.796us rms mpu6k_read: 59406 events, 4073954us elapsed, 68.58us avg, min 47us max 84us 15.975us rms mpu6k_duplicates: 11910 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 59408 events, 799.99 avg, min 710us max 887us 14.613us rms mpu6k_read: 59409 events, 4203941us elapsed, 70.76us avg, min 47us max 102us 21.591us rms stack_check: 165 events, 2969us elapsed, 17.99us avg, min 2us max 686us 123.728us rms dma_alloc: 0 events param_set: 3 events, 24us elapsed, 8.00us avg, min 4us max 15us 215.663us rms param_get: 22 events, 131us elapsed, 5.95us avg, min 5us max 11us 836.016us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 110430us elapsed, 110430.00us avg, min 110430us max 110430us NaNus rms