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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Obstacle Avoidance with a simple mission and a cargo container as obstacle
| Airframe: | PX4 Vision Dev Kit v1 Quadrotor x (4016) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.12.3 (2e8918da) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:43 |
| Vehicle Life Flight Time: | 35 minutes 25 seconds |
| Vehicle UUID: | 000200000000203331354e3050030033002c (PX4-Vision) |
| Wind Speed: | Calm |
| Flight Rating: | Great! |
| Video: | https://www.youtube.com/watch?v=6PgYeAaRpoU&list=PLIOdexMg_sdWhrc6CnlOQGJxMHUP7NVnX&index=3 |
| Distance: | 28.4 m |
| Max Altitude Difference: | 5 m |
| Average Speed: | 2.4 km/h |
| Max Speed: | 7.6 km/h |
| Max Speed Horizontal: | 7.5 km/h |
| Max Speed Up: | 3.1 km/h |
| Max Speed Down: | 3.9 km/h |
| Max Tilt Angle: | 17.8 deg |
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Console Output
N [ekf2] primary EKF changed 1 (timeout) -> 2 WARN [mavlink] [timesync] RTT too high for timesync: 23 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 21 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 19 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 11 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 17 ms (sender: 240) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [mavlink] [timesync] RTT too high for timesync: 18 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 18 ms (sender: 240) WARN [mavlink] [timesync] RTT too high for timesync: 44 ms (sender: 240) WARN [ekf2] primary EKF changed 2 (filter fault) -> 3 WARN [ekf2] primary EKF changed 3 (filter fault) -> 0 WARN [ekf2] primary EKF changed 0 (filter fault) -> 1 INFO [commander] Landing detected INFO [navigator] Mission finished, landed. INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 8405 INFO [logger] closed logfile, bytes written: 3153032 INFO [commander] Connection to ground station lost WARN [load_mon] navigator low on stack! (296 bytes left) INFO [commander] Data link regained INFO [commander] Connection to ground station lost WARN [load_mon] navigator low on stack! (296 bytes left) INFO [commander] Data link regained WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [avoidance] Obstacle Avoidance system failed, loitering WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [mavlink] ignoring CMD with same SYS/COMP (1/1) ID WARN [load_mon] navigator low on stack! (296 bytes left) INFO [commander] Connection to ground station lost INFO [commander] Data link regained WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [mavlink] Operation timeout WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [mavlink] IGN MISSION_ITEM: No transfer WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) WARN [load_mon] navigator low on stack! (296 bytes left) INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2022-08-16/15_54_27.ulg INFO [logger] Opened full log file: /fs/microsd/log/2022-08-16/15_54_27.ulg INFO [navigator] Takeoff to 3.0 meters above home.
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 151397 13.910 248/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 0 0.000 1028/ 1620 50 ( 50) w:sig 3 3 init 0 0.000 2284/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 444/ 1260 255 (255) w:sem 4 26 wq:lp_default 6 0.648 1348/ 1924 205 (205) w:sem 4 28 wq:hp_default 13 1.330 1348/ 1900 237 (237) w:sem 4 33 dataman 0 0.058 796/ 1204 90 ( 90) w:sem 4 43 wq:I2C1 3 0.355 952/ 2340 246 (246) w:sem 4 251 wq:uavcan 15 1.502 1868/ 3628 236 (236) w:sem 4 269 wq:SPI1 98 9.840 1640/ 2340 253 (253) w:sem 4 274 wq:SPI4 3 0.328 936/ 2340 250 (250) w:sem 4 276 wq:I2C3 3 0.325 1076/ 2340 244 (244) w:sem 4 300 wq:SPI5 7 0.783 868/ 2340 249 (249) w:sem 4 343 wq:nav_and_controllers 58 5.805 1620/ 2244 242 (242) w:sem 4 344 wq:rate_ctrl 97 9.732 1628/ 1956 255 (255) w:sem 4 345 wq:INS0 159 15.975 4460/ 6004 241 (241) w:sem 4 351 wq:INS1 165 16.506 4460/ 6004 240 (240) w:sem 4 354 commander 7 0.700 1468/ 3220 140 (140) READY 5 367 wq:UART3 0 0.044 892/ 1540 231 (231) w:sem 4 411 gps 1 0.148 1036/ 1684 205 (205) READY 4 444 mavlink_if1 12 1.294 1852/ 2740 100 (100) READY 4 445 mavlink_rcv_if1 4 0.446 1476/ 4460 175 (175) w:sem 4 459 mavlink_if2 29 2.947 1852/ 2740 100 (100) READY 4 460 mavlink_rcv_if2 11 1.136 1772/ 4460 175 (175) READY 4 480 px4io 34 3.448 1008/ 1484 237 (237) w:sem 4 552 log_writer_file 5 0.514 748/ 1172 60 ( 60) w:sem 5 506 navigator 1 0.148 1476/ 1772 105 (105) READY 6 549 logger 94 9.440 2884/ 3644 230 (230) RUN 5 Processes: 29 total, 8 running, 21 sleeping, max FDs: 12 CPU usage: 83.46% tasks, 2.63% sched, 13.91% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 671.302s total, 151.398s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 155693 15.059 248/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1268 249 (249) w:sig 3 2 lpwork 9 0.925 1028/ 1620 50 ( 50) w:sig 3 3 init 0 0.000 2284/ 2932 100 (100) w:sem 3 4 wq:manager 0 0.000 444/ 1260 255 (255) w:sem 4 26 wq:lp_default 7 0.796 1348/ 1924 205 (205) w:sem 4 28 wq:hp_default 13 1.323 1348/ 1900 237 (237) w:sem 4 33 dataman 1 0.162 796/ 1204 90 ( 90) w:sem 4 43 wq:I2C1 3 0.390 952/ 2340 246 (246) w:sem 4 251 wq:uavcan 15 1.590 1868/ 3628 236 (236) w:sem 4 269 wq:SPI1 99 9.874 1640/ 2340 253 (253) w:sem 4 274 wq:SPI4 3 0.325 936/ 2340 250 (250) w:sem 4 276 wq:I2C3 3 0.327 1076/ 2340 244 (244) w:sem 4 300 wq:SPI5 7 0.792 868/ 2340 249 (249) w:sem 4 343 wq:nav_and_controllers 57 5.783 1620/ 2244 242 (242) w:sem 4 344 wq:rate_ctrl 96 9.597 1628/ 1956 255 (255) w:sem 4 345 wq:INS0 163 16.330 4460/ 6004 241 (241) w:sem 4 351 wq:INS1 160 15.967 4460/ 6004 240 (240) w:sem 4 354 commander 15 1.574 1468/ 3220 140 (140) READY 5 367 wq:UART3 0 0.048 892/ 1540 231 (231) w:sem 4 411 gps 1 0.156 1036/ 1684 205 (205) w:sem 4 444 mavlink_if1 14 1.491 1852/ 2740 100 (100) w:sig 4 445 mavlink_rcv_if1 3 0.332 1484/ 4460 175 (175) w:sem 4 459 mavlink_if2 36 3.668 1852/ 2740 100 (100) READY 4 460 mavlink_rcv_if2 13 1.313 1772/ 4460 175 (175) READY 4 480 px4io 34 3.445 1008/ 1484 237 (237) w:sem 4 552 log_writer_file 6 0.639 748/ 1172 60 ( 60) w:sem 4 506 navigator 2 0.217 1476/ 1772 105 (105) w:sem 6 549 logger 51 5.171 2884/ 3644 230 (230) RUN 4 Processes: 29 total, 5 running, 24 sleeping, max FDs: 12 CPU usage: 82.24% tasks, 2.70% sched, 15.06% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 713.701s total, 155.693s idle
Performance Counters
Pre Flight:
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: vehicle_gps_position messages missed: 0 events logger_sd_fsync_mission: 72 events, 2929939us elapsed, 40693.60us avg, min 6us max 217803us 68359.977us rms logger_sd_write_mission: 120 events, 67503us elapsed, 562.53us avg, min 6us max 29431us 3160.188us rms logger_sd_fsync: 78 events, 3368453us elapsed, 43185.29us avg, min 1627us max 239019us 72575.141us rms logger_sd_write: 520 events, 12808681us elapsed, 24632.08us avg, min 9us max 250101us 67523.984us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 35 events ekf2: ECL full update: 43627 events, 47874144us elapsed, 1097.35us avg, min 158us max 13720us 1275.290us rms ekf2: ECL update: 43133 events, 274488us elapsed, 6.36us avg, min 3us max 5739us 65.724us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 18854 events, 22642.99 avg, min 69us max 10004173us 162471.328us rms gyro_fft: gyro FIFO data gap: 17142 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 1519 events, 1016796us elapsed, 669.39us avg, min 276us max 6967us 1156.300us rms gyro_fft: cycle interval: 90936 events, 4802.22 avg, min 28us max 51229us 2600.869us rms gyro_fft: cycle: 90936 events, 5765832us elapsed, 63.41us avg, min 3us max 29390us 485.805us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 43685 events, 34921910us elapsed, 799.40us avg, min 157us max 4540us 658.578us rms ekf2: ECL update: 44007 events, 291328us elapsed, 6.62us avg, min 3us max 285us 17.888us rms navigator: 8871 events, 6393567us elapsed, 720.73us avg, min 20us max 208007us 21680.904us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 35 events ekf2: ECL full update: 43626 events, 44597690us elapsed, 1022.27us avg, min 159us max 15032us 1275.989us rms ekf2: ECL update: 43135 events, 318201us elapsed, 7.38us avg, min 4us max 4940us 50.018us rms land_detector: cycle: 43682 events, 1006504us elapsed, 23.04us avg, min 16us max 321us 25.360us rms mc_pos_control: cycle time: 43682 events, 2765268us elapsed, 63.30us avg, min 47us max 414us 40.137us rms flight_mode_manager: cycle: 21842 events, 2139322us elapsed, 97.95us avg, min 34us max 431us 51.004us rms mc_hover_thrust_estimator: cycle time: 43682 events, 176651us elapsed, 4.04us avg, min 1us max 290us 10.846us rms mc_att_control: cycle: 87351 events, 1713274us elapsed, 19.61us avg, min 14us max 272us 15.483us rms mc_rate_control: cycle: 349542 events, 6704354us elapsed, 19.18us avg, min 14us max 55us 3.925us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 43686 events, 34867394us elapsed, 798.14us avg, min 157us max 4313us 654.113us rms ekf2: ECL update: 44007 events, 279735us elapsed, 6.36us avg, min 4us max 297us 10.374us rms io control latency: 166074 events, 103074082us elapsed, 620.65us avg, min 318us max 9848us 395.437us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 166096 events, 157928174us elapsed, 950.82us avg, min 251us max 72390us 2369.093us rms io_txns: 306175 events, 148561301us elapsed, 485.22us avg, min 139us max 39727us 1137.388us rms pwm_out: interval: 349590 events, 1249.79 avg, min 614us max 1564us 17.432us rms pwm_out: cycle: 349590 events, 19441133us elapsed, 55.61us avg, min 47us max 103us 5.463us rms control latency: 349590 events, 101715035us elapsed, 290.96us avg, min 245us max 809us 12.340us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 93443 events, 4675.59 avg, min 2125us max 159094us 3603.597us rms mavlink: tx run elapsed: 93443 events, 51837582us elapsed, 554.75us avg, min 95us max 97384us 1998.069us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 40529 events, 10779.85 avg, min 9134us max 162186us 4325.179us rms mavlink: tx run elapsed: 40529 events, 14149981us elapsed, 349.13us avg, min 107us max 59785us 1859.002us rms cm8jl65: read: 8739 events, 205087us elapsed, 23.47us avg, min 10us max 3489us 165.650us rms cm8jl65: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 40908 events, 1997121us elapsed, 48.82us avg, min 17us max 497us 50.946us rms vehicle_gps_position: cycle: 2184 events, 45189us elapsed, 20.69us avg, min 14us max 278us 32.120us rms vehicle_imu: gyro data gap: 355 events vehicle_imu: accel data gap: 355 events battery_status: 43241 events, 2188558us elapsed, 50.61us avg, min 21us max 24356us 329.502us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_air_data: cycle: 32622 events, 820762us elapsed, 25.16us avg, min 14us max 321us 32.079us rms vehicle_angular_velocity: gyro selection changed: 4 events vehicle_angular_velocity: gyro filter reset: 4 events sensors: 87387 events, 5104963us elapsed, 58.42us avg, min 36us max 571us 43.659us rms pmw3901: com err: 0 events pmw3901: read: 21846 events, 1869932us elapsed, 85.60us avg, min 68us max 324us 49.366us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 43496 events, 243369us elapsed, 5.60us avg, min 3us max 250us 15.356us rms ms5611: read: 43496 events, 798895us elapsed, 18.37us avg, min 8us max 249us 27.232us rms 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: 519228 events, 3752146us elapsed, 7.23us avg, min 3us max 19698us 116.870us rms rc_update: valid data interval: 20271 events, 21553.26 avg, min 1947us max 92078us 3972.151us rms rc_update: cycle interval: 20271 events, 21553.26 avg, min 1947us max 92080us 3956.376us rms rc_update: cycle: 20271 events, 999071us elapsed, 49.29us avg, min 20us max 19365us 375.156us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 128171 events, 3408.85 avg, min 30us max 40240us 2180.647us rms uavcan: cycle time: 128171 events, 10852166us elapsed, 84.67us avg, min 20us max 23589us 472.939us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 874 events, 233420us elapsed, 267.07us avg, min 85us max 16785us 851.945us rms dataman: write: 20 events, 108044us elapsed, 5402.20us avg, min 232us max 15113us 5212.075us rms dataman: read: 2361 events, 5294284us elapsed, 2242.39us avg, min 29us max 199975us 41927.293us rms dma_alloc: 2 events param: set: 3 events, 17us elapsed, 5.67us avg, min 2us max 12us 147.989us rms param: get: 91081 events param: find: 95664 events param: export: 1 events, 48275us elapsed, 48275.00us avg, min 48275us max 48275us nanus rms
Post Flight:
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: vehicle_gps_position messages missed: 0 events logger_sd_fsync_mission: 56 events, 2343235us elapsed, 41843.48us avg, min 6us max 229311us 92411.383us rms logger_sd_write_mission: 96 events, 76305us elapsed, 794.84us avg, min 6us max 38795us 5740.719us rms logger_sd_fsync: 62 events, 2390327us elapsed, 38553.66us avg, min 9us max 298817us 101423.273us rms logger_sd_write: 412 events, 9677701us elapsed, 23489.57us avg, min 8us max 432078us 86427.328us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 24 events ekf2: ECL full update: 4287 events, 7938752us elapsed, 1851.82us avg, min 159us max 13623us 4474.045us rms ekf2: ECL update: 3892 events, 33006us elapsed, 8.48us avg, min 4us max 3292us 232.158us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4 events, 7498700.00 avg, min 9994400us max 10001516us 2937.494us rms gyro_fft: gyro FIFO data gap: 2579 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_fft: cycle interval: 5866 events, 7357.82 avg, min 29us max 60778us 5833.951us rms gyro_fft: cycle: 5866 events, 528655us elapsed, 90.12us avg, min 3us max 21884us 2081.705us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4319 events, 5281810us elapsed, 1222.92us avg, min 159us max 4199us 2270.305us rms ekf2: ECL update: 4347 events, 29520us elapsed, 6.79us avg, min 4us max 266us 57.868us rms navigator: 863 events, 3360344us elapsed, 3893.79us avg, min 20us max 281972us 72587.172us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 24 events ekf2: ECL full update: 4288 events, 7948580us elapsed, 1853.68us avg, min 162us max 15146us 4530.158us rms ekf2: ECL update: 3892 events, 32399us elapsed, 8.32us avg, min 4us max 3075us 177.543us rms land_detector: cycle: 4316 events, 108130us elapsed, 25.05us avg, min 17us max 308us 84.723us rms mc_pos_control: cycle time: 4316 events, 291579us elapsed, 67.56us avg, min 47us max 342us 134.373us rms flight_mode_manager: cycle: 2159 events, 275674us elapsed, 127.69us avg, min 76us max 382us 171.076us rms mc_hover_thrust_estimator: cycle time: 4316 events, 42826us elapsed, 9.92us avg, min 1us max 210us 38.207us rms mc_att_control: cycle: 8651 events, 178349us elapsed, 20.62us avg, min 14us max 260us 51.275us rms mc_rate_control: cycle: 34644 events, 677025us elapsed, 19.54us avg, min 14us max 51us 12.822us rms ekf2: optical_flow messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4319 events, 5047345us elapsed, 1168.64us avg, min 160us max 4335us 2255.686us rms ekf2: ECL update: 4348 events, 28745us elapsed, 6.61us avg, min 4us max 174us 33.840us rms io control latency: 11188 events, 7529679us elapsed, 673.01us avg, min 326us max 9268us 1566.520us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 11188 events, 19777496us elapsed, 1767.74us avg, min 252us max 60866us 10015.508us rms io_txns: 24012 events, 18652765us elapsed, 776.81us avg, min 135us max 30387us 4530.876us rms pwm_out: interval: 34645 events, 1246.32 avg, min 803us max 1524us 16.510us rms pwm_out: cycle: 34645 events, 1885911us elapsed, 54.44us avg, min 48us max 91us 17.848us rms control latency: 34645 events, 10592790us elapsed, 305.75us avg, min 246us max 768us 40.851us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5357 events, 8057.00 avg, min 2148us max 147821us 9598.987us rms mavlink: tx run elapsed: 5357 events, 6570627us elapsed, 1226.55us avg, min 95us max 88400us 9544.498us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2856 events, 15111.71 avg, min 9125us max 138689us 11542.518us rms mavlink: tx run elapsed: 2856 events, 3017009us elapsed, 1056.38us avg, min 108us max 79724us 8358.407us rms cm8jl65: read: 863 events, 51680us elapsed, 59.88us avg, min 10us max 7681us 707.330us rms cm8jl65: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 4045 events, 198623us elapsed, 49.10us avg, min 17us max 329us 167.636us rms vehicle_gps_position: cycle: 216 events, 5115us elapsed, 23.68us avg, min 14us max 210us 108.040us rms vehicle_imu: gyro data gap: 275 events vehicle_imu: accel data gap: 275 events battery_status: 4002 events, 364353us elapsed, 91.04us avg, min 21us max 17847us 1252.531us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_air_data: cycle: 3223 events, 79634us elapsed, 24.71us avg, min 14us max 291us 105.171us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 8667 events, 542285us elapsed, 62.57us avg, min 37us max 360us 140.641us rms pmw3901: com err: 0 events pmw3901: read: 2159 events, 185042us elapsed, 85.71us avg, min 68us max 310us 162.254us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4298 events, 25243us elapsed, 5.87us avg, min 3us max 199us 50.948us rms ms5611: read: 4298 events, 78886us elapsed, 18.35us avg, min 8us max 298us 89.484us rms 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: 48276 events, 571265us elapsed, 11.83us avg, min 3us max 15481us 433.093us rms rc_update: valid data interval: 1858 events, 23231.08 avg, min 2366us max 78072us 7659.123us rms rc_update: cycle interval: 1858 events, 23231.07 avg, min 2393us max 78072us 7611.116us rms rc_update: cycle: 1858 events, 194070us elapsed, 104.45us avg, min 21us max 16178us 1496.203us rms uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 9643 events, 4478.09 avg, min 33us max 41276us 4170.153us rms uavcan: cycle time: 9643 events, 1127217us elapsed, 116.89us avg, min 20us max 19121us 1865.216us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 87 events, 19955us elapsed, 229.37us avg, min 85us max 3546us 2750.222us rms dataman: write: 2 events, 64437us elapsed, 32218.50us avg, min 6232us max 58205us 43205.848us rms dataman: read: 245 events, 3020500us elapsed, 12328.57us avg, min 32us max 252544us 134860.531us rms dma_alloc: 1 events param: set: 3 events, 22us elapsed, 7.33us avg, min 2us max 17us 148.227us rms param: get: 449 events param: find: 394 events param: export: 1 events, 45767us elapsed, 45767.00us avg, min 45767us max 45767us nanus rms