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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | v1.15.4 (99c40407) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:18 |
| Dropouts: | 6 (1.71 s) |
| Vehicle Life Flight Time: | 19 minutes 49 seconds |
| Vehicle UUID: | 000100000000303639393233510900260023 |
| Distance: | 161.5 m |
| Max Altitude Difference: | 19 m |
| Average Speed: | 5.6 km/h |
| Max Speed: | 34.0 km/h |
| Max Speed Horizontal: | 31.8 km/h |
| Max Speed Up: | 12.7 km/h |
| Max Speed Down: | 34.0 km/h |
| Max Tilt Angle: | 168.0 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 87031 33.208 288/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 284/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2348/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 3 5 wq:lp_default 0 0.078 1428/ 1896 205 (205) w:sem 3 382 wq:rate_ctrl 131 13.103 2492/ 3120 255 (255) w:sem 3 319 wq:hp_default 15 1.591 1056/ 2776 237 (237) w:sem 3 343 dataman 0 0.002 860/ 1376 90 ( 90) w:sem 5 348 wq:I2C2 2 0.274 872/ 2312 245 (245) w:sem 3 1653 log_writer_file 8 0.828 692/ 1144 60 ( 60) w:sem 4 408 wq:SPI1 77 7.702 1660/ 2368 253 (253) w:sem 3 554 wq:I2C1 7 0.796 880/ 2312 246 (246) w:sem 3 601 wq:nav_and_controllers 59 5.981 1484/ 2216 242 (242) w:sem 3 603 wq:INS0 136 13.628 3644/ 5976 241 (241) w:sem 3 614 commander 10 1.028 1588/ 3192 140 (140) READY 5 1518 gps 2 0.268 1188/ 1936 205 (205) w:sem 4 1565 mavlink_if0 20 2.038 1932/ 2704 100 (100) READY 5 1575 mavlink_rcv_if0 4 0.444 1540/ 4776 175 (175) w:sem 5 1611 navigator 2 0.219 1708/ 2104 105 (105) w:sem 11 1652 logger 168 16.875 3452/ 3616 230 (230) RUN 4 Processes: 21 total, 4 running, 17 sleeping CPU usage: 64.86% tasks, 1.93% sched, 33.21% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 211.168s total, 87.032s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 125013 42.201 288/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 284/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2348/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 4 5 wq:lp_default 48 4.818 1428/ 1896 205 (205) READY 4 382 wq:rate_ctrl 130 13.030 2492/ 3120 255 (255) w:sem 4 319 wq:hp_default 15 1.586 1056/ 2776 237 (237) w:sem 4 343 dataman 0 0.002 860/ 1376 90 ( 90) w:sem 5 348 wq:I2C2 3 0.327 872/ 2312 245 (245) w:sem 4 1653 log_writer_file 3 0.303 692/ 1144 60 ( 60) w:sem 4 408 wq:SPI1 77 7.705 1660/ 2368 253 (253) w:sem 4 554 wq:I2C1 7 0.796 880/ 2312 246 (246) w:sem 4 601 wq:nav_and_controllers 60 6.028 1484/ 2216 242 (242) w:sem 4 603 wq:INS0 131 13.079 3644/ 5976 241 (241) w:sem 4 614 commander 11 1.176 1588/ 3192 140 (140) READY 5 1518 gps 2 0.298 1188/ 1936 205 (205) w:sem 4 1565 mavlink_if0 24 2.427 1932/ 2704 100 (100) w:sig 5 1575 mavlink_rcv_if0 5 0.528 1540/ 4776 175 (175) w:sem 5 1611 navigator 2 0.206 1708/ 2104 105 (105) w:sem 11 1652 logger 36 3.626 3484/ 3616 230 (230) RUN 4 Processes: 21 total, 4 running, 17 sleeping CPU usage: 55.94% tasks, 1.86% sched, 42.20% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 289.015s total, 125.014s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events 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: 22 events, 79782us elapsed, 3626.45us avg, min 136us max 8218us 2487.406us rms logger_sd_write: 71 events, 662032us elapsed, 9324.39us avg, min 15us max 522041us 61741.574us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 16 events, 16255.69 avg, min 71us max 21494us 6793.425us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 215 events, 20344us elapsed, 94.62us avg, min 37us max 1159us 919.576us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 953 events, 10635.06 avg, min 9236us max 78345us 3417.243us rms mavlink: tx run elapsed: 953 events, 536921us elapsed, 563.40us avg, min 220us max 68126us 5648.606us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 164 events, 14630us elapsed, 89.21us avg, min 1us max 767us 1591.270us rms land_detector: cycle: 1134 events, 35122us elapsed, 30.97us avg, min 26us max 344us 197.187us rms mc_pos_control: cycle time: 1134 events, 22411us elapsed, 19.76us avg, min 15us max 337us 232.788us rms flight_mode_manager: cycle: 511 events, 5613us elapsed, 10.98us avg, min 8us max 253us 2965.643us rms mc_hover_thrust_estimator: cycle time: 1134 events, 2153us elapsed, 1.90us avg, min 1us max 52us 32.604us rms mc_att_control: cycle: 2267 events, 106066us elapsed, 46.79us avg, min 40us max 124us 36.308us rms mc_rate_control: cycle: 6772 events, 157636us elapsed, 23.28us avg, min 20us max 85us 12.697us rms control_allocator: cycle: 6773 events, 452355us elapsed, 66.79us avg, min 57us max 488us 37.723us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1134 events, 804373us elapsed, 709.32us avg, min 400us max 16383us 2167.610us rms pwm_out: interval: 34 events, 291174.59 avg, min 298061us max 301937us 790.023us rms pwm_out: cycle: 34 events, 339us elapsed, 9.97us avg, min 5us max 92us 132.092us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 97 events, 46212us elapsed, 476.41us avg, min 228us max 11965us 2654.086us rms commander: cycle: 878 events, 206402us elapsed, 235.08us avg, min 81us max 12048us 1685.943us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 1280 events, 113071us elapsed, 88.34us avg, min 44us max 4743us 401.890us rms vehicle_gps_position: cycle: 51 events, 1366us elapsed, 26.78us avg, min 17us max 305us 170.632us rms vehicle_air_data: cycle: 729 events, 30640us elapsed, 42.03us avg, min 32us max 309us 62.006us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 6782 events, 265443us elapsed, 39.14us avg, min 35us max 278us 18.491us rms sensors: 2271 events, 165282us elapsed, 72.78us avg, min 49us max 6370us 357.546us rms battery_status: 1024 events, 44835us elapsed, 43.78us avg, min 23us max 2640us 716.766us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 1282 events, 1235597us elapsed, 963.80us avg, min 875us max 1935us 794.653us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 974 events, 7106us elapsed, 7.30us avg, min 6us max 229us 19.624us rms ms5611: read: 974 events, 22594us elapsed, 23.20us avg, min 11us max 261us 51.256us rms board_adc: sample: 10240 events, 68388us elapsed, 6.68us avg, min 4us max 1966us 230.705us rms manual_control: interval: 444 events, 23067.11 avg, min 12448us max 45718us 4213.482us rms manual_control: cycle: 444 events, 15553us elapsed, 35.03us avg, min 25us max 439us 211.359us rms rc_update: valid data interval: 456 events, 22460.08 avg, min 12515us max 37570us 2134.791us rms rc_update: cycle interval: 456 events, 22460.08 avg, min 12830us max 37570us 2128.017us rms rc_update: cycle: 456 events, 18434us elapsed, 40.43us avg, min 25us max 346us 68.925us rms control latency: 4081 events, 3865557us elapsed, 947.21us avg, min 910us max 2527us 405.053us rms px4io: interface write: 4091 events, 1005573us elapsed, 245.80us avg, min 134us max 330us 25.791us rms px4io: interface read: 2292 events, 611419us elapsed, 266.76us avg, min 148us max 607us 361.368us rms px4io: interval: 4082 events, 2510.76 avg, min 410us max 7785us 740.967us rms px4io: cycle: 4082 events, 1771293us elapsed, 433.93us avg, min 275us max 7566us 1664.266us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 6386 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 6385 events, 1548711us elapsed, 242.55us avg, min 124us max 590us 231.671us rms rgbled: led_control message missed: 0 events load_mon: cycle: 21 events, 6117us elapsed, 291.29us avg, min 192us max 880us 1475.257us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 5 events param: set: 30 events, 1863us elapsed, 62.10us avg, min 2us max 454us 153.005us rms param: get: 4239 events param: find: 1494 events param: export: 1 events, 15693us elapsed, 15693.00us avg, min 15693us max 15693us infus rms
Post Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events 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: 220 events, 1349229us elapsed, 6132.86us avg, min 12us max 639754us 43016.367us rms logger_sd_write: 656 events, 3391398us elapsed, 5169.81us avg, min 662us max 504211us 42758.211us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7 events, 8571157.57 avg, min 9998103us max 10000855us 878.492us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 1673 events, 159508us elapsed, 95.34us avg, min 34us max 1031us 356.143us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 7685 events, 10272.42 avg, min 9236us max 76163us 1055.163us rms mavlink: tx run elapsed: 7685 events, 3471401us elapsed, 451.71us avg, min 219us max 66753us 2176.806us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 7 events, 452us elapsed, 64.57us avg, min 1us max 110us 8294.036us rms land_detector: cycle: 8764 events, 282677us elapsed, 32.25us avg, min 25us max 380us 75.013us rms mc_pos_control: cycle time: 8764 events, 590915us elapsed, 67.43us avg, min 14us max 432us 89.090us rms flight_mode_manager: cycle: 3949 events, 191044us elapsed, 48.38us avg, min 8us max 610us 1066.184us rms mc_hover_thrust_estimator: cycle time: 8125 events, 111928us elapsed, 13.78us avg, min 1us max 238us 17.857us rms mc_att_control: cycle: 17529 events, 502869us elapsed, 28.69us avg, min 20us max 137us 16.144us rms mc_rate_control: cycle: 52346 events, 1259459us elapsed, 24.06us avg, min 20us max 54us 5.218us rms control_allocator: cycle: 52346 events, 3513000us elapsed, 67.11us avg, min 56us max 110us 15.607us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 8765 events, 5494978us elapsed, 626.92us avg, min 332us max 2996us 877.039us rms pwm_out: interval: 264 events, 298863.69 avg, min 297528us max 302471us 822.805us rms pwm_out: cycle: 264 events, 2189us elapsed, 8.29us avg, min 5us max 55us 47.180us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 777 events, 290239us elapsed, 373.54us avg, min 227us max 3461us 993.734us rms commander: cycle: 7013 events, 1574180us elapsed, 224.47us avg, min 79us max 9868us 671.884us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 9886 events, 803849us elapsed, 81.31us avg, min 44us max 432us 166.648us rms vehicle_gps_position: cycle: 395 events, 9809us elapsed, 24.83us avg, min 17us max 312us 68.571us rms vehicle_air_data: cycle: 5636 events, 240019us elapsed, 42.59us avg, min 32us max 342us 40.377us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 52350 events, 2042419us elapsed, 39.01us avg, min 35us max 130us 7.637us rms sensors: 17531 events, 1212380us elapsed, 69.16us avg, min 49us max 515us 130.711us rms battery_status: 7899 events, 335256us elapsed, 42.44us avg, min 23us max 2596us 281.998us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 10017 events, 9615347us elapsed, 959.90us avg, min 873us max 1970us 333.072us rms mpu6000: DRDY missed: 0 events mpu6000: FIFO reset: 0 events mpu6000: FIFO overflow: 0 events mpu6000: FIFO empty: 0 events mpu6000: bad transfer: 0 events mpu6000: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 7613 events, 56017us elapsed, 7.36us avg, min 6us max 261us 12.602us rms ms5611: read: 7613 events, 185800us elapsed, 24.41us avg, min 11us max 279us 38.850us rms board_adc: sample: 80040 events, 558264us elapsed, 6.97us avg, min 4us max 2766us 92.996us rms manual_control: interval: 3529 events, 22674.32 avg, min 12529us max 66520us 2979.172us rms manual_control: cycle: 3529 events, 115720us elapsed, 32.79us avg, min 23us max 389us 82.816us rms rc_update: valid data interval: 3560 events, 22476.88 avg, min 12530us max 37952us 1981.191us rms rc_update: cycle interval: 3560 events, 22476.88 avg, min 12530us max 37953us 1978.603us rms rc_update: cycle: 3560 events, 158884us elapsed, 44.63us avg, min 25us max 427us 49.193us rms control latency: 31893 events, 30212260us elapsed, 947.30us avg, min 910us max 2537us 169.418us rms px4io: interface write: 31894 events, 7825176us elapsed, 245.35us avg, min 137us max 299us 10.436us rms px4io: interface read: 17338 events, 4679056us elapsed, 269.87us avg, min 148us max 613us 209.385us rms px4io: interval: 31894 events, 2509.40 avg, min 411us max 7744us 732.728us rms px4io: cycle: 31894 events, 13726554us elapsed, 430.38us avg, min 275us max 7531us 785.280us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 49233 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 49233 events, 11974572us elapsed, 243.22us avg, min 125us max 602us 127.819us rms rgbled: led_control message missed: 0 events load_mon: cycle: 159 events, 47148us elapsed, 296.53us avg, min 192us max 1531us 556.513us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 4 events param: set: 3 events, 15us elapsed, 5.00us avg, min 2us max 7us 582.633us rms param: get: 4480 events param: find: 6616 events param: export: 1 events, 14609us elapsed, 14609.00us avg, min 14609us max 14609us infus rms