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PX4 Octorotor | Open 3D ViewOpen PID Analysis |
coaxial octo fall down
| Airframe: | Generic 10" Octo coaxial geometry Octorotor Coaxial (12001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.13.3 (1c8ab2a0) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:09 |
| Dropouts: | 3 (0.97 s) |
| Vehicle Life Flight Time: | 1 hours 44 minutes 17 seconds |
| Vehicle UUID: | 0006000000003737393034305108001b003b |
| Distance: | 5.2 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 2.1 km/h |
| Max Speed: | 12.1 km/h |
| Max Speed Horizontal: | 8.4 km/h |
| Max Speed Up: | 5.6 km/h |
| Max Speed Down: | 8.7 km/h |
| Max Tilt Angle: | 105.6 deg |
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Console Output
FO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 112 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118112/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.32%(4116527/5000149) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4117618/5000023) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118474/5000046) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120442/5000201) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121414/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119486/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120141/5000115) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120806/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119204/5000066) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119204/5000017) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4121077/5000403) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 112 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4118060/5000239) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121173/5000107) INFO [commander] Connection to ground station lost INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4117711/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120792/5000128) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120257/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120583/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118200/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.36%(4118235/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120434/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.43%(4121761/5000010) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.41%(4120935/5000383) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.39%(4119707/5000016) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 112 free INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4117803/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119429/5000393) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119185/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.35%(4117531/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.40%(4120163/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.38%(4119387/5000087) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.44%(4122371/5000015) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.34%(4117482/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118843/5000016) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4119314/5000399) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.37%(4118949/5000052) INFO [uavcan:125:miss] 0 INFO [uavcan:125:load] idle 82.42%(4121342/5000119) INFO [uavcan:125:] lpwork_thread : 224 free INFO [uavcan:125:] idle : 80 free INFO [uavcan:125:] can_thread : 136 free INFO [uavcan:125:] hpwork_thread : 24 free INFO [uavcan:125:] noname : 208 free INFO [uavcan:125:] exceptions : 112 free INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-01-22/12_50_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-01-22/12_50_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 190003 49.961 272/ 512 0 ( 0) READY 0 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 0 2 lpwork 0 0.001 860/ 1616 50 ( 50) w:sig 0 4 wq:manager 0 0.000 548/ 1256 255 (255) w:sem 1 63 wq:hp_default 52 5.197 1180/ 1904 237 (237) w:sem 1 78 dataman 0 0.010 828/ 1208 90 ( 90) w:sem 4 86 wq:lp_default 0 0.036 996/ 1920 205 (205) READY 1 330 wq:SPI4 76 7.609 1592/ 2336 250 (250) w:sem 1 341 wq:SPI1 42 4.220 1572/ 2336 253 (253) w:sem 1 493 wq:nav_and_controllers 32 3.205 1540/ 2240 242 (242) w:sem 1 503 wq:rate_ctrl 50 5.002 1420/ 3152 255 (255) w:sem 1 504 wq:INS0 47 4.744 4260/ 6000 241 (241) w:sem 1 505 wq:INS1 45 4.509 4260/ 6000 240 (240) w:sem 1 507 wq:INS2 48 4.845 4260/ 6000 239 (239) w:sem 1 509 commander 5 0.502 1444/ 3224 140 (140) w:sig 5 572 mavlink_if0 7 0.755 1844/ 2792 100 (100) w:sig 4 574 mavlink_rcv_if0 2 0.272 1372/ 4712 175 (175) READY 4 656 gps 0 0.050 1204/ 1680 205 (205) w:sig 3 722 mavlink_if1 11 1.191 1868/ 2728 100 (100) READY 4 723 mavlink_rcv_if1 2 0.220 1404/ 4712 175 (175) w:sem 4 775 navigator 0 0.093 1068/ 1920 105 (105) w:sem 6 840 logger 35 3.511 2828/ 3648 230 (230) RUN 4 852 wq:uavcan 15 1.512 3108/ 3624 236 (236) w:sem 1 858 log_writer_file 9 0.976 588/ 1176 60 ( 60) w:sem 4 Processes: 24 total, 5 running, 19 sleeping CPU usage: 48.46% tasks, 1.57% sched, 49.96% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 371.516s total, 190.003s 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 ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 162244 events, 2279.12 avg, min 15us max 21090us 1096.302us rms uavcan: cycle time: 162244 events, 7176050us elapsed, 44.23us avg, min 10us max 21085us 127.180us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms 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 gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 18490 events, 19998.92 avg, min 15068us max 24932us 300.081us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 78286 events, 16490860us elapsed, 210.65us avg, min 158us max 3189us 103.289us rms gyro_fft: cycle interval: 139288 events, 2655.11 avg, min 185us max 5898us 212.725us rms gyro_fft: cycle: 139288 events, 18424042us elapsed, 132.27us avg, min 2us max 3293us 134.775us rms navigator: 7521 events, 695754us elapsed, 92.51us avg, min 12us max 14830us 308.096us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 36328 events, 10179.44 avg, min 9110us max 34172us 1071.790us rms mavlink: tx run elapsed: 36328 events, 6580208us elapsed, 181.13us avg, min 79us max 12850us 183.546us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 72043 events, 5134.12 avg, min 4030us max 29354us 1097.511us rms mavlink: tx run elapsed: 72043 events, 3615946us elapsed, 50.19us avg, min 22us max 3107us 92.128us rms mag_bias_estimator: cycle: 18495 events, 503444us elapsed, 27.22us avg, min 1us max 2146us 66.742us rms land_detector: cycle: 34709 events, 472580us elapsed, 13.62us avg, min 10us max 220us 7.442us rms mc_pos_control: cycle time: 34693 events, 1017683us elapsed, 29.33us avg, min 5us max 332us 12.466us rms flight_mode_manager: cycle: 18412 events, 491181us elapsed, 26.68us avg, min 4us max 515us 14.723us rms mc_hover_thrust_estimator: cycle time: 32626 events, 37096us elapsed, 1.14us avg, min 1us max 133us 2.084us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 68010 events, 877337us elapsed, 12.90us avg, min 8us max 309us 10.726us rms mc_rate_control: cycle: 278032 events, 3252139us elapsed, 11.70us avg, min 10us max 250us 1.206us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 34278 events, 5016604us elapsed, 146.35us avg, min 83us max 2372us 118.222us rms ekf2: ECL update: 35349 events, 126609us elapsed, 3.58us avg, min 1us max 1089us 13.212us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 34582 events, 4692899us elapsed, 135.70us avg, min 80us max 1516us 91.138us rms ekf2: ECL update: 35658 events, 104551us elapsed, 2.93us avg, min 1us max 859us 9.300us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 4 events ekf2: ECL full update: 36352 events, 4789427us elapsed, 131.75us avg, min 79us max 598us 61.691us rms ekf2: ECL update: 37457 events, 95877us elapsed, 2.56us avg, min 1us max 150us 2.851us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 34660 events, 5062418us elapsed, 146.06us avg, min 80us max 2287us 110.095us rms ekf2: ECL update: 34968 events, 129578us elapsed, 3.71us avg, min 1us max 932us 11.427us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 34968 events, 5309518us elapsed, 151.84us avg, min 79us max 1415us 105.349us rms ekf2: ECL update: 35272 events, 123828us elapsed, 3.51us avg, min 1us max 633us 7.553us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 3 events ekf2: ECL full update: 36749 events, 4615511us elapsed, 125.60us avg, min 80us max 552us 61.756us rms ekf2: ECL update: 37063 events, 120164us elapsed, 3.24us avg, min 1us max 135us 3.667us rms pwm_out: interval: 5 events, 12052.80 avg, min 243us max 20008us 8558.063us rms pwm_out: cycle: 5 events, 426us elapsed, 85.20us avg, min 3us max 234us 113.992us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 147873 events, 80132439us elapsed, 541.90us avg, min 446us max 1802us 52.325us rms px4io: interface write: 147890 events, 34422020us elapsed, 232.75us avg, min 120us max 295us 3.724us rms px4io: interface read: 61238 events, 11241055us elapsed, 183.56us avg, min 135us max 338us 72.549us rms px4io: interval: 147879 events, 2502.13 avg, min 293us max 41099us 468.738us rms px4io: cycle: 147879 events, 50271015us elapsed, 339.95us avg, min 4us max 6077us 293.375us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 209129 events px4io: uarterrs: 0 events px4io: protoerrs: 1 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 209129 events, 44621407us elapsed, 213.37us avg, min 116us max 333us 44.834us rms commander: preflight check: 736 events, 8557780us elapsed, 11627.42us avg, min 612us max 17398us 928.887us rms commander: cycle: 32827 events, 11379628us elapsed, 346.65us avg, min 37us max 23458us 1741.238us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 25125 events, 807436us elapsed, 32.14us avg, min 5us max 652us 19.365us rms vehicle_gps_position: cycle: 1839 events, 21742us elapsed, 11.82us avg, min 3us max 140us 12.573us rms vehicle_air_data: cycle: 27472 events, 634552us elapsed, 23.10us avg, min 12us max 228us 15.191us rms vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 278265 events, 4945834us elapsed, 17.77us avg, min 8us max 374us 1.622us rms sensors: 69721 events, 3135173us elapsed, 44.97us avg, min 21us max 3408us 33.018us rms battery_status: 37025 events, 777988us elapsed, 21.01us avg, min 13us max 2144us 48.832us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 36786 events, 150348us elapsed, 4.09us avg, min 3us max 97us 1.088us rms ms5611: read: 36785 events, 514913us elapsed, 14.00us avg, min 10us max 80us 2.098us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 36638 events, 173520us elapsed, 4.74us avg, min 4us max 129us 4.776us rms ms5611: read: 36637 events, 676248us elapsed, 18.46us avg, min 11us max 146us 10.575us rms board_adc: sample: 259252 events, 2945144us elapsed, 11.36us avg, min 7us max 14770us 48.938us rms manual_control: interval: 2186 events, 169409.79 avg, min 31us max 201619us 58509.934us rms manual_control: cycle: 2186 events, 27939us elapsed, 12.78us avg, min 6us max 705us 25.610us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 741 events, 89166us elapsed, 120.33us avg, min 2us max 1546us 138.140us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1981 events, 506641us elapsed, 255.75us avg, min 19us max 35315us 1002.588us rms dma_alloc: 21 events param: set: 79 events, 916us elapsed, 11.59us avg, min 1us max 21us 5.436us rms param: get: 33660 events param: find: 39242 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms