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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Dual antenna GPS and standard GPS together 1
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4FMU_V5 (V500) |
| Software Version: | 9887c463 branch: A700-dual_gps |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:05:32 |
| Vehicle Life Flight Time: | 3 hours 34 minutes 26 seconds |
| Vehicle UUID: | 001E00223038510938333933 (IF700) |
| Wind Speed: | Breeze |
| Flight Rating: | Unsatisfactory |
| Feedback: | - altitude diverged (vibratons) |
| Distance: | 250.6 m |
| Max Altitude Difference: | 55 m |
| Average Speed: | 2.6 km/h |
| Max Speed: | 28.4 km/h |
| Max Speed Horizontal: | 21.9 km/h |
| Max Speed Up: | 28.4 km/h |
| Max Speed Down: | 18.5 km/h |
| Max Tilt Angle: | 81.6 deg |
| Max Rotation Speed: | 276.7 deg/s |
| Average Current: | 9.2 A |
| Max Current: | 78.0 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 4059 71.928 484/ 748 0 ( 0) READY 3 1 hpwork 70 1.898 728/ 1780 249 (249) w:sig 16 2 lpwork 7 0.299 640/ 1780 50 ( 50) w:sig 10 3 init 15164 0.599 1856/ 2684 100 (100) w:sem 3 360 px4flow 1 0.000 696/ 1164 100 (100) w:sig 3 12 dataman 3 0.000 728/ 1180 90 ( 90) w:sem 4 116 gps 6 0.199 1040/ 1556 220 (220) w:sem 5 117 gps 2 0.099 1040/ 1556 220 (220) w:sem 5 170 sensors 4430 2.997 1240/ 1964 249 (249) w:sem 17 173 commander 14 0.599 1312/ 3212 140 (140) w:sig 31 174 commander_low_prio 0 0.000 536/ 2996 50 ( 50) w:sem 31 182 mavlink_if0 1 0.000 1280/ 2532 100 (100) w:sig 4 190 mavlink_if0 39 1.098 1496/ 2572 100 (100) w:sig 18 191 mavlink_rcv_if0 7 0.299 1104/ 2836 175 (175) w:sem 18 239 fmu 27 2.297 880/ 1324 251 (251) w:sem 8 312 ekf2 38 3.096 4528/ 6572 250 (250) w:sem 22 314 mc_att_control 36 2.997 888/ 1660 251 (251) w:sem 17 316 mc_pos_control 2 0.000 776/ 1876 250 (250) w:sem 10 325 navigator 2 0.000 936/ 1764 105 (105) w:sem 16 345 logger 90 3.596 3040/ 3540 245 (245) RUN 26 356 vmount 2 0.099 976/ 1868 100 (100) w:sem 10 358 log_writer_file 72 0.000 552/ 1148 60 ( 60) w:sem 26 Processes: 22 total, 2 running, 20 sleeping, max FDs: 54 CPU usage: 20.18% tasks, 7.89% sched, 71.93% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 6.042s total, 4.059s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 229650 65.834 484/ 748 0 ( 0) READY 3 1 hpwork 7613 2.497 744/ 1780 249 (249) w:sig 16 2 lpwork 629 3.396 944/ 1780 50 ( 50) w:sig 10 3 init 15164 0.000 1856/ 2684 100 (100) w:sem 3 12 dataman 63 0.099 728/ 1180 90 ( 90) w:sem 4 116 gps 554 0.099 1048/ 1556 220 (220) w:sig 5 117 gps 1087 0.399 1072/ 1556 220 (220) w:sem 5 170 sensors 15067 3.196 1240/ 1964 249 (249) w:sem 17 173 commander 3005 0.899 1544/ 3212 140 (140) w:sig 31 174 commander_low_prio 6 0.099 552/ 2996 50 ( 50) w:sem 31 190 mavlink_if0 4569 1.298 1736/ 2572 100 (100) w:sig 38 191 mavlink_rcv_if0 1033 0.299 1104/ 2836 175 (175) w:sem 38 239 fmu 9351 2.897 880/ 1324 251 (251) w:sem 8 312 ekf2 20484 5.594 4528/ 6572 250 (250) w:sem 22 314 mc_att_control 10729 3.096 888/ 1660 251 (251) w:sem 17 316 mc_pos_control 4984 0.599 968/ 1876 250 (250) w:sem 14 325 navigator 367 0.099 936/ 1764 105 (105) w:sem 16 345 logger 11346 3.396 3040/ 3540 245 (245) RUN 40 356 vmount 1985 0.599 976/ 1868 100 (100) w:sem 10 358 log_writer_file 15670 4.995 576/ 1148 60 ( 60) w:sem 40 Processes: 20 total, 2 running, 18 sleeping, max FDs: 54 CPU usage: 33.57% tasks, 0.60% sched, 65.83% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 337.720s total, 229.651s idle
Performance Counters
Pre Flight:
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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector_cycle: 6 events, 815us elapsed, 135.83us avg, min 21us max 707us 279.814us rms mc_att_control: 33 events, 3292us elapsed, 99.76us avg, min 56us max 722us 113.980us rms EKF2 update: 35 events, 107us elapsed, 3.06us avg, min 2us max 4us 0.338us rms EKF2 data acquisition: 35 events, 2909us elapsed, 83.11us avg, min 39us max 1261us 205.157us rms fmu control latency: 35 events, 12921us elapsed, 369.17us avg, min 182us max 3080us 630.333us rms mavlink_el: 20 events, 2658us elapsed, 132.90us avg, min 58us max 684us 183.339us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 165 events, 21962us elapsed, 133.10us avg, min 53us max 3746us 287.954us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 92 events, 79648us elapsed, 865.74us avg, min 827us max 1036us 55.955us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 152 events, 131611us elapsed, 865.86us avg, min 831us max 1676us 76.929us rms bmi055_gyro_bad_registers: 1 events bmi055_gyro_bad_transfers: 1 events bmi055_gyro_measure_interval: 4086 events, 799.89 avg, min 787us max 1165us 5.854us rms bmi055_gyro_read: 4054 events, 141585us elapsed, 34.92us avg, min 32us max 41us 1.615us rms bmi055_accel_duplicates: 803 events bmi055_accel_bad_registers: 1 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 4110 events, 799.90 avg, min 758us max 1169us 6.748us rms bmi055_accel_read: 4078 events, 124677us elapsed, 30.57us avg, min 20us max 39us 5.265us rms mpu6k_duplicates: 823 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 4123 events, 799.90 avg, min 767us max 1178us 6.867us rms mpu6k_read: 4107 events, 205360us elapsed, 50.00us avg, min 36us max 70us 7.046us rms adc_samples: 804 events, 1674us elapsed, 2.08us avg, min 1us max 3us 0.288us rms ms5611_com_err: 0 events ms5611_measure: 315 events, 1293us elapsed, 4.10us avg, min 3us max 67us 3.581us rms ms5611_read: 314 events, 3316us elapsed, 10.56us avg, min 7us max 18us 1.616us rms rc_input publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input cycle time: 707 events, 5522us elapsed, 7.81us avg, min 6us max 58us 6.164us rms stack_check: 7 events, 47us elapsed, 6.71us avg, min 2us max 10us 3.039us rms dma_alloc: 4 events param_set: 158 events, 6260us elapsed, 39.62us avg, min 4us max 75us 20.116us rms param_get: 2295 events, 9012us elapsed, 3.93us avg, min 2us max 463us 11.901us rms param_find: 733 events, 3134us elapsed, 4.28us avg, min 1us max 55us 4.155us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
logger_sd_fsync: 313 events, 2974313us elapsed, 9502.60us avg, min 4084us max 548729us 36494.008us rms logger_sd_write: 2868 events, 37390628us elapsed, 13037.18us avg, min 4873us max 873142us 35923.469us rms navigator: 6474 events, 5023001us elapsed, 775.87us avg, min 17us max 756727us 19453.166us rms land_detector_cycle: 16054 events, 644160us elapsed, 40.12us avg, min 20us max 120us 19.437us rms mc_att_control: 83073 events, 9112507us elapsed, 109.69us avg, min 55us max 181us 10.372us rms EKF2 update: 83073 events, 11629791us elapsed, 139.99us avg, min 3us max 1461us 192.050us rms EKF2 data acquisition: 83073 events, 4815223us elapsed, 57.96us avg, min 38us max 244us 9.587us rms fmu control latency: 114189 events, 44407979us elapsed, 388.90us avg, min 142us max 4064us 352.841us rms mavlink_el: 33238 events, 4240286us elapsed, 127.57us avg, min 60us max 2169us 94.426us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms sensors: 83073 events, 34385211us elapsed, 413.92us avg, min 134us max 1849us 278.261us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 15459 events, 14591496us elapsed, 943.88us avg, min 823us max 3165us 246.665us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 15459 events, 14442379us elapsed, 934.24us avg, min 828us max 2939us 207.174us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_measure_interval: 415853 events, 800.00 avg, min 741us max 858us 8.658us rms bmi055_gyro_read: 415853 events, 15105089us elapsed, 36.32us avg, min 32us max 43us 1.951us rms bmi055_accel_duplicates: 81451 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_measure_interval: 415854 events, 800.00 avg, min 750us max 848us 8.585us rms bmi055_accel_read: 415854 events, 13066285us elapsed, 31.42us avg, min 20us max 40us 5.540us rms mpu6k_duplicates: 83627 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 415854 events, 800.00 avg, min 737us max 863us 10.836us rms mpu6k_read: 415854 events, 22095604us elapsed, 53.13us avg, min 36us max 72us 9.057us rms adc_samples: 399228 events, 825285us elapsed, 2.07us avg, min 1us max 3us 0.258us rms ms5611_com_err: 0 events ms5611_measure: 30917 events, 188680us elapsed, 6.10us avg, min 3us max 337us 19.682us rms ms5611_read: 30917 events, 547769us elapsed, 17.72us avg, min 8us max 341us 34.401us rms rc_input publish interval: 30641 events, 10064.40 avg, min 3400us max 17695us 1800.798us rms rc_input cycle time: 68008 events, 1132888us elapsed, 16.66us avg, min 5us max 334us 24.440us rms stack_check: 1094 events, 15492us elapsed, 14.16us avg, min 1us max 4139us 134.806us rms dma_alloc: 0 events param_set: 7 events, 37us elapsed, 5.29us avg, min 2us max 12us 102.992us rms param_get: 333 events, 1231us elapsed, 3.70us avg, min 2us max 48us 31.822us rms param_find: 115 events, 474us elapsed, 4.12us avg, min 2us max 51us 11.440us rms param_export: 2 events, 90293us elapsed, 45146.50us avg, min 43726us max 46567us 2008.883us rms