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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-Pull12225-M03-PH2-01-02
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V3 (V30) |
| Software Version: | 5e4cca95 |
| OS Version: | NuttX, v7.28.0 |
| Estimator: | EKF2 |
| Logging Start : | 18-06-2019 16:46 |
| Logging Duration: | 0:08:02 |
| Dropouts: | 3 (0.02 s) |
| Vehicle Life Flight Time: | 3 days 1 hours 10 minutes 36 seconds |
| Vehicle UUID: | 00010000000033343537313751050040001c (F450 Pixhawk 2 Cube V3) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | - Modes Tested
Position Mode: Good. Altitude Mode: Good. Stabilized Mode: Good. Mission Plan Mode (Automated): Good. RTL (Return To Land): Good. - Procedure Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoint then trigger RTL and see landing behavior. - Notes No issues noted, good flight in general. |
| Distance: | 2.96 km |
| Max Altitude Difference: | 51 m |
| Average Speed: | 22.1 km/h |
| Max Speed: | 68.3 km/h |
| Max Speed Horizontal: | 66.8 km/h |
| Max Speed Up: | 25.1 km/h |
| Max Speed Down: | 19.1 km/h |
| Max Tilt Angle: | 46.1 deg |
| Max Rotation Speed: | 189.6 deg/s |
| Average Current: | 5.0 A |
| Max Current: | 14.8 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 34483 22.000 284/ 748 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1780 249 (249) w:sig 3 2 lpwork 118 0.100 968/ 1780 50 ( 50) w:sig 8 3 init 1543 0.000 2056/ 2604 100 (100) w:sem 3 4 wq:manager 3 0.000 824/ 1172 244 (244) w:sem 6 17 dataman 111 0.100 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 22 0.100 856/ 1500 205 (205) w:sem 6 22 wq:I2C1 3583 2.900 888/ 1244 248 (248) w:sem 6 24 wq:I2C2 0 0.000 368/ 1244 247 (247) w:sem 6 27 wq:hp_default 262 0.200 752/ 1500 243 (243) w:sem 6 124 wq:SPI4 28383 23.500 688/ 1244 251 (251) w:sem 6 136 wq:SPI1 14497 12.000 688/ 1244 254 (254) w:sem 6 160 sensors 7322 5.700 1336/ 1964 238 (238) w:sem 16 162 wq:rate_ctrl 3700 2.800 1200/ 1596 255 (255) w:sem 6 164 commander 1680 1.300 1616/ 3212 140 (140) READY 6 165 commander_low_prio 2 0.000 568/ 2996 50 ( 50) w:sem 6 208 gps 323 0.200 1136/ 1516 209 (209) w:sem 4 237 mavlink_if0 2356 1.600 1776/ 2484 100 (100) w:sig 4 238 mavlink_rcv_if0 584 0.500 1424/ 2836 175 (175) READY 4 251 px4io 3874 3.200 1040/ 1484 241 (241) w:sem 4 262 fmu 803 0.700 880/ 1324 241 (241) w:sem 7 377 ekf2 12912 10.800 4568/ 6572 239 (239) w:sem 4 382 mc_pos_control 354 0.800 1120/ 1860 239 (239) w:sem 9 393 navigator 200 0.100 1040/ 1764 105 (105) w:sem 4 414 log_writer_file 17 1.200 600/ 1164 60 ( 60) w:sem 47 412 logger 1269 6.200 3072/ 3644 234 (234) RUN 47 Processes: 26 total, 4 running, 22 sleeping, max FDs: 54 CPU usage: 74.00% tasks, 4.00% sched, 22.00% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 123.286s total, 34.483s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 125066 18.562 284/ 748 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1780 249 (249) w:sig 3 2 lpwork 495 3.193 968/ 1780 50 ( 50) w:sig 8 3 init 1543 0.000 2056/ 2604 100 (100) w:sem 3 4 wq:manager 3 0.000 824/ 1172 244 (244) w:sem 6 17 dataman 220 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 109 0.000 856/ 1500 205 (205) w:sem 6 22 wq:I2C1 17657 2.994 888/ 1244 248 (248) w:sem 6 24 wq:I2C2 0 0.000 368/ 1244 247 (247) w:sem 6 27 wq:hp_default 1266 0.199 752/ 1500 243 (243) w:sem 6 124 wq:SPI4 141539 23.652 688/ 1244 251 (251) w:sem 6 136 wq:SPI1 72505 12.175 688/ 1244 254 (254) w:sem 6 160 sensors 34822 6.187 1336/ 1964 238 (238) w:sem 16 162 wq:rate_ctrl 17932 2.694 1200/ 1596 255 (255) w:sem 6 164 commander 7974 1.297 1616/ 3212 140 (140) w:sig 6 165 commander_low_prio 14 0.000 568/ 2996 50 ( 50) w:sem 6 208 gps 1488 0.199 1136/ 1516 209 (209) w:sem 4 237 mavlink_if0 9226 1.397 1776/ 2484 140 (100) READY 4 238 mavlink_rcv_if0 2663 0.499 1424/ 2836 175 (175) READY 4 251 px4io 19090 3.293 1040/ 1484 241 (241) w:sem 4 262 fmu 4003 0.598 880/ 1324 241 (241) w:sem 7 377 ekf2 77802 10.878 4568/ 6572 239 (239) w:sem 4 382 mc_pos_control 6348 0.199 1176/ 1860 239 (239) w:sem 12 393 navigator 1133 0.099 1240/ 1764 105 (105) w:sem 4 414 log_writer_file 5143 1.197 616/ 1164 60 ( 60) w:sem 51 412 logger 31171 6.387 3072/ 3644 234 (234) RUN 51 Processes: 26 total, 4 running, 22 sleeping, max FDs: 54 CPU usage: 77.15% tasks, 4.29% sched, 18.56% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 604.310s total, 125.066s 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 3 events, 232002us elapsed, 77334.00us avg, min 10us max 162681us 81631.734us rms navigator: 2039 events, 426437us elapsed, 209.14us avg, min 15us max 61259us 1888.279us rms land_detector_cycle: 5934 events, 253367us elapsed, 42.70us avg, min 17us max 2762us 119.630us rms mc_att_control: 29454 events, 2690453us elapsed, 91.34us avg, min 36us max 872us 19.485us rms EKF2 update: 29453 events, 11823332us elapsed, 401.43us avg, min 2us max 3393us 461.637us rms EKF2 data acquisition: 29453 events, 4769718us elapsed, 161.94us avg, min 36us max 4782us 128.939us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 29454 events, 9258729us elapsed, 314.35us avg, min 191us max 1141us 59.038us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 29468 events, 21275058us elapsed, 721.97us avg, min 266us max 25174us 675.435us rms io_txns: 56568 events, 19355169us elapsed, 342.16us avg, min 132us max 1299us 120.360us rms mavlink_int: 11063 events, 10767.75 avg, min 9119us max 70065us 1349.685us rms mavlink_el: 11063 events, 5602702us elapsed, 506.44us avg, min 97us max 11980us 721.675us 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 vehicle_angular_velocity: sensor gyro latency: 29740 events, 3285290us elapsed, 110.47us avg, min 96us max 516us 15.169us rms vehicle_angular_velocity: cycle time: 29740 events, 488310us elapsed, 16.42us avg, min 14us max 455us 5.786us rms sensors: 29735 events, 39036085us elapsed, 1312.80us avg, min 159us max 6478us 659.805us rms adc_samples: 119880 events, 332814us elapsed, 2.78us avg, min 2us max 291us 0.932us rms ms5611_com_err: 0 events ms5611_measure: 11926 events, 84633us elapsed, 7.10us avg, min 6us max 30us 1.455us rms ms5611_read: 11925 events, 185003us elapsed, 15.51us avg, min 11us max 34us 2.847us rms ms5611_com_err: 0 events ms5611_measure: 11912 events, 85698us elapsed, 7.19us avg, min 6us max 203us 5.386us rms ms5611_read: 11911 events, 198848us elapsed, 16.69us avg, min 11us max 152us 9.100us rms mpu9250_dupe: 31384 events mpu9250_good_trans: 118527 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 149911 events, 11182489us elapsed, 74.59us avg, min 43us max 122us 15.155us rms mpu9250_mag_duplicates: 105336 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1641 events lsm303d_acc_dupe: 17482 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 11431 events, 459086us elapsed, 40.16us avg, min 23us max 254us 38.740us rms lsm303d_acc_read: 114314 events, 3819490us elapsed, 33.41us avg, min 20us max 230us 7.671us rms l3gd20_dupe: 92802 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 184662 events, 6097129us elapsed, 33.02us avg, min 22us max 240us 14.345us rms mpu9250_dupe: 0 events mpu9250_reset: 0 events mpu9250_good_trans: 0 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 97016 events, 116408345us elapsed, 1199.89us avg, min 1133us max 2884us 56.897us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 41040 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 54185 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu9250_dupe: 31663 events mpu9250_good_trans: 118359 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 150022 events, 15683144us elapsed, 104.54us avg, min 43us max 1067us 68.380us rms mpu9250_mag_duplicates: 105287 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1645 events stack_check: 585 events, 10838us elapsed, 18.53us avg, min 1us max 305us 38.469us rms dma_alloc: 4 events param_set: 139 events, 8585us elapsed, 61.76us avg, min 5us max 133us 32.494us rms param_get: 2957 events, 44306us elapsed, 14.98us avg, min 4us max 2397us 83.391us rms param_find: 1236 events, 18600us elapsed, 15.05us avg, min 3us max 767us 50.657us rms param_export: 1 events, 105572us elapsed, 105572.00us avg, min 105572us max 105572us 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: 803 events, 11881259us elapsed, 14796.09us avg, min 7us max 133666us 14728.719us rms logger_sd_write: 5835 events, 145666132us elapsed, 24964.20us avg, min 10us max 239892us 22477.400us rms navigator: 8623 events, 14765872us elapsed, 1712.38us avg, min 15us max 181521us 9351.618us rms land_detector_cycle: 24102 events, 656532us elapsed, 27.24us avg, min 17us max 308us 63.478us rms mc_att_control: 120241 events, 10289190us elapsed, 85.57us avg, min 46us max 146us 16.865us rms EKF2 update: 120240 events, 70359564us elapsed, 585.16us avg, min 19us max 5091us 893.905us rms EKF2 data acquisition: 120240 events, 18049567us elapsed, 150.11us avg, min 49us max 1155us 126.134us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 120241 events, 37008353us elapsed, 307.78us avg, min 209us max 949us 64.434us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 120241 events, 84742214us elapsed, 704.77us avg, min 258us max 2787us 727.212us rms io_txns: 226414 events, 77352361us elapsed, 341.64us avg, min 153us max 941us 132.482us rms mavlink_int: 41546 events, 11601.85 avg, min 9112us max 22588us 1812.967us rms mavlink_el: 41546 events, 20240836us elapsed, 487.19us avg, min 93us max 10706us 925.579us 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 vehicle_angular_velocity: sensor gyro latency: 120243 events, 13225243us elapsed, 109.99us avg, min 96us max 239us 15.986us rms vehicle_angular_velocity: cycle time: 120243 events, 1926447us elapsed, 16.02us avg, min 14us max 41us 3.443us rms sensors: 120242 events, 185274497us elapsed, 1540.85us avg, min 230us max 9078us 1197.119us rms adc_samples: 482060 events, 1336056us elapsed, 2.77us avg, min 2us max 4us 0.629us rms ms5611_com_err: 0 events ms5611_measure: 47920 events, 340738us elapsed, 7.11us avg, min 6us max 94us 1.745us rms ms5611_read: 47920 events, 746949us elapsed, 15.59us avg, min 11us max 46us 3.307us rms ms5611_com_err: 0 events ms5611_measure: 47853 events, 343268us elapsed, 7.17us avg, min 6us max 186us 5.360us rms ms5611_read: 47853 events, 797806us elapsed, 16.67us avg, min 11us max 195us 9.869us rms mpu9250_dupe: 120270 events mpu9250_good_trans: 482305 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 602576 events, 45323012us elapsed, 75.22us avg, min 43us max 135us 16.858us rms mpu9250_mag_duplicates: 428990 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 6699 events lsm303d_acc_dupe: 70372 events lsm303d_bad_val: 0 events lsm303d_bad_reg: 0 events lsm303d_mag_read: 45910 events, 1816871us elapsed, 39.57us avg, min 23us max 261us 42.724us rms lsm303d_acc_read: 459109 events, 15451224us elapsed, 33.65us avg, min 20us max 248us 9.576us rms l3gd20_dupe: 372546 events l3gd20_bad_reg: 0 events l3gd20_err: 0 events l3gd20_read: 741638 events, 24660097us elapsed, 33.25us avg, min 22us max 277us 16.570us rms mpu9250_dupe: 0 events mpu9250_reset: 0 events mpu9250_good_trans: 0 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 400259 events, 479535825us elapsed, 1198.06us avg, min 1133us max 1679us 59.706us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 164661 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 230506 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events mpu9250_dupe: 120952 events mpu9250_good_trans: 481633 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 602586 events, 62766802us elapsed, 104.16us avg, min 43us max 391us 74.425us rms mpu9250_mag_duplicates: 428908 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 6647 events stack_check: 2447 events, 60469us elapsed, 24.71us avg, min 1us max 3935us 123.247us rms dma_alloc: 0 events param_set: 6 events, 31us elapsed, 5.17us avg, min 3us max 12us 170.745us rms param_get: 543 events, 8178us elapsed, 15.06us avg, min 5us max 391us 199.168us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 144008us elapsed, 144008.00us avg, min 144008us max 144008us Infinityus rms