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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | d6ff72c9 branch: pr-ark-pi6x-release-1.14-backport |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:06:24 |
| Vehicle Life Flight Time: | 24 minutes 9 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 470.8 m |
| Max Altitude Difference: | 28 m |
| Average Speed: | 2.9 km/h |
| Max Speed: | 14.9 km/h |
| Max Speed Horizontal: | 14.9 km/h |
| Max Speed Up: | 7.3 km/h |
| Max Speed Down: | 5.7 km/h |
| Max Tilt Angle: | 24.5 deg |
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Console Output
ient] successfully created rt/fmu/out/vehicle_status data writer, topic id: 229 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uavcan:125:teseo_gps] Successfully set system clock: Wed 2024-05-22 21:30:29 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/21_31_15.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/21_31_15.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 53620 50.624 296/ 768 0 ( 0) READY 3 1 hpwork 6 0.688 1332/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 860/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2268/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 5 943 log_writer_file 5 0.510 620/ 1144 60 ( 60) w:sem 4 382 wq:hp_default 40 4.008 1908/ 2776 237 (237) w:sem 5 397 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 405 wq:lp_default 1 0.166 1020/ 1896 205 (205) READY 5 440 wq:I2C3 0 0.051 1016/ 2312 244 (244) w:sem 5 443 wq:SPI1 57 5.751 1848/ 2368 253 (253) w:sem 5 447 wq:SPI2 52 5.223 1848/ 2368 252 (252) w:sem 5 455 wq:I2C4 4 0.458 896/ 2312 243 (243) w:sem 5 460 wq:SPI3 2 0.266 880/ 2368 251 (251) w:sem 5 650 wq:nav_and_controllers 27 2.723 1348/ 2216 242 (242) w:sem 5 662 wq:rate_ctrl 73 7.371 2304/ 3120 255 (255) w:sem 5 663 wq:INS0 29 2.955 4428/ 5976 241 (241) w:sem 5 665 wq:INS1 27 2.756 4428/ 5976 240 (240) w:sem 5 668 commander 5 0.527 1492/ 3192 140 (140) w:sig 5 750 gps 0 0.033 1220/ 1936 205 (205) w:sem 4 785 mavlink_if0 9 0.930 1924/ 2704 100 (100) w:sig 4 786 mavlink_rcv_if0 1 0.183 1420/ 4616 175 (175) w:sem 4 838 uxrce_dds_client 33 3.349 9024/ 9872 100 (100) READY 4 841 wq:ttyS4 3 0.379 956/ 1704 230 (230) w:sem 5 851 navigator 0 0.054 1020/ 1896 105 (105) w:sem 6 936 logger 38 3.848 2876/ 3616 230 (230) RUN 4 976 mavlink_rcv_if1 1 0.197 1756/ 4616 175 (175) w:sem 4 954 wq:uavcan 14 1.444 3100/ 3600 236 (236) w:sem 5 971 mavlink_if1 43 4.308 1852/ 2800 100 (100) w:sig 4 Processes: 29 total, 4 running, 25 sleeping CPU usage: 48.19% tasks, 1.19% sched, 50.62% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 90.098s total, 53.620s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 257453 48.811 296/ 768 0 ( 0) READY 3 1 hpwork 6 0.664 1332/ 2944 249 (249) w:sem 3 2 lpwork 13 1.367 1020/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2268/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 5 943 log_writer_file 5 0.510 636/ 1144 60 ( 60) w:sem 4 382 wq:hp_default 40 4.003 1916/ 2776 237 (237) w:sem 5 397 dataman 0 0.000 844/ 1280 90 ( 90) w:sem 4 405 wq:lp_default 2 0.227 1020/ 1896 205 (205) w:sem 5 440 wq:I2C3 0 0.054 1016/ 2312 244 (244) w:sem 5 443 wq:SPI1 57 5.729 1848/ 2368 253 (253) w:sem 5 447 wq:SPI2 51 5.195 1848/ 2368 252 (252) w:sem 5 455 wq:I2C4 4 0.451 896/ 2312 243 (243) w:sem 5 460 wq:SPI3 2 0.267 880/ 2368 251 (251) w:sem 5 650 wq:nav_and_controllers 31 3.106 1348/ 2216 242 (242) w:sem 5 662 wq:rate_ctrl 73 7.293 2304/ 3120 255 (255) w:sem 5 663 wq:INS0 35 3.565 4764/ 5976 241 (241) w:sem 5 665 wq:INS1 32 3.285 4764/ 5976 240 (240) w:sem 5 668 commander 5 0.536 1492/ 3192 140 (140) w:sig 5 750 gps 0 0.031 1220/ 1936 205 (205) w:sem 4 785 mavlink_if0 9 0.917 1924/ 2704 100 (100) READY 4 786 mavlink_rcv_if0 6 0.667 1468/ 4616 175 (175) w:sem 4 838 uxrce_dds_client 34 3.409 9024/ 9872 100 (100) READY 4 841 wq:ttyS4 3 0.383 956/ 1704 230 (230) w:sem 5 851 navigator 0 0.064 1020/ 1896 105 (105) w:sem 6 936 logger 16 1.691 2876/ 3616 230 (230) RUN 4 976 mavlink_rcv_if1 6 0.675 1756/ 4616 175 (175) w:sem 4 954 wq:uavcan 14 1.462 3100/ 3600 236 (236) w:sem 5 971 mavlink_if1 44 4.441 1884/ 2800 100 (100) READY 4 Processes: 29 total, 5 running, 24 sleeping CPU usage: 50.00% tasks, 1.19% sched, 48.81% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 473.387s total, 257.453s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 17834 events, 3018.53 avg, min 2112us max 32448us 404.339us rms mavlink: tx run elapsed: 17834 events, 3341047us elapsed, 187.34us avg, min 74us max 8078us 168.978us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: optical_flow messages missed: 34 events ekf2: optical_flow messages missed: 38 events vehicle_optical_flow: cycle: 21869 events, 488908us elapsed, 22.36us avg, min 3us max 234us 24.697us rms ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 47656 events, 1848.19 avg, min 15us max 24539us 1302.224us rms uavcan: cycle time: 47656 events, 1548057us elapsed, 32.48us avg, min 9us max 24534us 201.253us 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: 1 events, 23283us elapsed, 23283.00us avg, min 23283us max 23283us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4404 events, 19990.94 avg, min 60us max 20967us 311.528us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 16428 events, 2597349us elapsed, 158.11us avg, min 134us max 364us 27.423us rms gyro_fft: cycle interval: 35296 events, 2496.05 avg, min 338us max 5108us 252.852us rms gyro_fft: cycle: 35296 events, 2936841us elapsed, 83.21us avg, min 2us max 379us 82.272us rms navigator: 1862 events, 25484us elapsed, 13.69us avg, min 8us max 213us 15.843us rms rc_input: publish interval: 8099 events, 10475.38 avg, min 3335us max 51966us 3072.243us rms rc_input: cycle time: 22020 events, 210655us elapsed, 9.57us avg, min 4us max 734us 20.003us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8683 events, 10147.31 avg, min 9137us max 46674us 1715.125us rms mavlink: tx run elapsed: 8683 events, 2264282us elapsed, 260.77us avg, min 64us max 36813us 1684.371us rms mag_bias_estimator: cycle: 4406 events, 65492us elapsed, 14.86us avg, min 1us max 585us 17.801us rms land_detector: cycle: 8832 events, 121243us elapsed, 13.73us avg, min 8us max 156us 12.431us rms mc_pos_control: cycle time: 8833 events, 76588us elapsed, 8.67us avg, min 4us max 239us 9.743us rms flight_mode_manager: cycle: 4410 events, 113446us elapsed, 25.72us avg, min 3us max 650us 99.888us rms mc_hover_thrust_estimator: cycle time: 8832 events, 11177us elapsed, 1.27us avg, min 0us max 146us 3.544us 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: 17595 events, 281125us elapsed, 15.98us avg, min 8us max 133us 3.478us rms mc_rate_control: cycle: 70656 events, 548368us elapsed, 7.76us avg, min 6us max 74us 0.971us rms control_allocator: cycle: 70656 events, 1261239us elapsed, 17.85us avg, min 15us max 136us 2.158us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 8832 events, 899434us elapsed, 101.84us avg, min 65us max 265us 27.190us rms ekf2: ECL update: 8833 events, 2026us elapsed, 0.22us avg, min 0us max 15us 0.502us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 8833 events, 953841us elapsed, 107.99us avg, min 65us max 405us 37.078us rms ekf2: ECL update: 8834 events, 2054us elapsed, 0.23us avg, min 0us max 38us 0.621us rms pwm_out: interval: 295 events, 297966.25 avg, min 94us max 300744us 17461.809us rms pwm_out: cycle: 295 events, 1121us elapsed, 3.80us avg, min 2us max 113us 7.128us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 70657 events, 1360806us elapsed, 19.26us avg, min 13us max 93us 3.223us rms control latency: 70656 events, 13092310us elapsed, 185.30us avg, min 156us max 320us 5.019us rms commander: preflight check: 805 events, 466377us elapsed, 579.35us avg, min 122us max 35391us 2709.558us rms commander: cycle: 7975 events, 872244us elapsed, 109.37us avg, min 24us max 35429us 901.251us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 7640 events, 141780us elapsed, 18.56us avg, min 13us max 467us 18.523us rms vehicle_gps_position: cycle: 823 events, 6605us elapsed, 8.03us avg, min 1us max 168us 11.447us rms vehicle_air_data: cycle: 2035 events, 32898us elapsed, 16.17us avg, min 4us max 247us 19.031us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 510 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 201 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 48 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 36 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 70672 events, 2510107us elapsed, 35.52us avg, min 7us max 147us 2.977us rms sensors: 17669 events, 442667us elapsed, 25.05us avg, min 21us max 2081us 32.832us rms afbrs50: irq callback: 8708 events, 42587us elapsed, 4.89us avg, min 3us max 7us 0.777us rms afbrs50: transfer callback: 22630 events, 305246us elapsed, 13.49us avg, min 1us max 220us 25.412us rms afbrs50: transfer: 22630 events, 5756646us elapsed, 254.38us avg, min 9us max 1249us 408.678us rms afbrs50: sample interval: 4354 events, 20227.71 avg, min 11949us max 143535us 4232.097us rms paw3902: no motion interrupt: 9069 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 1 events paw3902: false motion report: 0 events paw3902: reset: 2 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 2037 events, 2320542us elapsed, 1139.20us avg, min 1089us max 3895us 85.751us rms bmp388: read: 2036 events, 1952698us elapsed, 959.09us avg, min 942us max 1136us 33.870us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 7648 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 871 events, 859714us elapsed, 987.04us avg, min 981us max 1136us 20.630us rms board_adc: sample: 26502 events, 245006us elapsed, 9.24us avg, min 6us max 617us 19.308us rms manual_control: interval: 971 events, 90979.52 avg, min 44us max 200557us 67301.695us rms manual_control: cycle: 971 events, 10844us elapsed, 11.17us avg, min 5us max 251us 14.335us rms rc_update: valid data interval: 8087 events, 10476.08 avg, min 3334us max 51965us 3073.634us rms rc_update: cycle interval: 8099 events, 10475.37 avg, min 3335us max 51965us 3072.346us rms rc_update: cycle: 8099 events, 136391us elapsed, 16.84us avg, min 8us max 631us 34.200us rms load_mon: cycle: 177 events, 16157us elapsed, 91.28us avg, min 2us max 509us 70.351us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 8 events, 21056us elapsed, 2632.00us avg, min 14us max 18531us 6436.442us rms dma_alloc: 129 events param: set: 119 events, 1638us elapsed, 13.76us avg, min 2us max 26us 6.789us rms param: get: 36503 events param: find: 15293 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 127677 events, 3009.21 avg, min 2097us max 14186us 231.330us rms mavlink: tx run elapsed: 127677 events, 24632499us elapsed, 192.93us avg, min 84us max 1563us 163.264us rms ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: optical_flow messages missed: 37 events ekf2: optical_flow messages missed: 23 events vehicle_optical_flow: cycle: 99297 events, 2038993us elapsed, 20.53us avg, min 11us max 548us 20.361us rms ekf2: distance_sensor messages missed: 1 events ekf2: distance_sensor messages missed: 1 events uavcan: cycle interval: 198791 events, 1932.74 avg, min 12us max 11969us 1266.992us rms uavcan: cycle time: 198791 events, 5789082us elapsed, 29.12us avg, min 9us max 1154us 113.664us 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: 1060 events, 8036495us elapsed, 7581.60us avg, min 3us max 19146us 2219.519us rms logger_sd_write: 11663 events, 35027779us elapsed, 3003.32us avg, min 5us max 34815us 1862.578us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 38 events, 9736825.71 avg, min 9999377us max 10000462us 180.113us rms gyro_fft: gyro FIFO data gap: 8 events gyro_fft: FFT: 72025 events, 11223747us elapsed, 155.83us avg, min 135us max 384us 26.953us rms gyro_fft: cycle interval: 153858 events, 2497.18 avg, min 1480us max 45260us 297.525us rms gyro_fft: cycle: 153858 events, 12555372us elapsed, 81.60us avg, min 7us max 425us 89.649us rms navigator: 8116 events, 104883us elapsed, 12.92us avg, min 8us max 865us 21.744us rms rc_input: publish interval: 36267 events, 10593.73 avg, min 1575us max 48087us 3293.269us rms rc_input: cycle time: 96044 events, 911930us elapsed, 9.49us avg, min 4us max 1011us 20.882us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 37899 events, 10137.43 avg, min 9087us max 47258us 1735.887us rms mavlink: tx run elapsed: 37899 events, 10301516us elapsed, 271.81us avg, min 76us max 37300us 1933.252us rms mag_bias_estimator: cycle: 16 events, 196us elapsed, 12.25us avg, min 8us max 28us 305.113us rms land_detector: cycle: 38484 events, 390101us elapsed, 10.14us avg, min 8us max 139us 7.146us rms mc_pos_control: cycle time: 38484 events, 906326us elapsed, 23.55us avg, min 4us max 148us 8.363us rms flight_mode_manager: cycle: 19211 events, 469886us elapsed, 24.46us avg, min 3us max 180us 48.399us rms mc_hover_thrust_estimator: cycle time: 36830 events, 135992us elapsed, 3.69us avg, min 1us max 74us 2.437us 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: 76967 events, 773349us elapsed, 10.05us avg, min 7us max 172us 3.108us rms mc_rate_control: cycle: 307866 events, 2626353us elapsed, 8.53us avg, min 7us max 45us 1.032us rms control_allocator: cycle: 307866 events, 5502560us elapsed, 17.87us avg, min 15us max 141us 2.383us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 38482 events, 6952535us elapsed, 180.67us avg, min 79us max 811us 60.871us rms ekf2: ECL update: 38483 events, 8804us elapsed, 0.22us avg, min 0us max 62us 0.736us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 38483 events, 7025051us elapsed, 182.55us avg, min 81us max 740us 71.124us rms ekf2: ECL update: 38483 events, 8694us elapsed, 0.22us avg, min 0us max 23us 0.557us rms pwm_out: interval: 1281 events, 299765.87 avg, min 266145us max 333854us 1477.154us rms pwm_out: cycle: 1281 events, 4538us elapsed, 3.54us avg, min 2us max 152us 6.320us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 307866 events, 6249774us elapsed, 20.30us avg, min 15us max 46us 3.549us rms control latency: 307866 events, 58296172us elapsed, 189.36us avg, min 178us max 451us 8.297us rms commander: preflight check: 3498 events, 726849us elapsed, 207.79us avg, min 124us max 10663us 1318.385us rms commander: cycle: 34920 events, 2657500us elapsed, 76.10us avg, min 27us max 10693us 446.875us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 33274 events, 747279us elapsed, 22.46us avg, min 14us max 330us 26.944us rms vehicle_gps_position: cycle: 3843 events, 35794us elapsed, 9.31us avg, min 6us max 196us 16.837us rms vehicle_air_data: cycle: 8873 events, 140300us elapsed, 15.81us avg, min 10us max 214us 19.386us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 8244 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 589 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 814698 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 29364 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 307869 events, 11499278us elapsed, 37.35us avg, min 32us max 247us 6.509us rms sensors: 76969 events, 1816734us elapsed, 23.60us avg, min 18us max 2110us 19.131us rms afbrs50: irq callback: 30256 events, 149096us elapsed, 4.93us avg, min 3us max 8us 0.889us rms afbrs50: transfer callback: 82213 events, 1112835us elapsed, 13.54us avg, min 0us max 246us 29.858us rms afbrs50: transfer: 82213 events, 19989312us elapsed, 243.14us avg, min 10us max 1251us 456.958us rms afbrs50: sample interval: 15128 events, 25396.43 avg, min 11488us max 212167us 10377.701us rms paw3902: no motion interrupt: 8987 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 8873 events, 10111912us elapsed, 1139.63us avg, min 1089us max 1420us 69.842us rms bmp388: read: 8873 events, 8514642us elapsed, 959.61us avg, min 942us max 1193us 39.159us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 33274 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 3788 events, 3769272us elapsed, 995.06us avg, min 981us max 2035us 36.653us rms board_adc: sample: 115221 events, 1068826us elapsed, 9.28us avg, min 6us max 765us 24.031us rms manual_control: interval: 13938 events, 27548.87 avg, min 47us max 200679us 33110.547us rms manual_control: cycle: 13938 events, 149106us elapsed, 10.70us avg, min 6us max 622us 15.169us rms rc_update: valid data interval: 36259 events, 10596.07 avg, min 87us max 56124us 3318.552us rms rc_update: cycle interval: 36259 events, 10596.07 avg, min 87us max 56124us 3317.839us rms rc_update: cycle: 36259 events, 714111us elapsed, 19.69us avg, min 10us max 735us 45.041us rms load_mon: cycle: 769 events, 85769us elapsed, 111.53us avg, min 67us max 1179us 116.823us 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: 2 events param: set: 21 events, 29us elapsed, 1.38us avg, min 1us max 6us 16.532us rms param: get: 31115 events param: find: 53581 events param: export: 1 events, 15231us elapsed, 15231.00us avg, min 15231us max 15231us nanus rms