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PX4 Hexarotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Hexarotor x geometry Hexarotor x (6001) |
| Hardware: | PX4_FMU_V6C (V6C01) |
| Software Version: | v1.13.2 (46a12a09) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 10-06-2024 14:28 |
| Logging Duration: | 0:01:29 |
| Vehicle Life Flight Time: | 1 hours 29 minutes 37 seconds |
| Vehicle UUID: | 000600000000383033343430510d002b004b |
| Distance: | 89.1 m |
| Max Altitude Difference: | 11 m |
| Average Speed: | 3.4 km/h |
| Max Speed: | 21.2 km/h |
| Max Speed Horizontal: | 21.2 km/h |
| Max Speed Up: | 2.5 km/h |
| Max Speed Down: | 1.8 km/h |
| Max Tilt Angle: | 26.6 deg |
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Console Output
HW arch: PX4_FMU_V6C HW type: V6C01 HW version: 0x00000000 HW revision: 0x00000001 FW git-hash: 46a12a09bf11c8cbafc5ad905996645b4fe1a9df FW version: Release 1.13.2 (17629951) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 91bece51afbe7da9db12e3695cdbb4f4bba4bc83 Build datetime: Nov 22 2022 09:22:59 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000383033343430510d002b004b MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2093 bytes, decoded 2093 bytes (INT32:46, FLOAT:55) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults ERROR [param] Parameter MAV_2_BROADCAST not found. ERROR [param] Parameter MAV_2_REMOTE_PRT not found. ERROR [param] Parameter MAV_2_UDP_PRT not found. INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes rgbled_ncp5623c #0 on I2C bus 1 address 0x39 Loading airframe: /etc/init.d/airframes/6001_hexa_x INFO [uavcan] Node ID 1, bitrate 1000000 INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors bmi055_accel #0 on SPI bus 1 rotation 4 bmi055_gyro #0 on SPI bus 1 rotation 4 icm42688p #0 on SPI bus 1 rotation 6 ms5611 #0 on I2C bus 4 (external) address 0x77 ist8310 #0 on I2C bus 4 (external) address 0xC ist8310 #1 on I2C bus 1 (external) address 0xE rotation 10 WARN [SPI_I2C] Already running on bus 1 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /etc/mixers/hexa_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 ekf2 [690:237] INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 INFO [gps] u-blox module: NEO-M8N-0 ERROR [uavcan] couldn't start parameter count: -2 WARN [commander] Switching to Position is currently not available INFO [gyro_calibration] gyro 1 (2490378) updating offsets [0.000, 0.000, 0.000]->[-0.007, -0.004, -0.006] 35.9 degC WARN [commander] Switching to Mission is currently not available INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-06-10/14_27_09.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-06-10/14_27_09.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 532454 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-06-10/14_27_26.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-06-10/14_27_26.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 830461 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-06-10/14_28_00.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-06-10/14_28_00.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 518221 66.874 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 0 0.001 1124/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2244/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 412/ 1256 255 (255) w:sem 3 79 wq:hp_default 41 4.162 1180/ 1904 237 (237) w:sem 3 94 dataman 0 0.008 828/ 1208 90 ( 90) w:sem 4 102 wq:lp_default 0 0.026 1060/ 1920 205 (205) w:sem 3 109 wq:I2C1 2 0.208 908/ 2336 246 (246) w:sem 3 408 wq:uavcan 8 0.811 1700/ 3624 236 (236) w:sem 3 437 wq:SPI1 63 6.368 1908/ 2336 253 (253) w:sem 3 443 wq:I2C4 5 0.541 924/ 2336 243 (243) w:sem 3 647 wq:nav_and_controllers 24 2.465 1220/ 2240 242 (242) w:sem 3 649 wq:rate_ctrl 39 3.925 1572/ 3152 255 (255) w:sem 3 650 wq:INS0 41 4.133 4260/ 6000 241 (241) w:sem 3 651 wq:INS1 41 4.166 4260/ 6000 240 (240) w:sem 3 654 commander 4 0.431 1444/ 3224 140 (140) w:sig 5 880 mavlink_rcv_if0 2 0.209 1500/ 4712 175 (175) w:sem 4 812 gps 0 0.089 1188/ 1680 205 (205) w:sem 4 872 mavlink_if0 10 1.025 1932/ 2728 100 (100) READY 4 919 navigator 0 0.074 1064/ 1920 105 (105) w:sem 6 980 logger 29 2.963 2820/ 3648 230 (230) RUN 4 986 log_writer_file 2 0.287 692/ 1176 60 ( 60) w:sem 4 Processes: 23 total, 3 running, 20 sleeping CPU usage: 31.90% tasks, 1.23% sched, 66.87% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 738.366s total, 518.222s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 579402 65.680 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 332/ 1264 249 (249) w:sig 3 2 lpwork 16 1.639 1124/ 1616 50 ( 50) w:sig 3 3 init 0 0.000 2244/ 2928 100 (100) w:sem 3 4 wq:manager 0 0.000 412/ 1256 255 (255) w:sem 3 79 wq:hp_default 43 4.378 1180/ 1904 237 (237) w:sem 3 94 dataman 0 0.009 828/ 1208 90 ( 90) w:sem 4 102 wq:lp_default 1 0.118 1060/ 1920 205 (205) w:sem 3 109 wq:I2C1 2 0.240 908/ 2336 246 (246) w:sem 3 408 wq:uavcan 8 0.838 1700/ 3624 236 (236) w:sem 3 437 wq:SPI1 63 6.392 1908/ 2336 253 (253) w:sem 3 443 wq:I2C4 5 0.537 924/ 2336 243 (243) w:sem 3 647 wq:nav_and_controllers 24 2.483 1220/ 2240 242 (242) w:sem 3 649 wq:rate_ctrl 38 3.889 1572/ 3152 255 (255) w:sem 3 650 wq:INS0 41 4.144 4388/ 6000 241 (241) w:sem 3 651 wq:INS1 41 4.130 4388/ 6000 240 (240) w:sem 3 654 commander 10 1.001 1444/ 3224 140 (140) w:sig 5 880 mavlink_rcv_if0 2 0.215 1500/ 4712 175 (175) w:sem 4 812 gps 0 0.088 1188/ 1680 205 (205) w:sem 4 872 mavlink_if0 10 1.075 1932/ 2728 100 (100) w:sig 4 919 navigator 0 0.079 1064/ 1920 105 (105) w:sem 6 980 logger 15 1.557 2820/ 3648 230 (230) RUN 4 986 log_writer_file 2 0.286 692/ 1176 60 ( 60) w:sem 4 Processes: 23 total, 2 running, 21 sleeping CPU usage: 33.10% tasks, 1.22% sched, 65.68% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 827.294s total, 579.403s 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_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 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: 53 events, 333903us elapsed, 6300.06us avg, min 4us max 16462us 3495.617us rms logger_sd_write: 174 events, 446557us elapsed, 2566.42us avg, min 5us max 15139us 3493.385us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 571 events, 54851.09 avg, min 57us max 10000001us 590128.813us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 6415 events, 1089032us elapsed, 169.76us avg, min 134us max 932us 308.256us rms gyro_fft: cycle interval: 13684 events, 2475.45 avg, min 1677us max 3272us 64.397us rms gyro_fft: cycle: 13684 events, 1208557us elapsed, 88.32us avg, min 6us max 942us 450.466us rms navigator: 707 events, 41777us elapsed, 59.09us avg, min 10us max 11289us 39256.578us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3294 events, 10278.26 avg, min 9101us max 29999us 1750.844us rms mavlink: tx run elapsed: 3294 events, 1353635us elapsed, 410.94us avg, min 89us max 20446us 7681.328us rms mag_bias_estimator: cycle: 796 events, 14245us elapsed, 17.90us avg, min 3us max 546us 232.933us rms land_detector: cycle: 3421 events, 37036us elapsed, 10.83us avg, min 9us max 66us 16.364us rms mc_pos_control: cycle time: 3421 events, 84953us elapsed, 24.83us avg, min 22us max 77us 29.166us rms flight_mode_manager: cycle: 1694 events, 53350us elapsed, 31.49us avg, min 23us max 121us 29.722us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3421 events, 354950us elapsed, 103.76us avg, min 69us max 986us 289.453us rms ekf2: ECL update: 3421 events, 7640us elapsed, 2.23us avg, min 1us max 75us 29.929us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3770 events, 375578us elapsed, 99.62us avg, min 67us max 448us 213.257us rms ekf2: ECL update: 3770 events, 8368us elapsed, 2.22us avg, min 1us max 82us 11.066us rms mc_hover_thrust_estimator: cycle time: 3421 events, 3168us elapsed, 0.92us avg, min 1us max 28us 5.083us 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: 6842 events, 57724us elapsed, 8.44us avg, min 6us max 69us 16.828us rms mc_rate_control: cycle: 27229 events, 250880us elapsed, 9.21us avg, min 8us max 16us 3.740us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3421 events, 376633us elapsed, 110.09us avg, min 67us max 891us 287.411us rms ekf2: ECL update: 3421 events, 9548us elapsed, 2.79us avg, min 1us max 123us 26.425us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3770 events, 388290us elapsed, 102.99us avg, min 67us max 399us 220.530us rms ekf2: ECL update: 3770 events, 10150us elapsed, 2.69us avg, min 2us max 55us 9.652us rms pwm_out: interval: 2788 events, 12147.87 avg, min 367us max 20540us 8689.088us rms pwm_out: cycle: 2788 events, 38930us elapsed, 13.96us avg, min 10us max 646us 72.699us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 13516 events, 4735813us elapsed, 350.39us avg, min 336us max 957us 174.230us rms px4io: interface write: 13518 events, 2809306us elapsed, 207.82us avg, min 124us max 266us 26.625us rms px4io: interface read: 7429 events, 1959590us elapsed, 263.78us avg, min 140us max 614us 770.474us rms px4io: interval: 13516 events, 2506.31 avg, min 624us max 6804us 349.742us rms px4io: cycle: 13516 events, 5075310us elapsed, 375.50us avg, min 225us max 6763us 2253.731us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 20962 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 20962 events, 4690050us elapsed, 223.74us avg, min 121us max 610us 476.226us rms commander: preflight check: 33 events, 159679us elapsed, 4838.76us avg, min 4089us max 5751us 2721.227us rms commander: cycle: 3067 events, 345350us elapsed, 112.60us avg, min 34us max 5833us 3224.490us 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_magnetometer: cycle: 1589 events, 40040us elapsed, 25.20us avg, min 17us max 117us 49.725us rms vehicle_gps_position: cycle: 170 events, 1675us elapsed, 9.85us avg, min 6us max 100us 29.641us rms vehicle_air_data: cycle: 2354 events, 33343us elapsed, 14.16us avg, min 10us max 128us 45.890us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 27252 events, 350258us elapsed, 12.85us avg, min 11us max 31us 4.833us rms sensors: 6848 events, 173519us elapsed, 25.34us avg, min 18us max 181us 65.117us rms battery_status: 3391 events, 51693us elapsed, 15.24us avg, min 11us max 691us 137.742us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 3138 events, 648310us elapsed, 206.60us avg, min 202us max 298us 59.820us rms ms5611: read: 3138 events, 1832825us elapsed, 584.07us avg, min 578us max 677us 47.605us rms 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 bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events board_adc: sample: 20346 events, 186096us elapsed, 9.15us avg, min 6us max 1093us 109.989us rms manual_control: interval: 1290 events, 26216.43 avg, min 16627us max 176962us 10895.704us rms manual_control: cycle: 1290 events, 16337us elapsed, 12.66us avg, min 8us max 459us 113.495us rms rc_update: valid data interval: 1534 events, 22089.38 avg, min 16627us max 27984us 1230.200us rms rc_update: cycle interval: 1534 events, 22089.38 avg, min 16627us max 27984us 1230.236us rms rc_update: cycle: 1534 events, 23098us elapsed, 15.06us avg, min 8us max 330us 55.401us rms uavcan: cycle interval: 11302 events, 2999.74 avg, min 1353us max 4647us 170.436us rms uavcan: cycle time: 11302 events, 231831us elapsed, 20.51us avg, min 12us max 971us 177.588us 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 rgbled: led_control message missed: 0 events load_mon: cycle: 67 events, 5091us elapsed, 75.99us avg, min 46us max 585us 338.406us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 179 events, 27682us elapsed, 154.65us avg, min 16us max 11257us 78009.063us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 3 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 5us 240.981us rms param: get: 6204 events param: find: 4621 events param: export: 1 events, 8926us elapsed, 8926.00us avg, min 8926us max 8926us nanus rms
Post 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_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 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: 252 events, 1628309us elapsed, 6461.54us avg, min 1948us max 18212us 3085.979us rms logger_sd_write: 890 events, 2120084us elapsed, 2382.12us avg, min 5us max 15122us 1986.789us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 8 events, 8750000.25 avg, min 9999574us max 10000428us 228.442us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 16845 events, 2987621us elapsed, 177.36us avg, min 135us max 867us 203.165us rms gyro_fft: cycle interval: 36298 events, 2475.55 avg, min 1741us max 3210us 70.128us rms gyro_fft: cycle: 36298 events, 3320208us elapsed, 91.47us avg, min 6us max 878us 295.156us rms navigator: 1910 events, 83463us elapsed, 43.70us avg, min 9us max 6366us 23874.537us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8706 events, 10321.35 avg, min 9129us max 38013us 1778.727us rms mavlink: tx run elapsed: 8706 events, 4083380us elapsed, 469.03us avg, min 89us max 28916us 5063.133us rms mag_bias_estimator: cycle: 48 events, 719us elapsed, 14.98us avg, min 1us max 37us 958.019us rms land_detector: cycle: 9075 events, 99455us elapsed, 10.96us avg, min 9us max 101us 10.707us rms mc_pos_control: cycle time: 9075 events, 225604us elapsed, 24.86us avg, min 22us max 144us 18.766us rms flight_mode_manager: cycle: 4494 events, 131350us elapsed, 29.23us avg, min 24us max 78us 19.295us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 9075 events, 1051056us elapsed, 115.82us avg, min 68us max 1149us 193.029us rms ekf2: ECL update: 9075 events, 21908us elapsed, 2.41us avg, min 1us max 97us 18.557us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 10000 events, 1111895us elapsed, 111.19us avg, min 67us max 522us 142.682us rms ekf2: ECL update: 10000 events, 23346us elapsed, 2.33us avg, min 1us max 84us 7.229us rms mc_hover_thrust_estimator: cycle time: 9075 events, 33916us elapsed, 3.74us avg, min 1us max 84us 3.945us 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: 18150 events, 158135us elapsed, 8.71us avg, min 6us max 72us 10.863us rms mc_rate_control: cycle: 72246 events, 702584us elapsed, 9.72us avg, min 8us max 18us 2.434us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 9075 events, 1118939us elapsed, 123.30us avg, min 68us max 1127us 190.744us rms ekf2: ECL update: 9075 events, 26930us elapsed, 2.97us avg, min 2us max 371us 16.840us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 10000 events, 1142144us elapsed, 114.21us avg, min 67us max 514us 147.022us rms ekf2: ECL update: 10000 events, 28556us elapsed, 2.86us avg, min 2us max 58us 6.218us rms pwm_out: interval: 7573 events, 11863.70 avg, min 39us max 21057us 8788.231us rms pwm_out: cycle: 7573 events, 100751us elapsed, 13.30us avg, min 10us max 838us 48.056us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 35857 events, 12558613us elapsed, 350.24us avg, min 336us max 974us 113.275us rms px4io: interface write: 35858 events, 7449597us elapsed, 207.75us avg, min 125us max 267us 17.283us rms px4io: interface read: 19517 events, 5169409us elapsed, 264.87us avg, min 140us max 607us 503.454us rms px4io: interval: 35857 events, 2506.06 avg, min 601us max 6801us 344.270us rms px4io: cycle: 35857 events, 13410654us elapsed, 374.00us avg, min 225us max 6760us 1465.556us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 55375 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 55375 events, 12400603us elapsed, 223.94us avg, min 121us max 604us 310.348us rms commander: preflight check: 2 events, 10593us elapsed, 5296.50us avg, min 5219us max 5374us 15393.973us rms commander: cycle: 8167 events, 498548us elapsed, 61.04us avg, min 34us max 5480us 1978.990us 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_magnetometer: cycle: 4211 events, 104457us elapsed, 24.81us avg, min 17us max 141us 31.570us rms vehicle_gps_position: cycle: 449 events, 4410us elapsed, 9.82us avg, min 6us max 93us 19.656us rms vehicle_air_data: cycle: 6240 events, 88975us elapsed, 14.26us avg, min 10us max 115us 30.036us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 72247 events, 928264us elapsed, 12.85us avg, min 11us max 31us 3.115us rms sensors: 18150 events, 451314us elapsed, 24.87us avg, min 18us max 115us 40.320us rms battery_status: 8987 events, 142898us elapsed, 15.90us avg, min 11us max 1046us 91.355us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 8319 events, 1719842us elapsed, 206.74us avg, min 202us max 296us 38.894us rms ms5611: read: 8319 events, 4858112us elapsed, 583.98us avg, min 578us max 680us 31.013us rms 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 bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events board_adc: sample: 53922 events, 478061us elapsed, 8.87us avg, min 6us max 985us 71.125us rms manual_control: interval: 3598 events, 24920.82 avg, min 16221us max 200012us 11562.508us rms manual_control: cycle: 3598 events, 46645us elapsed, 12.96us avg, min 8us max 758us 75.305us rms rc_update: valid data interval: 4065 events, 22101.56 avg, min 16230us max 28333us 1219.659us rms rc_update: cycle interval: 4065 events, 22101.56 avg, min 16230us max 28333us 1219.395us rms rc_update: cycle: 4065 events, 63535us elapsed, 15.63us avg, min 8us max 600us 37.019us rms uavcan: cycle interval: 29955 events, 2999.90 avg, min 1257us max 4743us 185.065us rms uavcan: cycle time: 29955 events, 609521us elapsed, 20.35us avg, min 11us max 1937us 116.999us 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 rgbled: led_control message missed: 0 events load_mon: cycle: 180 events, 13563us elapsed, 75.35us avg, min 45us max 780us 227.760us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 484 events, 44126us elapsed, 91.17us avg, min 16us max 6334us 47359.133us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 3 events, 9us elapsed, 3.00us avg, min 1us max 6us 240.996us rms param: get: 851 events param: find: 557 events param: export: 1 events, 8657us elapsed, 8657.00us avg, min 8657us max 8657us nanus rms