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PX4 Quadrotor | Open PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | v1.15.0 (beta) (ad6031e9) branch: pr-ark-pi6x-1.15 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:10:29 |
| Vehicle Life Flight Time: | 11 minutes 51 seconds |
| Vehicle UUID: | 000600000000363435363033510900260034 |
| Distance: | 757.9 m |
| Max Altitude Difference: | 9 m |
| Average Speed: | 3.6 km/h |
| Max Speed: | 23.4 km/h |
| Max Speed Horizontal: | 23.4 km/h |
| Max Speed Up: | 4.1 km/h |
| Max Speed Down: | 4.6 km/h |
| Max Tilt Angle: | 34.2 deg |
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Console Output
/dev/ttyS5 @ 57600B Starting UXRCE-DDS Client on /dev/ttyS3 INFO [uxrce_dds_client] init serial /dev/ttyS3 @ 3000000 baud INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KINFO [afbrs50] switched to long range rate: 25 WARN [health_and_arming_checks] Preflight Fail: Power module not connected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [afbrs50] switched to short range rate: 50 INFO [rc_input] RC scan: CRSF RC input locked WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged serdis: Disconnected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged serdis: Disconnected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver serdis: Disconnected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver serdis: Disconnected sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B 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 Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] synchronized with time offset 1716488533975633us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180 INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 242 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 246 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266 INFO [uxrce_dds_client] time sync converged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error 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 Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged INFO [uxrce_dds_client] time sync converged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/06_52_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/06_52_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 78183 48.620 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.751 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2260/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 1 0.170 1308/ 1896 205 (205) w:sem 6 1023 log_writer_file 3 0.352 628/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.804 2132/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.053 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 57 5.776 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 52 5.222 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.450 1044/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.270 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 29 2.922 1460/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 74 7.487 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 37 3.730 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 36 3.639 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.546 1516/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 9 0.970 1908/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 1 0.191 1324/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 37 3.777 9232/ 9872 100 (100) w:sem 25 941 wq:ttyS4 3 0.383 1052/ 1704 230 (230) w:sem 6 953 navigator 0 0.073 1528/ 2104 105 (105) w:sem 11 1011 logger 42 4.290 3108/ 3616 230 (230) RUN 4 1036 wq:uavcan 8 0.831 2260/ 3600 236 (236) w:sem 6 1064 mavlink_if1 44 4.400 1948/ 2792 100 (100) w:sig 5 1066 mavlink_rcv_if1 2 0.210 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 2 running, 27 sleeping CPU usage: 50.30% tasks, 1.08% sched, 48.62% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 138.765s total, 78.183s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 408923 48.694 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.756 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2260/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 18 1.867 1308/ 1896 205 (205) w:sem 6 1023 log_writer_file 3 0.355 628/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.808 2132/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.055 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 57 5.760 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 52 5.218 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.451 1044/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.276 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 33 3.366 1476/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 73 7.335 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 38 3.861 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 36 3.627 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.542 1516/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 10 1.019 1956/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 4 0.494 1500/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 35 3.593 9232/ 9872 100 (100) READY 25 941 wq:ttyS4 4 0.408 1052/ 1704 230 (230) READY 6 953 navigator 0 0.088 1528/ 2104 105 (105) w:sem 11 1011 logger 14 1.458 3108/ 3616 230 (230) RUN 4 1036 wq:uavcan 8 0.860 2260/ 3600 236 (236) w:sem 6 1064 mavlink_if1 45 4.527 1980/ 2792 100 (100) READY 5 1066 mavlink_rcv_if1 5 0.507 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 50.24% tasks, 1.07% sched, 48.69% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 767.187s total, 408.924s 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: 41264 events, 3043.43 avg, min 2099us max 37263us 340.739us rms mavlink: tx run elapsed: 41264 events, 8289905us elapsed, 200.90us avg, min 78us max 2333us 175.619us rms DatamanClient: sync: 1 events, 37us elapsed, 37.00us avg, min 37us max 37us nanus rms vehicle_optical_flow: cycle: 33999 events, 917597us elapsed, 26.99us avg, min 3us max 1117us 25.773us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 145us elapsed, 145.00us avg, min 145us max 145us infus rms uavcan: cycle interval: 45657 events, 3000.16 avg, min 95us max 17116us 207.701us rms uavcan: cycle time: 45657 events, 1141124us elapsed, 24.99us avg, min 11us max 1771us 54.923us 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 24us elapsed, 24.00us avg, min 24us max 24us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 91us elapsed, 91.00us avg, min 91us max 91us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms geofence_dm_cache_miss: 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 13451us elapsed, 13451.00us avg, min 13451us max 13451us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6835 events, 20029.26 avg, min 61us max 92093us 1740.226us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 25673 events, 3694432us elapsed, 143.90us avg, min 133us max 1482us 19.094us rms gyro_fft: cycle interval: 54861 events, 2497.23 avg, min 1881us max 37756us 201.226us rms gyro_fft: cycle: 54861 events, 4156355us elapsed, 75.76us avg, min 6us max 1560us 73.901us rms DatamanClient: sync: 1 events, 14915us elapsed, 14915.00us avg, min 14915us max 14915us infus rms navigator: 2885 events, 103957us elapsed, 36.03us avg, min 17us max 3164us 112.469us rms rc_input: publish interval: 12753 events, 10499.83 avg, min 546us max 72001us 3129.695us rms rc_input: cycle time: 34239 events, 361406us elapsed, 10.56us avg, min 4us max 898us 28.506us rms uxrce_dds_client: cycle interval: 18356 events, 5515.54 avg, min 102us max 44193us 4320.689us rms uxrce_dds_client: cycle: 18355 events, 101218182us elapsed, 5514.47us avg, min 101us max 44192us 4320.655us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13663 events, 10027.39 avg, min 9178us max 87370us 1301.588us rms mavlink: tx run elapsed: 13663 events, 1933166us elapsed, 141.49us avg, min 70us max 1786us 107.923us rms DatamanClient: sync: 4 events, 777us elapsed, 194.25us avg, min 31us max 362us 176.487us rms mag_bias_estimator: cycle: 6838 events, 105618us elapsed, 15.45us avg, min 1us max 814us 33.798us rms land_detector: cycle: 13659 events, 132110us elapsed, 9.67us avg, min 8us max 158us 5.257us rms mc_pos_control: cycle time: 13651 events, 93902us elapsed, 6.88us avg, min 5us max 366us 5.165us rms flight_mode_manager: cycle: 6811 events, 89984us elapsed, 13.21us avg, min 3us max 698us 71.246us rms mc_hover_thrust_estimator: cycle time: 13641 events, 11435us elapsed, 0.83us avg, min 1us max 19us 0.655us 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: 24977 events, 399479us elapsed, 15.99us avg, min 14us max 189us 4.054us rms mc_rate_control: cycle: 109849 events, 897152us elapsed, 8.17us avg, min 7us max 74us 0.921us rms control_allocator: cycle: 109849 events, 2064722us elapsed, 18.80us avg, min 16us max 132us 2.222us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 13648 events, 2986461us elapsed, 218.82us avg, min 82us max 772us 132.365us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 13650 events, 2676390us elapsed, 196.07us avg, min 82us max 674us 86.370us rms pwm_out: interval: 459 events, 298693.65 avg, min 105us max 301062us 13998.709us rms pwm_out: cycle: 459 events, 1926us elapsed, 4.20us avg, min 2us max 153us 8.197us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 109850 events, 2202560us elapsed, 20.05us avg, min 13us max 72us 3.301us rms control latency: 109849 events, 20677829us elapsed, 188.24us avg, min 159us max 311us 4.770us rms commander: preflight check: 1252 events, 240405us elapsed, 192.02us avg, min 77us max 1806us 161.858us rms commander: cycle: 12422 events, 1022801us elapsed, 82.34us avg, min 30us max 1846us 118.528us rms vehicle_imu: gyro data gap: 3 events vehicle_imu: accel data gap: 2 events vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 11876 events, 227399us elapsed, 19.15us avg, min 14us max 422us 14.782us rms vehicle_gps_position: cycle: 458 events, 1242us elapsed, 2.71us avg, min 2us max 20us 1.403us rms vehicle_air_data: cycle: 3165 events, 54174us elapsed, 17.12us avg, min 3us max 321us 19.977us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 569 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 451 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 114 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 42 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: 109885 events, 3955758us elapsed, 36.00us avg, min 12us max 61us 2.721us rms sensors: 27471 events, 725904us elapsed, 26.42us avg, min 18us max 1573us 18.062us rms afbrs50: irq callback: 13410 events, 67866us elapsed, 5.06us avg, min 1us max 8us 0.826us rms afbrs50: transfer callback: 36109 events, 598946us elapsed, 16.59us avg, min 1us max 494us 32.059us rms afbrs50: transfer: 36109 events, 8873891us elapsed, 245.75us avg, min 6us max 2630us 405.382us rms afbrs50: sample interval: 6705 events, 20442.11 avg, min 15037us max 144827us 5364.941us rms paw3902: no motion interrupt: 14455 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: 1 events bmp388: measure: 3165 events, 3651933us elapsed, 1153.85us avg, min 1091us max 7259us 162.956us rms bmp388: read: 3163 events, 3039776us elapsed, 961.04us avg, min 943us max 1143us 35.251us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 11877 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: 1352 events, 1348469us elapsed, 997.39us avg, min 983us max 1203us 33.179us rms board_adc: sample: 41133 events, 121687us elapsed, 2.96us avg, min 2us max 1520us 14.755us rms manual_control: interval: 2105 events, 65120.14 avg, min 16us max 200718us 59656.164us rms manual_control: cycle: 2105 events, 37923us elapsed, 18.02us avg, min 6us max 701us 34.737us rms rc_update: valid data interval: 12741 events, 10500.30 avg, min 545us max 72000us 3132.370us rms rc_update: cycle interval: 12753 events, 10499.82 avg, min 545us max 72000us 3130.194us rms rc_update: cycle: 12753 events, 246831us elapsed, 19.35us avg, min 8us max 1649us 50.384us rms load_mon: cycle: 275 events, 31213us elapsed, 113.50us avg, min 1us max 1689us 150.407us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 1393us elapsed, 278.60us avg, min 7us max 435us 160.618us rms dma_alloc: 63 events param: set: 112 events, 1493us elapsed, 13.33us avg, min 4us max 26us 5.724us rms param: get: 31888 events param: find: 22572 events param: export: 1 events, 4682us elapsed, 4682.00us avg, min 4682us max 4682us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 208136 events, 3023.52 avg, min 2101us max 20103us 294.623us rms mavlink: tx run elapsed: 208136 events, 43725109us elapsed, 210.08us avg, min 88us max 17670us 187.368us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms vehicle_optical_flow: cycle: 158948 events, 3877574us elapsed, 24.40us avg, min 3us max 753us 22.897us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 209751 events, 3000.26 avg, min 37us max 18627us 206.910us rms uavcan: cycle time: 209752 events, 4499208us elapsed, 21.45us avg, min 11us max 1760us 46.784us 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 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: 1755 events, 13073706us elapsed, 7449.41us avg, min 4us max 123386us 4432.500us rms logger_sd_write: 6830 events, 22413262us elapsed, 3281.59us avg, min 5us max 38957us 2211.808us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 62 events, 9838709.05 avg, min 9999106us max 10000894us 247.473us rms gyro_fft: gyro FIFO data gap: 10 events gyro_fft: FFT: 117864 events, 18323654us elapsed, 155.46us avg, min 134us max 885us 33.026us rms gyro_fft: cycle interval: 252050 events, 2496.77 avg, min 339us max 50336us 254.314us rms gyro_fft: cycle: 252050 events, 20528525us elapsed, 81.45us avg, min 2us max 893us 88.813us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 13294 events, 333350us elapsed, 25.08us avg, min 16us max 1123us 66.549us rms rc_input: publish interval: 57344 events, 10974.11 avg, min 1468us max 148753us 4756.444us rms rc_input: cycle time: 157312 events, 1807455us elapsed, 11.49us avg, min 4us max 1097us 39.167us rms uxrce_dds_client: cycle interval: 126430 events, 4977.47 avg, min 98us max 22435us 3506.323us rms uxrce_dds_client: cycle: 126429 events, 629153930us elapsed, 4976.34us avg, min 98us max 22430us 3873.516us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 62908 events, 10003.53 avg, min 9096us max 24668us 162.609us rms mavlink: tx run elapsed: 62908 events, 9507749us elapsed, 151.14us avg, min 81us max 1946us 128.684us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 22 events, 241us elapsed, 10.95us avg, min 9us max 17us 609.852us rms land_detector: cycle: 63035 events, 642077us elapsed, 10.19us avg, min 8us max 152us 4.829us rms mc_pos_control: cycle time: 63035 events, 1552911us elapsed, 24.64us avg, min 5us max 177us 9.079us rms flight_mode_manager: cycle: 31466 events, 815839us elapsed, 25.93us avg, min 2us max 210us 34.913us rms mc_hover_thrust_estimator: cycle time: 60777 events, 264375us elapsed, 4.35us avg, min 1us max 131us 5.329us 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: 126065 events, 1266645us elapsed, 10.05us avg, min 7us max 189us 4.939us rms mc_rate_control: cycle: 504258 events, 4427725us elapsed, 8.78us avg, min 7us max 34us 0.970us rms control_allocator: cycle: 504258 events, 9321725us elapsed, 18.49us avg, min 16us max 127us 2.393us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 63031 events, 15759366us elapsed, 250.03us avg, min 82us max 928us 133.066us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 63031 events, 12634035us elapsed, 200.44us avg, min 82us max 666us 94.986us rms pwm_out: interval: 2097 events, 299856.96 avg, min 274715us max 325367us 1032.841us rms pwm_out: cycle: 2097 events, 7864us elapsed, 3.75us avg, min 2us max 166us 5.954us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 504259 events, 10619083us elapsed, 21.06us avg, min 16us max 49us 3.609us rms control latency: 504259 events, 96741653us elapsed, 191.85us avg, min 180us max 505us 8.147us rms commander: preflight check: 5728 events, 1055312us elapsed, 184.24us avg, min 107us max 1466us 157.138us rms commander: cycle: 57193 events, 4747959us elapsed, 83.02us avg, min 35us max 1992us 121.010us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 2 events vehicle_magnetometer: cycle: 54449 events, 1215758us elapsed, 22.33us avg, min 15us max 1264us 22.681us rms vehicle_gps_position: cycle: 2097 events, 5730us elapsed, 2.73us avg, min 1us max 155us 4.075us rms vehicle_air_data: cycle: 14534 events, 243727us elapsed, 16.77us avg, min 7us max 277us 20.552us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 18041 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 643 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 1340409 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 33561 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 4 events vehicle_angular_velocity: gyro filter reset: 4 events vehicle_angular_velocity: gyro filter: 504263 events, 19028509us elapsed, 37.74us avg, min 32us max 258us 6.965us rms sensors: 126067 events, 3232481us elapsed, 25.64us avg, min 18us max 1360us 10.073us rms afbrs50: irq callback: 54334 events, 274450us elapsed, 5.05us avg, min 1us max 8us 0.921us rms afbrs50: transfer callback: 143108 events, 2567217us elapsed, 17.94us avg, min 1us max 271us 38.463us rms afbrs50: transfer: 143108 events, 35781411us elapsed, 250.03us avg, min 11us max 1408us 455.019us rms afbrs50: sample interval: 27167 events, 23163.95 avg, min 14627us max 213013us 8844.104us rms paw3902: no motion interrupt: 21071 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: 2 events bmp388: measure: 14534 events, 17867135us elapsed, 1229.33us avg, min 1090us max 7516us 691.064us rms bmp388: read: 14532 events, 13968702us elapsed, 961.24us avg, min 944us max 6847us 62.723us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 54449 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: 6204 events, 6368516us elapsed, 1026.52us avg, min 984us max 1219us 53.541us rms board_adc: sample: 188748 events, 532230us elapsed, 2.82us avg, min 2us max 814us 13.441us rms manual_control: interval: 22577 events, 27869.95 avg, min 48us max 200722us 32038.320us rms manual_control: cycle: 22577 events, 447679us elapsed, 19.83us avg, min 9us max 991us 44.717us rms rc_update: valid data interval: 57338 events, 10975.26 avg, min 80us max 148753us 4772.393us rms rc_update: cycle interval: 57338 events, 10975.26 avg, min 81us max 148753us 4772.110us rms rc_update: cycle: 57338 events, 1006299us elapsed, 17.55us avg, min 10us max 970us 40.003us rms load_mon: cycle: 1259 events, 136037us elapsed, 108.05us avg, min 66us max 984us 129.336us 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: 57 events, 113us elapsed, 1.98us avg, min 1us max 58us 11.050us rms param: get: 53406 events param: find: 92273 events param: export: 1 events, 17138us elapsed, 17138.00us avg, min 17138us max 17138us nanus rms