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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: | v1.15.0 (beta) (061373f4) branch: release/1.15 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:12 |
| Vehicle Life Flight Time: | 58 minutes 21 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 92.0 m |
| Max Altitude Difference: | 9 m |
| Average Speed: | 1.9 km/h |
| Max Speed: | 10.1 km/h |
| Max Speed Horizontal: | 10.1 km/h |
| Max Speed Up: | 3.5 km/h |
| Max Speed Down: | 8.9 km/h |
| Max Tilt Angle: | 51.0 deg |
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Console Output
_position data writer, topic id: 252 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: 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: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Yaw 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: 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: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to long range rate: 25 WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 INFO [afbrs50] switched to long range rate: 25 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: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to long range rate: 25 WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 INFO [afbrs50] switched to long range rate: 25 WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 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: 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: Yaw 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: GPS Speed Accuracy too low INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-06-07/20_11_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-06-07/20_11_58.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 29278 46.894 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.731 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 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 1 0.166 1308/ 1896 205 (205) w:sem 6 977 log_writer_file 5 0.572 620/ 1144 60 ( 60) w:sem 4 438 wq:hp_default 37 3.788 2340/ 2776 237 (237) w:sem 6 456 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 492 wq:I2C3 0 0.054 984/ 2312 244 (244) w:sem 6 495 wq:SPI1 57 5.753 1816/ 2368 253 (253) w:sem 6 505 wq:SPI2 52 5.203 1816/ 2368 252 (252) w:sem 6 507 wq:I2C4 4 0.429 864/ 2312 243 (243) w:sem 6 519 wq:SPI3 2 0.268 1012/ 2368 251 (251) w:sem 6 714 wq:nav_and_controllers 29 2.940 1460/ 2216 242 (242) w:sem 6 717 wq:rate_ctrl 73 7.351 2312/ 3120 255 (255) w:sem 6 718 wq:INS0 40 4.095 3588/ 5976 241 (241) w:sem 6 720 wq:INS1 39 3.989 3588/ 5976 240 (240) w:sem 6 722 commander 5 0.573 1508/ 3192 140 (140) w:sig 5 796 gps 0 0.045 1268/ 1936 205 (205) w:sem 4 831 mavlink_if0 9 0.928 1860/ 2704 100 (100) w:sig 5 838 mavlink_rcv_if0 1 0.181 1444/ 4776 175 (175) w:sem 5 885 uxrce_dds_client 36 3.613 9208/ 9872 100 (100) w:sem 25 888 wq:ttyS4 3 0.375 888/ 1704 230 (230) w:sem 6 907 navigator 0 0.077 1636/ 2104 105 (105) w:sem 11 958 logger 45 4.546 3060/ 3616 230 (230) RUN 4 983 wq:uavcan 17 1.766 3108/ 3600 236 (236) w:sem 6 1011 mavlink_if1 43 4.307 1876/ 2792 100 (100) READY 5 1012 mavlink_rcv_if1 2 0.258 1756/ 4776 175 (175) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 52.02% tasks, 1.09% sched, 46.89% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 53.289s total, 29.278s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 95892 47.503 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.732 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 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 21 2.191 1340/ 1896 205 (205) w:sem 6 977 log_writer_file 5 0.546 636/ 1144 60 ( 60) w:sem 4 438 wq:hp_default 36 3.643 2340/ 2776 237 (237) w:sem 6 456 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 492 wq:I2C3 0 0.057 984/ 2312 244 (244) w:sem 6 495 wq:SPI1 51 5.117 1816/ 2368 253 (253) w:sem 6 505 wq:SPI2 58 5.795 1816/ 2368 252 (252) w:sem 6 507 wq:I2C4 4 0.438 864/ 2312 243 (243) w:sem 6 519 wq:SPI3 2 0.270 1012/ 2368 251 (251) w:sem 6 714 wq:nav_and_controllers 32 3.218 1460/ 2216 242 (242) w:sem 6 717 wq:rate_ctrl 73 7.305 2312/ 3120 255 (255) w:sem 6 718 wq:INS0 38 3.834 3588/ 5976 241 (241) w:sem 6 720 wq:INS1 40 4.053 3588/ 5976 240 (240) w:sem 6 722 commander 5 0.555 1508/ 3192 140 (140) READY 5 796 gps 0 0.000 1268/ 1936 205 (205) w:sem 4 831 mavlink_if0 9 0.957 1860/ 2704 100 (100) w:sig 5 838 mavlink_rcv_if0 4 0.488 1476/ 4776 175 (175) w:sem 5 885 uxrce_dds_client 33 3.338 9208/ 9872 100 (100) READY 25 888 wq:ttyS4 3 0.377 888/ 1704 230 (230) READY 6 907 navigator 0 0.086 1636/ 2104 105 (105) w:sem 11 958 logger 17 1.752 3060/ 3616 230 (230) RUN 4 983 wq:uavcan 17 1.762 3108/ 3600 236 (236) w:sem 6 1011 mavlink_if1 43 4.382 1892/ 2792 100 (100) w:sig 5 1012 mavlink_rcv_if1 5 0.507 1756/ 4776 175 (175) w:sem 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 51.41% tasks, 1.09% sched, 47.50% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 184.412s total, 95.892s idle
Performance Counters
Pre Flight:
vehicle_optical_flow: cycle: 12800 events, 273652us elapsed, 21.38us avg, min 3us max 738us 19.670us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16566 events, 3040.86 avg, min 2099us max 35723us 458.180us rms mavlink: tx run elapsed: 16566 events, 3198379us elapsed, 193.07us avg, min 73us max 2747us 164.159us rms DatamanClient: sync: 3 events, 1158us elapsed, 386.00us avg, min 28us max 743us 357.501us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms uavcan: cycle interval: 30183 events, 1704.69 avg, min 15us max 19954us 1264.392us rms uavcan: cycle time: 30183 events, 1202510us elapsed, 39.84us avg, min 8us max 19224us 194.860us 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, 24371us elapsed, 24371.00us avg, min 24371us max 24371us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 25us elapsed, 25.00us avg, min 25us max 25us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 180us elapsed, 180.00us avg, min 180us max 180us 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 gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2572 events, 20002.98 avg, min 62us max 47336us 1011.002us rms gyro_fft: gyro FIFO data gap: 11 events gyro_fft: FFT: 9407 events, 1371527us elapsed, 145.80us avg, min 129us max 1615us 31.310us rms gyro_fft: cycle interval: 20526 events, 2508.17 avg, min 292us max 42183us 688.395us rms gyro_fft: cycle: 20526 events, 1559264us elapsed, 75.97us avg, min 2us max 1671us 77.146us rms DatamanClient: sync: 1 events, 3902us elapsed, 3902.00us avg, min 3902us max 3902us infus rms navigator: 1089 events, 38246us elapsed, 35.12us avg, min 18us max 1056us 82.618us rms rc_input: publish interval: 4838 events, 10635.84 avg, min 636us max 99927us 3993.328us rms rc_input: cycle time: 12848 events, 172057us elapsed, 13.39us avg, min 4us max 1952us 44.479us rms uxrce_dds_client: cycle interval: 8634 events, 5072.06 avg, min 101us max 74343us 3964.109us rms uxrce_dds_client: cycle: 8633 events, 43782195us elapsed, 5071.49us avg, min 100us max 74343us 3964.389us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5135 events, 10025.76 avg, min 9092us max 42946us 587.858us rms mavlink: tx run elapsed: 5135 events, 654185us elapsed, 127.40us avg, min 64us max 4084us 124.429us rms DatamanClient: sync: 4 events, 1069us elapsed, 267.25us avg, min 32us max 598us 273.705us rms mag_bias_estimator: cycle: 2576 events, 60545us elapsed, 23.50us avg, min 8us max 782us 45.039us rms land_detector: cycle: 5160 events, 60158us elapsed, 11.66us avg, min 8us max 116us 10.970us rms mc_pos_control: cycle time: 5160 events, 44327us elapsed, 8.59us avg, min 4us max 276us 11.690us rms flight_mode_manager: cycle: 2576 events, 19607us elapsed, 7.61us avg, min 3us max 646us 38.449us rms mc_hover_thrust_estimator: cycle time: 5158 events, 6719us elapsed, 1.30us avg, min 1us max 74us 4.262us 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: 10200 events, 179621us elapsed, 17.61us avg, min 15us max 259us 5.911us rms mc_rate_control: cycle: 41338 events, 346309us elapsed, 8.38us avg, min 7us max 70us 1.006us rms control_allocator: cycle: 41338 events, 786022us elapsed, 19.01us avg, min 16us max 134us 2.241us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 5167 events, 1065054us elapsed, 206.13us avg, min 82us max 835us 122.452us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 5167 events, 952119us elapsed, 184.27us avg, min 81us max 1136us 96.997us rms pwm_out: interval: 173 events, 296532.89 avg, min 103us max 300718us 22801.018us rms pwm_out: cycle: 173 events, 679us elapsed, 3.92us avg, min 2us max 50us 4.359us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 41339 events, 814648us elapsed, 19.71us avg, min 13us max 70us 3.196us rms control latency: 41338 events, 7762437us elapsed, 187.78us avg, min 156us max 430us 6.315us rms commander: preflight check: 476 events, 123683us elapsed, 259.84us avg, min 108us max 1852us 261.611us rms commander: cycle: 4673 events, 424921us elapsed, 90.93us avg, min 31us max 6252us 166.070us rms vehicle_imu: gyro data gap: 3 events vehicle_imu: accel data gap: 3 events vehicle_imu: gyro data gap: 2 events vehicle_imu: accel data gap: 2 events vehicle_magnetometer: cycle: 4472 events, 135573us elapsed, 30.32us avg, min 14us max 862us 29.861us rms vehicle_gps_position: cycle: 484 events, 5887us elapsed, 12.16us avg, min 2us max 170us 17.905us rms vehicle_air_data: cycle: 1190 events, 18913us elapsed, 15.89us avg, min 3us max 282us 17.687us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 936 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 209 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 108 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: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 41366 events, 1452293us elapsed, 35.11us avg, min 12us max 236us 4.573us rms sensors: 10340 events, 283350us elapsed, 27.40us avg, min 19us max 1903us 41.664us rms afbrs50: irq callback: 4656 events, 22838us elapsed, 4.91us avg, min 1us max 7us 0.858us rms afbrs50: transfer callback: 16707 events, 217247us elapsed, 13.00us avg, min 1us max 233us 27.295us rms afbrs50: transfer: 16708 events, 3186694us elapsed, 190.73us avg, min 9us max 2627us 363.629us rms afbrs50: sample interval: 2328 events, 22150.59 avg, min 10514us max 206169us 8737.559us rms paw3902: no motion interrupt: 3181 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 2 events paw3902: mode change bright (0): 1 events paw3902: false motion report: 0 events paw3902: reset: 3 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 1 events bmp388: measure: 1190 events, 1379120us elapsed, 1158.92us avg, min 1090us max 7559us 321.273us rms bmp388: read: 1188 events, 1145081us elapsed, 963.87us avg, min 943us max 4499us 108.663us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 4471 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: 509 events, 509162us elapsed, 1000.32us avg, min 983us max 1452us 42.772us rms board_adc: sample: 15444 events, 55067us elapsed, 3.57us avg, min 2us max 663us 17.888us rms manual_control: interval: 915 events, 56385.94 avg, min 47us max 200612us 57503.434us rms manual_control: cycle: 915 events, 15308us elapsed, 16.73us avg, min 8us max 677us 32.870us rms rc_update: valid data interval: 4815 events, 10662.52 avg, min 113us max 99928us 4206.258us rms rc_update: cycle interval: 4827 events, 10660.07 avg, min 112us max 99927us 4203.682us rms rc_update: cycle: 4827 events, 67309us elapsed, 13.94us avg, min 8us max 652us 17.454us rms load_mon: cycle: 104 events, 12840us elapsed, 123.46us avg, min 2us max 947us 126.764us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 2826us elapsed, 403.71us avg, min 8us max 573us 201.360us rms dma_alloc: 41 events param: set: 152 events, 2574us elapsed, 16.93us avg, min 5us max 33us 7.775us rms param: get: 15951 events param: find: 13717 events param: export: 1 events, 3136us elapsed, 3136.00us avg, min 3136us max 3136us infus rms
Post Flight:
vehicle_optical_flow: cycle: 34090 events, 726472us elapsed, 21.31us avg, min 14us max 266us 20.458us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 43681 events, 3022.96 avg, min 2106us max 24231us 298.345us rms mavlink: tx run elapsed: 43681 events, 8744428us elapsed, 200.19us avg, min 85us max 6857us 193.398us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: cycle interval: 76128 events, 1734.55 avg, min 14us max 4783us 1215.263us rms uavcan: cycle time: 76128 events, 2825775us elapsed, 37.12us avg, min 8us max 4779us 141.053us 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: 358 events, 3067775us elapsed, 8569.20us avg, min 4us max 55027us 4739.822us rms logger_sd_write: 5185 events, 16626141us elapsed, 3206.58us avg, min 5us max 55629us 2364.154us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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 gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 13 events, 9230749.00 avg, min 9999364us max 10000625us 319.467us rms gyro_fft: gyro FIFO data gap: 5 events gyro_fft: FFT: 24710 events, 3608542us elapsed, 146.04us avg, min 130us max 423us 26.165us rms gyro_fft: cycle interval: 52905 events, 2495.97 avg, min 350us max 5260us 82.652us rms gyro_fft: cycle: 52905 events, 4082881us elapsed, 77.17us avg, min 2us max 434us 89.083us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 2792 events, 70312us elapsed, 25.18us avg, min 18us max 341us 55.043us rms rc_input: publish interval: 11918 events, 11075.67 avg, min 3485us max 139790us 5408.091us rms rc_input: cycle time: 33011 events, 443152us elapsed, 13.42us avg, min 4us max 1148us 52.670us rms uxrce_dds_client: cycle interval: 28273 events, 4670.19 avg, min 98us max 1010716us 6911.657us rms uxrce_dds_client: cycle: 28272 events, 132008857us elapsed, 4669.24us avg, min 97us max 1010714us 7250.556us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13197 events, 10005.38 avg, min 9175us max 30933us 238.319us rms mavlink: tx run elapsed: 13197 events, 1815689us elapsed, 137.58us avg, min 77us max 21156us 229.309us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 6 events, 97us elapsed, 16.17us avg, min 15us max 29us 1022.135us rms land_detector: cycle: 13229 events, 141861us elapsed, 10.72us avg, min 8us max 149us 9.302us rms mc_pos_control: cycle time: 13229 events, 318437us elapsed, 24.07us avg, min 5us max 165us 14.051us rms flight_mode_manager: cycle: 6603 events, 145713us elapsed, 22.07us avg, min 3us max 180us 27.550us rms mc_hover_thrust_estimator: cycle time: 11747 events, 47579us elapsed, 4.05us avg, min 1us max 88us 5.859us 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: 26455 events, 311969us elapsed, 11.79us avg, min 8us max 166us 5.960us rms mc_rate_control: cycle: 105814 events, 947237us elapsed, 8.95us avg, min 7us max 30us 1.108us rms control_allocator: cycle: 105814 events, 1972770us elapsed, 18.64us avg, min 16us max 130us 2.635us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 13227 events, 3573535us elapsed, 270.17us avg, min 98us max 851us 170.426us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 13226 events, 3114208us elapsed, 235.46us avg, min 99us max 727us 125.060us rms pwm_out: interval: 440 events, 299318.51 avg, min 299045us max 300922us 174.285us rms pwm_out: cycle: 440 events, 1634us elapsed, 3.71us avg, min 2us max 41us 3.792us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 105814 events, 2190782us elapsed, 20.70us avg, min 16us max 42us 3.734us rms control latency: 105814 events, 20240968us elapsed, 191.29us avg, min 179us max 602us 9.494us rms commander: preflight check: 1206 events, 256648us elapsed, 212.81us avg, min 126us max 1717us 226.919us rms commander: cycle: 11999 events, 1050261us elapsed, 87.53us avg, min 34us max 1877us 156.872us 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: 11436 events, 350354us elapsed, 30.64us avg, min 21us max 1358us 35.412us rms vehicle_gps_position: cycle: 1321 events, 15427us elapsed, 11.68us avg, min 6us max 187us 17.513us rms vehicle_air_data: cycle: 3050 events, 49812us elapsed, 16.33us avg, min 10us max 254us 21.349us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3468 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 145 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 270018 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 10584 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 5 events vehicle_angular_velocity: gyro filter reset: 5 events vehicle_angular_velocity: gyro filter: 105818 events, 3947049us elapsed, 37.30us avg, min 31us max 256us 7.597us rms sensors: 26456 events, 673723us elapsed, 25.47us avg, min 19us max 2194us 29.455us rms afbrs50: irq callback: 13072 events, 64404us elapsed, 4.93us avg, min 3us max 8us 0.994us rms afbrs50: transfer callback: 32931 events, 557791us elapsed, 16.94us avg, min 1us max 249us 37.349us rms afbrs50: transfer: 32931 events, 8589758us elapsed, 260.84us avg, min 16us max 1408us 488.656us rms afbrs50: sample interval: 6536 events, 20199.34 avg, min 11000us max 144655us 3796.415us rms paw3902: no motion interrupt: 4989 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: 3050 events, 3497858us elapsed, 1146.84us avg, min 1090us max 1425us 209.879us rms bmp388: read: 3050 events, 2932949us elapsed, 961.62us avg, min 943us max 1127us 76.975us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 11437 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: 1302 events, 1300428us elapsed, 998.79us avg, min 983us max 1168us 41.466us rms board_adc: sample: 39615 events, 148194us elapsed, 3.74us avg, min 2us max 850us 23.681us rms manual_control: interval: 5136 events, 25700.16 avg, min 3824us max 200156us 28153.754us rms manual_control: cycle: 5136 events, 94377us elapsed, 18.38us avg, min 8us max 711us 36.130us rms rc_update: valid data interval: 11918 events, 11075.67 avg, min 3485us max 139778us 5408.167us rms rc_update: cycle interval: 11918 events, 11075.67 avg, min 3485us max 139790us 5408.197us rms rc_update: cycle: 11918 events, 188188us elapsed, 15.79us avg, min 11us max 684us 25.597us rms load_mon: cycle: 264 events, 31558us elapsed, 119.54us avg, min 73us max 894us 139.053us 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, 114us elapsed, 2.00us avg, min 1us max 56us 14.704us rms param: get: 16501 events param: find: 26199 events param: export: 1 events, 20906us elapsed, 20906.00us avg, min 20906us max 20906us infus rms