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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-pull14048-m01-ph4-3-01
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.11.0 (beta) (4d106aeb) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | 04-02-2020 17:37 |
| Logging Duration: | 0:06:02 |
| Dropouts: | 2 (0.17 s) |
| Vehicle Life Flight Time: | 4 hours 56 minutes 11 seconds |
| Vehicle UUID: | 000200000000383339333038510700320016 (pixhawk4 v5) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | pr test |
| Distance: | 1.72 km |
| Max Altitude Difference: | 43 m |
| Average Speed: | 17.3 km/h |
| Max Speed: | 69.3 km/h |
| Max Speed Horizontal: | 69.3 km/h |
| Max Speed Up: | 16.2 km/h |
| Max Speed Down: | 16.6 km/h |
| Max Tilt Angle: | 43.9 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: 4d106aeb3ed38b38a19a1aa56103935160771d9b FW version: 1.11.0 80 (17498240) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: 7b36108b548642f1a8513dcf00eb4913f8558ccf Build datetime: Feb 3 2020 14:44:24 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 000200000000383339333038510700320016 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz) WARN [rgbled_ncp5623c] no RGB led on bus #1 Board sensors: /etc/init.d/rc.board_sensors WARN [mpu6000] no device on bus #3 (SPI1) MPU6000 on SPI bus 1 at 0 (1000 KHz) WARN [mpu6000] unexpected ID 0x00 accepted BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz) BMI055_GYRO on SPI bus 1 at 2 (10000 KHz) IST8310 on I2C bus 1 at 0x0e (bus: 100 KHz, max: 400 KHz) WARN [ist8310] ERROR: TIMEOUT 2 INFO [ist8310] no device on bus 2 WARN [hmc5883] no device on bus 1 (type: 2) WARN [hmc5883] no device on bus 2 (type: 2) WARN [hmc5883] no device on bus 4 (type: 2) ERROR [hmc5883] bus 2 not started ERROR [hmc5883] bus 2 not started WARN [qmc5883] no device on bus 1 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 4 (type: 2) WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [ak09916] AK09916 mag init failed ERROR [ak09916] driver start failed IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) WARN [ist8310] ERROR: TIMEOUT 2 MS5611_SPI on SPI bus 4 at 0 (20000 KHz) WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 1 INFO [commander] Mission #3 loaded, 43 WPs, curr: 0 Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B WARN [px4io] unknown argument: INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero INFO [ecl/EKF] 9836924: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14) INFO [ecl/EKF] GPS checks passed (WGS-84 origin set) INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] commencing GPS fusion WARN [PreFlightCheck] CAUTION: Avionics Power low: 4.88 Volt INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-02-04/17_37_41.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 22397 29.411 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 23 0.000 1016/ 1516 50 ( 50) w:sig 3 3 init 862 0.000 2032/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 376/ 1252 255 (255) w:sem 4 161 wq:att_pos_ctrl 5390 11.764 4992/ 6596 242 (242) w:sem 4 16 wq:hp_default 641 1.296 1160/ 1900 241 (241) w:sem 4 18 dataman 106 0.099 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 42 0.000 812/ 1700 205 (205) w:sem 4 23 wq:I2C1 235 0.398 820/ 1396 246 (246) w:sem 4 120 wq:SPI1 11001 23.230 1152/ 1900 253 (253) w:sem 4 136 wq:I2C3 167 0.398 952/ 1396 244 (244) w:sem 4 138 wq:SPI4 136 0.299 568/ 1900 250 (250) w:sem 4 160 sensors 1121 2.093 1064/ 1964 237 (237) w:sem 10 431 log_writer_file 144 0.000 584/ 1164 90 ( 60) READY 4 163 wq:rate_ctrl 2423 5.483 1048/ 1596 255 (255) w:sem 4 165 commander 433 0.897 1448/ 3212 140 (140) w:sig 6 166 commander_low_prio 0 0.000 716/ 2996 50 ( 50) w:sem 6 218 gps 85 0.199 1072/ 1676 208 (208) READY 4 247 mavlink_if1 693 1.096 1664/ 2484 140 (100) w:sig 4 249 mavlink_rcv_if1 213 0.398 2624/ 3940 175 (175) w:sem 4 269 px4io 1399 3.090 916/ 1484 240 (240) w:sem 4 405 navigator 97 0.199 1008/ 1764 105 (105) w:sem 5 429 logger 301 3.090 3016/ 3644 233 (233) RUN 4 Processes: 24 total, 4 running, 20 sleeping, max FDs: 20 CPU usage: 54.04% tasks, 16.55% sched, 29.41% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 49.059s total, 22.397s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 159419 36.663 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 46 2.297 1016/ 1516 50 ( 50) w:sig 3 3 init 862 0.000 2032/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 376/ 1252 255 (255) w:sem 4 161 wq:att_pos_ctrl 54858 11.888 4992/ 6596 242 (242) w:sem 4 16 wq:hp_default 5546 1.298 1160/ 1900 241 (241) w:sem 4 18 dataman 389 1.298 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 200 0.099 812/ 1700 205 (205) w:sem 4 23 wq:I2C1 1582 0.499 820/ 1396 246 (246) w:sem 4 120 wq:SPI1 94855 23.276 1152/ 1900 253 (253) w:sem 4 136 wq:I2C3 1479 0.299 952/ 1396 244 (244) w:sem 4 138 wq:SPI4 1273 0.299 568/ 1900 250 (250) w:sem 4 160 sensors 8921 2.497 1064/ 1964 237 (237) w:sem 10 431 log_writer_file 16213 2.597 616/ 1164 60 ( 60) w:sem 4 163 wq:rate_ctrl 22569 5.494 1048/ 1596 255 (255) w:sem 4 165 commander 3431 0.799 1448/ 3212 140 (140) w:sig 6 166 commander_low_prio 5 0.000 716/ 2996 50 ( 50) w:sem 6 218 gps 660 0.199 1072/ 1676 208 (208) w:sem 4 247 mavlink_if1 4686 1.098 1664/ 2484 105 (100) w:sig 4 249 mavlink_rcv_if1 1526 0.299 2624/ 3940 175 (175) w:sem 4 269 px4io 12633 3.196 916/ 1484 240 (240) w:sem 4 405 navigator 613 0.899 1100/ 1764 105 (105) w:sem 5 429 logger 9251 2.497 3016/ 3644 233 (233) RUN 4 Processes: 24 total, 2 running, 22 sleeping, max FDs: 20 CPU usage: 60.84% tasks, 2.50% sched, 36.66% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 410.209s total, 159.420s idle
Performance Counters
Pre Flight:
logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 717 events, 723060us elapsed, 1008.45us avg, min 82us max 404313us 15635.839us rms land_detector_cycle: 2119 events, 57553us elapsed, 27.16us avg, min 14us max 394us 21.628us rms mc_pos_control: cycle time: 1581 events, 52900us elapsed, 33.46us avg, min 16us max 409us 35.895us rms mc_att_control: cycle: 9480 events, 782092us elapsed, 82.50us avg, min 43us max 647us 57.015us rms mc_rate_control: cycle: 42185 events, 812178us elapsed, 19.25us avg, min 14us max 916us 6.119us rms ekf2: update: 10566 events, 2954696us elapsed, 279.64us avg, min 3us max 1786us 306.795us rms fmu: cycle: 1752 events, 43657us elapsed, 24.92us avg, min 1us max 604us 22.663us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 16552 events, 5373647us elapsed, 324.65us avg, min 175us max 1836us 211.117us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 16558 events, 11028253us elapsed, 666.04us avg, min 250us max 18287us 706.293us rms io_txns: 26638 events, 10217020us elapsed, 383.55us avg, min 125us max 2074us 236.282us rms mavlink_int: 4179 events, 10110.07 avg, min 9166us max 101896us 1499.920us rms mavlink_el: 4179 events, 1173556us elapsed, 280.82us avg, min 72us max 3223us 277.092us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: interval: 42577 events, 1005.04 avg, min 664us max 1941us 348.793us rms vehicle_acceleration: interval: 42577 events, 1005.05 avg, min 664us max 2204us 348.812us rms battery_status: 4280 events, 134405us elapsed, 31.40us avg, min 26us max 790us 18.667us rms sensors: 10660 events, 6899858us elapsed, 647.27us avg, min 64us max 2644us 390.442us rms ms5611: com_err: 0 events ms5611: measure: 4262 events, 30348us elapsed, 7.12us avg, min 5us max 79us 7.283us rms ms5611: read: 4261 events, 65276us elapsed, 15.32us avg, min 10us max 82us 12.433us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 2116 events, 1781773us elapsed, 842.05us avg, min 830us max 1699us 50.891us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 2216 events, 1874409us elapsed, 845.85us avg, min 835us max 1695us 52.179us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 58745 events, 2777126us elapsed, 47.27us avg, min 41us max 180us 4.591us rms bmi055_accel_duplicates: 11123 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 58754 events, 2182991us elapsed, 37.15us avg, min 26us max 165us 5.333us rms mpu6k_duplicates: 11980 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 58745 events, 2528029us elapsed, 43.03us avg, min 41us max 59us 1.686us rms adc: sample: 56436 events, 168503us elapsed, 2.99us avg, min 2us max 498us 6.358us rms rc_update: 1993 events, 104270us elapsed, 52.32us avg, min 19us max 4136us 119.524us rms stack_check: 217 events, 1150us elapsed, 5.30us avg, min 1us max 66us 7.607us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1589 events, 777171us elapsed, 489.09us avg, min 32us max 404257us 10297.082us rms dma_alloc: 4 events param_set: 134 events, 4527us elapsed, 33.78us avg, min 3us max 67us 17.358us rms param_get: 3529 events, 21161us elapsed, 6.00us avg, min 2us max 1282us 36.641us rms param_find: 1344 events, 8514us elapsed, 6.33us avg, min 2us max 425us 21.463us rms param_export: 1 events, 49512us elapsed, 49512.00us avg, min 49512us max 49512us infus rms
Post Flight:
logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 851 events, 9457424us elapsed, 11113.31us avg, min 5us max 106677us 23099.656us rms logger_sd_write: 3212 events, 62071105us elapsed, 19324.75us avg, min 8us max 659989us 46153.211us rms navigator: 6508 events, 28426406us elapsed, 4367.92us avg, min 48us max 652351us 30720.072us rms land_detector_cycle: 18108 events, 409501us elapsed, 22.61us avg, min 14us max 276us 22.658us rms mc_pos_control: cycle time: 15080 events, 2130505us elapsed, 141.28us avg, min 15us max 1018us 96.920us rms mc_att_control: cycle: 90380 events, 6600554us elapsed, 73.03us avg, min 28us max 343us 64.891us rms mc_rate_control: cycle: 361545 events, 7101576us elapsed, 19.64us avg, min 15us max 41us 3.296us rms ekf2: update: 90380 events, 31708168us elapsed, 350.83us avg, min 12us max 2383us 496.410us rms fmu: cycle: 15102 events, 350201us elapsed, 23.19us avg, min 20us max 316us 14.555us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 140568 events, 46221833us elapsed, 328.82us avg, min 177us max 1865us 223.908us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 140568 events, 93917973us elapsed, 668.13us avg, min 250us max 4776us 791.183us rms io_txns: 225505 events, 87423823us elapsed, 387.68us avg, min 127us max 3074us 307.201us rms mavlink_int: 35915 events, 10083.03 avg, min 9092us max 13343us 421.190us rms mavlink_el: 35915 events, 6790345us elapsed, 189.07us avg, min 68us max 3222us 224.704us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: interval: 361547 events, 1001.69 avg, min 745us max 1653us 346.965us rms vehicle_acceleration: interval: 361547 events, 1001.69 avg, min 745us max 1653us 346.965us rms battery_status: 36216 events, 1159744us elapsed, 32.02us avg, min 28us max 330us 19.192us rms sensors: 90380 events, 64645086us elapsed, 715.26us avg, min 53us max 3199us 591.177us rms ms5611: com_err: 0 events ms5611: measure: 36006 events, 249138us elapsed, 6.92us avg, min 5us max 78us 6.816us rms ms5611: read: 36006 events, 558084us elapsed, 15.50us avg, min 10us max 90us 13.238us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 17081 events, 14378873us elapsed, 841.81us avg, min 831us max 1667us 53.658us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 17081 events, 14439291us elapsed, 845.34us avg, min 836us max 1697us 53.357us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 452703 events, 21662420us elapsed, 47.85us avg, min 41us max 75us 4.844us rms bmi055_accel_duplicates: 85382 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 452702 events, 16933038us elapsed, 37.40us avg, min 26us max 64us 5.695us rms mpu6k_duplicates: 91154 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 452703 events, 19592442us elapsed, 43.28us avg, min 41us max 66us 1.934us rms adc: sample: 434604 events, 1313335us elapsed, 3.02us avg, min 2us max 291us 6.878us rms rc_update: 16987 events, 621608us elapsed, 36.59us avg, min 19us max 339us 68.102us rms stack_check: 2035 events, 10167us elapsed, 5.00us avg, min 1us max 107us 10.442us rms dataman: write: 39 events, 105728us elapsed, 2710.97us avg, min 1603us max 11822us 1729.354us rms dataman: read: 8580 events, 27973640us elapsed, 3260.33us avg, min 32us max 652333us 26769.932us rms dma_alloc: 0 events param_set: 6 events, 128us elapsed, 21.33us avg, min 2us max 114us 100.379us rms param_get: 81 events, 246us elapsed, 3.04us avg, min 2us max 11us 243.330us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 52028us elapsed, 52028.00us avg, min 52028us max 52028us infus rms