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PX4 Quadrotor | Open PID Analysis |
After Autotuning
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:26 |
| Dropouts: | 1 (0.47 s) |
| Vehicle Life Flight Time: | 35 minutes 47 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
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Console Output
WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [timesync] RTT too high for timesync: 3034779 ms WARN [health_and_arming_checks] Preflight Fail: height estimate not stable 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/2024-08-09/23_02_25.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-08-09/23_02_25.ulg INFO [commander] Takeoff detected WARN [timesync] RTT too high for timesync: 3124777 ms INFO [commander] Landing detected INFO [commander] Disarmed by RC INFO [vehicle_imu] ACC 1 (3408162) offset committed: [-0.013 0.055 0.100]->[-0.009 -0.012 0.122]) INFO [vehicle_imu] ACC 0 (3407906) offset committed: [-0.063 0.037 0.029]->[-0.059 -0.028 0.008]) INFO [vehicle_imu] ACC 2 (3407882) offset committed: [-0.025 -0.058 0.153]->[0.001 -0.124 0.142]) INFO [logger] closed logfile, bytes written: 9358491 WARN [timesync] RTT too high for timesync: 3214776 ms INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-08-09/23_05_18.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-08-09/23_05_18.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 1598689 43.900 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 1012 log_writer_file 9 0.918 748/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.017 1372/ 1872 237 (237) w:sem 1 269 dataman 0 0.011 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.035 1052/ 1896 205 (205) w:sem 1 330 wq:SPI4 78 7.796 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 76 7.647 2500/ 3120 255 (255) w:sem 1 343 wq:SPI1 62 6.258 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.125 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 32 3.267 1276/ 2216 242 (242) w:sem 1 614 wq:INS0 38 3.821 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.508 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 37 3.724 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.665 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 7 0.752 1924/ 2768 100 (100) READY 4 659 mavlink_rcv_if0 1 0.180 1516/ 4616 175 (175) w:sem 4 796 mavlink_if1 12 1.257 2004/ 2704 100 (100) w:sig 5 797 mavlink_rcv_if1 4 0.463 1812/ 4616 175 (175) w:sem 5 825 mavlink_if2 52 5.280 1972/ 2712 100 (100) READY 4 826 mavlink_rcv_if2 2 0.208 1516/ 4616 175 (175) w:sem 4 869 mavlink_if3 25 2.519 1972/ 2704 100 (100) READY 4 871 mavlink_rcv_if3 3 0.344 1524/ 4616 175 (175) w:sem 4 908 navigator 0 0.087 1056/ 1896 105 (105) w:sem 6 1008 logger 30 3.048 2996/ 3616 230 (230) RUN 4 1039 wq:uavcan 17 1.706 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 5 running, 23 sleeping CPU usage: 54.64% tasks, 1.46% sched, 43.90% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 3251.610s total, 1598.689s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 1610881 37.714 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 80 8.071 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 1012 log_writer_file 6 0.662 748/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.010 1372/ 1872 237 (237) w:sem 1 269 dataman 0 0.010 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 1 0.131 1052/ 1896 205 (205) w:sem 1 330 wq:SPI4 78 7.822 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 75 7.511 2500/ 3120 255 (255) w:sem 1 343 wq:SPI1 62 6.255 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.124 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 33 3.336 1276/ 2216 242 (242) w:sem 1 614 wq:INS0 38 3.887 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.522 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 37 3.732 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.637 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 6 0.693 1924/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.220 1516/ 4616 175 (175) w:sem 4 796 mavlink_if1 12 1.274 2004/ 2704 100 (100) w:sig 5 797 mavlink_rcv_if1 5 0.533 1812/ 4616 175 (175) w:sem 5 825 mavlink_if2 54 5.412 1972/ 2712 100 (100) w:sig 4 826 mavlink_rcv_if2 1 0.191 1516/ 4616 175 (175) w:sem 4 869 mavlink_if3 27 2.734 1972/ 2704 100 (100) READY 4 871 mavlink_rcv_if3 3 0.362 1524/ 4616 175 (175) w:sem 4 908 navigator 0 0.085 1056/ 1896 105 (105) w:sem 6 1008 logger 8 0.887 2996/ 3616 230 (230) RUN 4 1039 wq:uavcan 17 1.727 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 3 running, 25 sleeping CPU usage: 60.83% tasks, 1.45% sched, 37.71% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 3277.230s total, 1610.881s 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_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 80944 events, 2137.26 avg, min 18us max 15219us 1136.899us rms uavcan: cycle time: 80944 events, 4409055us elapsed, 54.47us avg, min 11us max 7232us 370.413us 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: 207 events, 1878708us elapsed, 9075.88us avg, min 4us max 15308us 4762.293us rms logger_sd_write: 2198 events, 38934457us elapsed, 17713.58us avg, min 6us max 1958307us 89957.297us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3171 events, 51453.90 avg, min 97us max 10000002us 559648.563us rms navigator: 3536 events, 6244676us elapsed, 1766.03us avg, min 10us max 1908420us 64220.770us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34544 events, 5007.24 avg, min 4179us max 109647us 629.244us rms mavlink: tx run elapsed: 34544 events, 5135257us elapsed, 148.66us avg, min 99us max 1474us 249.036us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 56541 events, 3059.23 avg, min 2149us max 108046us 600.035us rms mavlink: tx run elapsed: 56541 events, 15712499us elapsed, 277.90us avg, min 111us max 22958us 1097.780us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 17278 events, 10010.94 avg, min 9275us max 110942us 825.956us rms mavlink: tx run elapsed: 17278 events, 3345690us elapsed, 193.64us avg, min 104us max 1194us 362.929us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34547 events, 5006.77 avg, min 4073us max 109633us 626.272us rms mavlink: tx run elapsed: 34547 events, 1118867us elapsed, 32.39us avg, min 21us max 616us 130.589us rms mag_bias_estimator: cycle: 3309 events, 57712us elapsed, 17.44us avg, min 1us max 190us 51.467us rms land_detector: cycle: 17301 events, 251527us elapsed, 14.54us avg, min 10us max 178us 46.738us rms mc_pos_control: cycle time: 17301 events, 606312us elapsed, 35.04us avg, min 25us max 223us 70.201us rms flight_mode_manager: cycle: 8651 events, 355580us elapsed, 41.10us avg, min 28us max 221us 128.991us rms mc_hover_thrust_estimator: cycle time: 17301 events, 78076us elapsed, 4.51us avg, min 1us max 164us 16.831us rms mc_autotune_attitude_control: cycle time: 46503 events, 88765us elapsed, 1.91us avg, min 1us max 690us 4.681us rms mc_att_control: cycle: 34601 events, 391230us elapsed, 11.31us avg, min 8us max 83us 52.826us rms mc_rate_control: cycle: 137549 events, 1503003us elapsed, 10.93us avg, min 8us max 67us 5.379us rms control_allocator: cycle: 137549 events, 3222100us elapsed, 23.43us avg, min 20us max 173us 13.014us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 17300 events, 3385232us elapsed, 195.68us avg, min 100us max 1723us 843.744us rms ekf2: ECL update: 17300 events, 7238us elapsed, 0.41us avg, min 0us max 29us 47.701us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 17301 events, 2611896us elapsed, 150.97us avg, min 100us max 808us 340.010us rms ekf2: ECL update: 17301 events, 7108us elapsed, 0.41us avg, min 0us max 101us 3.557us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 17301 events, 3027796us elapsed, 175.01us avg, min 101us max 895us 270.527us rms ekf2: ECL update: 17300 events, 6839us elapsed, 0.39us avg, min 1us max 34us 3.374us rms pwm_out: interval: 137550 events, 1257.76 avg, min 60us max 9958us 642.142us rms pwm_out: cycle: 137550 events, 2012549us elapsed, 14.63us avg, min 12us max 85us 6.554us rms control latency: 137550 events, 59209443us elapsed, 430.46us avg, min 151us max 8885us 2176.009us rms commander: preflight check: 1575 events, 658747us elapsed, 418.25us avg, min 278us max 7663us 753.019us rms commander: cycle: 15704 events, 1349944us elapsed, 85.96us avg, min 30us max 7883us 591.482us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 13841 events, 458626us elapsed, 33.14us avg, min 19us max 653us 115.073us rms vehicle_gps_position: cycle: 865 events, 9599us elapsed, 11.10us avg, min 7us max 129us 57.843us rms vehicle_air_data: cycle: 12917 events, 291898us elapsed, 22.60us avg, min 13us max 195us 48.530us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 137550 events, 2048586us elapsed, 14.89us avg, min 12us max 125us 8.166us rms sensors: 34601 events, 1291027us elapsed, 37.31us avg, min 24us max 4975us 118.668us rms battery_status: 17300 events, 235377us elapsed, 13.61us avg, min 12us max 214us 15.257us rms ms5611: com_err: 0 events ms5611: measure: 17241 events, 71473us elapsed, 4.15us avg, min 3us max 157us 9.150us rms ms5611: read: 17241 events, 248470us elapsed, 14.41us avg, min 11us max 131us 16.791us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 17222 events, 87207us elapsed, 5.06us avg, min 4us max 135us 46.688us rms ms5611: read: 17222 events, 324047us elapsed, 18.82us avg, min 12us max 142us 70.937us rms board_adc: sample: 121100 events, 1299223us elapsed, 10.73us avg, min 7us max 371us 52.708us rms manual_control: interval: 1581 events, 109356.38 avg, min 1311us max 200755us 65378.434us rms manual_control: cycle: 1581 events, 21975us elapsed, 13.90us avg, min 10us max 726us 171.950us rms rc_update: valid data interval: 8063 events, 21455.84 avg, min 11986us max 34374us 1891.700us rms rc_update: cycle interval: 8063 events, 21455.84 avg, min 11987us max 34369us 1891.379us rms rc_update: cycle: 8063 events, 123795us elapsed, 15.35us avg, min 12us max 462us 53.049us rms control latency: 68941 events, 28416579us elapsed, 412.19us avg, min 383us max 1794us 295.574us rms px4io: interface write: 68963 events, 16040186us elapsed, 232.59us avg, min 121us max 336us 30.153us rms px4io: interface read: 48528 events, 13269953us elapsed, 273.45us avg, min 135us max 635us 663.909us rms px4io: interval: 68941 events, 2509.48 avg, min 308us max 8802us 368.935us rms px4io: cycle: 68941 events, 30638235us elapsed, 444.41us avg, min 243us max 8704us 2714.634us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 117492 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 117491 events, 28819631us elapsed, 245.29us avg, min 118us max 631us 433.590us rms load_mon: cycle: 346 events, 41480us elapsed, 119.88us avg, min 110us max 333us 116.744us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 892 events, 6160215us elapsed, 6906.07us avg, min 18us max 1908392us 127604.023us rms dma_alloc: 7 events param: set: 52 events, 2555us elapsed, 49.13us avg, min 1us max 281us 80.379us rms param: get: 40606 events param: find: 54908 events param: export: 3 events, 160928us elapsed, 53642.67us avg, min 51492us max 56250us 4741.605us 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_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 12449 events, 2120.24 avg, min 19us max 4829us 1173.190us rms uavcan: cycle time: 12449 events, 644276us elapsed, 51.75us avg, min 11us max 1363us 950.111us 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: 54 events, 472092us elapsed, 8742.44us avg, min 5us max 16981us 9948.690us rms logger_sd_write: 549 events, 9477184us elapsed, 17262.63us avg, min 6us max 720033us 183839.766us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 4999939.00 avg, min 9999878us max 9999878us 0.000us rms navigator: 536 events, 1299385us elapsed, 2424.23us avg, min 11us max 513976us 167827.422us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5278 events, 4999.84 avg, min 4204us max 5994us 89.462us rms mavlink: tx run elapsed: 5278 events, 1003870us elapsed, 190.20us avg, min 100us max 1147us 640.743us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8454 events, 3122.00 avg, min 2161us max 5070us 391.593us rms mavlink: tx run elapsed: 8454 events, 2813134us elapsed, 332.76us avg, min 110us max 2572us 2872.476us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2639 events, 9996.21 avg, min 9270us max 10726us 40.715us rms mavlink: tx run elapsed: 2639 events, 318729us elapsed, 120.78us avg, min 104us max 760us 929.536us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5279 events, 4999.14 avg, min 4199us max 6698us 140.671us rms mavlink: tx run elapsed: 5279 events, 157296us elapsed, 29.80us avg, min 22us max 304us 334.594us rms mag_bias_estimator: cycle: 32 events, 3782us elapsed, 118.19us avg, min 3us max 212us 535.029us rms land_detector: cycle: 2640 events, 38859us elapsed, 14.72us avg, min 10us max 168us 120.463us rms mc_pos_control: cycle time: 2640 events, 89602us elapsed, 33.94us avg, min 26us max 207us 180.436us rms flight_mode_manager: cycle: 1320 events, 49887us elapsed, 37.79us avg, min 28us max 161us 330.637us rms mc_hover_thrust_estimator: cycle time: 2640 events, 14153us elapsed, 5.36us avg, min 1us max 122us 43.711us 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: 5280 events, 64320us elapsed, 12.18us avg, min 9us max 62us 135.353us rms mc_rate_control: cycle: 20991 events, 215344us elapsed, 10.26us avg, min 8us max 21us 13.826us rms control_allocator: cycle: 20991 events, 489189us elapsed, 23.30us avg, min 20us max 40us 33.442us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2640 events, 722709us elapsed, 273.75us avg, min 101us max 1764us 2186.176us rms ekf2: ECL update: 2640 events, 1055us elapsed, 0.40us avg, min 0us max 6us 122.129us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2640 events, 401937us elapsed, 152.25us avg, min 100us max 587us 873.761us rms ekf2: ECL update: 2641 events, 1061us elapsed, 0.40us avg, min 0us max 20us 9.128us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2640 events, 484418us elapsed, 183.49us avg, min 100us max 639us 696.255us rms ekf2: ECL update: 2640 events, 987us elapsed, 0.37us avg, min 0us max 20us 8.663us rms pwm_out: interval: 20992 events, 1257.68 avg, min 61us max 9907us 641.809us rms pwm_out: cycle: 20992 events, 311871us elapsed, 14.86us avg, min 12us max 24us 16.828us rms control latency: 20992 events, 9020593us elapsed, 429.72us avg, min 151us max 8795us 5592.877us rms commander: preflight check: 240 events, 93939us elapsed, 391.41us avg, min 285us max 903us 1936.907us rms commander: cycle: 2399 events, 198856us elapsed, 82.89us avg, min 31us max 940us 1519.346us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 2113 events, 68234us elapsed, 32.29us avg, min 19us max 202us 295.444us rms vehicle_gps_position: cycle: 132 events, 1319us elapsed, 9.99us avg, min 7us max 115us 148.880us rms vehicle_air_data: cycle: 1972 events, 44557us elapsed, 22.59us avg, min 13us max 122us 124.616us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 20992 events, 311899us elapsed, 14.86us avg, min 12us max 38us 20.971us rms sensors: 5280 events, 190902us elapsed, 36.16us avg, min 28us max 264us 303.846us rms battery_status: 2640 events, 36757us elapsed, 13.92us avg, min 12us max 80us 39.214us rms ms5611: com_err: 0 events ms5611: measure: 2631 events, 10848us elapsed, 4.12us avg, min 3us max 111us 23.570us rms ms5611: read: 2631 events, 37882us elapsed, 14.40us avg, min 11us max 118us 43.196us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2629 events, 13411us elapsed, 5.10us avg, min 4us max 124us 119.689us rms ms5611: read: 2629 events, 49720us elapsed, 18.91us avg, min 12us max 121us 181.898us rms board_adc: sample: 18487 events, 198273us elapsed, 10.72us avg, min 7us max 84us 135.085us rms manual_control: interval: 348 events, 75369.99 avg, min 11774us max 200246us 56756.789us rms manual_control: cycle: 348 events, 4616us elapsed, 13.26us avg, min 10us max 114us 366.990us rms rc_update: valid data interval: 1229 events, 21461.80 avg, min 12848us max 30741us 1903.190us rms rc_update: cycle interval: 1229 events, 21461.80 avg, min 12848us max 30744us 1903.121us rms rc_update: cycle: 1229 events, 19537us elapsed, 15.90us avg, min 12us max 122us 136.103us rms control latency: 10523 events, 4309068us elapsed, 409.49us avg, min 386us max 1644us 759.616us rms px4io: interface write: 10524 events, 2446122us elapsed, 232.43us avg, min 122us max 325us 77.445us rms px4io: interface read: 7394 events, 2023113us elapsed, 273.62us avg, min 135us max 634us 1707.854us rms px4io: interval: 10523 events, 2509.15 avg, min 310us max 8720us 355.102us rms px4io: cycle: 10523 events, 4672296us elapsed, 444.01us avg, min 245us max 8623us 6978.446us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 17918 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 17918 events, 4393895us elapsed, 245.22us avg, min 118us max 628us 1114.822us rms load_mon: cycle: 52 events, 5943us elapsed, 114.29us avg, min 110us max 129us 303.670us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 133 events, 1285776us elapsed, 9667.49us avg, min 22us max 513950us 336950.875us rms dma_alloc: 2 events param: set: 3 events, 8us elapsed, 2.67us avg, min 1us max 5us 405.899us rms param: get: 4630 events param: find: 8145 events param: export: 1 events, 64661us elapsed, 64661.00us avg, min 64661us max 64661us infus rms