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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-mc6a0f524-m01-PxR-1-01
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V4 |
| Software Version: | v1.10.0 (beta) (6a0f5249) |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | 21-10-2019 18:35 |
| Logging Duration: | 0:03:49 |
| Dropouts: | 4 (0.07 s) |
| Vehicle Life Flight Time: | 14 hours 17 minutes 56 seconds |
| Vehicle UUID: | 00010000000037373430333551170037002a (F450-PixRacer V4) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | - Modes Tested
Position Mode: Good. Altitude Mode: Good. Stabilized Mode: Good. - Procedure Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode. - Notes No issues noted, good flight in general. |
| Distance: | 1.62 km |
| Max Altitude Difference: | 28 m |
| Average Speed: | 25.4 km/h |
| Max Speed: | 79.1 km/h |
| Max Speed Horizontal: | 78.9 km/h |
| Max Speed Up: | 20.3 km/h |
| Max Speed Down: | 20.8 km/h |
| Max Tilt Angle: | 48.4 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27942 35.200 208/ 512 0 ( 0) READY 3 1 hpwork 374 0.600 824/ 1260 249 (249) w:sig 4 2 lpwork 79 0.100 1096/ 1516 50 ( 50) w:sig 8 3 init 1606 0.000 1816/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 185 wq:att_pos_ctrl 7292 10.600 4760/ 6596 244 (244) w:sem 4 17 dataman 14 0.000 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 10 0.000 816/ 1700 205 (205) w:sem 4 27 wq:hp_default 729 1.000 1012/ 1500 243 (243) w:sem 4 141 wq:I2C1 300 0.400 804/ 1244 248 (248) w:sem 4 150 wq:SPI2 313 0.400 600/ 1396 253 (253) w:sem 4 154 wq:SPI1 17263 24.400 1024/ 1396 254 (254) w:sem 4 184 sensors 2944 3.500 1480/ 1964 237 (237) w:sem 11 559 log_writer_file 13 1.000 592/ 1164 60 ( 60) w:sem 4 189 commander 819 0.900 1936/ 3212 140 (140) w:sig 6 190 wq:rate_ctrl 6083 8.600 1104/ 1596 255 (255) w:sem 4 191 commander_low_prio 1 0.000 560/ 2996 50 ( 50) w:sem 6 204 mavlink_if0 3240 4.000 1680/ 2540 100 (100) READY 4 206 mavlink_rcv_if0 345 0.400 2520/ 3916 175 (175) w:sem 4 267 gps 189 0.200 1088/ 1620 208 (208) w:sem 4 306 mavlink_if1 1428 1.400 1712/ 2484 100 (100) w:sig 4 307 mavlink_rcv_if1 385 0.400 2600/ 3916 175 (175) READY 4 490 navigator 145 0.100 1024/ 1764 105 (105) w:sem 4 550 logger 428 3.600 3088/ 3644 233 (233) RUN 4 Processes: 24 total, 4 running, 20 sleeping, max FDs: 20 CPU usage: 61.60% tasks, 3.20% sched, 35.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 74.178s total, 27.942s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 102559 32.367 208/ 512 0 ( 0) READY 3 1 hpwork 1591 0.499 824/ 1260 249 (249) w:sig 4 2 lpwork 268 2.997 1104/ 1516 50 ( 50) w:sig 8 3 init 1606 0.000 1816/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 243 (243) w:sem 4 185 wq:att_pos_ctrl 38818 10.389 4760/ 6596 244 (244) w:sem 4 17 dataman 59 0.099 752/ 1180 90 ( 90) w:sem 4 20 wq:lp_default 43 0.000 816/ 1700 205 (205) w:sem 4 27 wq:hp_default 3056 0.999 1012/ 1500 243 (243) w:sem 4 141 wq:I2C1 1252 0.399 804/ 1244 248 (248) w:sem 4 150 wq:SPI2 1322 0.499 600/ 1396 253 (253) w:sem 4 154 wq:SPI1 72805 24.375 1024/ 1396 254 (254) w:sem 4 184 sensors 10907 4.095 1480/ 1964 237 (237) w:sem 11 559 log_writer_file 2135 0.799 608/ 1164 60 ( 60) w:sem 4 189 commander 2943 0.899 1936/ 3212 140 (140) w:sig 6 190 wq:rate_ctrl 26804 9.390 1104/ 1596 255 (255) w:sem 4 191 commander_low_prio 6 0.000 568/ 2996 50 ( 50) w:sem 6 204 mavlink_if0 11904 3.896 1712/ 2540 100 (100) READY 4 206 mavlink_rcv_if0 1296 0.399 2520/ 3916 175 (175) w:sem 4 267 gps 719 0.199 1088/ 1620 208 (208) w:sem 4 306 mavlink_if1 4709 1.498 1712/ 2484 100 (100) READY 4 307 mavlink_rcv_if1 1370 0.399 2600/ 3916 175 (175) READY 4 490 navigator 474 0.099 1024/ 1764 105 (105) w:sem 4 550 logger 6457 2.597 3088/ 3644 233 (233) RUN 4 Processes: 24 total, 5 running, 19 sleeping, max FDs: 20 CPU usage: 64.54% tasks, 3.10% sched, 32.37% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 302.273s total, 102.560s 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: 3 events, 136476us elapsed, 45492.00us avg, min 10us max 76041us 40155.000us rms navigator: 1120 events, 287932us elapsed, 257.08us avg, min 15us max 41797us 1290.920us rms land_detector_cycle: 3464 events, 111226us elapsed, 32.11us avg, min 16us max 747us 43.342us rms mc_pos_control: interval: 2597 events, 24092.13 avg, min 20183us max 28415us 835.490us rms mc_pos_control: cycle time: 2597 events, 130893us elapsed, 50.40us avg, min 24us max 594us 59.717us rms mc_att_control: 68977 events, 2589681us elapsed, 37.54us avg, min 25us max 1339us 25.876us rms ekf2: update: 17142 events, 6493308us elapsed, 378.80us avg, min 2us max 2311us 423.400us rms ekf2: interval: 17143 events, 4042.42 avg, min 1433us max 6356us 184.857us rms ekf2: cycle time: 17143 events, 10161726us elapsed, 592.76us avg, min 61us max 4626us 532.572us rms px4fmu: cycle interval: 18686 events, 3716.81 avg, min 522us max 109899us 915.584us rms px4fmu: cycle: 18685 events, 1081219us elapsed, 57.87us avg, min 3us max 557us 7.431us rms control latency: 18681 events, 3815200us elapsed, 204.23us avg, min 179us max 1558us 60.608us rms rc_input: publish interval: 3786 events, 17993.95 avg, min 14776us max 20296us 2450.711us rms rc_input: cycle time: 13899 events, 136837us elapsed, 9.85us avg, min 7us max 290us 7.065us rms mavlink_int: 6632 events, 10422.04 avg, min 9131us max 46292us 1081.426us rms mavlink_el: 6632 events, 2801724us elapsed, 422.46us avg, min 96us max 5703us 536.994us rms mavlink_int: 20248 events, 3413.86 avg, min 2116us max 39650us 919.567us rms mavlink_el: 20248 events, 7401989us elapsed, 365.57us avg, min 89us max 4238us 491.877us 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: sensor latency: 69795 events, 1577548us elapsed, 22.60us avg, min 22us max 569us 5.252us rms vehicle_angular_velocity: cycle time: 69798 events, 1227356us elapsed, 17.58us avg, min 5us max 341us 3.795us rms vehicle_acceleration: sensor latency: 17346 events, 4274982us elapsed, 246.45us avg, min 148us max 2671us 38.464us rms vehicle_acceleration: cycle time: 17350 events, 247812us elapsed, 14.28us avg, min 2us max 326us 9.096us rms sensors: 17346 events, 13885188us elapsed, 800.48us avg, min 98us max 4923us 566.061us rms adc_samples: 63162 events, 228121us elapsed, 3.61us avg, min 2us max 340us 10.435us rms battery_status: 7019 events, 152741us elapsed, 21.76us avg, min 17us max 383us 20.831us rms mpu9250_dupe: 17918 events mpu9250_good_trans: 69727 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 87646 events, 6743307us elapsed, 76.94us avg, min 49us max 458us 14.499us rms mpu9250_mag_duplicates: 62148 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 908 events mpu6k_duplicates: 17883 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 87755 events, 13953105us elapsed, 159.00us avg, min 52us max 906us 61.351us rms lis3mdl_read: 5581 events, 198431us elapsed, 35.55us avg, min 34us max 168us 3.325us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events ms5611_com_err: 0 events ms5611_measure: 6961 events, 65319us elapsed, 9.38us avg, min 8us max 378us 8.879us rms ms5611_read: 6960 events, 136851us elapsed, 19.66us avg, min 14us max 3580us 60.608us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 3334 events, 3298670us elapsed, 989.40us avg, min 887us max 2058us 180.098us rms stack_check: 184 events, 4141us elapsed, 22.51us avg, min 1us max 271us 34.465us rms dma_alloc: 4 events param_set: 125 events, 7206us elapsed, 57.65us avg, min 5us max 200us 31.484us rms param_get: 2991 events, 34561us elapsed, 11.55us avg, min 4us max 1909us 69.989us rms param_find: 1038 events, 12283us elapsed, 11.83us avg, min 2us max 1870us 61.193us rms param_export: 1 events, 72552us elapsed, 72552.00us avg, min 72552us max 72552us nanus 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: 545 events, 3597901us elapsed, 6601.65us avg, min 7us max 60867us 5805.975us rms logger_sd_write: 2229 events, 35631661us elapsed, 15985.49us avg, min 10us max 105430us 9540.508us rms navigator: 4155 events, 2130256us elapsed, 512.70us avg, min 15us max 58669us 2540.011us rms land_detector_cycle: 11455 events, 277259us elapsed, 24.20us avg, min 16us max 315us 29.116us rms mc_pos_control: interval: 9517 events, 24072.31 avg, min 20202us max 29924us 1193.536us rms mc_pos_control: cycle time: 9517 events, 1485867us elapsed, 156.13us avg, min 23us max 2226us 124.855us rms mc_att_control: 228958 events, 9400034us elapsed, 41.06us avg, min 25us max 178us 27.172us rms ekf2: update: 56651 events, 33056566us elapsed, 583.51us avg, min 19us max 3768us 836.896us rms ekf2: interval: 56651 events, 4044.14 avg, min 3266us max 5114us 185.355us rms ekf2: cycle time: 56651 events, 45144773us elapsed, 796.89us avg, min 74us max 4064us 942.941us rms px4fmu: cycle interval: 63094 events, 3631.14 avg, min 2518us max 4163us 437.426us rms px4fmu: cycle: 63094 events, 3638254us elapsed, 57.66us avg, min 52us max 106us 7.119us rms control latency: 63094 events, 14515337us elapsed, 230.06us avg, min 179us max 1690us 149.959us rms rc_input: publish interval: 12728 events, 17998.11 avg, min 14661us max 20391us 2449.564us rms rc_input: cycle time: 45821 events, 454900us elapsed, 9.93us avg, min 7us max 350us 9.183us rms mavlink_int: 22000 events, 10412.16 avg, min 9115us max 18238us 920.968us rms mavlink_el: 22000 events, 6698343us elapsed, 304.47us avg, min 90us max 5576us 543.383us rms mavlink_int: 65372 events, 3504.14 avg, min 2107us max 10158us 1054.754us rms mavlink_el: 65372 events, 22776479us elapsed, 348.41us avg, min 84us max 7269us 677.011us 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: sensor latency: 228964 events, 5163637us elapsed, 22.55us avg, min 22us max 55us 3.210us rms vehicle_angular_velocity: cycle time: 228964 events, 3971414us elapsed, 17.35us avg, min 16us max 48us 2.680us rms vehicle_acceleration: sensor latency: 56652 events, 13899964us elapsed, 245.36us avg, min 181us max 634us 39.466us rms vehicle_acceleration: cycle time: 56652 events, 769562us elapsed, 13.58us avg, min 12us max 140us 6.466us rms sensors: 56652 events, 56729567us elapsed, 1001.37us avg, min 157us max 4419us 1005.109us rms adc_samples: 206199 events, 816889us elapsed, 3.96us avg, min 2us max 454us 14.303us rms battery_status: 22911 events, 519646us elapsed, 22.68us avg, min 19us max 400us 25.601us rms mpu9250_dupe: 57018 events mpu9250_good_trans: 229374 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 286393 events, 22144923us elapsed, 77.32us avg, min 49us max 158us 16.592us rms mpu9250_mag_duplicates: 204722 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 3081 events mpu6k_duplicates: 57427 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 286394 events, 46848898us elapsed, 163.58us avg, min 53us max 397us 72.027us rms lis3mdl_read: 18194 events, 650439us elapsed, 35.75us avg, min 34us max 75us 3.811us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events ms5611_com_err: 0 events ms5611_measure: 22695 events, 217665us elapsed, 9.59us avg, min 8us max 392us 12.124us rms ms5611_read: 22695 events, 419804us elapsed, 18.50us avg, min 14us max 2886us 41.846us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 10657 events, 10585078us elapsed, 993.25us avg, min 887us max 2092us 208.393us rms stack_check: 638 events, 12368us elapsed, 19.39us avg, min 1us max 320us 39.115us rms dma_alloc: 0 events param_set: 6 events, 33us elapsed, 5.50us avg, min 4us max 13us 156.831us rms param_get: 55 events, 486us elapsed, 8.84us avg, min 5us max 194us 521.419us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 83194us elapsed, 83194.00us avg, min 83194us max 83194us nanus rms