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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: | e1ffc2cd |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:04:39 |
| Vehicle Life Flight Time: | 6 minutes 29 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 256.1 m |
| Max Altitude Difference: | 10 m |
| Average Speed: | 2.6 km/h |
| Max Speed: | 14.6 km/h |
| Max Speed Horizontal: | 14.6 km/h |
| Max Speed Up: | 4.6 km/h |
| Max Speed Down: | 5.5 km/h |
| Max Tilt Angle: | 27.5 deg |
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Console Output
instance 1 ok INFO [vehicle_air_data] BARO switch from #0 -> #1 uavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] synchronized with time offset 1716398019696787us 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 INFO [uavcan:125:teseo_gps] starting loop INFO [uavcan:125:teseo_gps] Invalid checksum uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok INFO [uavcan:125:teseo_gps] Successfully set system clock: Wed 2024-05-22 17:13:45 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 252 WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node 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 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: 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 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: velocity 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: 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: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/17_14_18.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/17_14_18.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 21250 46.009 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.757 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 0.000 428/ 1232 255 (255) w:sem 6 5 wq:lp_default 1 0.167 1308/ 1976 205 (205) w:sem 6 1034 log_writer_file 5 0.566 628/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 36 3.666 2116/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.054 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 56 5.657 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 54 5.411 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.456 872/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.270 856/ 2368 251 (251) w:sem 6 763 wq:nav_and_controllers 30 3.003 1460/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 76 7.595 2428/ 3120 255 (255) w:sem 6 766 wq:INS0 39 3.992 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 40 4.041 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.567 1580/ 3192 140 (140) w:sig 5 850 gps 0 0.038 1196/ 1936 205 (205) w:sem 4 886 mavlink_if0 10 1.068 1900/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 1 0.193 1428/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 31 3.168 9224/11872 100 (100) w:sem 25 945 wq:ttyS4 3 0.378 964/ 1704 230 (230) READY 6 967 navigator 0 0.076 1528/ 2104 105 (105) w:sem 11 1013 logger 47 4.717 3140/ 3616 230 (230) RUN 4 1068 mavlink_rcv_if1 8 0.826 1764/ 4776 175 (175) w:sem 5 1040 wq:uavcan 15 1.535 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 46 4.671 1932/ 2792 100 (100) READY 5 Processes: 29 total, 4 running, 25 sleeping CPU usage: 52.88% tasks, 1.11% sched, 46.01% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 39.593s total, 21.251s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 158246 46.778 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.752 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 0.000 428/ 1232 255 (255) w:sem 6 5 wq:lp_default 18 1.814 1340/ 1976 205 (205) w:sem 6 1034 log_writer_file 5 0.539 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 37 3.741 2324/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.050 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 52 5.201 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 58 5.893 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.457 872/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.280 856/ 2368 251 (251) w:sem 6 763 wq:nav_and_controllers 32 3.209 1460/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 73 7.350 2428/ 3120 255 (255) w:sem 6 766 wq:INS0 38 3.876 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 42 4.235 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.528 1580/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 886 mavlink_if0 10 1.099 1900/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 1 0.194 1428/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 38 3.861 9224/11872 100 (100) w:sem 25 945 wq:ttyS4 4 0.401 964/ 1704 230 (230) w:sem 6 967 navigator 0 0.072 1528/ 2104 105 (105) w:sem 11 1013 logger 18 1.868 3140/ 3616 230 (230) RUN 4 1068 mavlink_rcv_if1 1 0.190 1764/ 4776 175 (175) w:sem 5 1040 wq:uavcan 15 1.524 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 49 4.990 1964/ 2792 100 (100) READY 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 52.13% tasks, 1.09% sched, 46.78% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 318.511s total, 158.246s 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: 12128 events, 3030.20 avg, min 2148us max 33935us 403.527us rms mavlink: tx run elapsed: 12128 events, 2613718us elapsed, 215.51us avg, min 82us max 31763us 333.031us rms DatamanClient: sync: 3 events, 1269us elapsed, 423.00us avg, min 29us max 704us 351.401us rms vehicle_optical_flow: cycle: 9236 events, 211734us elapsed, 22.92us avg, min 3us max 252us 16.093us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 75us elapsed, 75.00us avg, min 75us max 75us infus rms uavcan: cycle interval: 21366 events, 1770.57 avg, min 15us max 32002us 1340.944us rms uavcan: cycle time: 21366 events, 832592us elapsed, 38.97us avg, min 9us max 31999us 314.286us 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, 26us elapsed, 26.00us avg, min 26us max 26us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 28us elapsed, 28.00us avg, min 28us max 28us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus 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, 23555us elapsed, 23555.00us avg, min 23555us max 23555us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1889 events, 19989.36 avg, min 60us max 50552us 881.043us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 6849 events, 1003297us elapsed, 146.49us avg, min 131us max 1250us 26.136us rms gyro_fft: cycle interval: 15164 events, 2496.55 avg, min 296us max 5897us 264.790us rms gyro_fft: cycle: 15164 events, 1138357us elapsed, 75.07us avg, min 2us max 1307us 76.230us rms DatamanClient: sync: 1 events, 18831us elapsed, 18831.00us avg, min 18831us max 18831us infus rms navigator: 802 events, 20985us elapsed, 26.17us avg, min 18us max 695us 37.144us rms rc_input: publish interval: 3604 events, 10503.94 avg, min 1063us max 59794us 3244.953us rms rc_input: cycle time: 9459 events, 88982us elapsed, 9.41us avg, min 4us max 905us 21.485us rms uxrce_dds_client: cycle interval: 6669 events, 4507.55 avg, min 102us max 37014us 3531.304us rms uxrce_dds_client: cycle: 6668 events, 30053268us elapsed, 4507.09us avg, min 101us max 37014us 3531.395us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3780 events, 10019.47 avg, min 9145us max 36760us 485.630us rms mavlink: tx run elapsed: 3780 events, 528292us elapsed, 139.76us avg, min 76us max 1129us 102.283us rms DatamanClient: sync: 4 events, 1481us elapsed, 370.25us avg, min 54us max 927us 404.987us rms mag_bias_estimator: cycle: 1892 events, 31290us elapsed, 16.54us avg, min 2us max 751us 32.468us rms land_detector: cycle: 3800 events, 37839us elapsed, 9.96us avg, min 8us max 144us 5.572us rms mc_pos_control: cycle time: 3802 events, 29478us elapsed, 7.75us avg, min 5us max 174us 8.148us rms flight_mode_manager: cycle: 1898 events, 17160us elapsed, 9.04us avg, min 3us max 696us 50.991us rms mc_hover_thrust_estimator: cycle time: 3801 events, 3927us elapsed, 1.03us avg, min 1us max 62us 2.744us 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: 7469 events, 122051us elapsed, 16.34us avg, min 14us max 170us 4.607us rms mc_rate_control: cycle: 30398 events, 249728us elapsed, 8.22us avg, min 7us max 70us 1.104us rms control_allocator: cycle: 30399 events, 582809us elapsed, 19.17us avg, min 17us max 135us 2.277us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3801 events, 917207us elapsed, 241.31us avg, min 81us max 822us 129.632us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 3800 events, 782893us elapsed, 206.02us avg, min 81us max 644us 92.854us rms pwm_out: interval: 128 events, 295313.38 avg, min 104us max 300678us 26507.141us rms pwm_out: cycle: 128 events, 505us elapsed, 3.95us avg, min 2us max 51us 5.121us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 30400 events, 601020us elapsed, 19.77us avg, min 13us max 70us 3.233us rms control latency: 30399 events, 5732261us elapsed, 188.57us avg, min 159us max 304us 6.727us rms commander: preflight check: 348 events, 85172us elapsed, 244.75us avg, min 112us max 4901us 326.802us rms commander: cycle: 3437 events, 299397us elapsed, 87.11us avg, min 30us max 5117us 155.924us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 3289 events, 71522us elapsed, 21.75us avg, min 15us max 448us 21.449us rms vehicle_gps_position: cycle: 322 events, 3992us elapsed, 12.40us avg, min 2us max 173us 19.162us rms vehicle_air_data: cycle: 876 events, 18070us elapsed, 20.63us avg, min 4us max 336us 21.187us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 457 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 140 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 240 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 66 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 30431 events, 1080653us elapsed, 35.51us avg, min 12us max 224us 5.006us rms sensors: 7605 events, 214416us elapsed, 28.19us avg, min 20us max 1800us 48.794us rms afbrs50: irq callback: 3738 events, 19036us elapsed, 5.09us avg, min 1us max 7us 0.811us rms afbrs50: transfer callback: 10532 events, 165770us elapsed, 15.74us avg, min 1us max 241us 30.965us rms afbrs50: transfer: 10532 events, 2497920us elapsed, 237.17us avg, min 9us max 4259us 401.027us rms afbrs50: sample interval: 1869 events, 20288.13 avg, min 17390us max 143565us 4990.272us rms paw3902: no motion interrupt: 3145 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 5 events paw3902: false motion report: 0 events paw3902: reset: 6 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 875 events, 1001948us elapsed, 1145.08us avg, min 1089us max 4071us 115.465us rms bmp388: read: 874 events, 837469us elapsed, 958.20us avg, min 942us max 1100us 34.777us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 3290 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: 374 events, 372942us elapsed, 997.17us avg, min 982us max 1204us 33.209us rms board_adc: sample: 11406 events, 40696us elapsed, 3.57us avg, min 2us max 914us 19.120us rms manual_control: interval: 456 events, 83114.21 avg, min 53us max 200637us 67904.906us rms manual_control: cycle: 456 events, 7294us elapsed, 16.00us avg, min 8us max 252us 19.699us rms rc_update: valid data interval: 3592 events, 10504.51 avg, min 1064us max 59793us 3249.463us rms rc_update: cycle interval: 3604 events, 10503.93 avg, min 1064us max 59794us 3245.872us rms rc_update: cycle: 3604 events, 57156us elapsed, 15.86us avg, min 8us max 737us 32.692us rms load_mon: cycle: 77 events, 8318us elapsed, 108.03us avg, min 2us max 667us 95.328us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 6848us elapsed, 978.29us avg, min 7us max 4048us 1380.230us rms dma_alloc: 54 events param: set: 117 events, 1660us elapsed, 14.19us avg, min 4us max 28us 6.185us rms param: get: 13864 events param: find: 9331 events param: export: 1 events, 2076us elapsed, 2076.00us avg, min 2076us max 2076us 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: 92032 events, 3040.18 avg, min 2119us max 19344us 327.829us rms mavlink: tx run elapsed: 92031 events, 21899853us elapsed, 237.96us avg, min 95us max 2527us 223.866us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 72166 events, 1743211us elapsed, 24.16us avg, min 13us max 604us 20.339us 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: 143305 events, 1952.47 avg, min 13us max 14431us 1264.761us rms uavcan: cycle time: 143305 events, 4698044us elapsed, 32.78us avg, min 9us max 2183us 137.944us 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 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 nanus 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: 754 events, 5532028us elapsed, 7336.91us avg, min 3us max 21800us 2112.344us rms logger_sd_write: 10968 events, 34875902us elapsed, 3179.79us avg, min 5us max 33770us 1901.870us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 27 events, 9629629.59 avg, min 9999254us max 10000745us 369.158us rms gyro_fft: gyro FIFO data gap: 14 events gyro_fft: FFT: 52300 events, 7765890us elapsed, 148.49us avg, min 132us max 946us 23.978us rms gyro_fft: cycle interval: 112000 events, 2498.18 avg, min 323us max 45420us 312.270us rms gyro_fft: cycle: 112000 events, 8767220us elapsed, 78.28us avg, min 2us max 955us 81.797us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 5914 events, 139266us elapsed, 23.55us avg, min 12us max 1024us 32.216us rms rc_input: publish interval: 25622 events, 10919.86 avg, min 644us max 100264us 4235.908us rms rc_input: cycle time: 69938 events, 662672us elapsed, 9.48us avg, min 4us max 1312us 22.288us rms uxrce_dds_client: cycle interval: 62604 events, 4469.25 avg, min 102us max 21441us 3821.875us rms uxrce_dds_client: cycle: 62603 events, 279710876us elapsed, 4468.01us avg, min 101us max 21439us 3991.724us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 27959 events, 10007.09 avg, min 9109us max 21541us 187.560us rms mavlink: tx run elapsed: 27959 events, 4253314us elapsed, 152.13us avg, min 89us max 5250us 125.749us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 45 events, 781us elapsed, 17.36us avg, min 1us max 176us 214.288us rms land_detector: cycle: 28028 events, 292169us elapsed, 10.42us avg, min 8us max 152us 5.427us rms mc_pos_control: cycle time: 28028 events, 689466us elapsed, 24.60us avg, min 6us max 175us 9.175us rms flight_mode_manager: cycle: 13990 events, 345338us elapsed, 24.68us avg, min 3us max 263us 21.212us rms mc_hover_thrust_estimator: cycle time: 27089 events, 110700us elapsed, 4.09us avg, min 1us max 89us 3.479us 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: 56053 events, 563123us elapsed, 10.05us avg, min 7us max 150us 3.866us rms mc_rate_control: cycle: 224203 events, 1978096us elapsed, 8.82us avg, min 7us max 24us 1.005us rms control_allocator: cycle: 224203 events, 4240783us elapsed, 18.91us avg, min 16us max 36us 2.291us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 28025 events, 8025251us elapsed, 286.36us avg, min 101us max 914us 150.164us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 28025 events, 6831216us elapsed, 243.75us avg, min 101us max 794us 102.609us rms pwm_out: interval: 933 events, 299678.46 avg, min 299105us max 301020us 197.245us rms pwm_out: cycle: 933 events, 3598us elapsed, 3.86us avg, min 2us max 175us 6.743us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 224204 events, 4717070us elapsed, 21.04us avg, min 16us max 38us 3.389us rms control latency: 224204 events, 43178741us elapsed, 192.59us avg, min 180us max 555us 8.740us rms commander: preflight check: 2552 events, 518580us elapsed, 203.21us avg, min 115us max 1485us 203.396us rms commander: cycle: 25419 events, 2226400us elapsed, 87.59us avg, min 35us max 1529us 133.267us 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: 24231 events, 588067us elapsed, 24.27us avg, min 16us max 337us 23.668us rms vehicle_gps_position: cycle: 2798 events, 34317us elapsed, 12.26us avg, min 6us max 193us 16.859us rms vehicle_air_data: cycle: 6462 events, 149389us elapsed, 23.12us avg, min 14us max 213us 23.814us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 6360 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 299 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 594315 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 25869 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 6 events vehicle_angular_velocity: gyro filter reset: 6 events vehicle_angular_velocity: gyro filter: 224208 events, 8514172us elapsed, 37.97us avg, min 32us max 233us 7.212us rms sensors: 56053 events, 1447795us elapsed, 25.83us avg, min 18us max 340us 18.471us rms afbrs50: irq callback: 23398 events, 120120us elapsed, 5.13us avg, min 1us max 8us 0.884us rms afbrs50: transfer callback: 63879 events, 1058596us elapsed, 16.57us avg, min 1us max 291us 34.805us rms afbrs50: transfer: 63879 events, 15537606us elapsed, 243.23us avg, min 11us max 1413us 435.973us rms afbrs50: sample interval: 11699 events, 23915.39 avg, min 14344us max 212137us 9273.957us rms paw3902: no motion interrupt: 9864 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: 1 events bmp388: measure: 6462 events, 7406032us elapsed, 1146.09us avg, min 1089us max 7177us 115.844us rms bmp388: read: 6461 events, 6191857us elapsed, 958.34us avg, min 942us max 2178us 41.030us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 24231 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: 2759 events, 2758647us elapsed, 999.87us avg, min 982us max 1194us 37.650us rms board_adc: sample: 83889 events, 310363us elapsed, 3.70us avg, min 2us max 924us 22.050us rms manual_control: interval: 10072 events, 27774.41 avg, min 29us max 200856us 31457.576us rms manual_control: cycle: 10072 events, 162506us elapsed, 16.13us avg, min 9us max 981us 30.707us rms rc_update: valid data interval: 25611 events, 10924.55 avg, min 71us max 100249us 4278.250us rms rc_update: cycle interval: 25611 events, 10924.55 avg, min 72us max 100250us 4277.935us rms rc_update: cycle: 25611 events, 465581us elapsed, 18.18us avg, min 11us max 1145us 40.655us rms load_mon: cycle: 559 events, 70782us elapsed, 126.62us avg, min 73us max 1025us 120.784us 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: 12 events param: set: 4 events, 55us elapsed, 13.75us avg, min 1us max 51us 45.784us rms param: get: 24256 events param: find: 41304 events param: export: 1 events, 15675us elapsed, 15675.00us avg, min 15675us max 15675us nanus rms