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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-Pull14106-m04-NXP-1-01
| Airframe: | S500 Generic Quadrotor x (4014) |
| Hardware: | NXP_FMUK66_V3 |
| Software Version: | v1.11.0 (beta) (1c1930ad) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | 17-02-2020 19:22 |
| Logging Duration: | 0:01:09 |
| Dropouts: | 40 (2.09 s) |
| Vehicle Life Flight Time: | 20 hours 58 minutes 10 seconds |
| Vehicle UUID: | 00030016ffffffffffff4e45362050130029 (S500-NXP-V3) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | - Modes Tested
Position Mode: Good. Failsafe RTL (Return To Land): Not returning after RC shutdown. - Procedure Arm and take off in position mode, after flying approximately a few seconds, turned off the RC to activate the fail-safe RTL, wait for the vehicle to return and land. - Notes No issue noted, good flight in general. |
| Distance: | 203.9 m |
| Max Altitude Difference: | 20 m |
| Average Speed: | 10.6 km/h |
| Max Speed: | 41.8 km/h |
| Max Speed Horizontal: | 41.8 km/h |
| Max Speed Up: | 13.9 km/h |
| Max Speed Down: | 9.6 km/h |
| Max Tilt Angle: | 35.8 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 175801 27.900 232/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 59 0.000 1024/ 1516 50 ( 50) w:sig 3 3 init 1748 0.000 1896/ 2844 100 (100) w:sem 3 4 wq:manager 0 0.000 376/ 1252 255 (255) w:sem 5 5 Telnet daemon 0 0.000 504/ 2020 100 (100) w:sem 0 204 wq:att_pos_ctrl 114187 17.899 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 11017 1.900 1064/ 1900 241 (241) w:sem 5 18 dataman 714 0.200 752/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 749 0.100 812/ 1700 205 (205) w:sem 5 23 wq:I2C1 5021 0.700 952/ 1396 246 (246) w:sem 5 170 wq:I2C2 12196 2.100 808/ 1396 245 (245) PEND 5 174 wq:SPI2 129349 22.000 996/ 1900 252 (252) w:sem 5 203 sensors 18421 2.900 1144/ 1964 237 (237) w:sem 9 569 log_writer_file 2293 1.100 776/ 1164 90 ( 60) READY 4 207 wq:rate_ctrl 60777 10.400 1080/ 1596 255 (255) w:sem 5 211 commander 5625 1.000 1472/ 3212 140 (140) w:sig 6 213 commander_low_prio 18 0.000 856/ 2996 50 ( 50) w:sem 6 273 gps 1845 0.400 1000/ 1676 208 (208) w:sem 4 317 mavlink_if1 10913 1.800 1720/ 2836 100 (100) READY 4 318 mavlink_rcv_if1 3891 0.600 3608/ 5260 175 (175) READY 4 344 wq:UART2 4929 0.800 952/ 1396 237 (237) w:sem 5 506 navigator 2442 0.300 1120/ 1764 105 (105) w:sem 5 557 logger 13980 5.400 2896/ 3644 233 (233) RUN 4 Processes: 24 total, 6 running, 18 sleeping, max FDs: 20 CPU usage: 69.60% tasks, 2.50% sched, 27.90% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 592.426s total, 175.801s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 193784 26.200 232/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 81 2.000 1024/ 1516 50 ( 50) w:sig 3 3 init 1748 0.000 1896/ 2844 100 (100) w:sem 3 4 wq:manager 0 0.000 376/ 1252 255 (255) w:sem 5 5 Telnet daemon 0 0.000 504/ 2020 100 (100) w:sem 0 204 wq:att_pos_ctrl 128190 18.100 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 12203 1.600 1064/ 1900 241 (241) w:sem 5 18 dataman 767 0.100 752/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 804 0.200 812/ 1700 205 (205) w:sem 5 23 wq:I2C1 5545 0.800 952/ 1396 246 (246) w:sem 5 170 wq:I2C2 13606 2.100 808/ 1396 245 (245) w:sem 5 174 wq:SPI2 144340 21.900 996/ 1900 252 (252) w:sem 5 203 sensors 20402 3.299 1144/ 1964 237 (237) w:sem 9 569 log_writer_file 2941 1.000 776/ 1164 60 ( 60) READY 4 207 wq:rate_ctrl 67860 10.200 1080/ 1596 255 (255) w:sem 5 211 commander 6264 0.800 1472/ 3212 140 (140) READY 6 213 commander_low_prio 21 0.000 856/ 2996 50 ( 50) w:sem 6 273 gps 2057 0.300 1000/ 1676 208 (208) READY 4 317 mavlink_if1 12143 2.000 1728/ 2836 100 (100) READY 4 318 mavlink_rcv_if1 4290 0.600 3608/ 5260 175 (175) w:sem 4 344 wq:UART2 5452 0.700 952/ 1396 237 (237) w:sem 5 506 navigator 2671 0.300 1120/ 1764 105 (105) w:sem 5 557 logger 17387 5.100 2896/ 3644 233 (233) RUN 4 Processes: 24 total, 6 running, 18 sleeping, max FDs: 20 CPU usage: 71.10% tasks, 2.70% sched, 26.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 660.907s total, 193.785s 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: 306 events, 7983607us elapsed, 26090.22us avg, min 9us max 579557us 52822.195us rms logger_sd_write: 5800 events, 199237020us elapsed, 34351.21us avg, min 12us max 1107452us 33798.801us rms navigator: 9592 events, 71660086us elapsed, 7470.82us avg, min 22us max 1053570us 28417.305us rms land_detector_cycle: 25595 events, 1312718us elapsed, 51.29us avg, min 21us max 761us 97.492us rms mc_pos_control: cycle time: 20439 events, 10911901us elapsed, 533.88us avg, min 24us max 2151us 332.559us rms mc_att_control: cycle: 108762 events, 9629689us elapsed, 88.54us avg, min 46us max 806us 103.562us rms mc_rate_control: cycle: 403495 events, 14140605us elapsed, 35.05us avg, min 31us max 67us 3.761us rms ekf2: update: 108762 events, 73252721us elapsed, 673.51us avg, min 23us max 5146us 796.725us rms fmu: cycle: 155124 events, 12159798us elapsed, 78.39us avg, min 75us max 127us 4.784us rms control latency: 155124 events, 39553327us elapsed, 254.98us avg, min 210us max 3050us 218.640us rms rc_input: publish interval: 26975 events, 18976.39 avg, min 8478us max 26399578us 160643.234us rms rc_input: cycle time: 126665 events, 1723053us elapsed, 13.60us avg, min 8us max 958us 38.603us rms mavlink_int: 47558 events, 10761.94 avg, min 9153us max 59816us 1485.639us rms mavlink_el: 47558 events, 14079006us elapsed, 296.04us avg, min 134us max 42481us 502.529us 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 battery_status: 51191 events, 1866327us elapsed, 36.46us avg, min 26us max 819us 56.728us rms sensors: 108763 events, 159909949us elapsed, 1470.26us avg, min 233us max 6874us 1141.058us rms fxas21002c: duplicate reading: 108410 events fxas21002c: bad register: 0 events fxas21002c: err: 0 events fxas21002c: read: 511910 events, 104010649us elapsed, 203.18us avg, min 61us max 366us 85.944us rms fxos8701cq: acc dupe: 22684 events fxos8701cq: bad reg: 0 events fxos8701cq: acc read: 226509 events, 51618589us elapsed, 227.89us avg, min 167us max 299us 22.391us rms mpl3115a2: com_err: 0 events mpl3115a2: measure: 20143 events, 7077635us elapsed, 351.37us avg, min 274us max 945us 126.285us rms mpl3115a2: read: 40287 events, 38584530us elapsed, 957.74us avg, min 399us max 2053us 512.850us rms bmp280: comms errors: 0 events bmp280: measure: 5755 events, 2251441us elapsed, 391.21us avg, min 275us max 937us 153.763us rms bmp280: sample: 5756 events, 5510204us elapsed, 957.30us avg, min 825us max 1688us 166.501us rms bmm150: duplicates: 0 events bmm150: comms errors: 0 events bmm150: measure: 40288 events, 37134131us elapsed, 921.72us avg, min 673us max 1610us 188.136us rms bmm150: good transfers: 40288 events bmm150: bad transfers: 0 events bmm150: read: 40288 events, 69007298us elapsed, 1712.85us avg, min 1404us max 2766us 213.580us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 44560 events, 47671553us elapsed, 1069.83us avg, min 921us max 2914us 211.997us rms adc: sample: 460818 events, 3334694us elapsed, 7.24us avg, min 5us max 763us 24.201us rms rc_update: 26982 events, 2245572us elapsed, 83.22us avg, min 30us max 874us 132.773us rms stack_check: 1429 events, 47787us elapsed, 33.44us avg, min 3us max 1985us 146.628us rms dataman: write: 12 events, 237343us elapsed, 19778.58us avg, min 6977us max 57185us 14405.620us rms dataman: read: 11386 events, 68271704us elapsed, 5996.11us avg, min 66us max 1053146us 24776.418us rms dma_alloc: 1 events param_set: 6 events, 285us elapsed, 47.50us avg, min 4us max 250us 188.215us rms param_get: 2115 events, 27493us elapsed, 13.00us avg, min 5us max 3683us 177.073us rms param_find: 225 events, 7914us elapsed, 35.17us avg, min 4us max 3900us 281.058us rms param_export: 1 events, 80784us elapsed, 80784.00us avg, min 80784us max 80784us 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: 72 events, 1739183us elapsed, 24155.32us avg, min 7477us max 63836us 110024.219us rms logger_sd_write: 1700 events, 55144669us elapsed, 32438.04us avg, min 12us max 1209291us 71363.875us rms navigator: 1294 events, 13446709us elapsed, 10391.58us avg, min 22us max 1156058us 85657.563us rms land_detector_cycle: 3475 events, 195409us elapsed, 56.23us avg, min 21us max 696us 281.339us rms mc_pos_control: cycle time: 2784 events, 1466747us elapsed, 526.85us avg, min 24us max 2498us 956.725us rms mc_att_control: cycle: 14745 events, 1262145us elapsed, 85.60us avg, min 46us max 769us 296.279us rms mc_rate_control: cycle: 54821 events, 1954397us elapsed, 35.65us avg, min 31us max 67us 10.578us rms ekf2: update: 14745 events, 11034860us elapsed, 748.38us avg, min 23us max 4999us 2336.453us rms fmu: cycle: 20999 events, 1639630us elapsed, 78.08us avg, min 75us max 117us 13.517us rms control latency: 20999 events, 5070525us elapsed, 241.47us avg, min 210us max 2894us 615.781us rms rc_input: publish interval: 1869 events, 17990.14 avg, min 10069us max 26002us 2378.968us rms rc_input: cycle time: 17126 events, 222815us elapsed, 13.01us avg, min 8us max 793us 110.032us rms mavlink_int: 6334 events, 10968.75 avg, min 9158us max 21584us 1606.446us rms mavlink_el: 6333 events, 2093162us elapsed, 330.52us avg, min 134us max 6548us 1448.404us 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 battery_status: 6950 events, 250484us elapsed, 36.04us avg, min 26us max 771us 162.210us rms sensors: 14746 events, 22381876us elapsed, 1517.83us avg, min 233us max 6522us 3317.653us rms fxas21002c: duplicate reading: 14681 events fxas21002c: bad register: 0 events fxas21002c: err: 0 events fxas21002c: read: 69505 events, 14162893us elapsed, 203.77us avg, min 61us max 358us 246.682us rms fxos8701cq: acc dupe: 3102 events fxos8701cq: bad reg: 0 events fxos8701cq: acc read: 30754 events, 6991501us elapsed, 227.34us avg, min 167us max 296us 64.238us rms mpl3115a2: com_err: 0 events mpl3115a2: measure: 2734 events, 966445us elapsed, 353.49us avg, min 274us max 867us 363.081us rms mpl3115a2: read: 5467 events, 5243289us elapsed, 959.08us avg, min 399us max 2235us 1472.025us rms bmp280: comms errors: 0 events bmp280: measure: 781 events, 299709us elapsed, 383.75us avg, min 282us max 907us 439.151us rms bmp280: sample: 781 events, 753680us elapsed, 965.02us avg, min 825us max 1565us 480.971us rms bmm150: duplicates: 0 events bmm150: comms errors: 0 events bmm150: measure: 5468 events, 5053867us elapsed, 924.26us avg, min 681us max 1587us 539.729us rms bmm150: good transfers: 5468 events bmm150: bad transfers: 0 events bmm150: read: 5468 events, 9387071us elapsed, 1716.73us avg, min 1405us max 2575us 612.652us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 6059 events, 6435248us elapsed, 1062.10us avg, min 921us max 2588us 607.313us rms adc: sample: 62559 events, 454070us elapsed, 7.26us avg, min 4us max 716us 69.381us rms rc_update: 1869 events, 159931us elapsed, 85.57us avg, min 30us max 829us 519.612us rms stack_check: 192 events, 7874us elapsed, 41.01us avg, min 3us max 3377us 470.449us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 931 events, 13126293us elapsed, 14099.13us avg, min 66us max 1156026us 96588.703us rms dma_alloc: 0 events param_set: 6 events, 290us elapsed, 48.33us avg, min 4us max 256us 213.990us rms param_get: 81 events, 1838us elapsed, 22.69us avg, min 6us max 614us 914.496us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 68860us elapsed, 68860.00us avg, min 68860us max 68860us nanus rms