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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: | 0:02:19 |
| Vehicle Life Flight Time: | 16 minutes 39 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 154.8 m |
| Max Altitude Difference: | 7 m |
| Average Speed: | 3.3 km/h |
| Max Speed: | 13.6 km/h |
| Max Speed Horizontal: | 13.6 km/h |
| Max Speed Up: | 4.0 km/h |
| Max Speed Down: | 3.7 km/h |
| Max Tilt Angle: | 28.3 deg |
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Console Output
ted 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_gps_position data writer, topic id: 252 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 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: 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: 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: 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: 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 [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] time sync converged 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 INFO [afbrs50] switched to long range rate: 25 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: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error 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: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/17_40_13.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/17_40_13.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 49487 46.319 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.755 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 0.165 1308/ 1976 205 (205) w:sem 6 1034 log_writer_file 5 0.596 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.872 2132/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.053 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 51 5.191 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 58 5.837 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.457 872/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.277 916/ 2368 251 (251) w:sem 6 763 wq:nav_and_controllers 29 2.979 1460/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 75 7.516 2316/ 3120 255 (255) w:sem 6 766 wq:INS0 39 3.968 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 42 4.221 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.547 1540/ 3192 140 (140) w:sig 5 850 gps 0 0.031 1212/ 1936 205 (205) w:sem 4 886 mavlink_if0 10 1.063 1900/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 1 0.188 1428/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 32 3.229 9224/11872 100 (100) w:sem 25 945 wq:ttyS4 3 0.393 928/ 1704 230 (230) w:sem 6 967 navigator 0 0.072 1528/ 2104 105 (105) w:sem 11 1013 logger 46 4.623 3108/ 3616 230 (230) RUN 4 1040 wq:uavcan 15 1.583 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 47 4.759 1932/ 2792 100 (100) w:sig 5 1068 mavlink_rcv_if1 1 0.175 1764/ 4776 175 (175) READY 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 52.56% tasks, 1.12% sched, 46.32% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 90.422s total, 49.487s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 118251 45.914 296/ 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 1.869 1340/ 1976 205 (205) w:sem 6 1034 log_writer_file 5 0.549 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 37 3.762 2132/ 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 5.205 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 58 5.854 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.463 872/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.276 916/ 2368 251 (251) w:sem 6 763 wq:nav_and_controllers 33 3.321 1460/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 73 7.340 2532/ 3120 255 (255) w:sem 6 766 wq:INS0 40 4.055 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 43 4.359 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.531 1540/ 3192 140 (140) w:sig 5 850 gps 0 0.041 1212/ 1936 205 (205) w:sem 4 886 mavlink_if0 10 1.078 1900/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 5 0.498 1508/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 36 3.677 9224/11872 100 (100) READY 25 945 wq:ttyS4 4 0.402 928/ 1704 230 (230) w:sem 6 967 navigator 0 0.087 1528/ 2104 105 (105) w:sem 11 1013 logger 18 1.848 3108/ 3616 230 (230) RUN 4 1040 wq:uavcan 15 1.551 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 49 4.885 1932/ 2792 100 (100) READY 5 1068 mavlink_rcv_if1 5 0.514 1764/ 4776 175 (175) READY 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 52.98% tasks, 1.11% sched, 45.91% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 228.857s total, 118.252s 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: 25064 events, 3080.97 avg, min 2121us max 32468us 421.467us rms mavlink: tx run elapsed: 25064 events, 5498323us elapsed, 219.37us avg, min 80us max 2463us 208.138us rms DatamanClient: sync: 3 events, 1981us elapsed, 660.33us avg, min 31us max 1299us 634.052us rms vehicle_optical_flow: cycle: 21729 events, 492953us elapsed, 22.69us avg, min 10us max 593us 15.222us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms uavcan: cycle interval: 47624 events, 1860.93 avg, min 15us max 19338us 1301.564us rms uavcan: cycle time: 47624 events, 1668715us elapsed, 35.04us avg, min 9us max 19334us 156.694us 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, 25us elapsed, 25.00us avg, min 25us max 25us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us 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, 38088us elapsed, 38088.00us avg, min 38088us max 38088us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4418 events, 20055.63 avg, min 62us max 98354us 2461.630us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 16497 events, 2415586us elapsed, 146.43us avg, min 133us max 902us 21.220us rms gyro_fft: cycle interval: 35495 events, 2497.71 avg, min 1542us max 41308us 240.078us rms gyro_fft: cycle: 35495 events, 2724625us elapsed, 76.76us avg, min 7us max 911us 75.371us rms DatamanClient: sync: 1 events, 17617us elapsed, 17617.00us avg, min 17617us max 17617us nanus rms navigator: 1880 events, 76835us elapsed, 40.87us avg, min 18us max 1071us 111.719us rms rc_input: publish interval: 8284 events, 10357.80 avg, min 595us max 40124us 2826.321us rms rc_input: cycle time: 22158 events, 329904us elapsed, 14.89us avg, min 4us max 1887us 56.666us rms uxrce_dds_client: cycle interval: 10469 events, 5143.73 avg, min 101us max 34794us 3571.423us rms uxrce_dds_client: cycle: 10468 events, 53833538us elapsed, 5142.68us avg, min 100us max 34792us 3571.303us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8828 events, 10045.21 avg, min 9148us max 89700us 1635.456us rms mavlink: tx run elapsed: 8828 events, 1294665us elapsed, 146.65us avg, min 76us max 2457us 114.772us rms DatamanClient: sync: 4 events, 919us elapsed, 229.75us avg, min 33us max 424us 214.786us rms mag_bias_estimator: cycle: 4421 events, 83866us elapsed, 18.97us avg, min 1us max 841us 39.975us rms land_detector: cycle: 8888 events, 86723us elapsed, 9.76us avg, min 8us max 239us 5.311us rms mc_pos_control: cycle time: 8889 events, 68041us elapsed, 7.65us avg, min 6us max 190us 6.485us rms flight_mode_manager: cycle: 4437 events, 84899us elapsed, 19.13us avg, min 3us max 789us 90.865us rms mc_hover_thrust_estimator: cycle time: 8888 events, 8742us elapsed, 0.98us avg, min 1us max 62us 2.087us 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: 17644 events, 289519us elapsed, 16.41us avg, min 7us max 141us 6.397us rms mc_rate_control: cycle: 71103 events, 583545us elapsed, 8.21us avg, min 7us max 70us 0.997us rms control_allocator: cycle: 71103 events, 1357736us elapsed, 19.10us avg, min 17us max 128us 2.181us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 8888 events, 2229035us elapsed, 250.79us avg, min 81us max 862us 157.016us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 8889 events, 1979784us elapsed, 222.72us avg, min 82us max 792us 115.945us rms pwm_out: interval: 297 events, 297979.99 avg, min 117us max 301316us 17401.715us rms pwm_out: cycle: 297 events, 1202us elapsed, 4.05us avg, min 2us max 77us 6.028us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 71104 events, 1418202us elapsed, 19.95us avg, min 13us max 74us 3.273us rms control latency: 71103 events, 13463878us elapsed, 189.36us avg, min 159us max 375us 5.223us rms commander: preflight check: 816 events, 180425us elapsed, 221.11us avg, min 113us max 2570us 222.057us rms commander: cycle: 8009 events, 708770us elapsed, 88.50us avg, min 31us max 2609us 144.964us 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: 7689 events, 162937us elapsed, 21.19us avg, min 15us max 440us 18.901us rms vehicle_gps_position: cycle: 835 events, 9329us elapsed, 11.17us avg, min 2us max 169us 16.227us rms vehicle_air_data: cycle: 2049 events, 45205us elapsed, 22.06us avg, min 4us max 253us 21.018us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 1277 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 676 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 153 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 54 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: 71131 events, 2605599us elapsed, 36.63us avg, min 12us max 234us 3.217us rms sensors: 17781 events, 481870us elapsed, 27.10us avg, min 19us max 1721us 32.870us rms afbrs50: irq callback: 8658 events, 43931us elapsed, 5.07us avg, min 4us max 7us 0.819us rms afbrs50: transfer callback: 23301 events, 358077us elapsed, 15.37us avg, min 1us max 240us 28.718us rms afbrs50: transfer: 23301 events, 5752379us elapsed, 246.87us avg, min 9us max 2631us 405.865us rms afbrs50: sample interval: 4329 events, 20490.25 avg, min 10350us max 143663us 5971.593us rms paw3902: no motion interrupt: 9744 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 1 events paw3902: false motion report: 0 events paw3902: reset: 2 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 2048 events, 2345230us elapsed, 1145.13us avg, min 1089us max 1406us 61.711us rms bmp388: read: 2047 events, 1962880us elapsed, 958.91us avg, min 942us max 2053us 42.836us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 7690 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: 875 events, 869010us elapsed, 993.15us avg, min 982us max 1194us 27.692us rms board_adc: sample: 26634 events, 92168us elapsed, 3.46us avg, min 2us max 1632us 20.390us rms manual_control: interval: 764 events, 116240.60 avg, min 48us max 201656us 69284.625us rms manual_control: cycle: 764 events, 12089us elapsed, 15.82us avg, min 6us max 981us 43.328us rms rc_update: valid data interval: 8270 events, 10360.82 avg, min 97us max 43334us 2854.539us rms rc_update: cycle interval: 8282 events, 10360.29 avg, min 115us max 43316us 2853.395us rms rc_update: cycle: 8282 events, 125426us elapsed, 15.14us avg, min 8us max 710us 30.578us rms load_mon: cycle: 178 events, 19343us elapsed, 108.67us avg, min 2us max 434us 78.255us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 5619us elapsed, 802.71us avg, min 8us max 2880us 960.678us rms dma_alloc: 98 events param: set: 120 events, 1724us elapsed, 14.37us avg, min 5us max 28us 6.258us rms param: get: 30134 events param: find: 17119 events param: export: 1 events, 2743us elapsed, 2743.00us avg, min 2743us max 2743us 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: 45668 events, 3051.25 avg, min 2116us max 18683us 337.479us rms mavlink: tx run elapsed: 45667 events, 10585977us elapsed, 231.81us avg, min 97us max 4710us 246.363us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 35926 events, 869013us elapsed, 24.19us avg, min 3us max 566us 22.381us 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: 71466 events, 1949.83 avg, min 13us max 4190us 1264.500us rms uavcan: cycle time: 71466 events, 2309278us elapsed, 32.31us avg, min 9us max 1645us 143.191us 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: 377 events, 2768158us elapsed, 7342.59us avg, min 4us max 14962us 1827.668us rms logger_sd_write: 5499 events, 17194168us elapsed, 3126.78us avg, min 5us max 32601us 1928.697us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 13 events, 9230808.85 avg, min 9999781us max 10000516us 198.895us rms gyro_fft: gyro FIFO data gap: 2 events gyro_fft: FFT: 26134 events, 3953174us elapsed, 151.27us avg, min 134us max 607us 24.844us rms gyro_fft: cycle interval: 55830 events, 2495.96 avg, min 1689us max 3300us 83.519us rms gyro_fft: cycle: 55830 events, 4450720us elapsed, 79.72us avg, min 7us max 665us 98.235us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 2952 events, 93160us elapsed, 31.56us avg, min 18us max 543us 98.690us rms rc_input: publish interval: 12870 events, 10826.47 avg, min 753us max 72166us 3970.641us rms rc_input: cycle time: 34838 events, 489738us elapsed, 14.06us avg, min 4us max 1099us 65.071us rms uxrce_dds_client: cycle interval: 29984 events, 4647.19 avg, min 101us max 24040us 3122.822us rms uxrce_dds_client: cycle: 29983 events, 139301779us elapsed, 4646.03us avg, min 100us max 24039us 3768.895us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13925 events, 10006.22 avg, min 9152us max 25153us 209.326us rms mavlink: tx run elapsed: 13925 events, 2112374us elapsed, 151.70us avg, min 90us max 1726us 145.507us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 22 events, 689us elapsed, 31.32us avg, min 8us max 381us 585.245us rms land_detector: cycle: 13958 events, 145223us elapsed, 10.40us avg, min 8us max 156us 7.511us rms mc_pos_control: cycle time: 13958 events, 341849us elapsed, 24.49us avg, min 6us max 168us 10.448us rms flight_mode_manager: cycle: 6967 events, 169132us elapsed, 24.28us avg, min 3us max 256us 73.111us rms mc_hover_thrust_estimator: cycle time: 13745 events, 53465us elapsed, 3.89us avg, min 1us max 92us 3.134us 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: 27916 events, 281656us elapsed, 10.09us avg, min 7us max 110us 6.062us rms mc_rate_control: cycle: 111661 events, 984113us elapsed, 8.81us avg, min 7us max 30us 1.218us rms control_allocator: cycle: 111661 events, 2113131us elapsed, 18.92us avg, min 16us max 144us 2.837us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 13957 events, 3724453us elapsed, 266.85us avg, min 113us max 870us 204.815us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 13958 events, 3356982us elapsed, 240.51us avg, min 101us max 790us 148.027us rms pwm_out: interval: 465 events, 299354.83 avg, min 299153us max 300846us 190.863us rms pwm_out: cycle: 465 events, 1945us elapsed, 4.18us avg, min 2us max 197us 10.666us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 111662 events, 2353736us elapsed, 21.08us avg, min 16us max 41us 4.196us rms control latency: 111662 events, 21486098us elapsed, 192.42us avg, min 181us max 482us 8.944us rms commander: preflight check: 1274 events, 241871us elapsed, 189.85us avg, min 115us max 1551us 230.760us rms commander: cycle: 12657 events, 1116169us elapsed, 88.19us avg, min 35us max 1836us 166.299us 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: 12069 events, 288529us elapsed, 23.91us avg, min 16us max 1282us 27.515us rms vehicle_gps_position: cycle: 1394 events, 16943us elapsed, 12.15us avg, min 6us max 181us 19.287us rms vehicle_air_data: cycle: 3218 events, 74779us elapsed, 23.24us avg, min 15us max 256us 28.024us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3590 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 104 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 295857 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 12381 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: 111663 events, 4221042us elapsed, 37.80us avg, min 32us max 251us 7.334us rms sensors: 27916 events, 718261us elapsed, 25.73us avg, min 19us max 1735us 28.404us rms afbrs50: irq callback: 13645 events, 69483us elapsed, 5.09us avg, min 3us max 8us 1.056us rms afbrs50: transfer callback: 34768 events, 583908us elapsed, 16.79us avg, min 1us max 263us 39.352us rms afbrs50: transfer: 34767 events, 8987837us elapsed, 258.52us avg, min 16us max 1264us 530.664us rms afbrs50: sample interval: 6823 events, 20422.08 avg, min 18738us max 145271us 6245.924us rms paw3902: no motion interrupt: 3525 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: 0 events bmp388: measure: 3219 events, 3689780us elapsed, 1146.25us avg, min 1089us max 1421us 79.383us rms bmp388: read: 3219 events, 3083672us elapsed, 957.96us avg, min 942us max 1134us 49.340us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 12069 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: 1375 events, 1372153us elapsed, 997.93us avg, min 982us max 1191us 40.597us rms board_adc: sample: 41805 events, 143272us elapsed, 3.43us avg, min 2us max 1039us 24.251us rms manual_control: interval: 5952 events, 23408.59 avg, min 40us max 200614us 27111.467us rms manual_control: cycle: 5952 events, 108174us elapsed, 18.17us avg, min 9us max 1074us 42.214us rms rc_update: valid data interval: 12870 events, 10826.47 avg, min 753us max 72165us 3971.119us rms rc_update: cycle interval: 12870 events, 10826.47 avg, min 752us max 72165us 3970.779us rms rc_update: cycle: 12870 events, 217689us elapsed, 16.91us avg, min 10us max 1101us 36.482us rms load_mon: cycle: 279 events, 34447us elapsed, 123.47us avg, min 73us max 732us 124.935us 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: 2 events param: set: 57 events, 60us elapsed, 1.05us avg, min 1us max 3us 9.131us rms param: get: 13177 events param: find: 21034 events param: export: 1 events, 17066us elapsed, 17066.00us avg, min 17066us max 17066us nanus rms