Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | e9e94ca0 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:34 |
| Vehicle Life Flight Time: | 1 hours 18 minutes 37 seconds |
| Vehicle UUID: | 0006000000003331383130335110003c002f |
| Distance: | 22.3 m |
| Max Altitude Difference: | 14 m |
| Average Speed: | 2.1 km/h |
| Max Speed: | 10.3 km/h |
| Max Speed Horizontal: | 2.5 km/h |
| Max Speed Up: | 10.2 km/h |
| Max Speed Down: | 6.7 km/h |
| Max Tilt Angle: | 11.2 deg |
Loading Plots...
Console Output
ail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: height estimate not stable WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill disengaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-02/16_45_13.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-02/16_45_13.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 410255 46.677 288/ 768 0 ( 0) READY 3 1 hpwork 6 0.621 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 748/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2076/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 556/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.165 1324/ 1896 205 (205) w:sem 5 909 mavlink_rcv_if0 1 0.178 1484/ 4776 175 (175) w:sem 5 471 wq:hp_default 38 3.864 2108/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.054 944/ 2312 244 (244) w:sem 5 541 wq:SPI1 49 4.971 1788/ 2368 253 (253) w:sem 5 550 wq:SPI2 54 5.430 1776/ 2368 252 (252) w:sem 5 556 wq:I2C4 8 0.824 1068/ 2312 243 (243) w:sem 5 569 wq:SPI3 2 0.255 800/ 2368 251 (251) w:sem 5 763 wq:nav_and_controllers 30 3.091 1436/ 2216 242 (242) w:sem 5 766 wq:rate_ctrl 73 7.388 2304/ 3120 255 (255) w:sem 5 767 wq:INS0 37 3.760 3596/ 5976 241 (241) w:sem 5 775 wq:INS1 41 4.148 3596/ 5976 240 (240) w:sem 5 777 commander 5 0.535 1516/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1140/ 1936 205 (205) w:sem 4 907 mavlink_if0 10 1.012 1868/ 2704 100 (100) w:sig 5 1041 log_writer_file 5 0.568 732/ 1144 60 ( 60) w:sem 4 949 uxrce_dds_client 42 4.226 9184/ 9872 100 (100) w:sem 25 956 wq:ttyS4 5 0.548 1068/ 1704 230 (230) w:sem 5 976 navigator 0 0.068 1492/ 2104 105 (105) w:sem 11 1034 logger 43 4.356 3036/ 3616 230 (230) RUN 4 1046 wq:uavcan 14 1.450 3092/ 3600 236 (236) w:sem 5 1075 mavlink_if1 44 4.487 1884/ 2800 100 (100) READY 5 1076 mavlink_rcv_if1 1 0.196 1804/ 4776 175 (175) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 52.20% tasks, 1.12% sched, 46.68% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 856.163s total, 410.256s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 427139 47.691 288/ 768 0 ( 0) READY 3 1 hpwork 7 0.748 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 748/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2076/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 556/ 1232 255 (255) w:sem 5 5 wq:lp_default 26 2.647 1324/ 1896 205 (205) w:sem 5 909 mavlink_rcv_if0 1 0.182 1484/ 4776 175 (175) w:sem 5 471 wq:hp_default 38 3.821 2108/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.055 944/ 2312 244 (244) w:sem 5 541 wq:SPI1 49 4.972 1788/ 2368 253 (253) w:sem 5 550 wq:SPI2 54 5.417 1776/ 2368 252 (252) w:sem 5 556 wq:I2C4 8 0.825 1068/ 2312 243 (243) w:sem 5 569 wq:SPI3 2 0.247 800/ 2368 251 (251) w:sem 5 763 wq:nav_and_controllers 28 2.852 1436/ 2216 242 (242) w:sem 5 766 wq:rate_ctrl 72 7.255 2304/ 3120 255 (255) w:sem 5 767 wq:INS0 35 3.594 3596/ 5976 241 (241) w:sem 5 775 wq:INS1 38 3.798 3596/ 5976 240 (240) w:sem 5 777 commander 5 0.549 1516/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1140/ 1936 205 (205) w:sem 4 907 mavlink_if0 9 0.967 1868/ 2704 100 (100) w:sig 5 1041 log_writer_file 5 0.563 732/ 1144 60 ( 60) w:sem 4 949 uxrce_dds_client 40 4.002 9184/ 9872 100 (100) w:sem 25 956 wq:ttyS4 6 0.618 1068/ 1704 230 (230) w:sem 5 976 navigator 0 0.066 1492/ 2104 105 (105) w:sem 11 1034 logger 17 1.775 3036/ 3616 230 (230) RUN 4 1046 wq:uavcan 15 1.540 3092/ 3600 236 (236) w:sem 5 1075 mavlink_if1 44 4.479 1884/ 2800 100 (100) READY 5 1076 mavlink_rcv_if1 2 0.202 1804/ 4776 175 (175) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 51.18% tasks, 1.13% sched, 47.69% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 889.304s total, 427.140s 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: 111514 events, 3078.86 avg, min 2102us max 30580us 410.005us rms mavlink: tx run elapsed: 111514 events, 26309257us elapsed, 235.93us avg, min 88us max 4919us 394.691us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 86660 events, 1744902us elapsed, 20.14us avg, min 2us max 428us 23.184us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 176635 events, 1943.80 avg, min 15us max 12072us 1266.038us rms uavcan: cycle time: 176635 events, 5291523us elapsed, 29.96us avg, min 9us max 1632us 129.029us 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: 548 events, 4803527us elapsed, 8765.56us avg, min 3us max 43657us 5399.880us rms logger_sd_write: 7864 events, 26998051us elapsed, 3433.12us avg, min 5us max 60057us 3908.633us 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 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 6691 events, 49825.18 avg, min 58us max 10000195us 544857.375us rms gyro_fft: gyro FIFO data gap: 9 events gyro_fft: FFT: 64320 events, 9445790us elapsed, 146.86us avg, min 128us max 664us 83.864us rms gyro_fft: cycle interval: 137517 events, 2496.75 avg, min 317us max 37929us 198.015us rms gyro_fft: cycle: 137517 events, 10585037us elapsed, 76.97us avg, min 2us max 673us 132.506us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 7264 events, 178050us elapsed, 24.51us avg, min 10us max 1190us 65.908us rms crsf_rc: publish interval: 59978 events, 5724.34 avg, min 4027us max 95834us 3879.255us rms crsf_rc: cycle interval: 59979 events, 5724.31 avg, min 4027us max 95810us 3879.833us rms uxrce_dds_client: cycle interval: 72351 events, 4745.38 avg, min 101us max 32990us 3895.048us rms uxrce_dds_client: cycle: 72350 events, 343226035us elapsed, 4743.97us avg, min 100us max 32990us 5992.792us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34273 events, 10017.58 avg, min 9093us max 34137us 289.900us rms mavlink: tx run elapsed: 34273 events, 5123817us elapsed, 149.50us avg, min 79us max 3229us 239.147us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 7017 events, 105142us elapsed, 14.98us avg, min 7us max 515us 67.741us rms land_detector: cycle: 34392 events, 448745us elapsed, 13.05us avg, min 9us max 137us 15.361us rms mc_pos_control: cycle time: 34392 events, 1051156us elapsed, 30.56us avg, min 23us max 219us 20.370us rms flight_mode_manager: cycle: 17167 events, 507595us elapsed, 29.57us avg, min 22us max 211us 25.407us rms mc_hover_thrust_estimator: cycle time: 34392 events, 100170us elapsed, 2.91us avg, min 1us max 136us 4.493us 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: 68783 events, 739654us elapsed, 10.75us avg, min 8us max 109us 30.215us rms mc_rate_control: cycle: 275121 events, 2317819us elapsed, 8.42us avg, min 7us max 27us 1.983us rms control_allocator: cycle: 275121 events, 5192842us elapsed, 18.87us avg, min 16us max 136us 3.893us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 34390 events, 8469618us elapsed, 246.28us avg, min 93us max 876us 237.152us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 34390 events, 7532964us elapsed, 219.05us avg, min 94us max 947us 172.319us rms pwm_out: interval: 1145 events, 299737.99 avg, min 299185us max 300954us 181.113us rms pwm_out: cycle: 1145 events, 4112us elapsed, 3.59us avg, min 2us max 57us 8.692us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 275121 events, 5609559us elapsed, 20.39us avg, min 15us max 43us 5.446us rms control latency: 275122 events, 51943152us elapsed, 188.80us avg, min 175us max 450us 11.834us rms commander: preflight check: 3139 events, 701472us elapsed, 223.47us avg, min 109us max 3935us 573.073us rms commander: cycle: 31163 events, 2863411us elapsed, 91.88us avg, min 34us max 3974us 280.255us 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: 24718 events, 537740us elapsed, 21.75us avg, min 15us max 1455us 40.765us rms vehicle_gps_position: cycle: 3433 events, 40270us elapsed, 11.73us avg, min 6us max 271us 24.868us rms vehicle_air_data: cycle: 7930 events, 118692us elapsed, 14.97us avg, min 10us max 211us 20.104us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 7906 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 1224 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 434469 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 8016 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 5 events vehicle_angular_velocity: gyro filter reset: 5 events vehicle_angular_velocity: gyro filter: 275125 events, 10189997us elapsed, 37.04us avg, min 31us max 300us 7.678us rms sensors: 68783 events, 1799185us elapsed, 26.16us avg, min 19us max 1708us 46.731us rms afbrs50: irq callback: 29278 events, 144494us elapsed, 4.94us avg, min 3us max 7us 1.382us rms afbrs50: transfer callback: 77387 events, 1361573us elapsed, 17.59us avg, min 1us max 280us 55.964us rms afbrs50: transfer: 77387 events, 19281925us elapsed, 249.16us avg, min 10us max 1417us 664.239us rms afbrs50: sample interval: 14639 events, 23453.04 avg, min 11891us max 216747us 9252.011us rms paw3902: no motion interrupt: 23452 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: 7930 events, 9084617us elapsed, 1145.60us avg, min 1090us max 3100us 129.792us rms bmp388: read: 7930 events, 7603871us elapsed, 958.87us avg, min 943us max 1162us 83.542us rms mmc5983ma_comms_errors: 0 events mmc5983ma_read: 24718 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: 3385 events, 3440066us elapsed, 1016.27us avg, min 984us max 1246us 104.187us rms board_adc: sample: 102975 events, 372475us elapsed, 3.62us avg, min 2us max 993us 30.877us rms manual_control: interval: 11016 events, 31164.35 avg, min 15us max 200625us 35025.820us rms manual_control: cycle: 11016 events, 199903us elapsed, 18.15us avg, min 8us max 948us 57.561us rms rc_update: valid data interval: 29816 events, 11515.11 avg, min 104us max 199903us 6510.242us rms rc_update: cycle interval: 59968 events, 5725.29 avg, min 102us max 95835us 3890.843us rms rc_update: cycle: 59968 events, 945967us elapsed, 15.77us avg, min 8us max 1043us 55.936us rms load_mon: cycle: 687 events, 89067us elapsed, 129.65us avg, min 73us max 1209us 193.786us 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: 645 events param: set: 57 events, 76us elapsed, 1.33us avg, min 1us max 17us 21.566us rms param: get: 33007 events param: find: 51900 events param: export: 1 events, 26549us elapsed, 26549.00us avg, min 26549us max 26549us 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: 11221 events, 3035.24 avg, min 2124us max 29723us 394.223us rms mavlink: tx run elapsed: 11221 events, 2343164us elapsed, 208.82us avg, min 88us max 2662us 1256.758us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 8622 events, 174004us elapsed, 20.18us avg, min 3us max 220us 74.816us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 17513 events, 1944.78 avg, min 15us max 4317us 1267.782us rms uavcan: cycle time: 17513 events, 525234us elapsed, 29.99us avg, min 9us max 1202us 414.651us 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: 93 events, 781016us elapsed, 8398.02us avg, min 3us max 23064us 13783.907us rms logger_sd_write: 1343 events, 4313765us elapsed, 3212.04us avg, min 5us max 63575us 9999.700us 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 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666666.00 avg, min 9999888us max 10000110us 110.960us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 6308 events, 942763us elapsed, 149.46us avg, min 132us max 1194us 268.695us rms gyro_fft: cycle interval: 13648 events, 2495.73 avg, min 1228us max 3392us 232.357us rms gyro_fft: cycle: 13648 events, 1056248us elapsed, 77.39us avg, min 2us max 1248us 427.639us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 718 events, 14738us elapsed, 20.53us avg, min 12us max 240us 210.470us rms crsf_rc: publish interval: 6054 events, 5625.73 avg, min 4038us max 98026us 3614.598us rms crsf_rc: cycle interval: 6053 events, 5625.70 avg, min 4039us max 98026us 3614.130us rms uxrce_dds_client: cycle interval: 7057 events, 4826.02 avg, min 104us max 29001us 4051.938us rms uxrce_dds_client: cycle: 7056 events, 34049116us elapsed, 4825.55us avg, min 103us max 29000us 19614.107us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3402 events, 10009.92 avg, min 9293us max 36230us 468.869us rms mavlink: tx run elapsed: 3402 events, 463493us elapsed, 136.24us avg, min 80us max 1129us 766.177us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 9 events, 198us elapsed, 22.00us avg, min 8us max 91us 2006.287us rms land_detector: cycle: 3412 events, 45012us elapsed, 13.19us avg, min 9us max 163us 50.228us rms mc_pos_control: cycle time: 3412 events, 96694us elapsed, 28.34us avg, min 6us max 172us 67.122us rms flight_mode_manager: cycle: 1703 events, 42400us elapsed, 24.90us avg, min 3us max 175us 82.079us rms mc_hover_thrust_estimator: cycle time: 2873 events, 11808us elapsed, 4.11us avg, min 1us max 60us 16.009us 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: 6824 events, 80771us elapsed, 11.84us avg, min 8us max 110us 96.085us rms mc_rate_control: cycle: 27297 events, 232178us elapsed, 8.51us avg, min 7us max 18us 6.357us rms control_allocator: cycle: 27297 events, 507338us elapsed, 18.59us avg, min 16us max 31us 12.551us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3412 events, 883101us elapsed, 258.82us avg, min 106us max 681us 762.021us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3412 events, 756171us elapsed, 221.62us avg, min 104us max 756us 554.529us rms pwm_out: interval: 113 events, 297340.61 avg, min 299050us max 300941us 234.918us rms pwm_out: cycle: 113 events, 410us elapsed, 3.63us avg, min 2us max 20us 27.829us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 27297 events, 562637us elapsed, 20.61us avg, min 16us max 38us 17.596us rms control latency: 27297 events, 5147353us elapsed, 188.57us avg, min 177us max 266us 38.300us rms commander: preflight check: 311 events, 60182us elapsed, 193.51us avg, min 110us max 916us 1828.497us rms commander: cycle: 3094 events, 252755us elapsed, 81.69us avg, min 33us max 1180us 896.373us 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: 2455 events, 52596us elapsed, 21.42us avg, min 16us max 246us 130.072us rms vehicle_gps_position: cycle: 341 events, 3504us elapsed, 10.28us avg, min 6us max 66us 79.150us rms vehicle_air_data: cycle: 787 events, 11675us elapsed, 14.83us avg, min 10us max 195us 65.232us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 1732 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 68 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 68610 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 1632 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 27298 events, 1018426us elapsed, 37.31us avg, min 33us max 73us 25.163us rms sensors: 6824 events, 171271us elapsed, 25.10us avg, min 22us max 121us 148.427us rms afbrs50: irq callback: 3380 events, 16742us elapsed, 4.95us avg, min 1us max 8us 4.158us rms afbrs50: transfer callback: 8859 events, 152506us elapsed, 17.21us avg, min 0us max 262us 168.861us rms afbrs50: transfer: 8859 events, 2222736us elapsed, 250.90us avg, min 16us max 1256us 2004.601us rms afbrs50: sample interval: 1690 events, 20143.79 avg, min 16520us max 144393us 3059.177us rms paw3902: no motion interrupt: 1976 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: 787 events, 900539us elapsed, 1144.27us avg, min 1090us max 1331us 417.413us rms bmp388: read: 787 events, 753799us elapsed, 957.81us avg, min 944us max 1118us 266.896us rms mmc5983ma_comms_errors: 0 events mmc5983ma_read: 2455 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: 336 events, 341783us elapsed, 1017.21us avg, min 984us max 1143us 334.970us rms board_adc: sample: 10221 events, 37790us elapsed, 3.70us avg, min 2us max 949us 100.695us rms manual_control: interval: 1127 events, 30206.24 avg, min 6016us max 200130us 34089.469us rms manual_control: cycle: 1127 events, 20521us elapsed, 18.21us avg, min 9us max 789us 184.599us rms rc_update: valid data interval: 3021 events, 11271.94 avg, min 4085us max 225931us 6860.659us rms rc_update: cycle interval: 6054 events, 5625.76 avg, min 4040us max 98026us 3617.122us rms rc_update: cycle: 6054 events, 89782us elapsed, 14.83us avg, min 8us max 985us 178.707us rms load_mon: cycle: 68 events, 8019us elapsed, 117.93us avg, min 73us max 512us 625.364us 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: 3 events, 8us elapsed, 2.67us avg, min 2us max 4us 114.122us rms param: get: 3013 events param: find: 5111 events param: export: 1 events, 26965us elapsed, 26965.00us avg, min 26965us max 26965us infus rms