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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-mc4d106ae-m01-nano-1-01
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V5 (V560) |
| Software Version: | v1.11.0 (beta) (4d106aeb) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | 04-02-2020 17:29 |
| Logging Duration: | 0:04:46 |
| Dropouts: | 7 (2.46 s) |
| Vehicle Life Flight Time: | 6 hours 49 minutes 40 seconds |
| Vehicle UUID: | 000200000000383937383138510200420033 (F450-CUAV nano V5) |
| 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: | 2.29 km |
| Max Altitude Difference: | 51 m |
| Average Speed: | 28.7 km/h |
| Max Speed: | 71.6 km/h |
| Max Speed Horizontal: | 71.5 km/h |
| Max Speed Up: | 20.2 km/h |
| Max Speed Down: | 21.8 km/h |
| Max Tilt Angle: | 58.0 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V560 HW version: 0x00000006 HW revision: 0x00000000 FW git-hash: 4d106aeb3ed38b38a19a1aa56103935160771d9b FW version: 1.11.0 80 (17498240) OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: 7b36108b548642f1a8513dcf00eb4913f8558ccf Build datetime: Feb 3 2020 14:44:24 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 000200000000383937383138510200420033 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes WARN [rgbled] no RGB led on bus #1 rgbled1 on I2C bus 1 at 0x39 (bus: 100 KHz, max: 100 KHz) Board sensors: /etc/init.d/rc.board_sensors MPU6000 on SPI bus 1 at 1 (1000 KHz) MPU6000 on SPI bus 1 at 0 (1000 KHz) WARN [mpu6000] unexpected ID 0x00 accepted BMI055_ACCEL on SPI bus 1 at 3 (10000 KHz) BMI055_GYRO on SPI bus 1 at 2 (10000 KHz) IST8310 on I2C bus 1 at 0x0e (bus: 100 KHz, max: 400 KHz) WARN [ist8310] ERROR: TIMEOUT 2 INFO [ist8310] no device on bus 2 WARN [hmc5883] no device on bus 1 (type: 2) WARN [hmc5883] no device on bus 2 (type: 2) WARN [hmc5883] no device on bus 4 (type: 2) ERROR [hmc5883] bus 2 not started ERROR [hmc5883] bus 2 not started WARN [qmc5883] no device on bus 1 (type: 2) WARN [qmc5883] no device on bus 2 (type: 2) WARN [qmc5883] no device on bus 4 (type: 2) WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [lis3mdl] no device on bus 2 WARN [ak09916] AK09916 mag init failed ERROR [ak09916] driver start failed IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) WARN [ist8310] ERROR: TIMEOUT 2 MS5611_SPI on SPI bus 4 at 0 (20000 KHz) WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 2 WARN [rm3100] no device on bus 1 INFO [commander] Mission #3 loaded, 9 WPs, curr: 0 Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [logger] logger started (mode=all) NuttShell (NSH) nsh> [KINFO [ecl/EKF] reset position to last known position INFO [ecl/EKF] reset velocity to zero WARN [commander] REJECT AUTO RTL INFO [ecl/EKF] 9710322: EKF aligned, (baro height, IMU buf: 22, OBS buf: 14) WARN [commander] REJECT AUTO RTL INFO [ecl/EKF] GPS checks passed (WGS-84 origin set) INFO [ecl/EKF] reset position to GPS INFO [ecl/EKF] reset velocity to GPS INFO [ecl/EKF] commencing GPS fusion WARN [commander] REJECT AUTO RTL INFO [logger] Start file log (type: full) INFO [logger] Opened full log file: /fs/microsd/log/2020-02-04/17_29_21.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 33972 31.736 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 23 0.000 1000/ 1516 50 ( 50) w:sig 3 3 init 871 0.000 1784/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 255 (255) w:sem 5 162 wq:att_pos_ctrl 9951 11.976 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 1087 1.197 1048/ 1900 241 (241) w:sem 5 18 dataman 54 0.099 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 80 0.000 812/ 1700 205 (205) w:sem 5 25 wq:I2C1 441 0.399 820/ 1396 246 (246) w:sem 5 120 wq:SPI1 26851 31.337 1136/ 1900 253 (253) w:sem 5 137 wq:I2C3 314 0.399 820/ 1396 244 (244) w:sem 5 139 wq:SPI4 258 0.299 568/ 1900 250 (250) w:sem 5 161 sensors 2568 2.794 1064/ 1964 237 (237) w:sem 12 370 log_writer_file 47 0.000 600/ 1164 60 ( 60) READY 4 164 wq:rate_ctrl 5602 6.886 1028/ 1596 255 (255) w:sem 5 166 commander 749 0.798 1384/ 3212 140 (140) w:sig 6 167 commander_low_prio 1 0.000 716/ 2996 50 ( 50) w:sem 6 219 gps 151 0.199 1016/ 1676 208 (208) w:sem 4 249 mavlink_if1 1126 1.197 1664/ 2484 140 (100) READY 4 250 mavlink_rcv_if1 426 0.299 2672/ 3940 175 (175) w:sem 4 266 wq:UART4 384 0.499 872/ 1396 235 (235) w:sem 5 344 navigator 154 0.099 992/ 1764 105 (105) w:sem 5 368 logger 394 3.093 3016/ 3644 233 (233) RUN 4 Processes: 24 total, 4 running, 20 sleeping, max FDs: 20 CPU usage: 61.58% tasks, 6.69% sched, 31.74% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 87.243s total, 33.973s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 126611 32.200 240/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 46 2.300 1000/ 1516 50 ( 50) w:sig 3 3 init 871 0.000 1784/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 255 (255) w:sem 5 162 wq:att_pos_ctrl 49571 11.900 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 4683 1.200 1048/ 1900 241 (241) w:sem 5 18 dataman 231 0.100 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 207 0.100 812/ 1700 205 (205) w:sem 5 25 wq:I2C1 1549 0.400 820/ 1396 246 (246) w:sem 5 120 wq:SPI1 116137 31.300 1136/ 1900 253 (253) w:sem 5 137 wq:I2C3 1387 0.400 820/ 1396 244 (244) w:sem 5 139 wq:SPI4 1158 0.400 568/ 1900 250 (250) w:sem 5 161 sensors 10413 3.100 1064/ 1964 237 (237) w:sem 12 370 log_writer_file 8045 2.400 616/ 1164 60 ( 60) w:sem 4 164 wq:rate_ctrl 25404 6.800 1028/ 1596 255 (255) w:sem 5 166 commander 3076 0.800 1384/ 3212 140 (140) READY 6 167 commander_low_prio 5 0.000 716/ 2996 50 ( 50) w:sem 6 219 gps 611 0.200 1016/ 1676 208 (208) w:sem 4 249 mavlink_if1 4341 1.100 1704/ 2484 140 (100) w:sig 4 250 mavlink_rcv_if1 1414 0.400 2672/ 3940 175 (175) w:sem 4 266 wq:UART4 1737 0.500 872/ 1396 235 (235) w:sem 5 344 navigator 523 0.100 992/ 1764 105 (105) READY 5 368 logger 7765 2.600 3016/ 3644 233 (233) RUN 4 Processes: 24 total, 4 running, 20 sleeping, max FDs: 20 CPU usage: 66.10% tasks, 1.70% sched, 32.20% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 373.080s total, 126.611s 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 1445 events, 382894us elapsed, 264.98us avg, min 55us max 28520us 1047.805us rms land_detector_cycle: 4039 events, 71899us elapsed, 17.80us avg, min 13us max 292us 10.468us rms mc_pos_control: cycle time: 3172 events, 497622us elapsed, 156.88us avg, min 51us max 1076us 82.728us rms mc_att_control: cycle: 19027 events, 753958us elapsed, 39.63us avg, min 27us max 729us 29.070us rms mc_rate_control: cycle: 80400 events, 1463169us elapsed, 18.20us avg, min 15us max 625us 4.942us rms ekf2: update: 20131 events, 5854724us elapsed, 290.83us avg, min 3us max 1612us 328.852us rms fmu: cycle: 21771 events, 1044522us elapsed, 47.98us avg, min 2us max 599us 5.157us rms control latency: 21767 events, 4657480us elapsed, 213.97us avg, min 148us max 1582us 235.756us rms rc_input: publish interval: 2947 events, 26990.16 avg, min 22554us max 30989us 1775.879us rms rc_input: cycle time: 20231 events, 156272us elapsed, 7.72us avg, min 5us max 420us 14.393us rms mavlink_int: 7960 events, 10127.93 avg, min 9166us max 21780us 505.927us rms mavlink_el: 7960 events, 1822351us elapsed, 228.94us avg, min 74us max 3258us 304.135us 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: interval: 80768 events, 1004.81 avg, min 622us max 3998us 349.656us rms battery_status: 8116 events, 271195us elapsed, 33.41us avg, min 26us max 912us 34.957us rms vehicle_acceleration: interval: 80769 events, 1004.80 avg, min 622us max 2390us 349.535us rms sensors: 20220 events, 13958209us elapsed, 690.32us avg, min 95us max 3463us 452.317us rms ms5611: com_err: 0 events ms5611: measure: 8041 events, 56992us elapsed, 7.09us avg, min 5us max 269us 8.636us rms ms5611: read: 8040 events, 109441us elapsed, 13.61us avg, min 10us max 146us 9.857us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 3897 events, 3413965us elapsed, 876.05us avg, min 836us max 2103us 77.733us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 3996 events, 3491281us elapsed, 873.69us avg, min 838us max 2095us 72.899us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 106739 events, 5249359us elapsed, 49.18us avg, min 41us max 247us 6.208us rms bmi055_accel_duplicates: 20192 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 106748 events, 3884230us elapsed, 36.39us avg, min 26us max 221us 5.173us rms mpu6k_duplicates: 21465 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 106739 events, 4572342us elapsed, 42.84us avg, min 40us max 58us 1.248us rms mpu6k_duplicates: 21763 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 106771 events, 4465530us elapsed, 41.82us avg, min 40us max 60us 1.221us rms adc: sample: 102540 events, 365574us elapsed, 3.57us avg, min 2us max 626us 18.083us rms rc_update: 2947 events, 205681us elapsed, 69.79us avg, min 19us max 3065us 95.443us rms stack_check: 453 events, 1925us elapsed, 4.25us avg, min 1us max 88us 6.091us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1907 events, 381439us elapsed, 200.02us avg, min 32us max 67980us 1940.608us rms dma_alloc: 4 events param_set: 128 events, 4268us elapsed, 33.34us avg, min 3us max 133us 18.772us rms param_get: 4071 events, 27458us elapsed, 6.74us avg, min 2us max 1548us 46.052us rms param_find: 1141 events, 7600us elapsed, 6.66us avg, min 2us max 610us 26.196us rms param_export: 1 events, 58586us elapsed, 58586.00us avg, min 58586us max 58586us 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: 720 events, 4537506us elapsed, 6302.09us avg, min 5us max 248088us 9297.717us rms logger_sd_write: 2571 events, 35474716us elapsed, 13798.02us avg, min 8us max 2451844us 61481.695us rms navigator: 5287 events, 9360575us elapsed, 1770.49us avg, min 48us max 2400575us 42166.191us rms land_detector_cycle: 14342 events, 305530us elapsed, 21.30us avg, min 13us max 415us 17.437us rms mc_pos_control: cycle time: 11946 events, 1491459us elapsed, 124.85us avg, min 16us max 1412us 106.346us rms mc_att_control: cycle: 71604 events, 3480629us elapsed, 48.61us avg, min 28us max 472us 39.039us rms mc_rate_control: cycle: 286609 events, 5497894us elapsed, 19.18us avg, min 15us max 45us 3.443us rms ekf2: update: 71604 events, 28546887us elapsed, 398.68us avg, min 12us max 2457us 594.750us rms fmu: cycle: 77116 events, 3677686us elapsed, 47.69us avg, min 40us max 67us 3.972us rms control latency: 77116 events, 16807134us elapsed, 217.95us avg, min 150us max 1587us 272.560us rms rc_input: publish interval: 10625 events, 26996.33 avg, min 21828us max 32880us 1871.054us rms rc_input: cycle time: 71712 events, 588271us elapsed, 8.20us avg, min 5us max 528us 19.911us rms mavlink_int: 28331 events, 10123.94 avg, min 9153us max 14379us 526.435us rms mavlink_el: 28331 events, 4734407us elapsed, 167.11us avg, min 71us max 3915us 265.368us 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: interval: 286609 events, 1000.82 avg, min 729us max 1668us 347.412us rms battery_status: 28684 events, 955038us elapsed, 33.30us avg, min 28us max 519us 36.189us rms vehicle_acceleration: interval: 286610 events, 1000.82 avg, min 729us max 1668us 347.413us rms sensors: 71604 events, 56897060us elapsed, 794.61us avg, min 136us max 3434us 703.219us rms ms5611: com_err: 0 events ms5611: measure: 28394 events, 202907us elapsed, 7.15us avg, min 5us max 269us 10.437us rms ms5611: read: 28394 events, 381665us elapsed, 13.44us avg, min 10us max 115us 10.227us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 13429 events, 11750029us elapsed, 874.97us avg, min 838us max 2264us 86.380us rms ist8310_conf_err: 0 events ist8310_rng_err: 0 events ist8310_com_err: 0 events ist8310_read: 13431 events, 11738772us elapsed, 874.01us avg, min 838us max 2194us 85.468us rms bmi055_gyro_bad_registers: 0 events bmi055_gyro_bad_transfers: 0 events bmi055_gyro_read: 358559 events, 17901311us elapsed, 49.93us avg, min 41us max 77us 7.016us rms bmi055_accel_duplicates: 67936 events bmi055_accel_bad_registers: 0 events bmi055_accel_bad_transfers: 0 events bmi055_accel_read: 358560 events, 13091129us elapsed, 36.51us avg, min 26us max 66us 5.884us rms mpu6k_duplicates: 71478 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 358563 events, 15387580us elapsed, 42.91us avg, min 40us max 64us 1.558us rms mpu6k_duplicates: 71949 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 358562 events, 15018138us elapsed, 41.88us avg, min 40us max 62us 1.454us rms adc: sample: 344220 events, 1228723us elapsed, 3.57us avg, min 2us max 507us 20.272us rms rc_update: 10625 events, 661186us elapsed, 62.23us avg, min 19us max 537us 84.115us rms stack_check: 1599 events, 8943us elapsed, 5.59us avg, min 1us max 482us 23.926us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 6548 events, 9122351us elapsed, 1393.15us avg, min 33us max 2400557us 37901.617us rms dma_alloc: 0 events param_set: 6 events, 25us elapsed, 4.17us avg, min 2us max 12us 94.691us rms param_get: 80 events, 633us elapsed, 7.91us avg, min 2us max 272us 332.048us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 71115us elapsed, 71115.00us avg, min 71115us max 71115us nanus rms