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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: | 0:03:26 |
| Vehicle Life Flight Time: | 20 minutes 16 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 262.2 m |
| Max Altitude Difference: | 12 m |
| Average Speed: | 4.0 km/h |
| Max Speed: | 14.4 km/h |
| Max Speed Horizontal: | 14.4 km/h |
| Max Speed Up: | 4.0 km/h |
| Max Speed Down: | 5.7 km/h |
| Max Tilt Angle: | 38.0 deg |
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Console Output
osd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors ina226 #0 on I2C bus 3 address 0x41 icm42688p #0 on SPI bus 1 rotation 3 icm42688p #1 on SPI bus 2 rotation 1 iis2mdc #0 on I2C bus 4 address 0x1E rotation 4 bmp390 #0 on I2C bus 4 address 0x76 INFO [paw3902] using yaw rotation 90.000 degrees (1.571 radians) paw3902 #0 on SPI bus 3 AFBR-S50 Chip ID: 39337, API Version: 17104902 v1.5.6 AFBR-S50LV85D ekf2 [781:237] Starting DShot Driver on /dev/ttyS2 Starting Main GPS on /dev/ttyS0 Starting RC Input Driver on /dev/ttyS4 Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B Starting UXRCE-DDS Client on /dev/ttyS3 INFO [uxrce_dds_client] init serial /dev/ttyS3 @ 3000000 baud INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [rc_input] RC scan: CRSF RC input locked INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B INFO [uavcan:125:teseo_gps] Connected at 460800 Baud INFO [uavcan:125:teseo_gps] Writing configuration uavcan_baro adding channel for topic sensor_baro node 125... uavcan_baro channel 125 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 INFO [uxrce_dds_client] synchronized with time offset 1716400198851684us 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 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 [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 252 INFO [uavcan:125:teseo_gps] Successfully set system clock: Wed 2024-05-22 17:50:04 WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node WARN [health_and_arming_checks] Preflight: GPS fix too low INFO [commander] Kill engaged 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 [uxrce_dds_client] successfully created rt/fmu/out/vehicle_global_position data writer, topic id: 250 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/17_50_21.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/17_50_21.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 12585 45.428 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.748 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) READY 6 1034 log_writer_file 5 0.591 628/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.819 2116/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.055 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 51 5.185 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 58 5.837 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.456 1012/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.276 932/ 2368 251 (251) w:sem 6 763 wq:nav_and_controllers 30 3.028 1460/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 76 7.650 2316/ 3120 255 (255) w:sem 6 766 wq:INS0 42 4.229 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 45 4.536 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.551 1656/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1196/ 1936 205 (205) w:sem 4 886 mavlink_if0 10 1.013 1892/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 1 0.185 1452/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 35 3.521 9224/11872 100 (100) READY 25 945 wq:ttyS4 3 0.370 972/ 1704 230 (230) w:sem 6 967 navigator 0 0.068 1620/ 2104 105 (105) w:sem 11 1013 logger 46 4.676 3108/ 3616 230 (230) RUN 4 1040 wq:uavcan 15 1.519 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 48 4.805 1900/ 2792 100 (100) READY 5 1068 mavlink_rcv_if1 1 0.192 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 53.48% tasks, 1.09% sched, 45.43% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 23.260s total, 12.586s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 113754 46.078 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.739 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 20 2.060 1308/ 1976 205 (205) w:sem 6 1034 log_writer_file 5 0.557 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 37 3.717 2132/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.057 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 51 5.182 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 58 5.866 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.458 1012/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.272 932/ 2368 251 (251) PEND 6 763 wq:nav_and_controllers 33 3.317 1476/ 2216 242 (242) w:sem 6 764 wq:rate_ctrl 73 7.346 2316/ 3120 255 (255) w:sem 6 766 wq:INS0 41 4.148 3428/ 5976 241 (241) w:sem 6 767 wq:INS1 43 4.352 3428/ 5976 240 (240) w:sem 6 776 commander 5 0.576 1656/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1196/ 1936 205 (205) w:sem 4 886 mavlink_if0 11 1.100 1916/ 2704 100 (100) w:sig 5 888 mavlink_rcv_if0 4 0.478 1524/ 4776 175 (175) w:sem 5 941 uxrce_dds_client 33 3.309 9224/11872 100 (100) w:sem 25 945 wq:ttyS4 4 0.411 972/ 1704 230 (230) w:sem 6 967 navigator 0 0.080 1620/ 2104 105 (105) w:sem 11 1013 logger 18 1.861 3108/ 3616 230 (230) RUN 4 1040 wq:uavcan 15 1.554 3156/ 3600 236 (236) w:sem 6 1067 mavlink_if1 49 4.910 1932/ 2792 100 (100) w:sig 5 1068 mavlink_rcv_if1 4 0.489 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 52.85% tasks, 1.08% sched, 46.08% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 229.147s total, 113.755s idle
Performance Counters
Pre Flight:
vehicle_optical_flow: cycle: 4692 events, 109704us elapsed, 23.38us avg, min 14us max 207us 20.038us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6704 events, 3038.32 avg, min 2122us max 34230us 501.987us rms mavlink: tx run elapsed: 6704 events, 1399127us elapsed, 208.70us avg, min 80us max 3921us 174.419us rms DatamanClient: sync: 3 events, 1164us elapsed, 388.00us avg, min 27us max 708us 342.346us 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: 13047 events, 1644.22 avg, min 16us max 23527us 1353.071us rms uavcan: cycle time: 13047 events, 545856us elapsed, 41.84us avg, min 9us max 23522us 309.368us 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, 384us elapsed, 384.00us avg, min 384us max 384us 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, 25795us elapsed, 25795.00us avg, min 25795us max 25795us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1072 events, 20001.35 avg, min 60us max 42964us 1157.119us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 4006 events, 581347us elapsed, 145.12us avg, min 133us max 709us 22.947us rms gyro_fft: cycle interval: 8594 events, 2499.29 avg, min 356us max 6285us 158.426us rms gyro_fft: cycle: 8594 events, 653893us elapsed, 76.09us avg, min 2us max 737us 75.268us rms DatamanClient: sync: 1 events, 18194us elapsed, 18194.00us avg, min 18194us max 18194us infus rms navigator: 456 events, 11727us elapsed, 25.72us avg, min 14us max 441us 31.944us rms rc_input: publish interval: 1941 events, 11062.28 avg, min 2915us max 80000us 5003.456us rms rc_input: cycle time: 5364 events, 65464us elapsed, 12.20us avg, min 4us max 989us 39.798us rms uxrce_dds_client: cycle interval: 2562 events, 5326.44 avg, min 102us max 45418us 3399.619us rms uxrce_dds_client: cycle: 2561 events, 13643795us elapsed, 5327.53us avg, min 101us max 45417us 3400.349us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2141 events, 10037.39 avg, min 9142us max 36604us 641.348us rms mavlink: tx run elapsed: 2141 events, 319454us elapsed, 149.21us avg, min 77us max 1373us 116.933us rms DatamanClient: sync: 4 events, 1815us elapsed, 453.75us avg, min 33us max 1313us 599.067us rms mag_bias_estimator: cycle: 1074 events, 17483us elapsed, 16.28us avg, min 1us max 772us 31.864us rms land_detector: cycle: 2160 events, 21577us elapsed, 9.99us avg, min 8us max 244us 6.870us rms mc_pos_control: cycle time: 2161 events, 17710us elapsed, 8.20us avg, min 5us max 246us 10.260us rms flight_mode_manager: cycle: 1079 events, 13904us elapsed, 12.89us avg, min 3us max 692us 67.484us rms mc_hover_thrust_estimator: cycle time: 2160 events, 2220us elapsed, 1.03us avg, min 0us max 59us 2.722us 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: 3470 events, 58489us elapsed, 16.86us avg, min 14us max 177us 5.359us rms mc_rate_control: cycle: 17275 events, 142474us elapsed, 8.25us avg, min 7us max 73us 1.169us rms control_allocator: cycle: 17275 events, 331778us elapsed, 19.21us avg, min 17us max 132us 2.402us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2160 events, 529619us elapsed, 245.19us avg, min 81us max 742us 135.613us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 2160 events, 473959us elapsed, 219.43us avg, min 82us max 856us 99.918us rms pwm_out: interval: 73 events, 291781.68 avg, min 103us max 300435us 35097.156us rms pwm_out: cycle: 73 events, 357us elapsed, 4.89us avg, min 2us max 51us 7.745us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 17276 events, 341073us elapsed, 19.74us avg, min 13us max 70us 3.339us rms control latency: 17275 events, 3242210us elapsed, 187.68us avg, min 159us max 313us 7.735us rms commander: preflight check: 199 events, 40085us elapsed, 201.43us avg, min 113us max 1185us 158.194us rms commander: cycle: 1950 events, 158013us elapsed, 81.03us avg, min 30us max 1437us 113.341us 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: 1869 events, 41144us elapsed, 22.01us avg, min 15us max 470us 22.788us rms vehicle_gps_position: cycle: 159 events, 1591us elapsed, 10.01us avg, min 2us max 84us 9.926us rms vehicle_air_data: cycle: 496 events, 10445us elapsed, 21.06us avg, min 4us max 338us 25.124us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 183 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 60 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 141 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 48 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: 17302 events, 598723us elapsed, 34.60us avg, min 11us max 252us 6.162us rms sensors: 4325 events, 124451us elapsed, 28.77us avg, min 18us max 1763us 63.613us rms afbrs50: irq callback: 2118 events, 10795us elapsed, 5.10us avg, min 1us max 7us 0.819us rms afbrs50: transfer callback: 6249 events, 96803us elapsed, 15.49us avg, min 1us max 249us 30.835us rms afbrs50: transfer: 6249 events, 1420860us elapsed, 227.37us avg, min 9us max 4264us 396.451us rms afbrs50: sample interval: 1059 events, 20336.96 avg, min 17429us max 143500us 5413.745us rms paw3902: no motion interrupt: 2198 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 6 events paw3902: mode change bright (0): 9 events paw3902: false motion report: 0 events paw3902: reset: 15 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 497 events, 566752us elapsed, 1140.35us avg, min 1090us max 1409us 59.743us rms bmp388: read: 496 events, 476224us elapsed, 960.13us avg, min 942us max 1372us 39.735us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 1871 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: 213 events, 212075us elapsed, 995.66us avg, min 983us max 1161us 30.807us rms board_adc: sample: 6492 events, 22440us elapsed, 3.46us avg, min 2us max 483us 15.716us rms manual_control: interval: 410 events, 52765.40 avg, min 3850us max 200283us 50106.508us rms manual_control: cycle: 410 events, 7717us elapsed, 18.82us avg, min 9us max 296us 30.419us rms rc_update: valid data interval: 1929 events, 11068.95 avg, min 2059us max 80000us 5009.756us rms rc_update: cycle interval: 1941 events, 11062.26 avg, min 2914us max 80000us 5003.258us rms rc_update: cycle: 1941 events, 34910us elapsed, 17.99us avg, min 8us max 867us 39.560us rms load_mon: cycle: 44 events, 5344us elapsed, 121.45us avg, min 2us max 467us 95.385us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 7978us elapsed, 1139.71us avg, min 7us max 4838us 1677.319us rms dma_alloc: 48 events param: set: 130 events, 1988us elapsed, 15.29us avg, min 4us max 33us 6.902us rms param: get: 12448 events param: find: 6810 events param: export: 1 events, 2734us elapsed, 2734.00us avg, min 2734us max 2734us nanus rms
Post Flight:
vehicle_optical_flow: cycle: 53407 events, 1314004us elapsed, 24.60us avg, min 13us max 841us 20.993us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 68139 events, 3035.07 avg, min 2112us max 20370us 325.501us rms mavlink: tx run elapsed: 68139 events, 15969986us elapsed, 234.37us avg, min 96us max 2059us 193.842us rms 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 uavcan: cycle interval: 105968 events, 1951.64 avg, min 13us max 20512us 1265.572us rms uavcan: cycle time: 105968 events, 3441147us elapsed, 32.47us avg, min 9us max 1166us 125.868us 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: 560 events, 4045609us elapsed, 7224.30us avg, min 4us max 16744us 1987.986us rms logger_sd_write: 8130 events, 25024073us elapsed, 3077.99us avg, min 5us max 33178us 1885.680us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 20 events, 9500002.45 avg, min 9999710us max 10000471us 170.431us rms gyro_fft: gyro FIFO data gap: 4 events gyro_fft: FFT: 38773 events, 5794143us elapsed, 149.44us avg, min 134us max 948us 27.887us rms gyro_fft: cycle interval: 82804 events, 2497.60 avg, min 1508us max 50779us 257.023us rms gyro_fft: cycle: 82804 events, 6481981us elapsed, 78.28us avg, min 6us max 956us 81.790us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 4371 events, 91544us elapsed, 20.94us avg, min 10us max 1366us 37.158us rms rc_input: publish interval: 18956 events, 10909.64 avg, min 1587us max 92000us 4129.088us rms rc_input: cycle time: 51693 events, 715344us elapsed, 13.84us avg, min 4us max 1119us 48.521us rms uxrce_dds_client: cycle interval: 47863 events, 4320.77 avg, min 101us max 25499us 3554.519us rms uxrce_dds_client: cycle: 47862 events, 206745888us elapsed, 4319.62us avg, min 101us max 25498us 3640.444us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 20668 events, 10006.00 avg, min 9133us max 24819us 224.089us rms mavlink: tx run elapsed: 20668 events, 3330022us elapsed, 161.12us avg, min 87us max 1495us 125.853us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 41 events, 931us elapsed, 22.71us avg, min 8us max 365us 174.016us rms land_detector: cycle: 20714 events, 204658us elapsed, 9.88us avg, min 8us max 96us 3.436us rms mc_pos_control: cycle time: 20714 events, 494249us elapsed, 23.86us avg, min 6us max 107us 6.296us rms flight_mode_manager: cycle: 10341 events, 246114us elapsed, 23.80us avg, min 3us max 202us 22.839us rms mc_hover_thrust_estimator: cycle time: 20350 events, 88093us elapsed, 4.33us avg, min 1us max 83us 5.212us 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: 41428 events, 413902us elapsed, 9.99us avg, min 7us max 203us 4.103us rms mc_rate_control: cycle: 165717 events, 1462705us elapsed, 8.83us avg, min 7us max 28us 0.984us rms control_allocator: cycle: 165717 events, 3136084us elapsed, 18.92us avg, min 16us max 132us 2.332us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 20714 events, 5992686us elapsed, 289.31us avg, min 101us max 856us 120.839us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 20714 events, 4891514us elapsed, 236.15us avg, min 102us max 923us 99.567us rms pwm_out: interval: 690 events, 299565.55 avg, min 299338us max 300797us 194.206us rms pwm_out: cycle: 690 events, 2469us elapsed, 3.58us avg, min 2us max 57us 3.351us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 165718 events, 3503877us elapsed, 21.14us avg, min 16us max 41us 3.467us rms control latency: 165718 events, 31908400us elapsed, 192.55us avg, min 181us max 329us 8.707us rms commander: preflight check: 1885 events, 362166us elapsed, 192.13us avg, min 115us max 1146us 150.437us rms commander: cycle: 18791 events, 1605337us elapsed, 85.43us avg, min 34us max 1191us 116.460us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 17910 events, 472765us elapsed, 26.40us avg, min 16us max 1260us 29.183us rms vehicle_gps_position: cycle: 2068 events, 27179us elapsed, 13.14us avg, min 6us max 202us 19.107us rms vehicle_air_data: cycle: 4779 events, 111077us elapsed, 23.24us avg, min 12us max 260us 24.087us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3793 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 263 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 439893 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 21345 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: 165718 events, 6260491us elapsed, 37.78us avg, min 33us max 79us 7.136us rms sensors: 41431 events, 1060795us elapsed, 25.60us avg, min 12us max 1751us 22.713us rms afbrs50: irq callback: 16040 events, 81967us elapsed, 5.11us avg, min 3us max 8us 0.875us rms afbrs50: transfer callback: 44558 events, 782950us elapsed, 17.57us avg, min 0us max 276us 37.127us rms afbrs50: transfer: 44558 events, 10697479us elapsed, 240.08us avg, min 11us max 1264us 427.664us rms afbrs50: sample interval: 8020 events, 25785.07 avg, min 15099us max 212171us 10536.777us rms paw3902: no motion interrupt: 3711 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: 4776 events, 5441610us elapsed, 1139.37us avg, min 1089us max 1413us 61.085us rms bmp388: read: 4776 events, 4575263us elapsed, 957.97us avg, min 942us max 1186us 37.842us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 17910 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: 2039 events, 2043033us elapsed, 1001.98us avg, min 983us max 1154us 36.212us rms board_adc: sample: 62019 events, 226775us elapsed, 3.66us avg, min 2us max 909us 22.042us rms manual_control: interval: 10813 events, 19112.55 avg, min 73us max 200738us 20697.020us rms manual_control: cycle: 10813 events, 217608us elapsed, 20.12us avg, min 9us max 1017us 48.989us rms rc_update: valid data interval: 18951 events, 10912.52 avg, min 73us max 92000us 4157.519us rms rc_update: cycle interval: 18951 events, 10912.52 avg, min 73us max 91999us 4157.490us rms rc_update: cycle: 18951 events, 344511us elapsed, 18.18us avg, min 11us max 855us 34.930us rms load_mon: cycle: 413 events, 50341us elapsed, 121.89us avg, min 75us max 1089us 110.271us 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: 48 events, 45us elapsed, 0.93us avg, min 1us max 4us 11.450us rms param: get: 19061 events param: find: 30680 events param: export: 1 events, 18586us elapsed, 18586.00us avg, min 18586us max 18586us nanus rms