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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Reduced roll and pitchrate _D terms to 1/2 of tuned value to see effects of pitch/roll rate setpoint oscillations
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 30-10-2024 19:23 |
| Logging Duration: | 0:00:41 |
| Dropouts: | 13 (1.74 s) |
| Vehicle Life Flight Time: | 1 hours 41 minutes 27 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
| Distance: | 20.2 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 1.7 km/h |
| Max Speed: | 10.0 km/h |
| Max Speed Horizontal: | 10.0 km/h |
| Max Speed Up: | 4.1 km/h |
| Max Speed Down: | 1.1 km/h |
| Max Tilt Angle: | 23.5 deg |
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Console Output
s/mtd_params' INFO [parameters] BSON document size 3263 bytes, decoded 3263 bytes (INT32:77, FLOAT:82) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm45686 #0 on SPI bus 4 rotation 10 icm45686 #1 on SPI bus 4 rotation 6 icm45686 #2 on SPI bus 1 rotation 3 ak09916 #0 on I2C bus 4 address 0xC rotation 13 ms5611 #1 on SPI bus 1 ekf2 [628:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Benewake TFmini Rangefinder on /dev/ttyS2 Conflicting config for /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 46080 B/s on /dev/ttyS1 @ 921600B Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 2880 B/s on /dev/ttyS5 @ 57600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok 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 WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [timesync] RTT too high for timesync: 64876 ms WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [timesync] RTT too high for timesync: 154872 ms INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-30/19_23_37.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-30/19_23_37.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 79636 40.514 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 556/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 2 816 mavlink_rcv_if1 4 0.497 1484/ 4616 175 (175) w:sem 4 254 wq:hp_default 10 1.073 1144/ 1872 237 (237) w:sem 2 269 dataman 0 0.010 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.037 956/ 1896 205 (205) w:sem 2 330 wq:SPI4 79 7.987 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 77 7.766 2308/ 3120 255 (255) w:sem 2 343 wq:SPI1 63 6.349 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.126 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 33 3.335 1248/ 2216 242 (242) w:sem 2 614 wq:INS0 39 3.914 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 36 3.624 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 36 3.622 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.668 1772/ 3192 140 (140) READY 5 658 mavlink_if0 6 0.679 1876/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.204 1324/ 4616 175 (175) READY 4 698 wq:ttyS2 2 0.225 872/ 1704 232 (232) w:sem 2 815 mavlink_if1 12 1.256 1924/ 2704 100 (100) w:sig 4 849 mavlink_rcv_if2 2 0.206 1660/ 4616 175 (175) READY 4 844 mavlink_if2 55 5.564 1948/ 2704 100 (100) READY 4 1061 log_writer_file 13 1.349 612/ 1144 90 ( 60) w:sem 4 886 mavlink_if3 23 2.395 1948/ 2704 100 (100) READY 4 888 mavlink_rcv_if3 3 0.327 1324/ 4616 175 (175) READY 4 924 navigator 0 0.072 1228/ 1896 105 (105) w:sem 6 1049 logger 49 4.941 2932/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.735 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 8 running, 21 sleeping CPU usage: 57.97% tasks, 1.52% sched, 40.51% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 163.477s total, 79.637s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 97856 32.419 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 82 8.268 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 2 816 mavlink_rcv_if1 8 0.837 1508/ 4616 175 (175) w:sem 4 254 wq:hp_default 10 1.096 1144/ 1872 237 (237) w:sem 2 269 dataman 0 0.008 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 1 0.190 1036/ 1896 205 (205) w:sem 2 330 wq:SPI4 80 8.067 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 78 7.863 2308/ 3120 255 (255) PEND 2 343 wq:SPI1 64 6.426 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.134 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 42 4.271 1292/ 2216 242 (242) w:sem 2 614 wq:INS0 36 3.681 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 39 3.958 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 38 3.893 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.653 1772/ 3192 140 (140) w:sig 5 658 mavlink_if0 6 0.669 1876/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 5 0.551 1516/ 4616 175 (175) READY 4 698 wq:ttyS2 2 0.222 872/ 1704 232 (232) w:sem 2 815 mavlink_if1 13 1.345 1924/ 2704 100 (100) w:sig 4 849 mavlink_rcv_if2 6 0.607 1660/ 4616 175 (175) w:sem 4 844 mavlink_if2 55 5.536 1948/ 2704 100 (100) READY 4 1061 log_writer_file 8 0.840 612/ 1144 60 ( 60) w:sem 4 886 mavlink_if3 23 2.354 1948/ 2704 100 (100) w:sig 4 888 mavlink_rcv_if3 6 0.694 1508/ 4616 175 (175) w:sem 4 924 navigator 0 0.073 1228/ 1896 105 (105) w:sem 6 1049 logger 21 2.113 2932/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.749 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 5 running, 24 sleeping CPU usage: 66.10% tasks, 1.48% sched, 32.42% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 204.392s total, 97.857s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 75792 events, 2137.97 avg, min 17us max 20082us 1127.049us rms uavcan: cycle time: 75792 events, 3783107us elapsed, 49.91us avg, min 11us max 20077us 132.411us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 228801us elapsed, 228801.00us avg, min 228801us max 228801us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 8092 events, 19995.08 avg, min 60us max 23531us 239.563us rms navigator: 3399 events, 237009us elapsed, 69.73us avg, min 10us max 171614us 2943.902us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 32393 events, 5003.68 avg, min 4179us max 40012us 287.794us rms mavlink: tx run elapsed: 32393 events, 5886721us elapsed, 181.73us avg, min 81us max 1245us 68.674us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 53674 events, 3020.14 avg, min 2173us max 37666us 328.660us rms mavlink: tx run elapsed: 53674 events, 12357848us elapsed, 230.24us avg, min 96us max 6147us 129.406us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16204 events, 10004.08 avg, min 9203us max 44775us 337.211us rms mavlink: tx run elapsed: 16204 events, 2314694us elapsed, 142.85us avg, min 80us max 1642us 58.565us rms tfmini: read: 24917 events, 298492us elapsed, 11.98us avg, min 2us max 778us 30.251us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 32416 events, 5003.20 avg, min 4156us max 41276us 313.068us rms mavlink: tx run elapsed: 32416 events, 1281875us elapsed, 39.54us avg, min 22us max 25558us 146.152us rms mag_bias_estimator: cycle: 8097 events, 184247us elapsed, 22.75us avg, min 3us max 675us 22.396us rms land_detector: cycle: 16221 events, 265389us elapsed, 16.36us avg, min 10us max 190us 11.368us rms mc_pos_control: cycle time: 16222 events, 574585us elapsed, 35.42us avg, min 25us max 255us 14.595us rms flight_mode_manager: cycle: 8112 events, 554873us elapsed, 68.40us avg, min 15us max 1011us 120.861us rms mc_hover_thrust_estimator: cycle time: 16221 events, 23180us elapsed, 1.43us avg, min 1us max 121us 2.872us 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: 32284 events, 350902us elapsed, 10.87us avg, min 8us max 169us 3.589us rms mc_rate_control: cycle: 128980 events, 1232023us elapsed, 9.55us avg, min 8us max 94us 1.243us rms control_allocator: cycle: 128980 events, 3106158us elapsed, 24.08us avg, min 20us max 169us 3.357us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16222 events, 2526371us elapsed, 155.74us avg, min 85us max 740us 72.958us rms ekf2: ECL update: 16222 events, 6309us elapsed, 0.38us avg, min 1us max 58us 0.692us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 16223 events, 2265494us elapsed, 139.65us avg, min 85us max 647us 56.202us rms ekf2: ECL update: 16223 events, 6689us elapsed, 0.41us avg, min 1us max 98us 0.971us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 16223 events, 2573598us elapsed, 158.64us avg, min 85us max 575us 54.388us rms ekf2: ECL update: 16223 events, 6613us elapsed, 0.40us avg, min 0us max 46us 0.868us rms pwm_out: interval: 128982 events, 1257.79 avg, min 60us max 21106us 637.622us rms pwm_out: cycle: 128981 events, 1828008us elapsed, 14.17us avg, min 12us max 84us 1.403us rms control latency: 128980 events, 54934572us elapsed, 425.92us avg, min 149us max 8912us 499.278us rms commander: preflight check: 1482 events, 659927us elapsed, 445.29us avg, min 229us max 3611us 187.083us rms commander: cycle: 14736 events, 1404331us elapsed, 95.30us avg, min 29us max 3975us 150.889us 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 12921 events, 449656us elapsed, 34.80us avg, min 6us max 1519us 26.767us rms vehicle_gps_position: cycle: 803 events, 9220us elapsed, 11.48us avg, min 2us max 140us 14.503us rms vehicle_air_data: cycle: 12114 events, 280055us elapsed, 23.12us avg, min 13us max 336us 10.218us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 129009 events, 1925675us elapsed, 14.93us avg, min 9us max 203us 1.641us rms sensors: 32449 events, 1233522us elapsed, 38.01us avg, min 23us max 4397us 47.087us rms battery_status: 16226 events, 240901us elapsed, 14.85us avg, min 12us max 197us 5.099us rms ms5611: com_err: 0 events ms5611: measure: 16175 events, 67447us elapsed, 4.17us avg, min 3us max 127us 2.535us rms ms5611: read: 16174 events, 235781us elapsed, 14.58us avg, min 10us max 127us 4.729us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 1 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 16162 events, 84396us elapsed, 5.22us avg, min 4us max 108us 6.515us rms ms5611: read: 16161 events, 308374us elapsed, 19.08us avg, min 12us max 147us 10.058us rms board_adc: sample: 113666 events, 1242695us elapsed, 10.93us avg, min 7us max 14773us 44.518us rms manual_control: interval: 1147 events, 141575.04 avg, min 1817us max 200625us 58124.227us rms manual_control: cycle: 1147 events, 17735us elapsed, 15.46us avg, min 7us max 602us 28.034us rms rc_update: valid data interval: 7279 events, 21431.86 avg, min 12463us max 34370us 1888.689us rms rc_update: cycle interval: 7285 events, 21431.86 avg, min 12462us max 34366us 1890.380us rms rc_update: cycle: 7285 events, 110808us elapsed, 15.21us avg, min 10us max 324us 6.893us rms control latency: 64646 events, 26592215us elapsed, 411.35us avg, min 382us max 1695us 78.310us rms px4io: interface write: 64668 events, 15039606us elapsed, 232.57us avg, min 119us max 332us 6.405us rms px4io: interface read: 44917 events, 12193431us elapsed, 271.47us avg, min 135us max 642us 152.723us rms px4io: interval: 64656 events, 2511.85 avg, min 307us max 50110us 449.209us rms px4io: cycle: 64655 events, 28475004us elapsed, 440.41us avg, min 106us max 8739us 621.414us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 109585 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 109586 events, 26773145us elapsed, 244.31us avg, min 116us max 637us 99.628us rms load_mon: cycle: 325 events, 33619us elapsed, 103.44us avg, min 1us max 400us 24.916us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 84 events, 229134us elapsed, 2727.79us avg, min 18us max 171587us 19025.637us rms dma_alloc: 20 events param: set: 159 events, 3316us elapsed, 20.86us avg, min 1us max 41us 10.684us rms param: get: 68198 events param: find: 51747 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 7 events uavcan: cycle interval: 19458 events, 2139.23 avg, min 20us max 11466us 1147.765us rms uavcan: cycle time: 19458 events, 976333us elapsed, 50.18us avg, min 11us max 1062us 270.112us 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: 74 events, 604860us elapsed, 8173.78us avg, min 4us max 15549us 2939.385us rms logger_sd_write: 978 events, 19475263us elapsed, 19913.36us avg, min 6us max 788826us 49496.051us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 4 events, 7500000.50 avg, min 10000000us max 10000002us 0.820us rms navigator: 822 events, 3430866us elapsed, 4173.80us avg, min 11us max 682947us 42219.434us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8311 events, 5007.25 avg, min 4176us max 46709us 483.184us rms mavlink: tx run elapsed: 8311 events, 1490164us elapsed, 179.30us avg, min 96us max 1574us 159.882us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13695 events, 3038.72 avg, min 2272us max 45885us 457.322us rms mavlink: tx run elapsed: 13695 events, 3209595us elapsed, 234.36us avg, min 109us max 2150us 295.608us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4158 events, 10007.08 avg, min 9469us max 46256us 571.914us rms mavlink: tx run elapsed: 4158 events, 658946us elapsed, 158.48us avg, min 102us max 752us 123.913us rms tfmini: read: 6361 events, 77617us elapsed, 12.20us avg, min 2us max 1003us 68.186us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8312 events, 5006.58 avg, min 4125us max 45639us 476.847us rms mavlink: tx run elapsed: 8312 events, 340331us elapsed, 40.94us avg, min 22us max 995us 290.715us rms mag_bias_estimator: cycle: 47 events, 847us elapsed, 18.02us avg, min 1us max 36us 297.143us rms land_detector: cycle: 4164 events, 66981us elapsed, 16.09us avg, min 10us max 208us 25.955us rms mc_pos_control: cycle time: 4164 events, 149342us elapsed, 35.87us avg, min 25us max 187us 33.300us rms flight_mode_manager: cycle: 2081 events, 82461us elapsed, 39.63us avg, min 28us max 188us 239.258us rms mc_hover_thrust_estimator: cycle time: 4164 events, 21336us elapsed, 5.12us avg, min 1us max 258us 9.616us 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: 8327 events, 114518us elapsed, 13.75us avg, min 8us max 160us 13.371us rms mc_rate_control: cycle: 33100 events, 354402us elapsed, 10.71us avg, min 8us max 54us 2.936us rms control_allocator: cycle: 33100 events, 789453us elapsed, 23.85us avg, min 19us max 170us 7.451us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4163 events, 815746us elapsed, 195.95us avg, min 104us max 974us 171.549us rms ekf2: ECL update: 4163 events, 1662us elapsed, 0.39us avg, min 0us max 4us 1.463us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 4163 events, 1000674us elapsed, 240.37us avg, min 105us max 800us 143.696us rms ekf2: ECL update: 4163 events, 2278us elapsed, 0.54us avg, min 0us max 103us 3.778us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 4163 events, 713610us elapsed, 171.42us avg, min 104us max 846us 135.930us rms ekf2: ECL update: 4163 events, 1929us elapsed, 0.46us avg, min 1us max 58us 2.158us rms pwm_out: interval: 33101 events, 1257.67 avg, min 61us max 10808us 643.379us rms pwm_out: cycle: 33101 events, 510373us elapsed, 15.42us avg, min 12us max 85us 3.363us rms control latency: 33101 events, 14317692us elapsed, 432.55us avg, min 150us max 9723us 1108.612us rms commander: preflight check: 379 events, 173919us elapsed, 458.89us avg, min 268us max 1412us 404.981us rms commander: cycle: 3779 events, 360204us elapsed, 95.32us avg, min 31us max 1456us 335.225us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 3331 events, 108663us elapsed, 32.62us avg, min 19us max 192us 57.270us rms vehicle_gps_position: cycle: 208 events, 2230us elapsed, 10.72us avg, min 7us max 139us 30.921us rms vehicle_air_data: cycle: 3108 events, 73718us elapsed, 23.72us avg, min 13us max 162us 23.847us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 33101 events, 503549us elapsed, 15.21us avg, min 12us max 355us 4.264us rms sensors: 8329 events, 307793us elapsed, 36.95us avg, min 15us max 5456us 121.019us rms battery_status: 4163 events, 65803us elapsed, 15.81us avg, min 12us max 183us 14.747us rms ms5611: com_err: 0 events ms5611: measure: 4149 events, 17427us elapsed, 4.20us avg, min 3us max 131us 5.760us rms ms5611: read: 4149 events, 60097us elapsed, 14.48us avg, min 11us max 119us 9.898us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 4144 events, 21263us elapsed, 5.13us avg, min 4us max 84us 14.209us rms ms5611: read: 4144 events, 78353us elapsed, 18.91us avg, min 12us max 128us 22.085us rms board_adc: sample: 29141 events, 317033us elapsed, 10.88us avg, min 7us max 161us 88.263us rms manual_control: interval: 646 events, 64199.72 avg, min 6573us max 200278us 48161.039us rms manual_control: cycle: 646 events, 10162us elapsed, 15.73us avg, min 10us max 334us 42.156us rms rc_update: valid data interval: 1938 events, 21478.60 avg, min 9873us max 34765us 1890.271us rms rc_update: cycle interval: 1938 events, 21478.60 avg, min 10006us max 34768us 1889.390us rms rc_update: cycle: 1938 events, 34125us elapsed, 17.61us avg, min 13us max 155us 17.777us rms control latency: 16589 events, 6887743us elapsed, 415.20us avg, min 381us max 1667us 176.476us rms px4io: interface write: 16598 events, 3865164us elapsed, 232.87us avg, min 122us max 323us 14.662us rms px4io: interface read: 11662 events, 3195507us elapsed, 274.01us avg, min 135us max 627us 336.733us rms px4io: interval: 16590 events, 2509.52 avg, min 310us max 9974us 418.907us rms px4io: cycle: 16589 events, 7388286us elapsed, 445.37us avg, min 245us max 9550us 1379.540us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 28262 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 28261 events, 6937463us elapsed, 245.48us avg, min 119us max 623us 220.510us rms load_mon: cycle: 84 events, 8199us elapsed, 97.61us avg, min 90us max 142us 49.980us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 207 events, 3411134us elapsed, 16478.91us avg, min 19us max 682885us 83077.734us rms dma_alloc: 2 events param: set: 21 events, 1688us elapsed, 80.38us avg, min 1us max 272us 109.895us rms param: get: 10304 events param: find: 13768 events param: export: 1 events, 70333us elapsed, 70333.00us avg, min 70333us max 70333us infus rms