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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: | v1.15.0 (beta) (ad6031e9) branch: pr-ark-pi6x-1.15 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:42 |
| Vehicle Life Flight Time: | 36 minutes 29 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 191.5 m |
| Max Altitude Difference: | 9 m |
| Average Speed: | 3.3 km/h |
| Max Speed: | 60.0 km/h |
| Max Speed Horizontal: | 59.9 km/h |
| Max Speed Up: | 5.2 km/h |
| Max Speed Down: | 3.4 km/h |
| Max Tilt Angle: | 27.9 deg |
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Console Output
rting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [rc_input] RC scan: CRSF RC input locked 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 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged 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 1716417681383191us 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 [uavcan:125:teseo_gps] Successfully set system clock: Wed 2024-05-22 22:41:27 WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_gps_position data writer, topic id: 252 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/22_41_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/22_41_58.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 20514 46.912 296/ 768 0 ( 0) READY 3 1 hpwork 6 0.659 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 0.175 1308/ 1896 205 (205) w:sem 6 1023 log_writer_file 6 0.600 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.841 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 58 5.810 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 51 5.168 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.453 1028/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.281 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 29 2.929 1460/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 74 7.446 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 41 4.096 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 38 3.893 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.535 1524/ 3192 140 (140) w:sig 5 849 gps 0 0.032 1196/ 1936 205 (205) w:sem 4 884 mavlink_if0 9 0.933 1884/ 2704 100 (100) READY 5 885 mavlink_rcv_if0 1 0.194 1428/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 36 3.688 9356/ 9872 100 (100) READY 25 941 wq:ttyS4 3 0.382 940/ 1704 230 (230) w:sem 6 953 navigator 0 0.072 1528/ 2104 105 (105) w:sem 11 1011 logger 46 4.619 3140/ 3616 230 (230) RUN 4 1036 wq:uavcan 15 1.505 3156/ 3600 236 (236) w:sem 6 1064 mavlink_if1 44 4.426 1948/ 2792 100 (100) READY 5 1066 mavlink_rcv_if1 2 0.204 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 52.00% tasks, 1.09% sched, 46.91% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 37.829s total, 20.515s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 102102 47.989 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.747 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 17 1.757 1340/ 1896 205 (205) w:sem 6 1023 log_writer_file 5 0.545 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 37 3.768 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 58 5.809 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 51 5.175 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.447 1028/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.282 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 28 2.887 1460/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 74 7.425 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 40 4.054 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 38 3.846 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.537 1524/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 10 1.002 1924/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 2 0.200 1428/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 38 3.797 9356/ 9872 100 (100) w:sem 25 941 wq:ttyS4 4 0.404 940/ 1704 230 (230) READY 6 953 navigator 0 0.078 1528/ 2104 105 (105) w:sem 11 1011 logger 18 1.848 3140/ 3616 230 (230) RUN 4 1036 wq:uavcan 15 1.530 3156/ 3600 236 (236) w:sem 6 1064 mavlink_if1 45 4.520 1948/ 2792 100 (100) READY 5 1066 mavlink_rcv_if1 2 0.208 1764/ 4776 175 (175) w:sem 5 Processes: 29 total, 4 running, 25 sleeping CPU usage: 50.93% tasks, 1.08% sched, 47.99% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 199.683s total, 102.102s idle
Performance Counters
Pre Flight:
vehicle_optical_flow: cycle: 8509 events, 187146us elapsed, 21.99us avg, min 14us max 194us 10.761us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11536 events, 3025.99 avg, min 2113us max 34799us 411.679us rms mavlink: tx run elapsed: 11536 events, 2238439us elapsed, 194.04us avg, min 74us max 2912us 163.262us rms DatamanClient: sync: 3 events, 1214us elapsed, 404.67us avg, min 169us max 604us 219.764us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 320us elapsed, 320.00us avg, min 320us max 320us infus rms uavcan: cycle interval: 20504 events, 1755.03 avg, min 16us max 27175us 1340.178us rms uavcan: cycle time: 20504 events, 731418us elapsed, 35.67us avg, min 9us max 27172us 296.760us 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, 28us elapsed, 28.00us avg, min 28us max 28us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms geofence_dm_cache_miss: 0 events logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 19235us elapsed, 19235.00us avg, min 19235us max 19235us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1800 events, 19992.28 avg, min 58us max 46063us 984.621us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 6753 events, 974541us elapsed, 144.31us avg, min 132us max 319us 16.826us rms gyro_fft: cycle interval: 14426 events, 2496.43 avg, min 336us max 5359us 78.258us rms gyro_fft: cycle: 14426 events, 1097464us elapsed, 76.08us avg, min 2us max 330us 73.814us rms DatamanClient: sync: 1 events, 17682us elapsed, 17682.00us avg, min 17682us max 17682us infus rms navigator: 761 events, 20084us elapsed, 26.39us avg, min 18us max 728us 31.855us rms rc_input: publish interval: 3364 events, 10699.51 avg, min 1168us max 40195us 3671.523us rms rc_input: cycle time: 8995 events, 80766us elapsed, 8.98us avg, min 4us max 882us 17.195us rms uxrce_dds_client: cycle interval: 5431 events, 5213.23 avg, min 103us max 62273us 4206.682us rms uxrce_dds_client: cycle: 5430 events, 28307450us elapsed, 5213.16us avg, min 102us max 62273us 4206.989us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3595 events, 10020.47 avg, min 9199us max 40299us 557.295us rms mavlink: tx run elapsed: 3595 events, 464681us elapsed, 129.26us avg, min 70us max 1246us 106.942us rms DatamanClient: sync: 4 events, 1089us elapsed, 272.25us avg, min 32us max 615us 280.612us rms mag_bias_estimator: cycle: 1803 events, 29773us elapsed, 16.51us avg, min 8us max 676us 30.576us rms land_detector: cycle: 3618 events, 37080us elapsed, 10.25us avg, min 8us max 242us 7.597us rms mc_pos_control: cycle time: 3619 events, 24738us elapsed, 6.84us avg, min 4us max 231us 5.669us rms flight_mode_manager: cycle: 1807 events, 15546us elapsed, 8.60us avg, min 3us max 674us 51.459us rms mc_hover_thrust_estimator: cycle time: 3618 events, 3163us elapsed, 0.87us avg, min 1us max 71us 1.577us 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: 6367 events, 99329us elapsed, 15.60us avg, min 13us max 190us 4.643us rms mc_rate_control: cycle: 28946 events, 237435us elapsed, 8.20us avg, min 7us max 72us 1.099us rms control_allocator: cycle: 28946 events, 544465us elapsed, 18.81us avg, min 16us max 128us 2.321us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3619 events, 851393us elapsed, 235.26us avg, min 82us max 847us 132.411us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3619 events, 794836us elapsed, 219.63us avg, min 84us max 3417us 103.092us rms pwm_out: interval: 122 events, 295082.41 avg, min 104us max 300439us 27150.697us rms pwm_out: cycle: 122 events, 638us elapsed, 5.23us avg, min 3us max 51us 6.281us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 28947 events, 575164us elapsed, 19.87us avg, min 13us max 70us 3.263us rms control latency: 28946 events, 5448013us elapsed, 188.21us avg, min 158us max 298us 6.966us rms commander: preflight check: 332 events, 71223us elapsed, 214.53us avg, min 110us max 1669us 202.700us rms commander: cycle: 3273 events, 265492us elapsed, 81.12us avg, min 30us max 1711us 118.613us 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: 3132 events, 65910us elapsed, 21.04us avg, min 14us max 478us 20.819us rms vehicle_gps_position: cycle: 306 events, 4081us elapsed, 13.34us avg, min 2us max 172us 21.697us rms vehicle_air_data: cycle: 833 events, 13415us elapsed, 16.10us avg, min 4us max 309us 16.928us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 513 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 337 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 36 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 36 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 28972 events, 1044944us elapsed, 36.07us avg, min 12us max 57us 5.207us rms sensors: 7242 events, 204808us elapsed, 28.28us avg, min 22us max 1942us 47.583us rms afbrs50: irq callback: 3528 events, 17828us elapsed, 5.05us avg, min 1us max 7us 0.819us rms afbrs50: transfer callback: 9651 events, 151868us elapsed, 15.74us avg, min 1us max 238us 28.958us rms afbrs50: transfer: 9651 events, 2343696us elapsed, 242.84us avg, min 9us max 2640us 403.264us rms afbrs50: sample interval: 1764 events, 20461.46 avg, min 18491us max 143946us 6627.506us rms paw3902: no motion interrupt: 4073 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 5 events paw3902: false motion report: 0 events paw3902: reset: 6 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 833 events, 956677us elapsed, 1148.47us avg, min 1091us max 1317us 61.651us rms bmp388: read: 832 events, 802444us elapsed, 964.48us avg, min 943us max 3307us 88.790us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 3133 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: 357 events, 355294us elapsed, 995.22us avg, min 983us max 1160us 29.420us rms board_adc: sample: 10860 events, 34963us elapsed, 3.22us avg, min 2us max 729us 15.131us rms manual_control: interval: 685 events, 52849.31 avg, min 3938us max 200524us 45459.516us rms manual_control: cycle: 685 events, 10918us elapsed, 15.94us avg, min 8us max 187us 17.905us rms rc_update: valid data interval: 3354 events, 10696.89 avg, min 1650us max 40140us 3665.038us rms rc_update: cycle interval: 3364 events, 10699.49 avg, min 1092us max 40197us 3671.083us rms rc_update: cycle: 3364 events, 56337us elapsed, 16.75us avg, min 8us max 665us 30.572us rms load_mon: cycle: 73 events, 7565us elapsed, 103.63us avg, min 2us max 404us 74.884us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 3082us elapsed, 440.29us avg, min 7us max 641us 215.256us rms dma_alloc: 94 events param: set: 126 events, 1850us elapsed, 14.68us avg, min 5us max 30us 6.467us rms param: get: 13402 events param: find: 8712 events param: export: 1 events, 991us elapsed, 991.00us avg, min 991us max 991us infus rms
Post Flight:
vehicle_optical_flow: cycle: 42038 events, 1011499us elapsed, 24.06us avg, min 12us max 341us 19.824us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 53875 events, 3021.43 avg, min 2102us max 15493us 276.301us rms mavlink: tx run elapsed: 53875 events, 11209261us elapsed, 208.06us avg, min 88us max 3444us 181.990us 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: 83526 events, 1948.93 avg, min 15us max 4329us 1261.235us rms uavcan: cycle time: 83526 events, 2502445us elapsed, 29.96us avg, min 9us max 1227us 158.907us 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 nanus 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 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: 438 events, 3555297us elapsed, 8117.12us avg, min 4791us max 24939us 2218.429us rms logger_sd_write: 6491 events, 20016334us elapsed, 3083.71us avg, min 5us max 30979us 1845.888us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 16 events, 9375000.06 avg, min 9999777us max 10000223us 120.728us rms gyro_fft: gyro FIFO data gap: 5 events gyro_fft: FFT: 30517 events, 4562215us elapsed, 149.50us avg, min 134us max 445us 22.001us rms gyro_fft: cycle interval: 65221 events, 2495.92 avg, min 344us max 3784us 97.062us rms gyro_fft: cycle: 65221 events, 5134143us elapsed, 78.72us avg, min 2us max 453us 84.556us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 3439 events, 83807us elapsed, 24.37us avg, min 17us max 1060us 33.081us rms rc_input: publish interval: 15379 events, 10583.74 avg, min 3378us max 51827us 3245.250us rms rc_input: cycle time: 40696 events, 362343us elapsed, 8.90us avg, min 4us max 878us 17.283us rms uxrce_dds_client: cycle interval: 35566 events, 4576.87 avg, min 101us max 18892us 3870.479us rms uxrce_dds_client: cycle: 35565 events, 162738919us elapsed, 4575.82us avg, min 100us max 18891us 4205.030us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16272 events, 10003.29 avg, min 9118us max 22365us 165.649us rms mavlink: tx run elapsed: 16272 events, 2426218us elapsed, 149.10us avg, min 81us max 1748us 128.397us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 40 events, 1105us elapsed, 27.63us avg, min 8us max 434us 218.422us rms land_detector: cycle: 16308 events, 166415us elapsed, 10.20us avg, min 8us max 155us 6.329us rms mc_pos_control: cycle time: 16308 events, 387169us elapsed, 23.74us avg, min 5us max 118us 12.110us rms flight_mode_manager: cycle: 8139 events, 200993us elapsed, 24.70us avg, min 3us max 202us 28.474us rms mc_hover_thrust_estimator: cycle time: 14552 events, 63039us elapsed, 4.33us avg, min 1us max 129us 6.031us 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: 32613 events, 334260us elapsed, 10.25us avg, min 7us max 115us 4.187us rms mc_rate_control: cycle: 130443 events, 1140884us elapsed, 8.75us avg, min 7us max 22us 1.015us rms control_allocator: cycle: 130443 events, 2416453us elapsed, 18.52us avg, min 16us max 36us 2.447us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 16305 events, 4572871us elapsed, 280.46us avg, min 99us max 861us 143.343us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 16304 events, 3807434us elapsed, 233.53us avg, min 99us max 871us 110.479us rms pwm_out: interval: 543 events, 299447.51 avg, min 299240us max 300871us 181.246us rms pwm_out: cycle: 543 events, 2461us elapsed, 4.53us avg, min 2us max 18us 4.517us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 130444 events, 2741104us elapsed, 21.01us avg, min 16us max 40us 3.525us rms control latency: 130444 events, 25045169us elapsed, 192.00us avg, min 179us max 537us 9.151us rms commander: preflight check: 1483 events, 283599us elapsed, 191.23us avg, min 110us max 1122us 172.289us rms commander: cycle: 14795 events, 1261661us elapsed, 85.28us avg, min 34us max 1463us 124.988us 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: 14099 events, 356211us elapsed, 25.26us avg, min 16us max 259us 27.429us rms vehicle_gps_position: cycle: 1628 events, 20754us elapsed, 12.75us avg, min 6us max 246us 19.216us rms vehicle_air_data: cycle: 3760 events, 62900us elapsed, 16.73us avg, min 10us max 239us 19.767us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3733 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 237 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 342708 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 14784 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 6 events vehicle_angular_velocity: gyro filter reset: 6 events vehicle_angular_velocity: gyro filter: 130448 events, 4929041us elapsed, 37.79us avg, min 32us max 258us 7.373us rms sensors: 32613 events, 836787us elapsed, 25.66us avg, min 19us max 111us 22.708us rms afbrs50: irq callback: 16024 events, 81314us elapsed, 5.07us avg, min 1us max 8us 0.915us rms afbrs50: transfer callback: 40828 events, 703245us elapsed, 17.22us avg, min 1us max 259us 35.413us rms afbrs50: transfer: 40828 events, 10580060us elapsed, 259.14us avg, min 16us max 1255us 457.503us rms afbrs50: sample interval: 8012 events, 20317.45 avg, min 15649us max 145032us 5229.563us rms paw3902: no motion interrupt: 4053 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: 3760 events, 4296777us elapsed, 1142.76us avg, min 1090us max 1413us 66.893us rms bmp388: read: 3760 events, 3611809us elapsed, 960.59us avg, min 943us max 1158us 54.840us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 14099 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: 1605 events, 1608952us elapsed, 1002.46us avg, min 983us max 1166us 38.450us rms board_adc: sample: 48837 events, 159905us elapsed, 3.27us avg, min 2us max 964us 18.758us rms manual_control: interval: 7702 events, 21128.49 avg, min 54us max 200665us 24724.568us rms manual_control: cycle: 7702 events, 133843us elapsed, 17.38us avg, min 9us max 793us 32.363us rms rc_update: valid data interval: 15379 events, 10583.74 avg, min 3436us max 51824us 3245.063us rms rc_update: cycle interval: 15379 events, 10583.74 avg, min 3378us max 51824us 3244.906us rms rc_update: cycle: 15379 events, 301818us elapsed, 19.63us avg, min 11us max 1008us 47.039us rms load_mon: cycle: 326 events, 38908us elapsed, 119.35us avg, min 72us max 930us 108.922us 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, 6us elapsed, 2.00us avg, min 1us max 4us 51.153us rms param: get: 13824 events param: find: 24158 events param: export: 1 events, 13951us elapsed, 13951.00us avg, min 13951us max 13951us infus rms