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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
Mini Talon Flug am 17.8.2018 beim MFCA
| Airframe: | Applied Aeronautics Albatross Plane A-Tail (2106) |
| Hardware: | PX4FMU_V4 |
| Software Version: | v1.7.3 (50bd148f) |
| OS Version: | NuttX, v7.22.0 |
| Estimator: | EKF2 |
| Logging Start : | 17-08-2018 15:38 |
| Logging Duration: | 0:01:19 |
| Vehicle Life Flight Time: | 31 minutes 47 seconds |
| Vehicle UUID: | 003E002C3137511434373939 (Platschi1) |
| Wind Speed: | Calm |
| Flight Rating: | Crashed (Software or Hardware issue) |
| Feedback: | The flight stopped approx. 2s after takeoff with error report "Failsafe enabled: no global position" (Crashing). The telemetry log video shows that there is a deviation between the logged positions and the position after the crash (the position changes shortly after the crash) |
| Video: | https://youtu.be/ZzRD6jU3QaA |
| Distance: | 173.5 m |
| Max Altitude Difference: | 20 m |
| Average Speed: | 2.6 km/h |
| Max Speed: | 61.5 km/h |
| Max Speed Horizontal: | 61.5 km/h |
| Max Speed Up: | 26.3 km/h |
| Max Speed Down: | 13.0 km/h |
| Max Tilt Angle: | 46.9 deg |
| Max Rotation Speed: | 1367.7 deg/s |
| Average Current: | 1.9 A |
| Max Current: | 68.8 A |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 895135 49.401 604/ 748 0 ( 0) READY 3 1 hpwork 34440 2.195 864/ 1780 249 (249) w:sig 7 2 lpwork 2241 0.199 1232/ 1780 50 ( 50) w:sig 8 3 init 10846 0.000 1664/ 2580 100 (100) w:sem 3 105 dataman 289 0.000 720/ 1180 90 ( 90) w:sem 4 109 gps 3712 0.299 1064/ 1580 220 (220) w:sem 5 154 sensors 92449 5.389 1320/ 1964 249 (249) w:sem 18 156 commander 17247 1.197 2752/ 3124 140 (140) READY 32 157 commander_low_prio 63 0.000 552/ 2996 50 ( 50) w:sem 32 168 fmu 44163 2.794 872/ 1292 251 (251) w:sem 9 172 mavlink_if0 81280 4.990 1720/ 2396 100 (100) READY 36 174 mavlink_rcv_if0 8305 0.499 1488/ 2836 175 (175) w:sem 36 178 mavlink_if1 29768 1.796 1704/ 2420 100 (100) READY 36 179 mavlink_rcv_if1 8437 0.598 1816/ 2836 175 (175) w:sem 36 190 mavlink_if2 16845 0.898 1720/ 2388 100 (100) w:sig 33 191 mavlink_rcv_if2 8121 0.499 1328/ 2836 175 (175) w:sem 33 214 frsky_telemetry 23 0.000 592/ 1188 104 (104) w:sem 4 247 log_writer_file 410 1.097 752/ 1068 60 ( 60) w:sem 40 245 logger 21525 5.888 3032/ 3540 245 (245) RUN 40 308 ekf2 259635 17.764 5032/ 6572 250 (250) w:sem 18 313 fw_att_control 40210 2.495 1024/ 1476 251 (251) w:sem 12 325 fw_pos_ctrl_l1 11604 1.097 1272/ 1780 250 (250) w:sem 16 331 navigator 3027 0.199 1024/ 1772 105 (105) w:sem 16 Processes: 23 total, 5 running, 18 sleeping, max FDs: 54 CPU usage: 49.90% tasks, 0.70% sched, 49.40% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1593.513s total, 895.136s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 933988 50.399 604/ 748 0 ( 0) READY 3 1 hpwork 36157 2.295 864/ 1780 249 (249) w:sig 7 2 lpwork 2373 2.295 1232/ 1780 50 ( 50) w:sig 8 3 init 10846 0.000 1664/ 2580 100 (100) w:sem 3 105 dataman 313 0.199 720/ 1180 90 ( 90) w:sem 4 109 gps 3892 0.199 1064/ 1580 220 (220) w:sem 5 154 sensors 96655 5.688 1320/ 1964 249 (249) w:sem 18 156 commander 18121 1.097 2752/ 3124 140 (140) w:sig 32 157 commander_low_prio 67 0.000 552/ 2996 50 ( 50) w:sem 32 168 fmu 46454 2.894 872/ 1292 251 (251) w:sem 9 172 mavlink_if0 85117 5.289 1720/ 2396 100 (100) w:sig 36 174 mavlink_rcv_if0 8706 0.598 1488/ 2836 175 (175) w:sem 36 178 mavlink_if1 31229 1.696 1704/ 2420 100 (100) READY 36 179 mavlink_rcv_if1 8834 0.598 1816/ 2836 175 (175) w:sem 36 190 mavlink_if2 17648 0.998 1720/ 2388 100 (100) READY 33 191 mavlink_rcv_if2 8510 0.499 1328/ 2836 175 (175) w:sem 33 214 frsky_telemetry 24 0.000 592/ 1188 104 (104) w:sem 4 247 log_writer_file 1225 0.998 752/ 1068 60 ( 60) w:sem 40 245 logger 25375 4.890 3032/ 3540 245 (245) RUN 40 308 ekf2 273168 15.668 5032/ 6572 250 (250) w:sem 18 313 fw_att_control 42881 2.295 1024/ 1476 251 (251) w:sem 12 325 fw_pos_ctrl_l1 12468 0.000 1272/ 1780 250 (250) w:sem 16 331 navigator 3197 0.299 1024/ 1772 105 (105) w:sem 16 Processes: 23 total, 4 running, 19 sleeping, max FDs: 54 CPU usage: 48.50% tasks, 1.10% sched, 50.40% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 1671.836s total, 933.989s idle
Performance Counters
Pre Flight:
navigator: 1121 events, 341327us elapsed, 304us avg, min 29us max 45401us 3070.942us rms land_detector_cycle: 2716 events, 65930us elapsed, 24us avg, min 17us max 419us 64.677us rms fw l1 control: 2081 events, 405540us elapsed, 194us avg, min 124us max 703us 231.039us rms fwa_nano: 0 events fwa_nani: 1916 events fwa_dt: 13965 events, 940529us elapsed, 67us avg, min 39us max 334us 173.090us rms logger_sd_fsync: 3 events, 28583us elapsed, 9527us avg, min 9439us max 9651us 110.172us rms logger_sd_write: 388 events, 4088592us elapsed, 10537us avg, min 10us max 73983us 6345.129us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 4947 events, 672828us elapsed, 136us avg, min 51us max 3261us 1382.505us rms mavlink_txe: 140 events mavlink_el: 5459 events, 1334458us elapsed, 244us avg, min 89us max 3556us 1606.417us rms mavlink_txe: 0 events mavlink_el: 16537 events, 3701267us elapsed, 223us avg, min 89us max 5765us 1946.743us rms ctl_lat: 13965 events, 557485us elapsed, 39us avg, min 31us max 219us 120.393us rms stack_check: 163 events, 2518us elapsed, 15us avg, min 1us max 251us 600.532us rms sensors: 13965 events, 15349839us elapsed, 1099us avg, min 530us max 2996us 2239.467us rms mpu9250_dupe: 14144 events mpu9250_reset: 0 events mpu9250_good_trans: 55930 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 70075 events, 4245575us elapsed, 60us avg, min 42us max 77us 51.931us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 1 events mpu9250_mag_duplicates: 49758 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 754 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ctrl_latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mpu6k_duplicates: 14179 events mpu6k_reset: 0 events mpu6k_good_trans: 55899 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 70078 events, 4536050us elapsed, 64us avg, min 45us max 85us 59.235us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 1 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 2398 events, 63706us elapsed, 26us avg, min 21us max 211us 78.310us rms lis3mdl_conf_errors: 0 events lis3mdl_range_errors: 0 events lis3mdl_comms_errors: 0 events lis3mdl_read: 2400 events, 3760286us elapsed, 1566us avg, min 1048us max 3464us 3231.023us rms adc_samples: 50508 events, 141845us elapsed, 2us avg, min 2us max 4us 2.090us rms ms5611_com_err: 0 events ms5611_measure: 4855 events, 52422us elapsed, 10us avg, min 8us max 291us 61.131us rms ms5611_read: 4855 events, 372045us elapsed, 76us avg, min 13us max 1281us 222.824us rms dma_alloc: 1 events param_set: 3 events, 19us elapsed, 6us avg, min 4us max 11us 201.013us rms param_get: 739 events, 4923us elapsed, 6us avg, min 4us max 919us 61.605us rms param_find: 111 events, 764us elapsed, 6us avg, min 3us max 76us 175.678us rms param_export: 1 events, 39788us elapsed, 39788us avg, min 39788us max 39788us NaNus rms
Post Flight:
navigator: 1587 events, 455527us elapsed, 287us avg, min 29us max 46513us 3045.687us rms land_detector_cycle: 3840 events, 100780us elapsed, 26us avg, min 17us max 310us 56.243us rms fw l1 control: 3667 events, 668085us elapsed, 182us avg, min 124us max 701us 188.134us rms fwa_nano: 0 events fwa_nani: 14552 events fwa_dt: 19764 events, 1932550us elapsed, 97us avg, min 39us max 365us 150.874us rms logger_sd_fsync: 8 events, 82636us elapsed, 10329us avg, min 8196us max 12905us 1781.065us rms logger_sd_write: 839 events, 9029969us elapsed, 10762us avg, min 10us max 36068us 6304.166us rms mavlink_txe: 0 events mavlink_el: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mavlink_txe: 0 events mavlink_el: 6960 events, 969335us elapsed, 139us avg, min 51us max 3102us 1199.571us rms mavlink_txe: 71 events mavlink_el: 7713 events, 1846584us elapsed, 239us avg, min 89us max 3824us 1398.518us rms mavlink_txe: 0 events mavlink_el: 23038 events, 5271345us elapsed, 228us avg, min 89us max 8226us 1700.028us rms ctl_lat: 19764 events, 907836us elapsed, 45us avg, min 31us max 282us 105.202us rms stack_check: 228 events, 4744us elapsed, 20us avg, min 1us max 1796us 521.436us rms sensors: 19764 events, 22743704us elapsed, 1150us avg, min 521us max 3095us 1925.041us rms mpu9250_dupe: 20040 events mpu9250_reset: 0 events mpu9250_good_trans: 79129 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 99171 events, 6007914us elapsed, 60us avg, min 42us max 77us 44.702us rms mpu9250_gyro_read: 0 events mpu9250_acc_read: 0 events mpu9250_mag_duplicates: 70397 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 1074 events mpu9250_mag_errors: 0 events mpu9250_mag_reads: 0 events ctrl_latency: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms mpu6k_duplicates: 20049 events mpu6k_reset: 0 events mpu6k_good_trans: 79123 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 99173 events, 6418294us elapsed, 64us avg, min 46us max 85us 51.005us rms mpu6k_gyro_read: 0 events mpu6k_acc_read: 0 events hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 3387 events, 92557us elapsed, 27us avg, min 21us max 292us 68.063us rms lis3mdl_conf_errors: 0 events lis3mdl_range_errors: 0 events lis3mdl_comms_errors: 0 events lis3mdl_read: 3387 events, 5470117us elapsed, 1615us avg, min 1048us max 3714us 2796.485us rms adc_samples: 71406 events, 200341us elapsed, 2us avg, min 2us max 4us 1.803us rms ms5611_com_err: 0 events ms5611_measure: 6858 events, 71453us elapsed, 10us avg, min 8us max 595us 52.967us rms ms5611_read: 6858 events, 517316us elapsed, 75us avg, min 13us max 1395us 193.649us rms dma_alloc: 0 events param_set: 3 events, 19us elapsed, 6us avg, min 4us max 11us 201.054us rms param_get: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_find: 0 events, 0us elapsed, 0us avg, min 0us max 0us 0.000us rms param_export: 1 events, 39192us elapsed, 39192us avg, min 39192us max 39192us NaNus rms