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PX4 Quadrotor | Open PID Analysis |
RH4020 log 51
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.14.0 (4aacee72) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:37 |
| Dropouts: | 2 (0.21 s) |
| Vehicle Life Flight Time: | 5 hours 25 minutes 34 seconds |
| Vehicle UUID: | 0006000000003336363034305105004f003a |
| Max Altitude Difference: | 3 m |
| Max Tilt Angle: | 12.4 deg |
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Console Output
imesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 19 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 14 ms INFO [commander] Disarmed by RC (switch) INFO [commander] Kill-switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [logger] closed logfile, bytes written: 4539772 WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 15 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 12 ms WARN [timesync] RTT too high for timesync: 15 ms WARN [timesync] RTT too high for timesync: 15 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 19 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 16 ms WARN [timesync] RTT too high for timesync: 19 ms WARN [timesync] RTT too high for timesync: 16 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 12 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 15 ms WARN [timesync] RTT too high for timesync: 10 ms WARN [timesync] RTT too high for timesync: 16 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 10 ms WARN [timesync] RTT too high for timesync: 14 ms WARN [timesync] RTT too high for timesync: 18 ms WARN [timesync] RTT too high for timesync: 13 ms WARN [timesync] RTT too high for timesync: 11 ms WARN [timesync] RTT too high for timesync: 14 ms INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-18/09_28_15.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-18/09_28_15.ulg WARN [timesync] RTT too high for timesync: 18 ms INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [vehicle_imu] ACC 2 (2424842) offset committed: [0.116 0.095 0.293]->[0.149 0.058 0.310]) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Kill-switch engaged INFO [logger] closed logfile, bytes written: 2183618 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-18/09_28_39.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-18/09_28_39.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Kill-switch engaged INFO [logger] closed logfile, bytes written: 2613163 INFO [commander] Kill-switch disengaged INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-18/09_29_04.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-18/09_29_04.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 197022 40.212 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 2 254 wq:hp_default 55 5.517 1196/ 1872 237 (237) w:sem 2 269 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.041 1044/ 1896 205 (205) w:sem 2 298 wq:I2C1 2 0.213 928/ 2312 246 (246) w:sem 2 332 wq:SPI4 82 8.287 1732/ 2368 250 (250) w:sem 2 329 wq:rate_ctrl 62 6.233 2308/ 3120 255 (255) w:sem 2 344 wq:SPI1 36 3.618 1576/ 2368 253 (253) w:sem 2 567 wq:nav_and_controllers 29 2.972 1284/ 2216 242 (242) w:sem 2 571 wq:INS0 54 5.461 4316/ 5976 241 (241) w:sem 2 575 wq:INS1 50 5.025 4316/ 5976 240 (240) w:sem 2 581 wq:INS2 49 4.927 4316/ 5976 239 (239) w:sem 2 583 commander 6 0.668 1424/ 3192 140 (140) w:sig 5 701 gps 1 0.100 1196/ 1936 205 (205) w:sem 4 729 wq:ttyS1 8 0.805 1132/ 1704 233 (233) w:sem 2 819 mavlink_if0 49 4.958 1964/ 2704 100 (100) READY 4 820 mavlink_rcv_if0 4 0.416 1524/ 4616 175 (175) READY 4 850 mavlink_if1 12 1.291 1964/ 2704 100 (100) READY 4 854 mavlink_rcv_if1 2 0.254 1708/ 4616 175 (175) w:sem 4 881 navigator 0 0.071 1188/ 1896 105 (105) w:sem 6 922 gimbal 1 0.171 1524/ 2056 100 (100) w:sem 8 976 logger 54 5.406 2996/ 3616 230 (230) RUN 4 1003 wq:uavcan 10 1.031 2244/ 3600 236 (236) w:sem 2 1006 log_writer_file 9 0.907 708/ 1144 60 ( 60) w:sem 4 Processes: 27 total, 5 running, 22 sleeping CPU usage: 58.38% tasks, 1.41% sched, 40.21% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 425.470s total, 197.023s idle
Performance Counters
Pre Flight:
ekf2: vehicle_magnetometer 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: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events uavcan: cycle interval: 8409 events, 2999.64 avg, min 717us max 5228us 352.348us rms uavcan: cycle time: 8409 events, 263929us elapsed, 31.39us avg, min 16us max 2446us 316.585us 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: 26 events, 574562us elapsed, 22098.54us avg, min 12229us max 89565us 97679.805us rms logger_sd_write: 538 events, 13619416us elapsed, 25314.90us avg, min 6us max 439720us 70165.195us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 264 events, 57573.82 avg, min 22us max 9999408us 614197.563us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 4732 events, 1023232us elapsed, 216.24us avg, min 158us max 1958us 411.716us rms gyro_fft: cycle interval: 10069 events, 2504.94 avg, min 105us max 4574us 319.841us rms gyro_fft: cycle: 10070 events, 1149605us elapsed, 114.16us avg, min 2us max 1973us 531.273us rms navigator: 528 events, 10752us elapsed, 20.36us avg, min 11us max 663us 216.361us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2508 events, 10046.70 avg, min 9154us max 42565us 722.624us rms mavlink: tx run elapsed: 2508 events, 474052us elapsed, 189.02us avg, min 106us max 2544us 669.609us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 8050 events, 3131.23 avg, min 2143us max 38951us 613.124us rms mavlink: tx run elapsed: 8050 events, 2296400us elapsed, 285.27us avg, min 114us max 3293us 1126.444us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events crsf_rc: publish interval: 5531 events, 4560.57 avg, min 4044us max 15938us 784.125us rms crsf_rc: cycle interval: 5531 events, 4560.55 avg, min 4041us max 15947us 795.369us rms mag_bias_estimator: cycle: 261 events, 6099us elapsed, 23.37us avg, min 10us max 822us 541.193us rms land_detector: cycle: 2524 events, 32377us elapsed, 12.83us avg, min 10us max 93us 25.863us rms mc_pos_control: cycle time: 2524 events, 17418us elapsed, 6.90us avg, min 5us max 61us 21.376us rms flight_mode_manager: cycle: 1262 events, 7243us elapsed, 5.74us avg, min 4us max 37us 196.852us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 5048 events, 110474us elapsed, 21.88us avg, min 16us max 97us 36.719us rms mc_rate_control: cycle: 20116 events, 218888us elapsed, 10.88us avg, min 8us max 21us 5.451us rms control_allocator: cycle: 20116 events, 477098us elapsed, 23.72us avg, min 20us max 39us 12.624us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2364 events, 351877us elapsed, 148.85us avg, min 86us max 1802us 528.346us rms ekf2: ECL update: 2364 events, 1133us elapsed, 0.47us avg, min 1us max 28us 34.881us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2404 events, 344202us elapsed, 143.18us avg, min 86us max 1103us 426.512us rms ekf2: ECL update: 2403 events, 2244us elapsed, 0.93us avg, min 0us max 653us 32.049us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2524 events, 299576us elapsed, 118.69us avg, min 85us max 325us 173.656us rms ekf2: ECL update: 2524 events, 1281us elapsed, 0.50us avg, min 0us max 43us 7.797us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2364 events, 346585us elapsed, 146.61us avg, min 83us max 1344us 535.085us rms ekf2: ECL update: 2364 events, 1405us elapsed, 0.59us avg, min 1us max 95us 27.486us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2404 events, 396756us elapsed, 165.04us avg, min 82us max 1061us 557.067us rms ekf2: ECL update: 2403 events, 1387us elapsed, 0.57us avg, min 1us max 126us 29.699us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2524 events, 314839us elapsed, 124.74us avg, min 83us max 311us 166.268us rms ekf2: ECL update: 2524 events, 1528us elapsed, 0.60us avg, min 0us max 50us 8.845us rms pwm_out: interval: 84 events, 296428.57 avg, min 298208us max 301778us 388.882us rms pwm_out: cycle: 84 events, 668us elapsed, 7.95us avg, min 3us max 293us 128.712us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 233 events, 106796us elapsed, 458.35us avg, min 270us max 2361us 1252.240us rms commander: cycle: 2280 events, 253575us elapsed, 111.22us avg, min 28us max 2403us 853.992us 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: 1181 events, 41214us elapsed, 34.90us avg, min 23us max 191us 99.572us rms vehicle_gps_position: cycle: 84 events, 313us elapsed, 3.73us avg, min 2us max 51us 16.332us rms vehicle_air_data: cycle: 1875 events, 42247us elapsed, 22.53us avg, min 13us max 113us 36.715us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 20118 events, 315410us elapsed, 15.68us avg, min 13us max 43us 6.427us rms sensors: 5048 events, 202751us elapsed, 40.16us avg, min 25us max 417us 150.880us rms battery_status: 2523 events, 60908us elapsed, 24.14us avg, min 14us max 1378us 254.830us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2512 events, 10200us elapsed, 4.06us avg, min 3us max 23us 4.764us rms ms5611: read: 2512 events, 35050us elapsed, 13.95us avg, min 11us max 135us 8.364us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 2500 events, 11484us elapsed, 4.59us avg, min 4us max 52us 8.241us rms ms5611: read: 2500 events, 44157us elapsed, 17.66us avg, min 12us max 62us 16.741us rms board_adc: sample: 17661 events, 217097us elapsed, 12.29us avg, min 7us max 1499us 198.837us rms manual_control: interval: 2796 events, 9021.65 avg, min 4067us max 67559us 6247.119us rms manual_control: cycle: 2796 events, 58774us elapsed, 21.02us avg, min 10us max 1682us 233.023us rms rc_update: valid data interval: 3734 events, 6755.36 avg, min 4050us max 19999us 2614.180us rms rc_update: cycle interval: 5532 events, 4560.58 avg, min 4046us max 15940us 792.405us rms rc_update: cycle: 5532 events, 145937us elapsed, 26.38us avg, min 10us max 1235us 385.434us rms control latency: 10084 events, 4682544us elapsed, 464.35us avg, min 447us max 1807us 124.125us rms px4io: interface write: 10090 events, 2343551us elapsed, 232.26us avg, min 123us max 267us 16.673us rms px4io: interface read: 4314 events, 788942us elapsed, 182.88us avg, min 135us max 330us 294.173us rms px4io: interval: 10084 events, 2502.00 avg, min 301us max 5353us 251.507us rms px4io: cycle: 10084 events, 3316898us elapsed, 328.93us avg, min 244us max 5264us 1238.933us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 14404 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 14404 events, 3069056us elapsed, 213.07us avg, min 118us max 325us 184.863us rms rgbled: led_control message missed: 0 events load_mon: cycle: 51 events, 9702us elapsed, 190.24us avg, min 111us max 1027us 785.018us 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: 3 events param: set: 3 events, 7us elapsed, 2.33us avg, min 1us max 4us 370.027us rms param: get: 6763 events param: find: 8102 events param: export: 1 events, 79061us elapsed, 79061.00us avg, min 79061us max 79061us nanus rms