Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open PID Analysis |
Updated drone with IMU_DGYRO_CUTOFF = 15
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:31 |
| Vehicle Life Flight Time: | 27 minutes 4 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
Loading Plots...
Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: 1dacb4cdef2d7145754fc788fa8dc482eed74b40 PX4 version: Release 1.14.3 (17695743) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: May 30 2024 03:10:00 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000333838393032510d00350023 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2893 bytes, decoded 2893 bytes (INT32:74, FLOAT:68) 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 Secondary GPS on /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: 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: Yaw estimate error WARN [timesync] RTT too high for timesync: 65172 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: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [timesync] RTT too high for timesync: 155170 ms WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-08-09/21_19_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-08-09/21_19_58.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 123693 43.993 184/ 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 0.000 580/ 1232 255 (255) w:sem 1 1012 log_writer_file 8 0.829 612/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.029 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.011 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.037 1036/ 1896 205 (205) w:sem 1 330 wq:SPI4 73 7.384 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 75 7.589 2308/ 3120 255 (255) w:sem 1 343 wq:SPI1 67 6.738 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.133 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 34 3.410 1260/ 2216 242 (242) w:sem 1 614 wq:INS0 34 3.468 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.553 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 39 3.957 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.644 1804/ 3192 140 (140) READY 5 658 mavlink_if0 7 0.706 1924/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.209 1324/ 4616 175 (175) READY 4 796 mavlink_if1 12 1.256 1924/ 2704 100 (100) w:sig 4 797 mavlink_rcv_if1 5 0.500 1428/ 4616 175 (175) w:sem 4 825 mavlink_if2 52 5.240 1972/ 2712 100 (100) w:sig 4 826 mavlink_rcv_if2 1 0.184 1324/ 4616 175 (175) READY 4 869 mavlink_if3 24 2.465 1972/ 2704 100 (100) READY 4 871 mavlink_rcv_if3 3 0.329 1324/ 4616 175 (175) w:sem 4 908 navigator 0 0.085 1092/ 1896 105 (105) w:sem 6 1008 logger 31 3.145 2932/ 3616 230 (230) RUN 4 1039 wq:uavcan 16 1.659 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 6 running, 22 sleeping CPU usage: 54.57% tasks, 1.44% sched, 43.99% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 247.085s total, 123.693s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 138167 39.100 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 71 7.127 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 580/ 1232 255 (255) w:sem 1 1012 log_writer_file 6 0.662 612/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.026 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.080 1036/ 1896 205 (205) w:sem 1 330 wq:SPI4 74 7.403 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 74 7.449 2308/ 3120 255 (255) w:sem 1 343 wq:SPI1 67 6.715 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.134 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 34 3.468 1260/ 2216 242 (242) w:sem 1 614 wq:INS0 34 3.454 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.532 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 39 3.932 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.669 1804/ 3192 140 (140) w:sig 5 658 mavlink_if0 8 0.810 1924/ 2768 100 (100) READY 4 659 mavlink_rcv_if0 2 0.215 1324/ 4616 175 (175) w:sem 4 796 mavlink_if1 12 1.250 1948/ 2704 100 (100) READY 4 797 mavlink_rcv_if1 4 0.491 1428/ 4616 175 (175) w:sem 4 825 mavlink_if2 54 5.411 1972/ 2712 100 (100) w:sig 4 826 mavlink_rcv_if2 1 0.199 1324/ 4616 175 (175) w:sem 4 869 mavlink_if3 24 2.450 1972/ 2704 100 (100) READY 4 871 mavlink_rcv_if3 3 0.351 1324/ 4616 175 (175) READY 4 908 navigator 0 0.084 1092/ 1896 105 (105) w:sem 6 1008 logger 8 0.887 2932/ 3616 230 (230) RUN 4 1039 wq:uavcan 16 1.653 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 6 running, 22 sleeping CPU usage: 59.47% tasks, 1.43% sched, 39.10% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 277.385s total, 138.168s 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 uavcan: cycle interval: 114522 events, 2143.66 avg, min 16us max 22490us 1136.806us rms uavcan: cycle time: 114522 events, 5981838us elapsed, 52.23us avg, min 11us max 22485us 142.432us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 12273 events, 19996.74 avg, min 58us max 21189us 203.334us rms navigator: 5146 events, 246693us elapsed, 47.94us avg, min 10us max 88094us 1230.026us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 49093 events, 5000.91 avg, min 4331us max 33827us 176.829us rms mavlink: tx run elapsed: 49093 events, 8320554us elapsed, 169.49us avg, min 78us max 1262us 57.083us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 81423 events, 3015.43 avg, min 2139us max 30179us 249.418us rms mavlink: tx run elapsed: 81423 events, 17061564us elapsed, 209.54us avg, min 89us max 2130us 144.123us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 24550 events, 10001.22 avg, min 9197us max 35400us 177.098us rms mavlink: tx run elapsed: 24550 events, 3335202us elapsed, 135.85us avg, min 84us max 1290us 45.872us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 49111 events, 5001.03 avg, min 4067us max 33872us 230.001us rms mavlink: tx run elapsed: 49111 events, 1844029us elapsed, 37.55us avg, min 22us max 672us 25.302us rms mag_bias_estimator: cycle: 12278 events, 232223us elapsed, 18.91us avg, min 1us max 315us 7.789us rms land_detector: cycle: 24565 events, 352499us elapsed, 14.35us avg, min 10us max 220us 9.462us rms mc_pos_control: cycle time: 24566 events, 847188us elapsed, 34.49us avg, min 25us max 316us 14.276us rms flight_mode_manager: cycle: 12283 events, 698916us elapsed, 56.90us avg, min 30us max 1015us 101.201us rms mc_hover_thrust_estimator: cycle time: 24565 events, 32015us elapsed, 1.30us avg, min 1us max 126us 2.981us 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: 48974 events, 718488us elapsed, 14.67us avg, min 8us max 218us 12.786us rms mc_rate_control: cycle: 195326 events, 1828351us elapsed, 9.36us avg, min 8us max 101us 1.104us rms control_allocator: cycle: 195326 events, 4603692us elapsed, 23.57us avg, min 20us max 163us 3.012us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 24566 events, 4899350us elapsed, 199.44us avg, min 83us max 5877us 142.464us rms ekf2: ECL update: 24566 events, 15997us elapsed, 0.65us avg, min 0us max 398us 7.510us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 24567 events, 3324284us elapsed, 135.32us avg, min 83us max 717us 63.915us rms ekf2: ECL update: 24567 events, 9934us elapsed, 0.40us avg, min 0us max 30us 0.569us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 24566 events, 3527693us elapsed, 143.60us avg, min 83us max 619us 52.679us rms ekf2: ECL update: 24567 events, 9744us elapsed, 0.39us avg, min 0us max 36us 0.781us rms pwm_out: interval: 195329 events, 1257.74 avg, min 59us max 19906us 638.194us rms pwm_out: cycle: 195328 events, 2549596us elapsed, 13.05us avg, min 11us max 72us 1.263us rms control latency: 195327 events, 82766004us elapsed, 423.73us avg, min 149us max 8896us 499.836us rms commander: preflight check: 2237 events, 828496us elapsed, 370.36us avg, min 239us max 7244us 201.224us rms commander: cycle: 22326 events, 1798158us elapsed, 80.54us avg, min 29us max 7569us 133.837us 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: 19596 events, 679660us elapsed, 34.68us avg, min 5us max 1569us 27.288us rms vehicle_gps_position: cycle: 1219 events, 12422us elapsed, 10.19us avg, min 2us max 147us 10.321us rms vehicle_air_data: cycle: 18345 events, 411635us elapsed, 22.44us avg, min 13us max 337us 10.316us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 195355 events, 2905200us elapsed, 14.87us avg, min 9us max 341us 1.873us rms sensors: 49137 events, 1878874us elapsed, 38.24us avg, min 23us max 4338us 40.850us rms battery_status: 24570 events, 334758us elapsed, 13.62us avg, min 12us max 401us 3.880us rms ms5611: com_err: 0 events ms5611: measure: 24491 events, 99980us elapsed, 4.08us avg, min 3us max 105us 1.905us rms ms5611: read: 24490 events, 349827us elapsed, 14.28us avg, min 10us max 138us 3.986us 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: 24470 events, 131024us elapsed, 5.35us avg, min 4us max 165us 9.578us rms ms5611: read: 24469 events, 469613us elapsed, 19.19us avg, min 12us max 185us 14.235us rms board_adc: sample: 172074 events, 1844074us elapsed, 10.72us avg, min 7us max 14773us 36.447us rms manual_control: interval: 1731 events, 141974.37 avg, min 1523us max 200812us 57623.902us rms manual_control: cycle: 1731 events, 26199us elapsed, 15.14us avg, min 7us max 881us 37.289us rms rc_update: valid data interval: 11176 events, 21413.23 avg, min 13027us max 37032us 1888.475us rms rc_update: cycle interval: 11182 events, 21413.17 avg, min 13028us max 37032us 1887.859us rms rc_update: cycle: 11182 events, 169716us elapsed, 15.18us avg, min 9us max 1039us 15.276us rms control latency: 97902 events, 39883184us elapsed, 407.38us avg, min 378us max 1704us 71.785us rms px4io: interface write: 97924 events, 22790902us elapsed, 232.74us avg, min 119us max 333us 7.920us rms px4io: interface read: 68342 events, 18585104us elapsed, 271.94us avg, min 135us max 645us 152.913us rms px4io: interval: 97911 events, 2510.90 avg, min 306us max 50110us 410.312us rms px4io: cycle: 97911 events, 43120561us elapsed, 440.41us avg, min 107us max 8723us 623.118us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 166267 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 166267 events, 40690947us elapsed, 244.73us avg, min 116us max 642us 99.985us rms load_mon: cycle: 492 events, 59335us elapsed, 120.60us avg, min 1us max 384us 27.413us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 588 events, 175331us elapsed, 298.18us avg, min 18us max 88041us 3737.497us rms dma_alloc: 20 events param: set: 142 events, 2690us elapsed, 18.94us avg, min 2us max 40us 9.539us rms param: get: 82476 events param: find: 75760 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 uavcan: cycle interval: 14407 events, 2151.45 avg, min 16us max 3927us 1140.300us rms uavcan: cycle time: 14407 events, 740243us elapsed, 51.38us avg, min 11us max 1258us 410.459us 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: 63 events, 576829us elapsed, 9156.02us avg, min 4643us max 15402us 2780.036us rms logger_sd_write: 669 events, 10088548us elapsed, 15080.04us avg, min 6us max 26744us 3862.930us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666649.67 avg, min 9999920us max 10000029us 54.633us rms navigator: 647 events, 331871us elapsed, 512.94us avg, min 11us max 14841us 4296.851us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6198 events, 4999.78 avg, min 4289us max 5939us 70.601us rms mavlink: tx run elapsed: 6198 events, 918978us elapsed, 148.27us avg, min 101us max 990us 166.683us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9999 events, 3099.45 avg, min 2199us max 5025us 370.587us rms mavlink: tx run elapsed: 9999 events, 2893529us elapsed, 289.38us avg, min 110us max 2112us 533.132us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3100 events, 9997.76 avg, min 9326us max 10980us 116.589us rms mavlink: tx run elapsed: 3099 events, 473373us elapsed, 152.75us avg, min 105us max 1101us 140.533us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6198 events, 4999.78 avg, min 4091us max 5980us 115.988us rms mavlink: tx run elapsed: 6198 events, 202449us elapsed, 32.66us avg, min 22us max 989us 76.259us rms mag_bias_estimator: cycle: 16 events, 690us elapsed, 43.13us avg, min 1us max 80us 223.867us rms land_detector: cycle: 3100 events, 49072us elapsed, 15.83us avg, min 11us max 117us 28.513us rms mc_pos_control: cycle time: 3100 events, 111454us elapsed, 35.95us avg, min 25us max 155us 43.096us rms flight_mode_manager: cycle: 1550 events, 66753us elapsed, 43.07us avg, min 28us max 185us 285.376us rms mc_hover_thrust_estimator: cycle time: 3100 events, 14112us elapsed, 4.55us avg, min 1us max 116us 10.173us 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: 6200 events, 111962us elapsed, 18.06us avg, min 8us max 138us 39.071us rms mc_rate_control: cycle: 24651 events, 251522us elapsed, 10.20us avg, min 8us max 21us 3.344us rms control_allocator: cycle: 24651 events, 577610us elapsed, 23.43us avg, min 20us max 42us 9.111us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3100 events, 663473us elapsed, 214.02us avg, min 102us max 722us 411.728us rms ekf2: ECL update: 3100 events, 2500us elapsed, 0.80us avg, min 0us max 270us 21.938us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3101 events, 477077us elapsed, 153.85us avg, min 101us max 693us 201.949us rms ekf2: ECL update: 3100 events, 1211us elapsed, 0.39us avg, min 0us max 5us 1.680us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3100 events, 450073us elapsed, 145.18us avg, min 101us max 536us 161.569us rms ekf2: ECL update: 3100 events, 1333us elapsed, 0.43us avg, min 1us max 57us 2.481us rms pwm_out: interval: 24650 events, 1257.55 avg, min 60us max 9914us 640.878us rms pwm_out: cycle: 24650 events, 348482us elapsed, 14.14us avg, min 11us max 26us 3.944us rms control latency: 24650 events, 10565181us elapsed, 428.61us avg, min 148us max 8831us 1494.827us rms commander: preflight check: 282 events, 99652us elapsed, 353.38us avg, min 269us max 1005us 574.005us rms commander: cycle: 2818 events, 230660us elapsed, 81.85us avg, min 31us max 1069us 393.080us 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: 2481 events, 80333us elapsed, 32.38us avg, min 19us max 213us 80.970us rms vehicle_gps_position: cycle: 155 events, 1541us elapsed, 9.94us avg, min 7us max 46us 29.712us rms vehicle_air_data: cycle: 2315 events, 52148us elapsed, 22.53us avg, min 13us max 184us 31.118us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 24651 events, 368322us elapsed, 14.94us avg, min 12us max 38us 5.533us rms sensors: 6200 events, 257640us elapsed, 41.55us avg, min 33us max 262us 115.794us rms battery_status: 3100 events, 43934us elapsed, 14.17us avg, min 12us max 91us 11.569us rms ms5611: com_err: 0 events ms5611: measure: 3089 events, 12494us elapsed, 4.04us avg, min 3us max 26us 5.420us rms ms5611: read: 3089 events, 44301us elapsed, 14.34us avg, min 11us max 128us 12.000us 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: 3086 events, 17908us elapsed, 5.80us avg, min 4us max 175us 30.107us rms ms5611: read: 3086 events, 61154us elapsed, 19.82us avg, min 12us max 185us 44.222us rms board_adc: sample: 21700 events, 232135us elapsed, 10.70us avg, min 7us max 89us 102.891us rms manual_control: interval: 392 events, 78858.46 avg, min 10026us max 200169us 56733.609us rms manual_control: cycle: 392 events, 5132us elapsed, 13.09us avg, min 10us max 86us 78.708us rms rc_update: valid data interval: 1446 events, 21436.70 avg, min 13295us max 36866us 1902.603us rms rc_update: cycle interval: 1446 events, 21436.70 avg, min 13294us max 36867us 1902.196us rms rc_update: cycle: 1446 events, 24572us elapsed, 16.99us avg, min 13us max 958us 51.057us rms control latency: 12356 events, 5060431us elapsed, 409.55us avg, min 381us max 1648us 214.905us rms px4io: interface write: 12357 events, 2871345us elapsed, 232.37us avg, min 123us max 321us 23.263us rms px4io: interface read: 8674 events, 2378074us elapsed, 274.16us avg, min 135us max 630us 455.962us rms px4io: interval: 12356 events, 2509.10 avg, min 309us max 8748us 379.531us rms px4io: cycle: 12356 events, 5475599us elapsed, 443.15us avg, min 244us max 8658us 1863.289us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 21031 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 21031 events, 5159571us elapsed, 245.33us avg, min 119us max 627us 298.699us rms load_mon: cycle: 62 events, 8047us elapsed, 129.79us avg, min 111us max 258us 82.576us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 164 events, 317887us elapsed, 1938.34us avg, min 20us max 14781us 8526.732us rms dma_alloc: 2 events param: set: 3 events, 50us elapsed, 16.67us avg, min 1us max 46us 84.030us rms param: get: 5311 events param: find: 9450 events param: export: 1 events, 56971us elapsed, 56971.00us avg, min 56971us max 56971us infus rms