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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Holybro X500 V2 Quadrotor x (4019) |
| Hardware: | PX4_FMU_V6XRT (V6XRT000) |
| Software Version: | v1.16.0 (alpha) (72a58b21) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 25-03-2025 13:24 |
| Logging Duration: | 0:00:08 |
| Vehicle Life Flight Time: | 0 seconds |
| Vehicle UUID: | 000900000000000000008292b37f290f080e |
| Max Altitude Difference: | 0 m |
| Average Speed: | 0.1 km/h |
| Max Speed: | 0.2 km/h |
| Max Speed Horizontal: | 0.1 km/h |
| Max Speed Up: | 0.1 km/h |
| Max Speed Down: | 0.2 km/h |
| Max Tilt Angle: | 0.9 deg |
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Console Output
HW arch: PX4_FMU_V6XRT HW type: V6XRT HW FMUM ID: 0x000 HW BASE ID: 0x003 PX4 git-hash: 72a58b21030f0ad732a7d01281ff7980c5fdf86f PX4 version: 1.16.0 40 (17825856) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 205b3100f8f63944a45faa5cfb5d3f86e904ee59 Build datetime: Mar 5 2025 15:56:36 Build uri: localhost Build variant: default Toolchain: GNU GCC, 13.2.1 20231009 PX4GUID: 000900000000000000008292b37f290f080e MCU: i.MX RT1170 rB0, rev. 0 INFO [bsondump] DECODED_SIZE:5 SAVED_SIZE:-1 INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2184 bytes, decoded 2184 bytes (INT32:52, FLOAT:56) 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/4019_x500_v2 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_is31fl3195 #0 on I2C bus 1 address 0x54 Board sensors: /etc/init.d/rc.board_sensors INFO [i2c_launcher] Found address 0x45, running 'ina228 -X -b 1 -t 1 start' icm42686p #0 on SPI bus 1 rotation 12 ina228 #0 on I2C bus 1 (external) address 0x45 INFO [i2c_launcher] Started 0x45 successfully bmi088_accel #0 on SPI bus 3 rotation 4 bmi088_gyro #0 on SPI bus 3 rotation 4 icm42688p #0 on SPI bus 2 rotation 6 bmm150 #0 on I2C bus 3 address 0x10 ist8310 #0 on I2C bus 1 (external) address 0xE rotation 10 bmp388 #0 on I2C bus 3 address 0x77 bmp390 #1 on I2C bus 2 (external) address 0x76 WARN [SPI_I2C] Already running on bus 1 ekf2 [462:237] INFO [px4io] PX4IO Not Supported Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS1 Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS2 @ 57600B Starting MAVLink on ethernet INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [rc_input] RC scan: SBUS RC input locked NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [mavlink] no broadcasting address found WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 INFO [gps] u-blox firmware version: SPG 5.10 INFO [gps] u-blox protocol version: 34.10 INFO [commander] Armed by RC switch INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-03-25/13_24_31.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-03-25/13_24_31.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 34904 69.346 196/ 2048 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1744 249 (249) w:sem 3 2 lpwork 0 0.000 324/ 1976 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2236/ 2896 100 (100) w:sem 4 4 wq:manager 0 0.000 556/ 1232 255 (255) w:sem 4 5 wq:lp_default 0 0.037 1516/ 2320 205 (205) w:sem 4 6 Telnet daemon 0 0.000 532/ 1984 100 (100) w:sem 4 7 netinit 0 0.007 668/ 2024 49 ( 49) w:sem 4 1394 log_writer_file 3 0.368 596/ 1144 60 ( 60) w:sem 4 47 wq:hp_default 10 1.037 1256/ 2776 237 (237) w:sem 4 232 dataman 0 0.001 876/ 1376 90 ( 90) w:sem 5 265 wq:I2C1 2 0.206 936/ 2312 246 (246) w:sem 4 298 wq:I2C0 0 0.001 948/ 2312 247 (247) w:sem 4 300 wq:SPI0 0 0.001 708/ 2368 254 (254) w:sem 4 333 wq:SPI2 14 1.494 1764/ 2368 252 (252) w:sem 4 318 wq:SPI3 29 2.955 1264/ 2368 251 (251) w:sem 4 316 wq:SPI1 16 1.676 1752/ 2368 253 (253) w:sem 4 336 wq:I2C3 1 0.163 808/ 2312 244 (244) w:sem 4 341 wq:I2C2 0 0.097 812/ 2312 245 (245) w:sem 4 443 wq:nav_and_controllers 22 2.230 1160/ 2216 242 (242) w:sem 4 445 wq:rate_ctrl 47 4.792 2288/ 3120 255 (255) w:sem 4 447 wq:INS0 58 5.823 3820/ 5976 241 (241) w:sem 4 497 commander 7 0.748 1528/ 3192 140 (140) w:sig 5 718 gps 2 0.209 1132/ 1936 205 (205) w:sem 4 886 mavlink_if0 9 0.904 1724/ 3048 100 (100) w:sig 5 887 mavlink_rcv_if0 1 0.106 2644/ 6104 175 (175) w:sem 5 980 mavlink_if1 26 2.660 1812/ 3048 100 (100) READY 5 984 mavlink_rcv_if1 1 0.118 2452/ 6104 175 (175) w:sem 5 1035 wq:ttyS4 5 0.511 832/ 1704 230 (230) READY 4 1075 navigator 1 0.108 1732/ 2144 105 (105) w:sem 11 1305 logger 33 3.340 3060/ 3616 230 (230) RUN 4 Processes: 31 total, 4 running, 27 sleeping CPU usage: 29.60% tasks, 1.06% sched, 69.35% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 46.935s total, 34.905s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 40201 69.344 196/ 2048 0 ( 0) READY 3 1 hpwork 0 0.000 284/ 1744 249 (249) w:sem 3 2 lpwork 0 0.000 324/ 1976 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2236/ 2896 100 (100) w:sem 4 4 wq:manager 0 0.000 556/ 1232 255 (255) w:sem 4 5 wq:lp_default 17 1.703 1516/ 2320 205 (205) w:sem 4 6 Telnet daemon 0 0.000 532/ 1984 100 (100) w:sem 4 7 netinit 0 0.008 668/ 2024 49 ( 49) w:sem 4 1394 log_writer_file 3 0.332 620/ 1144 60 ( 60) w:sem 4 47 wq:hp_default 10 1.048 1256/ 2776 237 (237) w:sem 4 232 dataman 0 0.001 876/ 1376 90 ( 90) w:sem 5 265 wq:I2C1 2 0.242 936/ 2312 246 (246) w:sem 4 298 wq:I2C0 0 0.004 948/ 2312 247 (247) w:sem 4 300 wq:SPI0 0 0.005 708/ 2368 254 (254) w:sem 4 333 wq:SPI2 15 1.507 1764/ 2368 252 (252) w:sem 4 318 wq:SPI3 29 2.965 1264/ 2368 251 (251) w:sem 4 316 wq:SPI1 16 1.688 1752/ 2368 253 (253) w:sem 4 336 wq:I2C3 1 0.159 808/ 2312 244 (244) w:sem 4 341 wq:I2C2 0 0.095 812/ 2312 245 (245) w:sem 4 443 wq:nav_and_controllers 22 2.274 1160/ 2216 242 (242) w:sem 4 445 wq:rate_ctrl 47 4.723 2288/ 3120 255 (255) w:sem 4 447 wq:INS0 58 5.836 3820/ 5976 241 (241) w:sem 4 497 commander 7 0.732 1528/ 3192 140 (140) w:sig 5 718 gps 1 0.190 1132/ 1936 205 (205) w:sem 4 886 mavlink_if0 9 0.915 1724/ 3048 100 (100) w:sig 5 887 mavlink_rcv_if0 2 0.220 3036/ 6104 175 (175) w:sem 5 980 mavlink_if1 26 2.600 1812/ 3048 100 (100) w:sig 5 984 mavlink_rcv_if1 1 0.114 2452/ 6104 175 (175) w:sem 5 1035 wq:ttyS4 5 0.527 832/ 1704 230 (230) w:sem 4 1075 navigator 1 0.109 1732/ 2144 105 (105) w:sem 11 1305 logger 16 1.607 3060/ 3616 230 (230) RUN 4 Processes: 31 total, 2 running, 29 sleeping CPU usage: 29.61% tasks, 1.04% sched, 69.34% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 54.253s total, 40.202s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 149us elapsed, 149.00us avg, min 149us max 149us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 13us elapsed, 13.00us avg, min 13us max 13us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 19us elapsed, 19.00us avg, min 19us max 19us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 19us elapsed, 19.00us avg, min 19us max 19us infus 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: 3 events, 14767us elapsed, 4922.33us avg, min 14us max 7957us 4290.196us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2250 events, 19982.56 avg, min 63us max 38331us 695.581us rms DatamanClient: sync: 1 events, 17190us elapsed, 17190.00us avg, min 17190us max 17190us nanus rms navigator: 938 events, 55128us elapsed, 58.77us avg, min 19us max 695us 48.707us rms rc_input: publish interval: 2501 events, 18010.95 avg, min 15134us max 20824us 2002.743us rms rc_input: cycle time: 11263 events, 177492us elapsed, 15.76us avg, min 6us max 673us 22.991us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15009 events, 3002.81 avg, min 2075us max 15926us 222.465us rms mavlink: tx run elapsed: 15009 events, 1241136us elapsed, 82.69us avg, min 32us max 1086us 62.572us rms DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4505 events, 10003.56 avg, min 9352us max 23906us 255.446us rms mavlink: tx run elapsed: 4505 events, 447289us elapsed, 99.29us avg, min 45us max 976us 63.985us rms DatamanClient: sync: 4 events, 3791us elapsed, 947.75us avg, min 36us max 3158us 1492.990us rms mavlink: listing: 1 events, 13us elapsed, 13.00us avg, min 13us max 13us infus rms mavlink: create file: 1 events, 5112us elapsed, 5112.00us avg, min 5112us max 5112us infus rms mag_bias_estimator: cycle: 2252 events, 45096us elapsed, 20.02us avg, min 1us max 875us 31.836us rms land_detector: cycle: 4427 events, 54520us elapsed, 12.32us avg, min 9us max 161us 4.538us rms mc_pos_control: cycle time: 4412 events, 82273us elapsed, 18.65us avg, min 1us max 70us 6.535us rms flight_mode_manager: cycle: 2181 events, 9027us elapsed, 4.14us avg, min 2us max 36us 2.341us rms mc_hover_thrust_estimator: cycle time: 4396 events, 3507us elapsed, 0.79us avg, min 0us max 24us 0.960us 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: 8062 events, 250165us elapsed, 31.03us avg, min 18us max 317us 8.300us rms mc_rate_control: cycle: 36412 events, 271324us elapsed, 7.45us avg, min 5us max 101us 1.368us rms control_allocator: cycle: 36412 events, 476441us elapsed, 13.08us avg, min 10us max 132us 2.024us rms pwm_out: interval: 36414 events, 1239.69 avg, min 250us max 3442us 14.310us rms pwm_out: cycle: 36413 events, 722118us elapsed, 19.83us avg, min 11us max 82us 4.998us rms control latency: 36412 events, 6286958us elapsed, 172.66us avg, min 154us max 333us 8.224us rms commander: preflight check: 412 events, 97237us elapsed, 236.01us avg, min 170us max 1158us 110.928us rms commander: cycle: 4103 events, 411399us elapsed, 100.27us avg, min 35us max 1253us 101.057us rms manual_control: interval: 333 events, 135246.37 avg, min 21us max 200612us 61472.402us rms manual_control: cycle: 333 events, 7552us elapsed, 22.68us avg, min 5us max 204us 16.667us rms rc_update: valid data interval: 2494 events, 18011.23 avg, min 15115us max 20843us 2003.618us rms rc_update: cycle interval: 2501 events, 18010.92 avg, min 15133us max 20826us 2002.268us rms rc_update: cycle: 2501 events, 83652us elapsed, 33.45us avg, min 15us max 813us 39.903us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 4396 events, 1079414us elapsed, 245.54us avg, min 89us max 763us 105.692us 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: 2110 events, 67842us elapsed, 32.15us avg, min 20us max 492us 16.958us rms vehicle_gps_position: cycle: 375 events, 5835us elapsed, 15.56us avg, min 4us max 103us 9.395us rms vehicle_air_data: cycle: 1041 events, 28524us elapsed, 27.40us avg, min 3us max 286us 17.805us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 36429 events, 351242us elapsed, 9.64us avg, min 7us max 50us 1.191us rms sensors: 9106 events, 242443us elapsed, 26.62us avg, min 17us max 1560us 31.050us rms battery_status: 4516 events, 18901us elapsed, 4.19us avg, min 3us max 498us 9.821us rms bmp388: comms errors: 0 events bmp388: measure: 1044 events, 1139935us elapsed, 1091.89us avg, min 1076us max 2281us 50.992us rms bmp388: read: 1043 events, 979188us elapsed, 938.82us avg, min 929us max 1147us 16.360us rms bmp388: comms errors: 0 events bmp388: measure: 1044 events, 1137508us elapsed, 1089.57us avg, min 1075us max 1200us 22.566us rms bmp388: read: 1043 events, 977925us elapsed, 937.61us avg, min 930us max 1042us 14.835us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 1 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 1 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 1 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 1 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: FIFO reset: 1 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events ina228_measurement_err: 0 events ina228_collection_err: 0 events ina228_com_err: 0 events ina228_read: 446 events, 743491us elapsed, 1667.02us avg, min 1652us max 1771us 18.845us rms icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 1 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events board_adc: sample: 31731 events, 346427us elapsed, 10.92us avg, min 8us max 936us 20.208us rms rgbled: led_control message missed: 0 events load_mon: cycle: 91 events, 10330us elapsed, 113.52us avg, min 5us max 677us 90.412us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 9949us elapsed, 1989.80us avg, min 19us max 3142us 1577.483us rms dma_alloc: 7 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 2 events, 1049us elapsed, 524.50us avg, min 219us max 830us 432.042us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 2 events, 1047us elapsed, 523.50us avg, min 219us max 828us 430.628us rms param: set: 108 events, 838us elapsed, 7.76us avg, min 3us max 16us 3.111us rms param: get: 10626 events param: find: 8945 events param: export: 1 events, 4041us elapsed, 4041.00us avg, min 4041us max 4041us infus rms
Post Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 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 0.000us 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 0.000us 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: 25 events, 128859us elapsed, 5154.36us avg, min 1932us max 9076us 1927.533us rms logger_sd_write: 72 events, 321164us elapsed, 4460.61us avg, min 236us max 10278us 1405.770us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 177 events, 9149us elapsed, 51.69us avg, min 26us max 303us 116.699us rms rc_input: publish interval: 456 events, 17973.69 avg, min 15129us max 20818us 2005.639us rms rc_input: cycle time: 2051 events, 31857us elapsed, 15.53us avg, min 5us max 777us 58.321us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2727 events, 3006.80 avg, min 2095us max 18829us 351.467us rms mavlink: tx run elapsed: 2727 events, 261234us elapsed, 95.80us avg, min 41us max 1007us 164.287us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 819 events, 10003.66 avg, min 9118us max 20993us 400.312us rms mavlink: tx run elapsed: 819 events, 93440us elapsed, 114.09us avg, min 55us max 915us 173.243us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: listing: 1 events, 332us elapsed, 332.00us avg, min 332us max 332us nanus rms mavlink: create file: 1 events, 17118us elapsed, 17118.00us avg, min 17118us max 17118us infus rms mag_bias_estimator: cycle: 17 events, 395us elapsed, 23.24us avg, min 1us max 126us 378.594us rms land_detector: cycle: 827 events, 10449us elapsed, 12.63us avg, min 10us max 46us 11.265us rms mc_pos_control: cycle time: 827 events, 18026us elapsed, 21.80us avg, min 17us max 76us 16.057us rms flight_mode_manager: cycle: 410 events, 1599us elapsed, 3.90us avg, min 3us max 22us 5.598us rms mc_hover_thrust_estimator: cycle time: 827 events, 605us elapsed, 0.73us avg, min 1us max 5us 2.279us 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: 1655 events, 53774us elapsed, 32.49us avg, min 21us max 92us 20.050us rms mc_rate_control: cycle: 6619 events, 50546us elapsed, 7.64us avg, min 5us max 22us 3.439us rms control_allocator: cycle: 6619 events, 87895us elapsed, 13.28us avg, min 10us max 26us 5.112us rms pwm_out: interval: 6619 events, 1239.51 avg, min 1218us max 1265us 6.514us rms pwm_out: cycle: 6619 events, 135068us elapsed, 20.41us avg, min 11us max 46us 12.636us rms control latency: 6619 events, 1155564us elapsed, 174.58us avg, min 157us max 207us 20.890us rms commander: preflight check: 75 events, 20744us elapsed, 276.59us avg, min 177us max 958us 298.758us rms commander: cycle: 746 events, 74933us elapsed, 100.45us avg, min 29us max 1099us 265.718us rms manual_control: interval: 58 events, 139795.45 avg, min 21us max 200491us 57287.270us rms manual_control: cycle: 58 events, 1559us elapsed, 26.88us avg, min 5us max 218us 51.073us rms rc_update: valid data interval: 456 events, 17973.69 avg, min 15220us max 20574us 2002.251us rms rc_update: cycle interval: 456 events, 17973.69 avg, min 15130us max 20819us 2006.544us rms rc_update: cycle: 456 events, 15610us elapsed, 34.23us avg, min 22us max 902us 104.128us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 827 events, 198318us elapsed, 239.80us avg, min 146us max 703us 270.249us 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: 384 events, 11879us elapsed, 30.93us avg, min 20us max 158us 43.205us rms vehicle_gps_position: cycle: 82 events, 1272us elapsed, 15.51us avg, min 14us max 30us 20.289us rms vehicle_air_data: cycle: 189 events, 5267us elapsed, 27.87us avg, min 18us max 128us 44.309us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 6619 events, 64811us elapsed, 9.79us avg, min 7us max 17us 2.993us rms sensors: 1655 events, 41977us elapsed, 25.36us avg, min 17us max 177us 73.212us rms battery_status: 821 events, 3605us elapsed, 4.39us avg, min 3us max 85us 23.852us rms bmp388: comms errors: 0 events bmp388: measure: 189 events, 206139us elapsed, 1090.68us avg, min 1076us max 1166us 122.255us rms bmp388: read: 189 events, 177461us elapsed, 938.95us avg, min 932us max 1013us 41.243us rms bmp388: comms errors: 0 events bmp388: measure: 190 events, 207468us elapsed, 1091.94us avg, min 1076us max 1181us 58.076us rms bmp388: read: 190 events, 178145us elapsed, 937.61us avg, min 931us max 1007us 37.193us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 0 events bmm150: bad transfer: 0 events bmm150: 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 bmi088_gyro: DRDY missed: 0 events bmi088_gyro: FIFO reset: 0 events bmi088_gyro: FIFO overflow: 0 events bmi088_gyro: FIFO empty: 0 events bmi088_gyro: bad transfer: 0 events bmi088_gyro: bad register: 0 events bmi088_accel: FIFO reset: 0 events bmi088_accel: FIFO overflow: 0 events bmi088_accel: FIFO empty: 0 events bmi088_accel: bad transfer: 0 events bmi088_accel: bad register: 0 events ina228_measurement_err: 0 events ina228_collection_err: 0 events ina228_com_err: 0 events ina228_read: 80 events, 133702us elapsed, 1671.28us avg, min 1655us max 1790us 50.743us rms 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 board_adc: sample: 5747 events, 62940us elapsed, 10.95us avg, min 8us max 731us 52.274us rms rgbled: led_control message missed: 0 events load_mon: cycle: 17 events, 1779us elapsed, 104.65us avg, min 83us max 158us 215.908us 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: 4 events [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms [at24c] eeprom errors: 0 events [at24c] eeprom reset: 0 events [at24c] eeprom transfer: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: set: 1 events, 123us elapsed, 123.00us avg, min 123us max 123us infus rms param: get: 951 events param: find: 1341 events param: export: 1 events, 4152us elapsed, 4152.00us avg, min 4152us max 4152us infus rms