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PX4 Quadrotor | Open PID Analysis |
rh4020_log9
| 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: | 0:00:15 |
| Dropouts: | 5 (0.50 s) |
| Vehicle Life Flight Time: | 5 hours 8 minutes 18 seconds |
| Vehicle UUID: | 0006000000003336363034305105004f003a |
| Max Altitude Difference: | 3 m |
| Max Tilt Angle: | 3.0 deg |
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Console Output
ble sending of messages. (Must be) called as last step in startup script. Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Onboard, data rate: 23040 B/s on /dev/ttyS0 @ 460800B Starting MAVLink on /dev/ttyS4 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS4 @ 57600B INFO [navigator] Mission #2 loaded, 12 WPs INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [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 INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-15/07_46_12.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-15/07_46_12.ulg 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: 251919 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/2024-10-15/07_46_23.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-15/07_46_23.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) WARN [health_and_arming_checks] Preflight Fail: Accel 0 inconsistent - check cal INFO [commander] Kill-switch engaged INFO [logger] closed logfile, bytes written: 3247561 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active INFO [commander] GCS connection regained WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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/2024-10-15/08_03_20.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-15/08_03_20.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) WARN [health_and_arming_checks] Preflight Fail: Accel 1 inconsistent - check cal INFO [commander] Kill-switch engaged INFO [logger] closed logfile, bytes written: 2184774 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/2024-10-15/08_03_46.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-15/08_03_46.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) WARN [health_and_arming_checks] Preflight Fail: Accel 1 inconsistent - check cal INFO [logger] closed logfile, bytes written: 2817986 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 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/2024-10-15/08_04_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-15/08_04_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 479230 0.033 272/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 386 0.035 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 2 1027 mavlink_if2 49052 4.517 1964/ 2800 100 (100) w:sig 5 254 wq:hp_default 57840 5.327 1196/ 1872 237 (237) w:sem 2 269 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 2712 0.249 1028/ 1896 205 (205) w:sem 2 298 wq:I2C1 3444 0.317 928/ 2312 246 (246) w:sem 2 332 wq:SPI4 89352 8.229 1724/ 2368 250 (250) w:sem 2 329 wq:rate_ctrl 66586 6.132 2308/ 3120 255 (255) w:sem 2 344 wq:SPI1 39009 3.593 1644/ 2368 253 (253) w:sem 2 567 wq:nav_and_controllers 31973 2.945 1248/ 2216 242 (242) w:sem 2 571 wq:INS0 58888 5.423 4316/ 5976 241 (241) w:sem 2 575 wq:INS1 50513 4.652 4316/ 5976 240 (240) w:sem 2 581 wq:INS2 52960 4.877 4316/ 5976 239 (239) w:sem 2 583 commander 7272 0.669 1588/ 3192 140 (140) w:sig 5 701 gps 2966 0.273 1196/ 1936 205 (205) w:sem 4 729 wq:ttyS1 8675 0.799 1096/ 1704 233 (233) w:sem 2 819 mavlink_if0 55631 5.123 1964/ 2704 100 (100) w:sig 4 820 mavlink_rcv_if0 2458 0.226 1324/ 4616 175 (175) w:sem 4 850 mavlink_if1 14522 1.337 1940/ 2704 100 (100) w:sig 4 854 mavlink_rcv_if1 2704 0.249 1668/ 4616 175 (175) w:sem 4 881 navigator 755 0.069 1032/ 1896 105 (105) w:sem 6 922 gimbal 1952 0.179 1360/ 2056 100 (100) w:sem 8 976 logger 4041 0.372 2932/ 3616 230 (230) RUN 4 1003 wq:uavcan 11130 1.025 2244/ 3600 236 (236) w:sem 2 1006 log_writer_file 548 0.050 668/ 1144 60 ( 60) READY 4 1030 mavlink_rcv_if2 5350 0.492 1796/ 4616 175 (175) w:sig 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 57.17% tasks, 42.80% sched, 0.03% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 1147.448s total, 479.230s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 484659 0.026 272/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 479 0.043 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 2 1027 mavlink_if2 49666 4.515 1964/ 2800 100 (100) w:sig 5 254 wq:hp_default 58620 5.329 1196/ 1872 237 (237) w:sem 2 269 dataman 0 0.000 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 2718 0.247 1028/ 1896 205 (205) w:sem 2 298 wq:I2C1 3475 0.315 928/ 2312 246 (246) w:sem 2 332 wq:SPI4 90512 8.229 1724/ 2368 250 (250) w:sem 2 329 wq:rate_ctrl 67464 6.134 2308/ 3120 255 (255) w:sem 2 344 wq:SPI1 39516 3.593 1644/ 2368 253 (253) w:sem 2 567 wq:nav_and_controllers 32383 2.944 1248/ 2216 242 (242) w:sem 2 571 wq:INS0 59636 5.422 4316/ 5976 241 (241) w:sem 2 575 wq:INS1 51155 4.651 4316/ 5976 240 (240) w:sem 2 581 wq:INS2 53631 4.876 4316/ 5976 239 (239) w:sem 2 583 commander 7368 0.669 1588/ 3192 140 (140) w:sig 5 701 gps 3000 0.272 1196/ 1936 205 (205) w:sem 4 729 wq:ttyS1 8788 0.799 1096/ 1704 233 (233) w:sem 2 819 mavlink_if0 56353 5.123 1964/ 2704 100 (100) w:sig 4 820 mavlink_rcv_if0 2491 0.226 1324/ 4616 175 (175) w:sem 4 850 mavlink_if1 14712 1.338 1940/ 2704 100 (100) w:sig 4 854 mavlink_rcv_if1 2743 0.249 1668/ 4616 175 (175) READY 4 881 navigator 765 0.069 1032/ 1896 105 (105) w:sem 6 922 gimbal 1977 0.179 1360/ 2056 100 (100) w:sem 8 976 logger 4440 0.403 2972/ 3616 230 (230) RUN 4 1003 wq:uavcan 11271 1.025 2244/ 3600 236 (236) w:sem 2 1006 log_writer_file 662 0.060 668/ 1144 60 ( 60) w:sem 4 1030 mavlink_rcv_if2 5356 0.487 1796/ 4616 175 (175) w:sig 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 57.20% tasks, 42.77% sched, 0.02% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 1161.539s total, 484.659s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9678 events, 3144.18 avg, min 2129us max 40391us 607.159us rms mavlink: tx run elapsed: 9678 events, 2223533us elapsed, 229.75us avg, min 112us max 2598us 1557.264us rms 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: 10151 events, 2999.70 avg, min 872us max 5088us 349.857us rms uavcan: cycle time: 10151 events, 312606us elapsed, 30.80us avg, min 16us max 2137us 469.614us 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: 25 events, 687281us elapsed, 27491.24us avg, min 12340us max 101254us 47841.414us rms logger_sd_write: 603 events, 14464448us elapsed, 23987.48us avg, min 6us max 334637us 44784.594us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 28 events, 731835.50 avg, min 59us max 10000024us 2613784.000us rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 5711 events, 1187470us elapsed, 207.93us avg, min 152us max 1968us 615.213us rms gyro_fft: cycle interval: 12160 events, 2504.08 avg, min 103us max 4596us 324.376us rms gyro_fft: cycle: 12160 events, 1342999us elapsed, 110.44us avg, min 2us max 1984us 769.236us rms navigator: 638 events, 14382us elapsed, 22.54us avg, min 11us max 1183us 334.194us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3026 events, 10053.25 avg, min 9145us max 41489us 680.999us rms mavlink: tx run elapsed: 3026 events, 587391us elapsed, 194.11us avg, min 105us max 2510us 1053.928us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9677 events, 3144.64 avg, min 2130us max 38474us 595.745us rms mavlink: tx run elapsed: 9677 events, 2714479us elapsed, 280.51us avg, min 114us max 3078us 1718.513us 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: 6702 events, 4543.60 avg, min 4046us max 12215us 704.096us rms crsf_rc: cycle interval: 6702 events, 4543.58 avg, min 4045us max 12217us 718.445us rms mag_bias_estimator: cycle: 474 events, 15123us elapsed, 31.91us avg, min 1us max 2214us 894.043us rms land_detector: cycle: 3047 events, 39204us elapsed, 12.87us avg, min 10us max 93us 42.813us rms mc_pos_control: cycle time: 3047 events, 21091us elapsed, 6.92us avg, min 5us max 85us 38.343us rms flight_mode_manager: cycle: 1523 events, 8634us elapsed, 5.67us avg, min 4us max 72us 342.546us 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: 6094 events, 133414us elapsed, 21.89us avg, min 15us max 186us 64.921us rms mc_rate_control: cycle: 24277 events, 260081us elapsed, 10.71us avg, min 8us max 25us 7.524us rms control_allocator: cycle: 24277 events, 572617us elapsed, 23.59us avg, min 20us max 40us 18.602us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 2853 events, 423573us elapsed, 148.47us avg, min 86us max 1591us 836.656us rms ekf2: ECL update: 2853 events, 2254us elapsed, 0.79us avg, min 0us max 711us 61.348us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2604 events, 353597us elapsed, 135.79us avg, min 86us max 1021us 648.759us rms ekf2: ECL update: 2604 events, 2266us elapsed, 0.87us avg, min 1us max 640us 33.719us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3047 events, 361926us elapsed, 118.78us avg, min 85us max 407us 375.138us rms ekf2: ECL update: 3047 events, 1446us elapsed, 0.47us avg, min 1us max 54us 12.168us rms ekf2: IMU message missed: 1 events ekf2: ECL full update: 2853 events, 413855us elapsed, 145.06us avg, min 82us max 1519us 819.522us rms ekf2: ECL update: 2853 events, 2259us elapsed, 0.79us avg, min 1us max 706us 39.361us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 2604 events, 425604us elapsed, 163.44us avg, min 83us max 1528us 811.231us rms ekf2: ECL update: 2604 events, 1535us elapsed, 0.58us avg, min 0us max 87us 30.985us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3047 events, 380041us elapsed, 124.73us avg, min 83us max 390us 318.541us rms ekf2: ECL update: 3047 events, 1735us elapsed, 0.56us avg, min 1us max 56us 14.461us rms pwm_out: interval: 101 events, 297027.90 avg, min 299261us max 300699us 215.960us rms pwm_out: cycle: 101 events, 1219us elapsed, 12.07us avg, min 3us max 782us 191.693us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 281 events, 143248us elapsed, 509.78us avg, min 258us max 2485us 1959.041us rms commander: cycle: 2753 events, 315687us elapsed, 114.67us avg, min 30us max 2521us 1332.276us 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: 1425 events, 50105us elapsed, 35.16us avg, min 23us max 184us 140.938us rms vehicle_gps_position: cycle: 102 events, 341us elapsed, 3.34us avg, min 2us max 25us 43.340us rms vehicle_air_data: cycle: 2263 events, 51530us elapsed, 22.77us avg, min 12us max 102us 60.458us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 24278 events, 379104us elapsed, 15.62us avg, min 13us max 41us 9.121us rms sensors: 6094 events, 241614us elapsed, 39.65us avg, min 25us max 333us 166.019us rms battery_status: 3045 events, 72099us elapsed, 23.68us avg, min 14us max 1443us 368.917us 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: 3032 events, 12047us elapsed, 3.97us avg, min 3us max 25us 6.969us rms ms5611: read: 3032 events, 41680us elapsed, 13.75us avg, min 11us max 39us 13.556us 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: 3018 events, 13812us elapsed, 4.58us avg, min 4us max 51us 13.957us rms ms5611: read: 3018 events, 53101us elapsed, 17.59us avg, min 12us max 62us 27.113us rms board_adc: sample: 21315 events, 259223us elapsed, 12.16us avg, min 7us max 1659us 272.496us rms manual_control: interval: 3636 events, 8373.75 avg, min 4071us max 65680us 5622.423us rms manual_control: cycle: 3636 events, 71400us elapsed, 19.64us avg, min 10us max 910us 362.632us rms rc_update: valid data interval: 4525 events, 6729.51 avg, min 4054us max 16258us 2580.758us rms rc_update: cycle interval: 6703 events, 4543.71 avg, min 4048us max 12216us 716.090us rms rc_update: cycle: 6703 events, 180296us elapsed, 26.90us avg, min 10us max 1332us 438.594us rms control latency: 12170 events, 5680490us elapsed, 466.76us avg, min 449us max 1775us 195.762us rms px4io: interface write: 12176 events, 2840502us elapsed, 233.29us avg, min 122us max 268us 23.891us rms px4io: interface read: 5253 events, 964219us elapsed, 183.56us avg, min 136us max 332us 437.920us rms px4io: interval: 12171 events, 2502.48 avg, min 301us max 5251us 265.811us rms px4io: cycle: 12171 events, 4023075us elapsed, 330.55us avg, min 245us max 5168us 1855.210us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 17430 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 17430 events, 3730368us elapsed, 214.02us avg, min 118us max 329us 276.077us rms rgbled: led_control message missed: 0 events load_mon: cycle: 61 events, 17181us elapsed, 281.66us avg, min 118us max 2302us 1218.401us 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 116.898us rms param: get: 7614 events param: find: 9703 events param: export: 1 events, 85919us elapsed, 85919.00us avg, min 85919us max 85919us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4667 events, 3141.58 avg, min 2151us max 6170us 471.021us rms mavlink: tx run elapsed: 4667 events, 1101331us elapsed, 235.98us avg, min 112us max 2505us 2254.966us rms 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: 4893 events, 2999.35 avg, min 831us max 5169us 348.659us rms uavcan: cycle time: 4893 events, 144115us elapsed, 29.45us avg, min 16us max 1515us 679.692us 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: 18 events, 398614us elapsed, 22145.22us avg, min 6239us max 91798us 61944.000us rms logger_sd_write: 382 events, 10138099us elapsed, 26539.53us avg, min 6us max 480680us 64073.457us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us infus rms gyro_fft: gyro FIFO data gap: 0 events gyro_fft: FFT: 2753 events, 573949us elapsed, 208.48us avg, min 152us max 1357us 890.299us rms gyro_fft: cycle interval: 5860 events, 2504.66 avg, min 350us max 4655us 322.312us rms gyro_fft: cycle: 5860 events, 651903us elapsed, 111.25us avg, min 2us max 1372us 1115.069us rms navigator: 309 events, 4937us elapsed, 15.98us avg, min 11us max 141us 480.852us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1459 events, 10044.89 avg, min 9171us max 13090us 341.435us rms mavlink: tx run elapsed: 1459 events, 302083us elapsed, 207.05us avg, min 105us max 2386us 1529.225us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4667 events, 3141.68 avg, min 2136us max 6257us 467.555us rms mavlink: tx run elapsed: 4667 events, 1315487us elapsed, 281.87us avg, min 113us max 3060us 2490.440us 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: 3223 events, 4554.24 avg, min 4048us max 13737us 763.438us rms crsf_rc: cycle interval: 3223 events, 4554.24 avg, min 4046us max 13738us 779.125us rms mag_bias_estimator: cycle: 4 events, 72us elapsed, 18.00us avg, min 1us max 39us 11226.093us rms land_detector: cycle: 1469 events, 18904us elapsed, 12.87us avg, min 10us max 100us 62.098us rms mc_pos_control: cycle time: 1469 events, 10315us elapsed, 7.02us avg, min 5us max 79us 55.450us rms flight_mode_manager: cycle: 734 events, 3929us elapsed, 5.35us avg, min 4us max 39us 493.609us 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: 2937 events, 64295us elapsed, 21.89us avg, min 16us max 104us 94.101us rms mc_rate_control: cycle: 11707 events, 128272us elapsed, 10.96us avg, min 9us max 20us 10.905us rms control_allocator: cycle: 11707 events, 276282us elapsed, 23.60us avg, min 20us max 41us 26.955us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1375 events, 201897us elapsed, 146.83us avg, min 86us max 969us 1210.534us rms ekf2: ECL update: 1376 events, 907us elapsed, 0.65us avg, min 1us max 110us 88.456us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1258 events, 169648us elapsed, 134.86us avg, min 86us max 917us 935.985us rms ekf2: ECL update: 1256 events, 941us elapsed, 0.74us avg, min 0us max 350us 49.561us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 1469 events, 170863us elapsed, 116.31us avg, min 85us max 343us 541.422us rms ekf2: ECL update: 1468 events, 799us elapsed, 0.54us avg, min 0us max 62us 17.726us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1376 events, 199418us elapsed, 144.93us avg, min 83us max 1558us 1186.333us rms ekf2: ECL update: 1376 events, 2011us elapsed, 1.46us avg, min 0us max 699us 60.644us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 1258 events, 198534us elapsed, 157.82us avg, min 83us max 1028us 1172.615us rms ekf2: ECL update: 1257 events, 1342us elapsed, 1.07us avg, min 0us max 751us 49.385us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 1469 events, 181894us elapsed, 123.82us avg, min 83us max 275us 460.056us rms ekf2: ECL update: 1468 events, 904us elapsed, 0.61us avg, min 0us max 77us 21.005us rms pwm_out: interval: 49 events, 293872.84 avg, min 299092us max 300905us 337.282us rms pwm_out: cycle: 49 events, 298us elapsed, 6.08us avg, min 3us max 81us 276.927us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 136 events, 63719us elapsed, 468.52us avg, min 268us max 2519us 2838.790us rms commander: cycle: 1329 events, 140282us elapsed, 105.55us avg, min 27us max 2650us 1927.669us 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: 688 events, 23947us elapsed, 34.81us avg, min 23us max 205us 203.930us rms vehicle_gps_position: cycle: 49 events, 155us elapsed, 3.16us avg, min 2us max 5us 62.870us rms vehicle_air_data: cycle: 1092 events, 24864us elapsed, 22.77us avg, min 13us max 95us 87.615us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 11710 events, 183256us elapsed, 15.65us avg, min 13us max 41us 13.216us rms sensors: 2937 events, 114456us elapsed, 38.97us avg, min 25us max 243us 239.471us rms battery_status: 1468 events, 34020us elapsed, 23.17us avg, min 14us max 1158us 534.108us 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: 1462 events, 5896us elapsed, 4.03us avg, min 3us max 27us 10.114us rms ms5611: read: 1462 events, 20040us elapsed, 13.71us avg, min 11us max 39us 19.607us 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: 1455 events, 6581us elapsed, 4.52us avg, min 4us max 34us 20.192us rms ms5611: read: 1455 events, 25807us elapsed, 17.74us avg, min 12us max 54us 39.316us rms board_adc: sample: 10283 events, 113981us elapsed, 11.08us avg, min 7us max 982us 393.485us rms manual_control: interval: 1786 events, 8220.82 avg, min 4072us max 48459us 4796.307us rms manual_control: cycle: 1786 events, 39676us elapsed, 22.22us avg, min 11us max 1498us 522.704us rms rc_update: valid data interval: 2175 events, 6750.54 avg, min 4054us max 16623us 2616.457us rms rc_update: cycle interval: 3224 events, 4554.10 avg, min 4050us max 13736us 773.396us rms rc_update: cycle: 3224 events, 82763us elapsed, 25.67us avg, min 10us max 1830us 636.020us rms control latency: 5869 events, 2748886us elapsed, 468.37us avg, min 452us max 1792us 284.221us rms px4io: interface write: 5872 events, 1371990us elapsed, 233.65us avg, min 121us max 270us 34.784us rms px4io: interface read: 2508 events, 461740us elapsed, 184.11us avg, min 136us max 331us 637.885us rms px4io: interval: 5869 events, 2502.06 avg, min 297us max 5221us 254.303us rms px4io: cycle: 5869 events, 1939964us elapsed, 330.54us avg, min 246us max 5139us 2689.205us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 8380 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 8380 events, 1797916us elapsed, 214.55us avg, min 118us max 327us 400.728us rms rgbled: led_control message missed: 0 events load_mon: cycle: 29 events, 6295us elapsed, 217.07us avg, min 124us max 1059us 1793.584us 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, 8us elapsed, 2.67us avg, min 1us max 5us 116.916us rms param: get: 2876 events param: find: 4931 events param: export: 1 events, 81696us elapsed, 81696.00us avg, min 81696us max 81696us infus rms