Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | v1.15.0 (beta) (2fa0262e) branch: pr-ark-pi6x-1.15 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:02:57 |
| Vehicle Life Flight Time: | 32 minutes 10 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 184.3 m |
| Max Altitude Difference: | 11 m |
| Average Speed: | 3.2 km/h |
| Max Speed: | 13.0 km/h |
| Max Speed Horizontal: | 13.0 km/h |
| Max Speed Up: | 3.4 km/h |
| Max Speed Down: | 4.2 km/h |
| Max Tilt Angle: | 26.2 deg |
Loading Plots...
Console Output
ARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [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 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [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: GPS Speed Accuracy too low WARN [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 WARN [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 WARN [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 WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [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 WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [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 WARN [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] Connection to ground station lost WARN [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: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] GCS connection regained WARN [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 WARN [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 WARN [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 WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-22/22_21_03.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/22_21_03.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected INFO [commander] Disarmed by landing INFO [logger] closed logfile, bytes written: 2223563 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/2024-05-22/22_21_22.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-22/22_21_22.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 91854 46.697 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.730 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 852/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.168 1308/ 1896 205 (205) w:sem 5 1017 log_writer_file 5 0.585 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 36 3.671 2116/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 876/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.055 992/ 2312 244 (244) w:sem 5 541 wq:SPI1 51 5.151 1808/ 2368 253 (253) w:sem 5 550 wq:SPI2 57 5.701 1808/ 2368 252 (252) w:sem 5 553 wq:I2C4 4 0.460 872/ 2312 243 (243) w:sem 5 558 wq:SPI3 2 0.262 856/ 2368 251 (251) w:sem 5 760 wq:nav_and_controllers 29 2.939 1460/ 2216 242 (242) w:sem 5 763 wq:rate_ctrl 73 7.360 2316/ 3120 255 (255) w:sem 5 764 wq:INS0 39 3.904 3660/ 5976 241 (241) w:sem 5 766 wq:INS1 41 4.148 3660/ 5976 240 (240) w:sem 5 775 commander 5 0.545 1628/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 9 0.981 1924/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 1 0.190 1428/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 41 4.166 9232/ 9872 100 (100) w:sem 25 941 wq:ttyS4 3 0.372 928/ 1704 230 (230) READY 5 950 navigator 0 0.079 1540/ 2104 105 (105) w:sem 11 1010 logger 45 4.580 3140/ 3616 230 (230) RUN 4 1034 wq:uavcan 15 1.503 3156/ 3600 236 (236) w:sem 5 1055 mavlink_if1 44 4.476 1948/ 2800 100 (100) READY 6 1064 mavlink_rcv_if1 1 0.177 1764/ 4776 175 (175) w:sem 6 Processes: 29 total, 4 running, 25 sleeping CPU usage: 52.21% tasks, 1.09% sched, 46.70% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 172.468s total, 91.855s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 181347 48.106 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.743 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 852/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 428/ 1232 255 (255) w:sem 5 5 wq:lp_default 16 1.630 1340/ 1896 205 (205) w:sem 5 1017 log_writer_file 5 0.543 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 35 3.590 2132/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 876/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.056 992/ 2312 244 (244) w:sem 5 541 wq:SPI1 57 5.762 1808/ 2368 253 (253) w:sem 5 550 wq:SPI2 50 5.050 1808/ 2368 252 (252) w:sem 5 553 wq:I2C4 4 0.434 872/ 2312 243 (243) w:sem 5 558 wq:SPI3 2 0.261 856/ 2368 251 (251) w:sem 5 760 wq:nav_and_controllers 33 3.355 1460/ 2216 242 (242) w:sem 5 763 wq:rate_ctrl 74 7.394 2316/ 3120 255 (255) w:sem 5 764 wq:INS0 42 4.204 3660/ 5976 241 (241) w:sem 5 766 wq:INS1 40 4.018 3660/ 5976 240 (240) w:sem 5 775 commander 5 0.530 1628/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 10 1.004 1924/ 2704 100 (100) READY 5 885 mavlink_rcv_if0 4 0.452 1508/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 29 2.937 9232/ 9872 100 (100) w:sem 25 941 wq:ttyS4 3 0.387 928/ 1704 230 (230) READY 5 950 navigator 0 0.089 1564/ 2104 105 (105) w:sem 11 1010 logger 18 1.802 3140/ 3616 230 (230) RUN 4 1034 wq:uavcan 15 1.506 3156/ 3600 236 (236) w:sem 5 1055 mavlink_if1 46 4.619 1948/ 2800 100 (100) READY 6 1064 mavlink_rcv_if1 4 0.454 1764/ 4776 175 (175) w:sem 6 Processes: 29 total, 5 running, 24 sleeping CPU usage: 50.83% tasks, 1.07% sched, 48.11% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 348.647s total, 181.348s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6300 events, 3071.07 avg, min 2142us max 34302us 561.648us rms mavlink: tx run elapsed: 6300 events, 1502062us elapsed, 238.42us avg, min 91us max 2013us 499.171us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 4883 events, 118915us elapsed, 24.35us avg, min 13us max 251us 51.400us rms mission_dm_cache_miss: 0 events uavcan: cycle interval: 9980 events, 1939.48 avg, min 16us max 3953us 1263.899us rms uavcan: cycle time: 9980 events, 292647us elapsed, 29.32us avg, min 9us max 1496us 335.026us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 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: 37 events, 279387us elapsed, 7551.00us avg, min 3us max 12250us 3066.807us rms logger_sd_write: 484 events, 1431957us elapsed, 2958.59us avg, min 5us max 16309us 1993.252us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms geofence_dm_cache_miss: 0 events 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: 1 events gyro_fft: FFT: 3609 events, 537388us elapsed, 148.90us avg, min 127us max 433us 57.344us rms gyro_fft: cycle interval: 7756 events, 2495.46 avg, min 340us max 3361us 276.404us rms gyro_fft: cycle: 7757 events, 605207us elapsed, 78.02us avg, min 2us max 442us 213.622us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 408 events, 9463us elapsed, 23.19us avg, min 18us max 181us 302.320us rms rc_input: publish interval: 1832 events, 10562.21 avg, min 2117us max 79977us 3946.059us rms rc_input: cycle time: 4831 events, 47377us elapsed, 9.81us avg, min 4us max 640us 89.992us rms uxrce_dds_client: cycle interval: 4034 events, 4796.61 avg, min 106us max 37430us 3873.482us rms uxrce_dds_client: cycle: 4033 events, 19342247us elapsed, 4795.99us avg, min 105us max 37429us 9717.852us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1930 events, 10021.92 avg, min 9192us max 38043us 678.820us rms mavlink: tx run elapsed: 1930 events, 289770us elapsed, 150.14us avg, min 82us max 1362us 369.430us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 418 events, 8450us elapsed, 20.22us avg, min 8us max 597us 129.893us rms land_detector: cycle: 1939 events, 23906us elapsed, 12.33us avg, min 9us max 99us 21.597us rms mc_pos_control: cycle time: 1939 events, 16464us elapsed, 8.49us avg, min 6us max 82us 18.032us rms flight_mode_manager: cycle: 968 events, 3858us elapsed, 3.99us avg, min 3us max 90us 81.378us rms mc_hover_thrust_estimator: cycle time: 1939 events, 1938us elapsed, 0.99us avg, min 1us max 58us 5.223us 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: 3878 events, 63617us elapsed, 16.40us avg, min 14us max 134us 10.468us rms mc_rate_control: cycle: 15512 events, 134769us elapsed, 8.69us avg, min 7us max 22us 2.969us rms control_allocator: cycle: 15512 events, 294627us elapsed, 18.99us avg, min 16us max 36us 6.580us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1939 events, 502937us elapsed, 259.38us avg, min 99us max 750us 386.269us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 1938 events, 408847us elapsed, 210.96us avg, min 100us max 630us 269.880us rms pwm_out: interval: 65 events, 295384.63 avg, min 299451us max 300536us 149.992us rms pwm_out: cycle: 65 events, 1691us elapsed, 26.02us avg, min 2us max 948us 235.059us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 15513 events, 323776us elapsed, 20.87us avg, min 15us max 38us 9.719us rms control latency: 15513 events, 2966951us elapsed, 191.26us avg, min 178us max 273us 16.219us rms commander: preflight check: 178 events, 37101us elapsed, 208.43us avg, min 110us max 1426us 555.491us rms commander: cycle: 1755 events, 165504us elapsed, 94.30us avg, min 35us max 1479us 363.793us 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_magnetometer: cycle: 1677 events, 40939us elapsed, 24.41us avg, min 15us max 247us 54.267us rms vehicle_gps_position: cycle: 194 events, 2542us elapsed, 13.10us avg, min 6us max 165us 50.188us rms vehicle_air_data: cycle: 447 events, 7410us elapsed, 16.58us avg, min 11us max 181us 53.383us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 920 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 84 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 15987 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 852 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 15514 events, 579399us elapsed, 37.35us avg, min 31us max 234us 10.232us rms sensors: 3879 events, 99652us elapsed, 25.69us avg, min 18us max 141us 66.032us rms afbrs50: irq callback: 1930 events, 9922us elapsed, 5.14us avg, min 3us max 8us 2.538us rms afbrs50: transfer callback: 5077 events, 91902us elapsed, 18.10us avg, min 1us max 266us 90.062us rms afbrs50: transfer: 5077 events, 1289257us elapsed, 253.94us avg, min 16us max 1265us 1201.074us rms afbrs50: sample interval: 965 events, 20053.01 avg, min 19103us max 21200us 162.130us rms paw3902: no motion interrupt: 1782 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 447 events, 511438us elapsed, 1144.16us avg, min 1090us max 1471us 180.572us rms bmp388: read: 447 events, 429994us elapsed, 961.96us avg, min 943us max 1133us 105.662us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 1677 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 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 ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 191 events, 191856us elapsed, 1004.48us avg, min 984us max 1150us 84.750us rms board_adc: sample: 5808 events, 16160us elapsed, 2.78us avg, min 2us max 297us 38.702us rms manual_control: interval: 603 events, 31893.56 avg, min 3421us max 200250us 38372.688us rms manual_control: cycle: 603 events, 13841us elapsed, 22.95us avg, min 9us max 650us 113.438us rms rc_update: valid data interval: 1832 events, 10562.21 avg, min 2116us max 79978us 3944.027us rms rc_update: cycle interval: 1832 events, 10562.21 avg, min 2116us max 79978us 3947.556us rms rc_update: cycle: 1832 events, 35907us elapsed, 19.60us avg, min 11us max 836us 100.897us rms load_mon: cycle: 39 events, 5920us elapsed, 151.79us avg, min 71us max 1019us 382.238us 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: 27 events param: set: 3 events, 6us elapsed, 2.00us avg, min 1us max 4us 47.367us rms param: get: 3827 events param: find: 3080 events param: export: 1 events, 12757us elapsed, 12757.00us avg, min 12757us max 12757us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 58495 events, 3027.80 avg, min 2113us max 15999us 305.186us rms mavlink: tx run elapsed: 58495 events, 12419006us elapsed, 212.31us avg, min 90us max 13491us 254.585us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 45756 events, 1111245us elapsed, 24.29us avg, min 12us max 490us 26.454us rms mission_dm_cache_miss: 0 events uavcan: cycle interval: 90958 events, 1947.21 avg, min 14us max 11370us 1265.088us rms uavcan: cycle time: 90958 events, 2620222us elapsed, 28.81us avg, min 9us max 1525us 124.949us 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 DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 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: 483 events, 3840419us elapsed, 7951.18us avg, min 4us max 17500us 2359.113us rms logger_sd_write: 7034 events, 21604542us elapsed, 3071.44us avg, min 5us max 34979us 1928.148us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 18 events, 9444451.39 avg, min 9999843us max 10000156us 70.926us rms gyro_fft: gyro FIFO data gap: 7 events gyro_fft: FFT: 33176 events, 4810499us elapsed, 145.00us avg, min 129us max 937us 30.142us rms gyro_fft: cycle interval: 70939 events, 2496.75 avg, min 158us max 37169us 249.904us rms gyro_fft: cycle: 70939 events, 5413297us elapsed, 76.31us avg, min 2us max 946us 103.288us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 3742 events, 90983us elapsed, 24.31us avg, min 18us max 415us 101.502us rms rc_input: publish interval: 16614 events, 10660.05 avg, min 3323us max 52001us 3490.011us rms rc_input: cycle time: 44276 events, 437467us elapsed, 9.88us avg, min 4us max 1007us 38.988us rms uxrce_dds_client: cycle interval: 38948 events, 4547.36 avg, min 100us max 18438us 3734.374us rms uxrce_dds_client: cycle: 38947 events, 177064700us elapsed, 4546.30us avg, min 100us max 18437us 4870.524us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 17703 events, 10004.05 avg, min 9100us max 16569us 149.214us rms mavlink: tx run elapsed: 17703 events, 2553820us elapsed, 144.26us avg, min 82us max 1619us 167.234us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 9 events, 135us elapsed, 15.00us avg, min 1us max 43us 937.866us rms land_detector: cycle: 17742 events, 187178us elapsed, 10.55us avg, min 8us max 97us 9.153us rms mc_pos_control: cycle time: 17742 events, 439650us elapsed, 24.78us avg, min 6us max 166us 12.961us rms flight_mode_manager: cycle: 8855 events, 220555us elapsed, 24.91us avg, min 3us max 188us 30.312us rms mc_hover_thrust_estimator: cycle time: 16916 events, 69174us elapsed, 4.09us avg, min 1us max 82us 5.263us 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: 35482 events, 360057us elapsed, 10.15us avg, min 7us max 163us 5.445us rms mc_rate_control: cycle: 141925 events, 1277128us elapsed, 9.00us avg, min 7us max 28us 1.352us rms control_allocator: cycle: 141925 events, 2637024us elapsed, 18.58us avg, min 16us max 132us 3.085us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 17739 events, 4936270us elapsed, 278.27us avg, min 99us max 890us 185.368us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 17740 events, 4117054us elapsed, 232.08us avg, min 99us max 802us 132.119us rms pwm_out: interval: 590 events, 299491.53 avg, min 299179us max 300893us 173.257us rms pwm_out: cycle: 590 events, 6957us elapsed, 11.79us avg, min 2us max 896us 95.810us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 141925 events, 3003977us elapsed, 21.17us avg, min 16us max 37us 4.559us rms control latency: 141925 events, 27037471us elapsed, 190.51us avg, min 179us max 456us 9.663us rms commander: preflight check: 1615 events, 303612us elapsed, 188.00us avg, min 109us max 1257us 235.672us rms commander: cycle: 16093 events, 1355149us elapsed, 84.21us avg, min 35us max 1646us 163.560us 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_magnetometer: cycle: 15339 events, 364710us elapsed, 23.78us avg, min 16us max 949us 29.202us rms vehicle_gps_position: cycle: 1771 events, 21523us elapsed, 12.15us avg, min 6us max 237us 23.404us rms vehicle_air_data: cycle: 4090 events, 66181us elapsed, 16.18us avg, min 10us max 234us 25.175us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3973 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 188 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 371694 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 12795 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 5 events vehicle_angular_velocity: gyro filter reset: 5 events vehicle_angular_velocity: gyro filter: 141928 events, 5285361us elapsed, 37.24us avg, min 31us max 258us 7.656us rms sensors: 35484 events, 882425us elapsed, 24.87us avg, min 17us max 1743us 23.907us rms afbrs50: irq callback: 15876 events, 80687us elapsed, 5.08us avg, min 3us max 8us 1.233us rms afbrs50: transfer callback: 44943 events, 710227us elapsed, 15.80us avg, min 1us max 257us 43.645us rms afbrs50: transfer: 44943 events, 10563918us elapsed, 235.05us avg, min 11us max 1255us 566.476us rms afbrs50: sample interval: 7938 events, 22310.37 avg, min 8685us max 145018us 7710.291us rms paw3902: no motion interrupt: 3665 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 4090 events, 4669375us elapsed, 1141.66us avg, min 1089us max 1446us 84.323us rms bmp388: read: 4090 events, 3927519us elapsed, 960.27us avg, min 943us max 1142us 49.723us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 15339 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 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 ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 1746 events, 1747069us elapsed, 1000.61us avg, min 983us max 1201us 43.658us rms board_adc: sample: 53124 events, 150554us elapsed, 2.83us avg, min 2us max 953us 17.682us rms manual_control: interval: 8313 events, 21293.39 avg, min 14us max 200562us 24440.713us rms manual_control: cycle: 8313 events, 150964us elapsed, 18.16us avg, min 8us max 856us 48.126us rms rc_update: valid data interval: 16612 events, 10661.34 avg, min 415us max 52187us 3503.624us rms rc_update: cycle interval: 16612 events, 10661.34 avg, min 415us max 52171us 3503.346us rms rc_update: cycle: 16612 events, 321566us elapsed, 19.36us avg, min 11us max 1083us 54.997us rms load_mon: cycle: 354 events, 41763us elapsed, 117.97us avg, min 72us max 941us 174.780us 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: 21 events, 245us elapsed, 11.67us avg, min 64us max 91us 30.882us rms param: get: 16600 events param: find: 26846 events param: export: 1 events, 12623us elapsed, 12623.00us avg, min 12623us max 12623us infus rms