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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Flight with fixed props after securing all internal wiring to try to mitigate vibration
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 06-11-2024 15:47 |
| Logging Duration: | 0:00:37 |
| Dropouts: | 2 (2.00 s) |
| Vehicle Life Flight Time: | 1 hours 42 minutes 52 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
| Distance: | 17.0 m |
| Max Altitude Difference: | 2 m |
| Average Speed: | 1.7 km/h |
| Max Speed: | 8.1 km/h |
| Max Speed Horizontal: | 8.1 km/h |
| Max Speed Up: | 4.8 km/h |
| Max Speed Down: | 3.0 km/h |
| Max Tilt Angle: | 15.6 deg |
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Console Output
meter 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 Benewake TFmini Rangefinder on /dev/ttyS2 Conflicting config for /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 [timesync] RTT too high for timesync: 8962 ms WARN [timesync] RTT too high for timesync: 11960 ms WARN [timesync] RTT too high for timesync: 14960 ms WARN [timesync] RTT too high for timesync: 17961 ms WARN [timesync] RTT too high for timesync: 20961 ms WARN [timesync] RTT too high for timesync: 23960 ms WARN [timesync] RTT too high for timesync: 26960 ms WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [timesync] RTT too high for timesync: 29960 ms WARN [timesync] RTT too high for timesync: 32961 ms WARN [timesync] RTT too high for timesync: 35960 ms WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [timesync] RTT too high for timesync: 38960 ms WARN [timesync] RTT too high for timesync: 41960 ms 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: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable 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: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [timesync] RTT too high for timesync: 73960 ms WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error 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 Drift too high WARN [timesync] RTT too high for timesync: 163959 ms WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Drift too high WARN [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high WARN [health_and_arming_checks] Preflight Fail: height estimate not stable INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-11-06/15_47_22.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-11-06/15_47_22.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 112660 40.704 184/ 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 0.000 636/ 1232 255 (255) w:sem 2 1061 log_writer_file 8 0.799 612/ 1144 90 ( 60) w:sem 4 254 wq:hp_default 10 1.045 1144/ 1872 237 (237) w:sem 2 269 dataman 0 0.011 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.042 1028/ 1896 205 (205) w:sem 2 330 wq:SPI4 75 7.530 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 78 7.851 2308/ 3120 255 (255) w:sem 2 343 wq:SPI1 69 6.901 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.126 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 33 3.366 1372/ 2216 242 (242) w:sem 2 614 wq:INS0 35 3.554 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 36 3.633 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 38 3.878 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.663 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 6 0.670 1916/ 2768 100 (100) READY 4 659 mavlink_rcv_if0 2 0.200 1412/ 4616 175 (175) w:sem 4 698 wq:ttyS2 2 0.231 884/ 1704 232 (232) w:sem 2 815 mavlink_if1 12 1.281 1948/ 2704 100 (100) READY 4 816 mavlink_rcv_if1 4 0.444 1716/ 4616 175 (175) READY 4 844 mavlink_if2 53 5.300 1948/ 2704 100 (100) READY 4 849 mavlink_rcv_if2 2 0.215 1500/ 4616 175 (175) w:sem 4 886 mavlink_if3 25 2.501 1948/ 2704 100 (100) READY 4 888 mavlink_rcv_if3 3 0.300 1420/ 4616 175 (175) w:sem 4 924 navigator 0 0.072 1212/ 1896 105 (105) w:sem 6 1049 logger 54 5.427 2924/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.757 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 7 running, 22 sleeping CPU usage: 57.80% tasks, 1.49% sched, 40.70% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 233.006s total, 112.661s 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 ekf2: distance_sensor messages missed: 1 events ekf2: distance_sensor messages missed: 0 events ekf2: distance_sensor messages missed: 0 events uavcan: cycle interval: 109857 events, 2108.49 avg, min 17us max 23201us 1147.815us rms uavcan: cycle time: 109857 events, 5619179us elapsed, 51.15us avg, min 11us max 23083us 126.467us 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: 1 events, 170374us elapsed, 170374.00us avg, min 170374us max 170374us nanus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 11569 events, 19996.56 avg, min 60us max 23392us 212.149us rms navigator: 4867 events, 248116us elapsed, 50.98us avg, min 10us max 117793us 1689.211us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46300 events, 5003.83 avg, min 4132us max 39977us 249.753us rms mavlink: tx run elapsed: 46300 events, 7615311us elapsed, 164.48us avg, min 81us max 2036us 69.317us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 76337 events, 3035.15 avg, min 2135us max 36298us 337.798us rms mavlink: tx run elapsed: 76337 events, 17779233us elapsed, 232.90us avg, min 91us max 2093us 129.080us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 23163 events, 10003.14 avg, min 9124us max 39131us 258.498us rms mavlink: tx run elapsed: 23163 events, 3610267us elapsed, 155.86us avg, min 81us max 1226us 57.981us rms tfmini: read: 35433 events, 440557us elapsed, 12.43us avg, min 2us max 1553us 37.252us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 46325 events, 5003.22 avg, min 4071us max 39992us 265.393us rms mavlink: tx run elapsed: 46325 events, 1741553us elapsed, 37.59us avg, min 21us max 1468us 31.046us rms mag_bias_estimator: cycle: 11574 events, 230134us elapsed, 19.88us avg, min 1us max 268us 13.598us rms land_detector: cycle: 23180 events, 389724us elapsed, 16.81us avg, min 11us max 212us 13.379us rms mc_pos_control: cycle time: 23181 events, 819375us elapsed, 35.35us avg, min 25us max 370us 15.566us rms flight_mode_manager: cycle: 11591 events, 2011644us elapsed, 173.55us avg, min 31us max 1086us 270.116us rms mc_hover_thrust_estimator: cycle time: 23180 events, 31961us elapsed, 1.38us avg, min 1us max 52us 2.525us 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: 46204 events, 550992us elapsed, 11.93us avg, min 8us max 184us 7.006us rms mc_rate_control: cycle: 184385 events, 1759269us elapsed, 9.54us avg, min 8us max 93us 1.212us rms control_allocator: cycle: 184386 events, 4437556us elapsed, 24.07us avg, min 20us max 166us 3.440us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 23181 events, 3569937us elapsed, 154.00us avg, min 85us max 1290us 67.195us rms ekf2: ECL update: 23182 events, 10134us elapsed, 0.43us avg, min 0us max 58us 1.299us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 23182 events, 3261710us elapsed, 140.70us avg, min 85us max 627us 55.988us rms ekf2: ECL update: 23182 events, 9648us elapsed, 0.41us avg, min 1us max 60us 0.800us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 2 events ekf2: ECL full update: 23181 events, 3627809us elapsed, 156.50us avg, min 85us max 673us 56.470us rms ekf2: ECL update: 23182 events, 9386us elapsed, 0.40us avg, min 0us max 58us 0.877us rms pwm_out: interval: 184388 events, 1257.26 avg, min 60us max 21098us 607.782us rms pwm_out: cycle: 184387 events, 2671545us elapsed, 14.49us avg, min 11us max 87us 1.746us rms control latency: 184386 events, 76020895us elapsed, 412.29us avg, min 149us max 8875us 471.827us rms commander: preflight check: 2129 events, 946983us elapsed, 444.80us avg, min 230us max 3743us 163.907us rms commander: cycle: 21030 events, 2032841us elapsed, 96.66us avg, min 29us max 4209us 149.702us 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: 18489 events, 651416us elapsed, 35.23us avg, min 5us max 1525us 27.203us rms vehicle_gps_position: cycle: 1150 events, 12465us elapsed, 10.84us avg, min 2us max 134us 12.035us rms vehicle_air_data: cycle: 17308 events, 401153us elapsed, 23.18us avg, min 13us max 338us 10.678us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 184416 events, 2758368us elapsed, 14.96us avg, min 9us max 361us 1.807us rms sensors: 46368 events, 1776138us elapsed, 38.31us avg, min 24us max 4374us 40.794us rms battery_status: 23185 events, 331231us elapsed, 14.29us avg, min 12us max 192us 4.378us rms ms5611: com_err: 0 events ms5611: measure: 23110 events, 96561us elapsed, 4.18us avg, min 3us max 125us 2.334us rms ms5611: read: 23109 events, 336050us elapsed, 14.54us avg, min 10us max 147us 4.582us 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: 23088 events, 121706us elapsed, 5.27us avg, min 4us max 165us 7.676us rms ms5611: read: 23087 events, 447015us elapsed, 19.36us avg, min 12us max 194us 12.401us rms board_adc: sample: 162379 events, 1766404us elapsed, 10.88us avg, min 7us max 14773us 37.415us rms manual_control: interval: 1986 events, 116795.74 avg, min 5529us max 201042us 67037.227us rms manual_control: cycle: 1986 events, 29307us elapsed, 14.76us avg, min 7us max 842us 34.233us rms rc_update: valid data interval: 8759 events, 21411.23 avg, min 12174us max 34666us 1893.403us rms rc_update: cycle interval: 8765 events, 21411.07 avg, min 12176us max 34666us 1892.669us rms rc_update: cycle: 8765 events, 136124us elapsed, 15.53us avg, min 10us max 411us 7.406us rms control latency: 92418 events, 37840187us elapsed, 409.45us avg, min 381us max 1707us 69.330us rms px4io: interface write: 92440 events, 21475389us elapsed, 232.32us avg, min 119us max 333us 5.639us rms px4io: interface read: 60288 events, 15829036us elapsed, 262.56us avg, min 135us max 632us 148.972us rms px4io: interval: 92427 events, 2510.04 avg, min 307us max 50109us 395.323us rms px4io: cycle: 92427 events, 39087011us elapsed, 422.90us avg, min 106us max 8701us 584.190us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 152728 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 152728 events, 36657766us elapsed, 240.02us avg, min 115us max 629us 94.721us rms load_mon: cycle: 465 events, 90151us elapsed, 193.87us avg, min 1us max 390us 66.760us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 201 events, 203542us elapsed, 1012.65us avg, min 18us max 78956us 6617.479us rms dma_alloc: 20 events param: set: 160 events, 3355us elapsed, 20.97us avg, min 1us max 40us 10.668us rms param: get: 292538 events param: find: 72557 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms