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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
PX4 CubeOrange_herelinkv1.0 test withmpc_xy_vel_d_accel=0.1
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGE |
| Software Version: | v1.15.0 (30e763b6) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 31-10-2024 02:41 |
| Logging Duration: | 0:06:13 |
| Dropouts: | 26 (15 s) |
| Vehicle Life Flight Time: | 1 days 4 hours 17 minutes 42 seconds |
| Vehicle UUID: | 000600000000383638393239510c0028001f |
| Distance: | 47.6 m |
| Max Altitude Difference: | 7 m |
| Average Speed: | 1.3 km/h |
| Max Speed: | 4.3 km/h |
| Max Speed Horizontal: | 4.3 km/h |
| Max Speed Up: | 2.2 km/h |
| Max Speed Down: | 1.2 km/h |
| Max Tilt Angle: | 23.7 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGE PX4 git-hash: 30e763b6780061d70a14894e3e8b06e6a656f9b8 PX4 version: Release 1.15.0 (17760511) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Sep 23 2024 14:16:34 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000383638393239510c0028001f 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 4590 bytes, decoded 4590 bytes (INT32:73, FLOAT:141) 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 68528 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm20602 #0 on SPI bus 4 rotation 12 icm20948 #0 on SPI bus 4 rotation 10 ms5611 #1 on SPI bus 1 icm20649 #0 on SPI bus 1 hmc5883 #0 on I2C bus 1 address 0x1E WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3670050 ekf2 [629:237] 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/ttyS5 Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [gps] u-blox firmware version: SPG 3.01 INFO [gps] u-blox protocol version: 18.00 WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [timesync] RTT too high for timesync: 127429 ms WARN [health_and_arming_checks] Preflight: not enough GPS Satellites INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-10-31/07_59_26.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-31/07_59_26.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 77213 36.100 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 588/ 1232 255 (255) w:sem 1 5 wq:lp_default 0 0.043 1452/ 1896 205 (205) w:sem 1 327 wq:hp_default 6 0.626 1112/ 2776 237 (237) w:sem 1 351 dataman 0 0.001 836/ 1376 90 ( 90) w:sem 5 424 wq:SPI1 42 4.221 1644/ 2368 253 (253) w:sem 1 411 wq:SPI4 79 7.908 1608/ 2368 250 (250) w:sem 1 412 wq:rate_ctrl 63 6.293 2308/ 3120 255 (255) w:sem 1 541 wq:I2C1 5 0.553 1028/ 2312 246 (246) w:sem 1 617 wq:nav_and_controllers 33 3.305 1292/ 2216 242 (242) w:sem 1 618 wq:INS0 96 9.629 3660/ 5976 241 (241) w:sem 1 622 wq:INS1 94 9.427 3660/ 5976 240 (240) w:sem 1 623 wq:INS2 97 9.758 3660/ 5976 239 (239) w:sem 1 625 commander 6 0.650 1524/ 3192 140 (140) w:sig 5 877 mavlink_rcv_if1 3 0.317 1560/ 4776 175 (175) w:sem 5 662 mavlink_if0 6 0.689 1812/ 2768 100 (100) READY 5 663 mavlink_rcv_if0 2 0.214 1324/ 4776 175 (175) READY 5 779 gps 1 0.109 1220/ 1896 205 (205) w:sem 4 780 gps 1 0.106 1188/ 1896 205 (205) w:sem 4 870 mavlink_if1 12 1.231 1932/ 2704 100 (100) READY 5 1044 log_writer_file 10 1.073 612/ 1144 60 ( 60) w:sem 4 944 navigator 0 0.075 1516/ 2104 105 (105) w:sem 11 1022 logger 63 6.344 3068/ 3616 230 (230) RUN 4 Processes: 25 total, 5 running, 20 sleeping CPU usage: 62.58% tasks, 1.32% sched, 36.10% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 163.331s total, 77.214s idle
Performance Counters
Pre Flight:
mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 270us elapsed, 270.00us avg, min 270us max 270us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 31us elapsed, 31.00us avg, min 31us max 31us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 33us elapsed, 33.00us avg, min 33us max 33us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 33us elapsed, 33.00us avg, min 33us max 33us nanus 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: 1 events, 160781us elapsed, 160781.00us avg, min 160781us max 160781us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 8086 events, 20017.32 avg, min 115us max 215571us 2315.784us rms DatamanClient: sync: 1 events, 40385us elapsed, 40385.00us avg, min 40385us max 40385us nanus rms navigator: 3346 events, 101569us elapsed, 30.36us avg, min 15us max 2451us 87.112us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15623 events, 10379.78 avg, min 9126us max 149677us 1342.754us rms mavlink: tx run elapsed: 15623 events, 3365045us elapsed, 215.39us avg, min 91us max 4643us 240.749us rms DatamanClient: sync: 3 events, 4666us elapsed, 1555.33us avg, min 33us max 2322us 1318.391us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 31176 events, 5204.18 avg, min 4031us max 145570us 1097.645us rms mavlink: tx run elapsed: 31176 events, 1431726us elapsed, 45.92us avg, min 24us max 5434us 93.118us rms DatamanClient: sync: 4 events, 2941us elapsed, 735.25us avg, min 38us max 2453us 1153.754us rms mag_bias_estimator: cycle: 8091 events, 302440us elapsed, 37.38us avg, min 1us max 3264us 125.056us rms land_detector: cycle: 15510 events, 252260us elapsed, 16.26us avg, min 10us max 283us 15.550us rms mc_pos_control: cycle time: 15503 events, 410027us elapsed, 26.45us avg, min 1us max 308us 23.843us rms flight_mode_manager: cycle: 8075 events, 145087us elapsed, 17.97us avg, min 3us max 578us 19.494us rms mc_hover_thrust_estimator: cycle time: 9285 events, 14841us elapsed, 1.60us avg, min 1us max 159us 6.062us 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: 25291 events, 412999us elapsed, 16.33us avg, min 9us max 376us 11.840us rms mc_rate_control: cycle: 123782 events, 1322575us elapsed, 10.68us avg, min 8us max 95us 1.127us rms control_allocator: cycle: 123782 events, 2967866us elapsed, 23.98us avg, min 20us max 159us 3.034us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15498 events, 7232027us elapsed, 466.64us avg, min 100us max 4293us 366.475us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15324 events, 6464694us elapsed, 421.87us avg, min 100us max 2107us 235.596us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 16000 events, 5579262us elapsed, 348.70us avg, min 96us max 1016us 138.975us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15498 events, 6892387us elapsed, 444.73us avg, min 99us max 3586us 356.765us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15325 events, 6391634us elapsed, 417.07us avg, min 98us max 2384us 238.271us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 16000 events, 5563103us elapsed, 347.69us avg, min 96us max 1695us 142.055us rms pwm_out: interval: 543 events, 298895.53 avg, min 113us max 303473us 12891.087us rms pwm_out: cycle: 543 events, 3747us elapsed, 6.90us avg, min 3us max 1140us 49.348us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 1540 events, 705910us elapsed, 458.38us avg, min 106us max 4368us 509.889us rms commander: cycle: 14543 events, 1881373us elapsed, 129.37us avg, min 33us max 4438us 299.202us 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: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 20452 events, 681518us elapsed, 33.32us avg, min 16us max 1292us 24.773us rms vehicle_gps_position: cycle: 1520 events, 15856us elapsed, 10.43us avg, min 3us max 177us 14.573us rms vehicle_air_data: cycle: 12048 events, 282226us elapsed, 23.43us avg, min 13us max 364us 15.753us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 123831 events, 1992720us elapsed, 16.09us avg, min 11us max 343us 1.704us rms sensors: 31157 events, 1283795us elapsed, 41.20us avg, min 20us max 3096us 43.315us rms battery_status: 16232 events, 458761us elapsed, 28.26us avg, min 14us max 3152us 119.025us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 20454 events, 19378564us elapsed, 947.42us avg, min 886us max 1912us 151.397us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 1 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: 16105 events, 64480us elapsed, 4.00us avg, min 3us max 27us 0.978us rms ms5611: read: 16104 events, 221972us elapsed, 13.78us avg, min 11us max 115us 2.522us rms icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 1 events icm20948: FIFO reset: 1 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 0 events icm20602: FIFO reset: 1 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: 16072 events, 76134us elapsed, 4.74us avg, min 4us max 127us 5.347us rms ms5611: read: 16071 events, 288640us elapsed, 17.96us avg, min 12us max 143us 10.252us rms board_adc: sample: 113694 events, 485386us elapsed, 4.27us avg, min 2us max 3753us 42.225us rms manual_control: interval: 1172 events, 138565.39 avg, min 215us max 203858us 60044.742us rms manual_control: cycle: 1172 events, 26291us elapsed, 22.43us avg, min 10us max 1934us 85.363us rms rc_update: valid data interval: 7454 events, 21774.88 avg, min 5918us max 39952us 1706.480us rms rc_update: cycle interval: 7458 events, 21779.23 avg, min 5919us max 54111us 1746.201us rms rc_update: cycle: 7458 events, 155755us elapsed, 20.88us avg, min 10us max 4039us 74.825us rms control latency: 64646 events, 37209843us elapsed, 575.59us avg, min 450us max 1531us 128.454us rms px4io: interface write: 64667 events, 15043197us elapsed, 232.63us avg, min 120us max 329us 6.786us rms px4io: interface read: 45083 events, 12249098us elapsed, 271.70us avg, min 135us max 629us 152.491us rms px4io: interval: 64653 events, 2512.65 avg, min 321us max 50085us 571.253us rms px4io: cycle: 64653 events, 28448359us elapsed, 440.02us avg, min 83us max 11148us 625.963us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 109750 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 109750 events, 26828437us elapsed, 244.45us avg, min 117us max 625us 99.631us rms load_mon: cycle: 325 events, 72237us elapsed, 222.27us avg, min 2us max 3292us 408.003us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 8 events, 11900us elapsed, 1487.50us avg, min 8us max 2398us 1142.232us rms dma_alloc: 5 events param: set: 214 events, 5780us elapsed, 27.01us avg, min 6us max 55us 13.375us rms param: get: 37946 events param: find: 55210 events param: export: 1 events, 36935us elapsed, 36935.00us avg, min 36935us max 36935us nanus rms