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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-pull12145-m01-php-2-02
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V4PRO |
| Software Version: | e71aa5bd |
| OS Version: | NuttX, v7.29.0 |
| Estimator: | EKF2 |
| Logging Start : | 15-08-2019 17:25 |
| Logging Duration: | 0:03:34 |
| Vehicle Life Flight Time: | 3 hours 22 minutes 55 seconds |
| Vehicle UUID: | 0001000000003032363531365108002d001c (F450-PixhawkPro) |
| Wind Speed: | Breeze |
| Flight Rating: | Good |
| Feedback: | pr test on acro mode |
| Distance: | 1.34 km |
| Max Altitude Difference: | 21 m |
| Average Speed: | 22.6 km/h |
| Max Speed: | 73.1 km/h |
| Max Speed Horizontal: | 73.1 km/h |
| Max Speed Up: | 28.9 km/h |
| Max Speed Down: | 33.0 km/h |
| Max Tilt Angle: | 178.3 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 209812 36.789 288/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 333 0.099 968/ 1516 50 ( 50) w:sig 8 3 init 1540 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 2 0.000 824/ 1172 244 (244) w:sem 6 151 wq:att_pos_ctrl 2909 0.598 832/ 6996 244 (244) w:sem 6 16 dataman 554 0.000 752/ 1180 90 ( 90) w:sem 4 19 wq:lp_default 72 0.000 732/ 1700 205 (205) w:sem 6 21 wq:I2C2 1767 0.398 756/ 1244 247 (247) w:sem 6 22 wq:I2C1 765 0.000 636/ 1244 248 (248) w:sem 6 26 wq:hp_default 819 0.199 768/ 1500 243 (243) w:sem 6 118 wq:SPI1 103599 22.233 904/ 1396 254 (254) w:sem 6 148 sensors 18896 3.589 1400/ 1964 238 (238) w:sem 12 153 commander 4058 0.897 2048/ 3212 140 (140) READY 6 155 wq:rate_ctrl 33366 6.380 1176/ 1596 255 (255) w:sem 6 156 commander_low_prio 10 0.000 560/ 2996 50 ( 50) w:sem 6 205 gps 1043 0.199 1160/ 1516 209 (209) w:sem 4 244 mavlink_if0 7034 1.395 1784/ 2484 100 (100) READY 4 245 mavlink_rcv_if0 2247 0.398 2600/ 3876 175 (175) w:sem 4 265 px4io 17563 3.988 900/ 1484 241 (241) w:sem 4 271 fmu 1998 0.598 944/ 1324 241 (241) w:sem 7 391 ekf2 42777 9.272 4536/ 6572 239 (239) w:sem 4 395 mc_pos_control 1044 0.299 944/ 1860 239 (239) w:sem 4 402 navigator 646 0.199 1024/ 1764 105 (105) w:sem 4 425 logger 2050 3.190 3168/ 3644 234 (234) RUN 4 427 log_writer_file 61 0.000 600/ 1164 60 ( 60) w:sem 4 Processes: 26 total, 4 running, 22 sleeping, max FDs: 20 CPU usage: 53.94% tasks, 9.27% sched, 36.79% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 469.148s total, 209.813s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 287948 37.000 288/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 496 2.400 968/ 1516 50 ( 50) w:sig 8 3 init 1540 0.000 2008/ 2604 100 (100) w:sem 3 4 wq:manager 2 0.000 824/ 1172 244 (244) w:sem 6 151 wq:att_pos_ctrl 4240 0.600 832/ 6996 244 (244) w:sem 6 16 dataman 591 0.000 752/ 1180 90 ( 90) w:sem 4 19 wq:lp_default 105 0.000 732/ 1700 205 (205) w:sem 6 21 wq:I2C2 2577 0.400 756/ 1244 247 (247) w:sem 6 22 wq:I2C1 807 0.100 636/ 1244 248 (248) w:sem 6 26 wq:hp_default 1219 0.100 768/ 1500 243 (243) w:sem 6 118 wq:SPI1 150903 22.300 904/ 1396 254 (254) w:sem 6 148 sensors 26615 4.200 1400/ 1964 238 (238) w:sem 12 153 commander 5952 0.800 2048/ 3212 140 (140) w:sig 6 155 wq:rate_ctrl 48854 7.700 1176/ 1596 255 (255) w:sem 6 156 commander_low_prio 14 0.000 560/ 2996 50 ( 50) w:sem 6 205 gps 1511 0.200 1160/ 1516 209 (209) w:sem 4 244 mavlink_if0 10037 1.400 1784/ 2484 100 (100) w:sig 4 245 mavlink_rcv_if0 3109 0.400 2600/ 3876 175 (175) w:sem 4 265 px4io 26041 4.099 900/ 1484 241 (241) w:sem 4 271 fmu 3178 0.600 944/ 1324 241 (241) w:sem 7 391 ekf2 69508 9.200 4536/ 6572 239 (239) w:sem 4 395 mc_pos_control 1827 0.200 1240/ 1860 239 (239) w:sem 8 402 navigator 921 0.200 1024/ 1764 105 (105) w:sem 4 425 logger 6863 2.300 3168/ 3644 234 (234) RUN 4 427 log_writer_file 6217 2.500 616/ 1164 60 ( 60) w:sem 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 20 CPU usage: 59.70% tasks, 3.30% sched, 37.00% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 682.161s total, 287.949s idle
Performance Counters
Pre Flight:
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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 8182 events, 953257us elapsed, 116.51us avg, min 11us max 109781us 1221.007us rms land_detector_cycle: 23157 events, 467707us elapsed, 20.20us avg, min 17us max 1318us 18.317us rms mc_att_control: 464014 events, 18539929us elapsed, 39.96us avg, min 27us max 872us 17.500us rms EKF2 update: 114400 events, 40178061us elapsed, 351.21us avg, min 2us max 2615us 390.789us rms EKF2 data acquisition: 114400 events, 13634611us elapsed, 119.18us avg, min 34us max 3218us 87.686us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 184333 events, 35168642us elapsed, 190.79us avg, min 98us max 1516us 168.053us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 184342 events, 98541699us elapsed, 534.56us avg, min 256us max 20592us 539.759us rms io_txns: 272134 events, 91180505us elapsed, 335.06us avg, min 131us max 9687us 104.950us rms mavlink_int: 45501 events, 10183.64 avg, min 9109us max 28940us 581.293us rms mavlink_el: 45501 events, 9623515us elapsed, 211.50us avg, min 92us max 3987us 243.529us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: sensor latency: 464949 events, 10300156us elapsed, 22.15us avg, min 21us max 116us 0.952us rms vehicle_angular_velocity: interval: 464952 events, 998.15 avg, min 166us max 3999us 349.832us rms vehicle_angular_velocity: cycle time: 464953 events, 8064933us elapsed, 17.35us avg, min 6us max 183us 1.938us rms vehicle_acceleration: sensor latency: 114635 events, 21601173us elapsed, 188.43us avg, min 135us max 1842us 14.824us rms vehicle_acceleration: interval: 114638 events, 4048.31 avg, min 132us max 5647us 193.002us rms vehicle_acceleration: cycle time: 114638 events, 1634807us elapsed, 14.26us avg, min 4us max 350us 3.937us rms sensors: 114627 events, 96413842us elapsed, 841.11us avg, min 117us max 9476us 518.562us rms adc_samples: 278460 events, 780642us elapsed, 2.80us avg, min 2us max 3us 0.397us rms ms5611_com_err: 0 events ms5611_measure: 46154 events, 282946us elapsed, 6.13us avg, min 5us max 53us 0.869us rms ms5611_read: 46153 events, 643742us elapsed, 13.95us avg, min 10us max 112us 2.355us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 21720 events, 20499007us elapsed, 943.78us avg, min 866us max 2078us 170.027us rms lis3mdl_read: 36972 events, 1305580us elapsed, 35.31us avg, min 34us max 136us 2.316us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events mpu9250_dupe: 117327 events mpu9250_good_trans: 464457 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 581784 events, 39573966us elapsed, 68.02us avg, min 40us max 373us 13.787us rms mpu9250_mag_duplicates: 413469 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 6409 events mpu6k_duplicates: 115516 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 581911 events, 800.00 avg, min 571us max 1003us 10.265us rms mpu6k_read: 581893 events, 80850646us elapsed, 138.94us avg, min 44us max 928us 49.418us rms stack_check: 2264 events, 34983us elapsed, 15.45us avg, min 1us max 779us 43.085us rms dma_alloc: 4 events param_set: 122 events, 6176us elapsed, 50.62us avg, min 5us max 95us 26.116us rms param_get: 4332 events, 39943us elapsed, 9.22us avg, min 4us max 1491us 44.639us rms param_find: 1388 events, 14135us elapsed, 10.18us avg, min 2us max 1031us 33.553us rms param_export: 1 events, 53624us elapsed, 53624.00us avg, min 53624us max 53624us nanus rms
Post Flight:
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: 544 events, 2434955us elapsed, 4476.02us avg, min 7us max 40125us 3964.446us rms logger_sd_write: 1833 events, 23397138us elapsed, 12764.40us avg, min 2479us max 843147us 22698.063us rms navigator: 3873 events, 1734217us elapsed, 447.77us avg, min 13us max 625354us 11071.134us rms land_detector_cycle: 10702 events, 237230us elapsed, 22.17us avg, min 17us max 86us 27.184us rms mc_att_control: 214595 events, 8738072us elapsed, 40.72us avg, min 27us max 152us 32.929us rms EKF2 update: 52886 events, 29535711us elapsed, 558.48us avg, min 17us max 3609us 973.847us rms EKF2 data acquisition: 52886 events, 6191010us elapsed, 117.06us avg, min 45us max 843us 153.058us rms fmu control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 85179 events, 16124213us elapsed, 189.30us avg, min 98us max 1693us 296.927us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 85179 events, 49025151us elapsed, 575.55us avg, min 259us max 2476us 957.712us rms io_txns: 135261 events, 45435076us elapsed, 335.91us avg, min 132us max 906us 180.533us rms mavlink_int: 20838 events, 10269.34 avg, min 9108us max 16478us 751.442us rms mavlink_el: 20838 events, 4281325us elapsed, 205.46us avg, min 93us max 5631us 442.415us rms mavlink_int: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink_el: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_angular_velocity: sensor latency: 214599 events, 4756084us elapsed, 22.16us avg, min 21us max 44us 1.699us rms vehicle_angular_velocity: interval: 214599 events, 997.34 avg, min 707us max 1696us 349.081us rms vehicle_angular_velocity: cycle time: 214599 events, 3711643us elapsed, 17.30us avg, min 16us max 40us 3.273us rms vehicle_acceleration: sensor latency: 52887 events, 9995021us elapsed, 188.99us avg, min 173us max 322us 25.047us rms vehicle_acceleration: interval: 52887 events, 4046.82 avg, min 3850us max 4911us 188.862us rms vehicle_acceleration: cycle time: 52887 events, 748700us elapsed, 14.16us avg, min 12us max 125us 6.497us rms sensors: 52887 events, 55339751us elapsed, 1046.38us avg, min 155us max 4786us 1181.168us rms adc_samples: 128418 events, 358185us elapsed, 2.79us avg, min 2us max 3us 0.712us rms ms5611_com_err: 0 events ms5611_measure: 21280 events, 130967us elapsed, 6.15us avg, min 5us max 47us 1.670us rms ms5611_read: 21280 events, 297516us elapsed, 13.98us avg, min 10us max 59us 4.215us rms hmc5883_conf_err: 0 events hmc5883_rng_err: 0 events hmc5883_com_err: 0 events hmc5883_read: 9983 events, 9435361us elapsed, 945.14us avg, min 866us max 1960us 302.461us rms lis3mdl_read: 16998 events, 600625us elapsed, 35.34us avg, min 34us max 79us 4.164us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events mpu9250_dupe: 53581 events mpu9250_good_trans: 213960 events mpu9250_bad_reg: 0 events mpu9250_bad_trans: 0 events mpu9250_read: 267541 events, 18149832us elapsed, 67.84us avg, min 40us max 122us 24.525us rms mpu9250_mag_duplicates: 190454 events mpu9250_mag_overflows: 0 events mpu9250_mag_overruns: 2930 events mpu6k_duplicates: 52939 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_measure_interval: 267543 events, 800.00 avg, min 712us max 891us 10.752us rms mpu6k_read: 267543 events, 37448789us elapsed, 139.97us avg, min 43us max 267us 88.656us rms stack_check: 1091 events, 16744us elapsed, 15.35us avg, min 1us max 1170us 84.535us rms dma_alloc: 0 events param_set: 6 events, 35us elapsed, 5.83us avg, min 3us max 16us 128.570us rms param_get: 44 events, 459us elapsed, 10.43us avg, min 5us max 235us 449.335us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 61739us elapsed, 61739.00us avg, min 61739us max 61739us nanus rms