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PX4 Quadrotor | Open PID Analysis |
Updated drone with IMU_DGYRO_CUTOFF = 12
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:28 |
| Vehicle Life Flight Time: | 31 minutes 7 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
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Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: 1dacb4cdef2d7145754fc788fa8dc482eed74b40 PX4 version: Release 1.14.3 (17695743) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: May 30 2024 03:10:00 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000600000000333838393032510d00350023 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 2893 bytes, decoded 2893 bytes (INT32:74, FLOAT:68) 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 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 Secondary GPS on /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 [health_and_arming_checks] Preflight: GPS Vertical Pos Drift too high INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-08-09/22_11_41.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-08-09/22_11_41.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 17390 44.356 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 540/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 1012 log_writer_file 9 0.928 612/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.015 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.011 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.037 1004/ 1896 205 (205) w:sem 1 330 wq:SPI4 78 7.801 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 75 7.521 2308/ 3120 255 (255) w:sem 1 343 wq:SPI1 62 6.196 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.124 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 32 3.210 1276/ 2216 242 (242) w:sem 1 614 wq:INS0 37 3.711 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.591 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 35 3.580 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.659 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 7 0.700 1756/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 1 0.186 1324/ 4616 175 (175) w:sem 4 796 mavlink_if1 13 1.340 1908/ 2704 100 (100) w:sig 4 797 mavlink_rcv_if1 4 0.427 1532/ 4616 175 (175) READY 4 825 mavlink_if2 53 5.331 1948/ 2712 100 (100) READY 4 826 mavlink_rcv_if2 1 0.175 1308/ 4616 175 (175) w:sem 4 869 mavlink_if3 24 2.479 1908/ 2704 100 (100) w:sig 4 871 mavlink_rcv_if3 3 0.364 1324/ 4616 175 (175) w:sem 4 908 navigator 0 0.081 1056/ 1896 105 (105) w:sem 6 1008 logger 30 3.008 2924/ 3616 230 (230) RUN 4 1039 wq:uavcan 17 1.704 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 4 running, 24 sleeping CPU usage: 54.19% tasks, 1.46% sched, 44.36% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 35.128s total, 17.391s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 30624 39.117 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 71 7.132 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 1012 log_writer_file 6 0.690 612/ 1144 60 ( 60) w:sem 4 254 wq:hp_default 10 1.000 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.010 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 1 0.116 1004/ 1896 205 (205) READY 1 330 wq:SPI4 78 7.807 1848/ 2368 250 (250) w:sem 1 328 wq:rate_ctrl 73 7.386 2308/ 3120 255 (255) w:sem 1 343 wq:SPI1 62 6.233 1848/ 2368 253 (253) w:sem 1 347 wq:I2C4 1 0.128 936/ 2312 243 (243) w:sem 1 607 wq:nav_and_controllers 32 3.272 1276/ 2216 242 (242) w:sem 1 614 wq:INS0 37 3.746 4316/ 5976 241 (241) w:sem 1 617 wq:INS1 35 3.570 4316/ 5976 240 (240) w:sem 1 619 wq:INS2 36 3.596 4316/ 5976 239 (239) w:sem 1 622 commander 6 0.643 1648/ 3192 140 (140) w:sig 5 658 mavlink_if0 7 0.748 1860/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.212 1324/ 4616 175 (175) w:sem 4 796 mavlink_if1 13 1.310 1908/ 2704 100 (100) w:sig 4 797 mavlink_rcv_if1 4 0.420 1532/ 4616 175 (175) READY 4 825 mavlink_if2 55 5.558 1948/ 2712 100 (100) READY 4 826 mavlink_rcv_if2 2 0.217 1324/ 4616 175 (175) w:sem 4 869 mavlink_if3 25 2.563 1908/ 2704 100 (100) READY 4 871 mavlink_rcv_if3 3 0.376 1324/ 4616 175 (175) w:sem 4 908 navigator 0 0.082 1056/ 1896 105 (105) w:sem 6 1008 logger 8 0.884 2924/ 3616 230 (230) RUN 4 1039 wq:uavcan 17 1.748 3140/ 3600 236 (236) w:sem 1 Processes: 28 total, 6 running, 22 sleeping CPU usage: 59.45% tasks, 1.43% sched, 39.12% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 62.729s total, 30.624s 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 uavcan: cycle interval: 15349 events, 2179.83 avg, min 19us max 18785us 1146.885us rms uavcan: cycle time: 15349 events, 861574us elapsed, 56.13us avg, min 11us max 18781us 280.498us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1673 events, 19988.00 avg, min 18086us max 21915us 84.137us rms navigator: 704 events, 27312us elapsed, 38.80us avg, min 10us max 3434us 161.234us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6686 events, 5005.69 avg, min 4214us max 34446us 389.768us rms mavlink: tx run elapsed: 6686 events, 1215437us elapsed, 181.79us avg, min 81us max 1310us 63.382us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10931 events, 3063.27 avg, min 2181us max 32587us 416.309us rms mavlink: tx run elapsed: 10931 events, 2757262us elapsed, 252.24us avg, min 88us max 2347us 254.615us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3346 events, 10008.12 avg, min 9134us max 37089us 485.877us rms mavlink: tx run elapsed: 3346 events, 463419us elapsed, 138.50us avg, min 83us max 1226us 49.773us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6703 events, 5007.27 avg, min 4051us max 34575us 406.784us rms mavlink: tx run elapsed: 6703 events, 217734us elapsed, 32.48us avg, min 22us max 672us 25.429us rms mag_bias_estimator: cycle: 1680 events, 31067us elapsed, 18.49us avg, min 3us max 271us 10.693us rms land_detector: cycle: 3361 events, 54092us elapsed, 16.09us avg, min 10us max 187us 12.208us rms mc_pos_control: cycle time: 3362 events, 112564us elapsed, 33.48us avg, min 25us max 295us 15.137us rms flight_mode_manager: cycle: 1682 events, 266071us elapsed, 158.19us avg, min 15us max 1011us 240.774us rms mc_hover_thrust_estimator: cycle time: 3361 events, 4653us elapsed, 1.38us avg, min 1us max 28us 2.563us 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: 5588 events, 58953us elapsed, 10.55us avg, min 8us max 163us 3.524us rms mc_rate_control: cycle: 26730 events, 251763us elapsed, 9.42us avg, min 8us max 95us 1.227us rms control_allocator: cycle: 26730 events, 627660us elapsed, 23.48us avg, min 20us max 169us 3.026us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3362 events, 740346us elapsed, 220.21us avg, min 84us max 5926us 270.063us rms ekf2: ECL update: 3363 events, 1328us elapsed, 0.39us avg, min 0us max 5us 0.509us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 3363 events, 492786us elapsed, 146.53us avg, min 84us max 588us 60.551us rms ekf2: ECL update: 3363 events, 1316us elapsed, 0.39us avg, min 1us max 2us 0.496us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 3363 events, 526480us elapsed, 156.55us avg, min 84us max 559us 54.264us rms ekf2: ECL update: 3364 events, 1372us elapsed, 0.40us avg, min 0us max 33us 0.749us rms pwm_out: interval: 26732 events, 1258.21 avg, min 59us max 19884us 620.900us rms pwm_out: cycle: 26731 events, 349433us elapsed, 13.07us avg, min 11us max 70us 1.260us rms control latency: 26730 events, 10951282us elapsed, 409.70us avg, min 149us max 8839us 476.733us rms commander: preflight check: 307 events, 137011us elapsed, 446.29us avg, min 297us max 3748us 222.307us rms commander: cycle: 3051 events, 272729us elapsed, 89.39us avg, min 28us max 4210us 158.969us 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: 2633 events, 89354us elapsed, 33.94us avg, min 6us max 1604us 37.683us rms vehicle_gps_position: cycle: 160 events, 1572us elapsed, 9.82us avg, min 2us max 122us 11.002us rms vehicle_air_data: cycle: 2513 events, 56666us elapsed, 22.55us avg, min 13us max 338us 11.752us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 26758 events, 396564us elapsed, 14.82us avg, min 9us max 204us 2.001us rms sensors: 6730 events, 266789us elapsed, 39.64us avg, min 24us max 4367us 99.983us rms battery_status: 3366 events, 47235us elapsed, 14.03us avg, min 12us max 395us 7.299us rms ms5611: com_err: 0 events ms5611: measure: 3361 events, 13621us elapsed, 4.05us avg, min 3us max 39us 1.381us rms ms5611: read: 3360 events, 47969us elapsed, 14.28us avg, min 10us max 131us 4.003us 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: 3361 events, 16771us elapsed, 4.99us avg, min 4us max 116us 5.805us rms ms5611: read: 3360 events, 62270us elapsed, 18.53us avg, min 12us max 117us 8.951us rms board_adc: sample: 23646 events, 269124us elapsed, 11.38us avg, min 7us max 14773us 96.609us rms manual_control: interval: 242 events, 139507.91 avg, min 4280us max 200479us 62015.902us rms manual_control: cycle: 242 events, 3441us elapsed, 14.22us avg, min 7us max 119us 14.595us rms rc_update: valid data interval: 1281 events, 21404.20 avg, min 12912us max 30012us 1896.439us rms rc_update: cycle interval: 1287 events, 21402.44 avg, min 12911us max 30011us 1915.387us rms rc_update: cycle: 1287 events, 20038us elapsed, 15.57us avg, min 10us max 347us 11.535us rms control latency: 13401 events, 5435914us elapsed, 405.63us avg, min 381us max 1656us 64.036us rms px4io: interface write: 13423 events, 3117695us elapsed, 232.27us avg, min 119us max 322us 6.945us rms px4io: interface read: 8918 events, 2326488us elapsed, 260.88us avg, min 135us max 631us 148.831us rms px4io: interval: 13410 events, 2520.96 avg, min 307us max 50109us 654.049us rms px4io: cycle: 13410 events, 5682276us elapsed, 423.73us avg, min 107us max 8670us 596.015us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 22341 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 22341 events, 5352726us elapsed, 239.59us avg, min 116us max 627us 95.077us rms load_mon: cycle: 68 events, 8175us elapsed, 120.22us avg, min 1us max 394us 48.469us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 60 events, 37727us elapsed, 628.78us avg, min 17us max 21548us 2812.562us rms dma_alloc: 20 events param: set: 142 events, 2687us elapsed, 18.92us avg, min 2us max 40us 9.538us rms param: get: 47837 events param: find: 13415 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms
Post 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 uavcan: cycle interval: 13335 events, 2128.11 avg, min 19us max 4591us 1155.596us rms uavcan: cycle time: 13335 events, 729483us elapsed, 54.70us avg, min 11us max 1388us 320.509us 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: 59 events, 520684us elapsed, 8825.15us avg, min 4us max 15074us 3193.734us rms logger_sd_write: 611 events, 9231689us elapsed, 15109.15us avg, min 7us max 30037us 3774.349us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2 events, 5000020.00 avg, min 10000040us max 10000040us 0.000us rms navigator: 595 events, 364917us elapsed, 613.31us avg, min 10us max 16553us 2495.952us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5673 events, 5001.06 avg, min 4248us max 6060us 145.509us rms mavlink: tx run elapsed: 5673 events, 953900us elapsed, 168.15us avg, min 100us max 1289us 100.982us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9400 events, 3018.41 avg, min 2213us max 5054us 225.395us rms mavlink: tx run elapsed: 9400 events, 2139793us elapsed, 227.64us avg, min 111us max 2067us 311.519us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2837 events, 9996.84 avg, min 9368us max 11025us 64.329us rms mavlink: tx run elapsed: 2837 events, 393129us elapsed, 138.57us avg, min 104us max 751us 76.534us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 5674 events, 5000.34 avg, min 4131us max 6250us 186.775us rms mavlink: tx run elapsed: 5674 events, 196495us elapsed, 34.63us avg, min 22us max 430us 42.504us rms mag_bias_estimator: cycle: 29 events, 1889us elapsed, 65.14us avg, min 1us max 98us 87.171us rms land_detector: cycle: 2838 events, 40993us elapsed, 14.44us avg, min 10us max 148us 16.684us rms mc_pos_control: cycle time: 2838 events, 99106us elapsed, 34.92us avg, min 25us max 158us 21.692us rms flight_mode_manager: cycle: 1419 events, 62711us elapsed, 44.19us avg, min 28us max 166us 262.794us rms mc_hover_thrust_estimator: cycle time: 2838 events, 13777us elapsed, 4.85us avg, min 1us max 125us 6.445us 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: 5677 events, 62065us elapsed, 10.93us avg, min 8us max 83us 4.972us rms mc_rate_control: cycle: 22566 events, 230708us elapsed, 10.22us avg, min 8us max 19us 1.775us rms control_allocator: cycle: 22566 events, 523699us elapsed, 23.21us avg, min 20us max 39us 4.386us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2838 events, 596694us elapsed, 210.25us avg, min 101us max 1619us 403.540us rms ekf2: ECL update: 2839 events, 1158us elapsed, 0.40us avg, min 1us max 6us 0.765us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2838 events, 449329us elapsed, 158.33us avg, min 101us max 718us 103.876us rms ekf2: ECL update: 2839 events, 1108us elapsed, 0.39us avg, min 0us max 29us 0.905us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 2838 events, 464356us elapsed, 163.62us avg, min 101us max 528us 90.997us rms ekf2: ECL update: 2839 events, 1173us elapsed, 0.41us avg, min 0us max 23us 1.111us rms pwm_out: interval: 22567 events, 1257.70 avg, min 60us max 9895us 641.974us rms pwm_out: cycle: 22567 events, 314800us elapsed, 13.95us avg, min 11us max 26us 1.877us rms control latency: 22567 events, 9666971us elapsed, 428.37us avg, min 152us max 8814us 723.882us rms commander: preflight check: 258 events, 115737us elapsed, 448.59us avg, min 269us max 1050us 265.294us rms commander: cycle: 2580 events, 226121us elapsed, 87.64us avg, min 30us max 1192us 224.822us 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: 2271 events, 72820us elapsed, 32.07us avg, min 19us max 178us 46.814us rms vehicle_gps_position: cycle: 142 events, 1590us elapsed, 11.20us avg, min 7us max 136us 17.300us rms vehicle_air_data: cycle: 2119 events, 47226us elapsed, 22.29us avg, min 13us max 115us 15.918us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 22567 events, 334244us elapsed, 14.81us avg, min 12us max 42us 2.713us rms sensors: 5677 events, 202351us elapsed, 35.64us avg, min 29us max 201us 108.972us rms battery_status: 2838 events, 38482us elapsed, 13.56us avg, min 12us max 88us 8.326us rms ms5611: com_err: 0 events ms5611: measure: 2829 events, 11595us elapsed, 4.10us avg, min 3us max 43us 2.273us rms ms5611: read: 2829 events, 40595us elapsed, 14.35us avg, min 11us max 114us 5.931us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 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: 2825 events, 14332us elapsed, 5.07us avg, min 4us max 80us 8.554us rms ms5611: read: 2825 events, 53193us elapsed, 18.83us avg, min 12us max 116us 13.777us rms board_adc: sample: 19873 events, 212556us elapsed, 10.70us avg, min 7us max 88us 105.653us rms manual_control: interval: 455 events, 62049.48 avg, min 9967us max 200191us 45111.836us rms manual_control: cycle: 455 events, 6744us elapsed, 14.82us avg, min 10us max 1081us 51.308us rms rc_update: valid data interval: 1322 events, 21452.30 avg, min 13655us max 30090us 1884.475us rms rc_update: cycle interval: 1322 events, 21452.30 avg, min 13655us max 30090us 1884.162us rms rc_update: cycle: 1322 events, 21119us elapsed, 15.98us avg, min 13us max 95us 12.264us rms control latency: 11313 events, 4604309us elapsed, 406.99us avg, min 384us max 1637us 90.672us rms px4io: interface write: 11314 events, 2641679us elapsed, 233.49us avg, min 122us max 337us 11.555us rms px4io: interface read: 7955 events, 2172975us elapsed, 273.16us avg, min 135us max 630us 220.079us rms px4io: interval: 11313 events, 2509.06 avg, min 307us max 8730us 324.562us rms px4io: cycle: 11313 events, 5022610us elapsed, 443.97us avg, min 244us max 8633us 904.323us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 19269 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 19269 events, 4733626us elapsed, 245.66us avg, min 118us max 626us 143.645us rms load_mon: cycle: 56 events, 6427us elapsed, 114.77us avg, min 109us max 179us 54.318us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 148 events, 351212us elapsed, 2373.05us avg, min 18us max 16495us 4866.744us rms dma_alloc: 2 events param: set: 3 events, 76us elapsed, 25.33us avg, min 1us max 72us 89.713us rms param: get: 4911 events param: find: 8682 events param: export: 1 events, 54572us elapsed, 54572.00us avg, min 54572us max 54572us nanus rms