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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
f7415c3_2_external_mags_OK
| Airframe: | S500 Generic Quadrotor x (4014) |
| Hardware: | PX4_FMU_V5 (V500) |
| Software Version: | v1.11.0 (RC) (f7415c33) branch: master |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | 29-07-2020 18:43 |
| Logging Duration: | 0:02:03 |
| Vehicle Life Flight Time: | 1 hours 20 minutes 54 seconds |
| Vehicle UUID: | 000200000000353338373138511800280040 |
| Feedback: | Issue: https://github.com/PX4/Firmware/issues/15312 |
| Max Altitude Difference: | 8 m |
| Max Tilt Angle: | 174.1 deg |
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V500 HW version: 0x00000000 HW revision: 0x00000000 FW git-hash: f7415c33540650d79b3d79f824853aa60ccdbae4 FW version: 1.11.0 c0 (17498304) FW git-branch: master OS: NuttX OS version: Release 8.2.0 (134349055) OS git-hash: dc10293feb724d50f6a0a64a068b47cb8cdae631 Build datetime: Jul 29 2020 09:50:15 Build uri: localhost Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204] PX4GUID: 000200000000353338373138511800280040 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [tune_control] Publishing standard tune 1 Board defaults: /etc/init.d/rc.board_defaults rgbled_ncp5623c #0 on I2C bus 4 (external, equal to '-b 1') Board sensors: /etc/init.d/rc.board_sensors icm20689 #0 on SPI bus 1 (devid=0x3c) bmi055 #0 on SPI bus 1 (devid=0x41) bmi055 #1 on SPI bus 1 (devid=0x42) ist8310 #0 on I2C bus 3 ms5611 #0 on SPI bus 4 (devid=0x3d) ist8310 #1 on I2C bus 4 (external, equal to '-b 1') rm3100 #0 on I2C bus 1 (external, equal to '-b 3') Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B INFO [px4io] default PWM output device INFO [init] Mixer: /etc/mixers/quad_x.main.mix on /dev/pwm_output0 INFO [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1 INFO [logger] logger started (mode=all) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2020-07-29/18_33_19.ulg INFO [logger] Opened full log file: /fs/microsd/log/2020-07-29/18_33_19.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 930 52.147 236/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 0 0.000 344/ 1612 50 ( 50) w:sig 3 3 init 927 0.399 2168/ 2924 100 (100) w:sem 3 4 wq:manager 1 0.000 416/ 1252 255 (255) w:sem 3 474 log_writer_file 69 0.000 568/ 1164 60 ( 60) w:sem 4 16 wq:lp_default 1 0.000 952/ 1700 205 (205) w:sem 3 18 wq:hp_default 18 1.098 1160/ 1900 240 (240) w:sem 3 20 dataman 59 0.000 760/ 1204 90 ( 90) w:sem 4 28 wq:I2C4 23 0.699 864/ 1468 243 (243) w:sem 3 134 wq:SPI1 205 12.987 1520/ 2332 253 (253) w:sem 3 138 wq:I2C3 10 0.599 860/ 1468 244 (244) w:sem 3 140 wq:SPI4 5 0.299 864/ 2332 250 (250) w:sem 3 185 wq:I2C1 17 1.198 860/ 1468 246 (246) w:sem 3 187 wq:nav_and_controllers 101 6.993 2004/ 7196 241 (241) w:sem 3 188 wq:rate_ctrl 52 4.095 1104/ 1660 255 (255) w:sem 3 199 commander 22 0.999 1256/ 3212 140 (140) w:sig 6 200 commander_low_prio 0 0.000 692/ 2996 50 ( 50) w:sem 6 209 mavlink_if0 1 0.000 1328/ 2572 100 (100) w:sig 3 246 gps 3 0.000 920/ 1676 205 (205) w:sem 4 288 mavlink_if1 12 1.098 1784/ 2484 100 (100) w:sig 4 289 mavlink_rcv_if1 11 0.000 2520/ 4068 175 (175) w:sem 4 302 px4io 41 3.196 1056/ 1484 237 (237) w:sem 4 431 wq:attitude_ctrl 0 0.000 432/ 1636 242 (242) w:sem 3 437 navigator 2 0.000 1016/ 1764 105 (105) w:sem 5 471 logger 63 3.096 2696/ 3644 230 (230) RUN 4 Processes: 26 total, 2 running, 24 sleeping, max FDs: 15 CPU usage: 36.76% tasks, 11.09% sched, 52.15% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 2.755s total, 0.930s 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms land_detector_cycle: 4 events, 335us elapsed, 83.75us avg, min 12us max 298us 142.834us rms mc_pos_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_hover_thrust_estimator: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_rate_control: cycle: 72 events, 1821us elapsed, 25.29us avg, min 14us max 516us 58.763us rms ekf2: update: 18 events, 85us elapsed, 4.72us avg, min 1us max 7us 1.638us rms pwm_out: interval: 4 events, 6027.50 avg, min 294us max 22880us 10499.094us rms pwm_out: cycle: 4 events, 742us elapsed, 185.50us avg, min 6us max 518us 241.722us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io control latency: 36 events, 14843us elapsed, 412.31us avg, min 300us max 1150us 209.286us rms io write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms io update: 41 events, 55298us elapsed, 1348.73us avg, min 254us max 19523us 3185.328us rms io_txns: 264 events, 63841us elapsed, 241.82us avg, min 123us max 1979us 174.258us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: send_start tx buffer full: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 417 events, 998.41 avg, min 710us max 1305us 100.950us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 415 events, 1002.29 avg, min 750us max 1260us 93.586us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 337 events, 1245.29 avg, min 1081us max 1418us 26.505us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 337 events, 1245.29 avg, min 1081us max 1418us 26.505us rms vehicle_air_data: cycle: 25 events, 710us elapsed, 28.40us avg, min 15us max 188us 35.215us rms battery_status: 43 events, 1879us elapsed, 43.70us avg, min 20us max 739us 110.090us rms sensors: 74 events, 6415us elapsed, 86.69us avg, min 42us max 772us 88.210us rms rm3100: read: 36 events, 41636us elapsed, 1156.56us avg, min 1115us max 1257us 44.538us rms rm3100: range_errors: 0 events rm3100: conf_errors: 0 events rm3100: comms_errors: 0 events ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 50 events, 44060us elapsed, 881.20us avg, min 843us max 994us 42.186us rms ms5611: com_err: 0 events ms5611: measure: 64 events, 286us elapsed, 4.47us avg, min 3us max 9us 1.168us rms ms5611: read: 63 events, 941us elapsed, 14.94us avg, min 8us max 91us 11.717us rms ist8310: conf_err: 0 events ist8310: rng_err: 0 events ist8310: com_err: 0 events ist8310: read: 58 events, 50469us elapsed, 870.16us avg, min 838us max 1511us 89.976us rms bmi055_gyro: DRDY interval: 628 events, 999.76 avg, min 710us max 1305us 89.583us rms bmi055_gyro: FIFO reset: 1 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY interval: 603 events, 1003.06 avg, min 750us max 1260us 81.827us rms bmi055_accel: FIFO reset: 1 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY interval: 417 events, 1246.01 avg, min 1081us max 1418us 25.344us rms icm20689: FIFO reset: 1 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events adc: sample: 792 events, 2655us elapsed, 3.35us avg, min 2us max 81us 6.209us rms rc_update: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 2 events, 405us elapsed, 202.50us avg, min 3us max 402us 282.136us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 4 events, 41171us elapsed, 10292.75us avg, min 60us max 37716us 18345.119us rms dma_alloc: 4 events param_set: 154 events, 5998us elapsed, 38.95us avg, min 3us max 76us 19.882us rms param_get: 3108 events, 14320us elapsed, 4.61us avg, min 2us max 359us 16.017us rms param_find: 1374 events, 7557us elapsed, 5.50us avg, min 1us max 198us 10.008us rms param_export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms