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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | v1.15.0 (beta) (ad6031e9) branch: pr-ark-pi6x-1.15 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:03:30 |
| Vehicle Life Flight Time: | 43 minutes 27 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 391.6 m |
| Max Altitude Difference: | 13 m |
| Average Speed: | 5.9 km/h |
| Max Speed: | 24.7 km/h |
| Max Speed Horizontal: | 24.3 km/h |
| Max Speed Up: | 17.4 km/h |
| Max Speed Down: | 15.5 km/h |
| Max Tilt Angle: | 34.8 deg |
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Console Output
N [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] time sync converged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [mavlink] Starting mavlink shell WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] time sync converged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [timesync] time jump detected. Resetting time synchroniser. WARN [uxrce_dds_client] time sync no longer converged WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] time sync converged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight: GPS Speed Accuracy too low WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-23/18_38_56.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-23/18_38_56.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 90676 47.141 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.742 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 1 0.172 1308/ 1896 205 (205) w:sem 6 1023 log_writer_file 5 0.517 612/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.876 2116/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.053 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 57 5.788 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 51 5.180 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.454 996/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.271 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 29 2.928 1460/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 73 7.376 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 41 4.104 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 38 3.870 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.540 1604/ 3192 140 (140) w:sig 5 849 gps 0 0.031 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 9 0.959 1916/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 1 0.192 1428/ 4776 175 (175) READY 5 939 uxrce_dds_client 34 3.426 9316/ 9872 100 (100) w:sem 25 941 wq:ttyS4 3 0.387 1004/ 1704 230 (230) READY 6 953 navigator 0 0.077 1528/ 2104 105 (105) w:sem 11 1011 logger 46 4.628 3140/ 3616 230 (230) RUN 4 1072 mavlink_shell 0 0.000 996/ 2000 100 (100) w:sem 3 1036 wq:uavcan 15 1.513 3156/ 3600 236 (236) w:sem 6 1064 mavlink_if1 45 4.499 1980/ 2792 100 (100) READY 7 1066 mavlink_rcv_if1 1 0.190 1772/ 4776 175 (175) w:sem 7 Processes: 30 total, 5 running, 25 sleeping CPU usage: 51.78% tasks, 1.08% sched, 47.14% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 168.517s total, 90.677s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 196719 46.470 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.770 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 452/ 1232 255 (255) w:sem 6 5 wq:lp_default 20 2.058 1340/ 1896 205 (205) w:sem 6 1023 log_writer_file 5 0.560 644/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 38 3.803 2132/ 2776 237 (237) w:sem 6 495 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.056 992/ 2312 244 (244) w:sem 6 541 wq:SPI1 58 5.798 1808/ 2368 253 (253) w:sem 6 550 wq:SPI2 52 5.197 1808/ 2368 252 (252) w:sem 6 553 wq:I2C4 4 0.458 996/ 2312 243 (243) w:sem 6 558 wq:SPI3 2 0.272 856/ 2368 251 (251) w:sem 6 760 wq:nav_and_controllers 34 3.404 1476/ 2216 242 (242) w:sem 6 763 wq:rate_ctrl 74 7.440 2316/ 3120 255 (255) w:sem 6 764 wq:INS0 40 4.041 3660/ 5976 241 (241) w:sem 6 766 wq:INS1 37 3.790 3660/ 5976 240 (240) w:sem 6 775 commander 5 0.539 1604/ 3192 140 (140) w:sig 5 849 gps 0 0.000 1212/ 1936 205 (205) w:sem 4 884 mavlink_if0 10 1.022 1916/ 2704 100 (100) w:sig 5 885 mavlink_rcv_if0 4 0.469 1500/ 4776 175 (175) w:sem 5 939 uxrce_dds_client 37 3.733 9316/ 9872 100 (100) w:sem 25 941 wq:ttyS4 4 0.408 1004/ 1704 230 (230) READY 6 953 navigator 0 0.085 1528/ 2104 105 (105) w:sem 11 1011 logger 18 1.827 3140/ 3616 230 (230) RUN 4 1072 mavlink_shell 0 0.000 996/ 2000 100 (100) w:sem 3 1036 wq:uavcan 15 1.534 3156/ 3600 236 (236) w:sem 6 1064 mavlink_if1 46 4.634 1980/ 2792 100 (100) READY 7 1066 mavlink_rcv_if1 5 0.535 1772/ 4776 175 (175) READY 7 Processes: 30 total, 5 running, 25 sleeping CPU usage: 52.44% tasks, 1.09% sched, 46.47% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 378.293s total, 196.719s idle
Performance Counters
Pre Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 51302 events, 3028.56 avg, min 2112us max 41298us 389.945us rms mavlink: tx run elapsed: 51302 events, 10191577us elapsed, 198.66us avg, min 77us max 32172us 222.679us rms DatamanClient: sync: 3 events, 1069us elapsed, 356.33us avg, min 27us max 640us 309.041us rms vehicle_optical_flow: cycle: 41949 events, 942907us elapsed, 22.48us avg, min 10us max 255us 14.073us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 121us elapsed, 121.00us avg, min 121us max 121us infus rms uavcan: cycle interval: 87933 events, 1896.48 avg, min 13us max 18489us 1280.884us rms uavcan: cycle time: 87933 events, 2865390us elapsed, 32.59us avg, min 9us max 18485us 122.772us 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, 47601us elapsed, 47601.00us avg, min 47601us max 47601us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 24us elapsed, 24.00us avg, min 24us max 24us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 41us elapsed, 41.00us avg, min 41us max 41us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 8320 events, 20028.85 avg, min 57us max 95309us 1808.793us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 31164 events, 4606670us elapsed, 147.82us avg, min 135us max 785us 19.030us rms gyro_fft: cycle interval: 66825 events, 2496.02 avg, min 329us max 5662us 61.215us rms gyro_fft: cycle: 66825 events, 5179448us elapsed, 77.51us avg, min 2us max 796us 75.896us rms DatamanClient: sync: 1 events, 3649us elapsed, 3649.00us avg, min 3649us max 3649us nanus rms navigator: 3524 events, 91338us elapsed, 25.92us avg, min 18us max 702us 27.268us rms rc_input: publish interval: 14957 events, 10344.58 avg, min 2155us max 42030us 2763.131us rms rc_input: cycle time: 41691 events, 438368us elapsed, 10.51us avg, min 4us max 957us 29.152us rms uxrce_dds_client: cycle interval: 26088 events, 4828.02 avg, min 101us max 44733us 3435.151us rms uxrce_dds_client: cycle: 26087 events, 125924225us elapsed, 4827.09us avg, min 100us max 44732us 3435.238us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 16619 events, 10036.99 avg, min 9124us max 88351us 1224.522us rms mavlink: tx run elapsed: 16619 events, 2288981us elapsed, 137.73us avg, min 69us max 4197us 123.478us rms DatamanClient: sync: 4 events, 1325us elapsed, 331.25us avg, min 31us max 842us 379.622us rms mag_bias_estimator: cycle: 8323 events, 147867us elapsed, 17.77us avg, min 2us max 1022us 36.217us rms land_detector: cycle: 16710 events, 166088us elapsed, 9.94us avg, min 8us max 163us 5.349us rms mc_pos_control: cycle time: 16710 events, 135270us elapsed, 8.10us avg, min 5us max 209us 7.195us rms flight_mode_manager: cycle: 8341 events, 110519us elapsed, 13.25us avg, min 3us max 785us 66.201us rms mc_hover_thrust_estimator: cycle time: 16708 events, 14783us elapsed, 0.88us avg, min 0us max 63us 1.621us 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: 33303 events, 510623us elapsed, 15.33us avg, min 7us max 140us 3.693us rms mc_rate_control: cycle: 133730 events, 1086936us elapsed, 8.13us avg, min 7us max 70us 0.907us rms control_allocator: cycle: 133730 events, 2521846us elapsed, 18.86us avg, min 16us max 133us 2.206us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 16717 events, 4310111us elapsed, 257.83us avg, min 84us max 885us 156.983us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 16716 events, 3867390us elapsed, 231.36us avg, min 84us max 746us 109.932us rms pwm_out: interval: 558 events, 298924.85 avg, min 105us max 300884us 12696.576us rms pwm_out: cycle: 558 events, 2125us elapsed, 3.81us avg, min 2us max 87us 4.362us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 133732 events, 2695964us elapsed, 20.16us avg, min 13us max 74us 3.295us rms control latency: 133731 events, 25317850us elapsed, 189.32us avg, min 159us max 494us 5.098us rms commander: preflight check: 1524 events, 320888us elapsed, 210.56us avg, min 110us max 5424us 225.989us rms commander: cycle: 15120 events, 1247611us elapsed, 82.51us avg, min 31us max 5467us 124.658us 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_magnetometer: cycle: 14457 events, 299173us elapsed, 20.69us avg, min 14us max 446us 17.436us rms vehicle_gps_position: cycle: 1615 events, 18724us elapsed, 11.59us avg, min 2us max 201us 15.946us rms vehicle_air_data: cycle: 3853 events, 64584us elapsed, 16.76us avg, min 4us max 196us 17.920us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 1399 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 1286 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 108 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 36 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 133760 events, 4922121us elapsed, 36.80us avg, min 12us max 237us 2.920us rms sensors: 33438 events, 902549us elapsed, 26.99us avg, min 21us max 1770us 23.019us rms afbrs50: irq callback: 16376 events, 83024us elapsed, 5.07us avg, min 1us max 8us 0.818us rms afbrs50: transfer callback: 42446 events, 708947us elapsed, 16.70us avg, min 1us max 262us 30.632us rms afbrs50: transfer: 42446 events, 10835623us elapsed, 255.28us avg, min 9us max 2631us 410.898us rms afbrs50: sample interval: 8188 events, 20379.46 avg, min 14588us max 144132us 5839.438us rms paw3902: no motion interrupt: 16134 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 1 events paw3902: false motion report: 0 events paw3902: reset: 2 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 3853 events, 4424906us elapsed, 1148.43us avg, min 1089us max 1406us 63.819us rms bmp388: read: 3852 events, 3701285us elapsed, 960.87us avg, min 941us max 1122us 35.861us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 14459 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 1646 events, 1638373us elapsed, 995.37us avg, min 981us max 1167us 31.135us rms board_adc: sample: 50094 events, 154147us elapsed, 3.08us avg, min 2us max 968us 13.288us rms manual_control: interval: 1261 events, 132418.32 avg, min 47us max 200641us 63374.832us rms manual_control: cycle: 1261 events, 25177us elapsed, 19.97us avg, min 6us max 924us 49.416us rms rc_update: valid data interval: 14945 events, 10344.86 avg, min 2154us max 42030us 2764.747us rms rc_update: cycle interval: 14957 events, 10344.57 avg, min 2154us max 42030us 2763.481us rms rc_update: cycle: 14957 events, 249910us elapsed, 16.71us avg, min 8us max 894us 35.301us rms load_mon: cycle: 334 events, 38169us elapsed, 114.28us avg, min 2us max 913us 103.260us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 4982us elapsed, 711.71us avg, min 7us max 2411us 789.231us rms dma_alloc: 429 events param: set: 134 events, 2054us elapsed, 15.33us avg, min 4us max 32us 6.903us rms param: get: 38197 events param: find: 28569 events param: export: 1 events, 1952us elapsed, 1952.00us avg, min 1952us max 1952us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 69488 events, 3030.86 avg, min 2127us max 19810us 312.676us rms mavlink: tx run elapsed: 69488 events, 15376113us elapsed, 221.28us avg, min 91us max 2735us 263.999us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 54679 events, 1316815us elapsed, 24.08us avg, min 13us max 523us 23.412us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 108223 events, 1946.13 avg, min 15us max 11935us 1266.668us rms uavcan: cycle time: 108223 events, 3134738us elapsed, 28.97us avg, min 9us max 9581us 128.710us 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: 570 events, 4345707us elapsed, 7624.05us avg, min 4us max 159495us 6969.774us rms logger_sd_write: 8266 events, 26270763us elapsed, 3178.17us avg, min 5us max 44007us 2281.885us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 57 events, 3522106.82 avg, min 59us max 10000703us 4781469.500us rms gyro_fft: gyro FIFO data gap: 12 events gyro_fft: FFT: 37699 events, 5822366us elapsed, 154.44us avg, min 135us max 963us 34.390us rms gyro_fft: cycle interval: 84286 events, 2498.82 avg, min 326us max 42441us 343.218us rms gyro_fft: cycle: 84286 events, 6536964us elapsed, 77.56us avg, min 2us max 972us 105.466us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 4450 events, 111429us elapsed, 25.04us avg, min 17us max 766us 36.318us rms rc_input: publish interval: 19272 events, 10928.19 avg, min 2260us max 107986us 4037.842us rms rc_input: cycle time: 52642 events, 521057us elapsed, 9.90us avg, min 4us max 987us 34.676us rms uxrce_dds_client: cycle interval: 46267 events, 4552.03 avg, min 98us max 20826us 3838.949us rms uxrce_dds_client: cycle: 46266 events, 210557342us elapsed, 4551.02us avg, min 98us max 20825us 4625.077us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 21047 events, 10006.47 avg, min 9127us max 22555us 208.563us rms mavlink: tx run elapsed: 21047 events, 3076880us elapsed, 146.19us avg, min 81us max 1548us 156.336us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 38 events, 762us elapsed, 20.05us avg, min 3us max 165us 543.866us rms land_detector: cycle: 21098 events, 218279us elapsed, 10.35us avg, min 8us max 176us 7.611us rms mc_pos_control: cycle time: 21098 events, 489702us elapsed, 23.21us avg, min 5us max 194us 14.481us rms flight_mode_manager: cycle: 10532 events, 260907us elapsed, 24.77us avg, min 3us max 173us 61.350us rms mc_hover_thrust_estimator: cycle time: 17877 events, 79092us elapsed, 4.42us avg, min 1us max 150us 6.523us 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: 42194 events, 459553us elapsed, 10.89us avg, min 7us max 173us 5.663us rms mc_rate_control: cycle: 168768 events, 1477709us elapsed, 8.76us avg, min 7us max 29us 1.214us rms control_allocator: cycle: 168768 events, 3134959us elapsed, 18.58us avg, min 16us max 143us 2.984us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 21096 events, 5724729us elapsed, 271.37us avg, min 97us max 827us 191.630us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 21096 events, 4823552us elapsed, 228.65us avg, min 98us max 856us 143.395us rms pwm_out: interval: 702 events, 299572.44 avg, min 299207us max 300917us 177.994us rms pwm_out: cycle: 702 events, 2537us elapsed, 3.61us avg, min 2us max 46us 4.477us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 168769 events, 3563197us elapsed, 21.11us avg, min 16us max 40us 4.405us rms control latency: 168769 events, 32361158us elapsed, 191.75us avg, min 180us max 555us 9.156us rms commander: preflight check: 1922 events, 372814us elapsed, 193.97us avg, min 110us max 1437us 253.535us rms commander: cycle: 19136 events, 1635761us elapsed, 85.48us avg, min 34us max 1553us 158.853us 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_magnetometer: cycle: 18240 events, 441240us elapsed, 24.19us avg, min 15us max 1576us 30.123us rms vehicle_gps_position: cycle: 2106 events, 26947us elapsed, 12.80us avg, min 6us max 193us 22.831us rms vehicle_air_data: cycle: 4864 events, 82612us elapsed, 16.98us avg, min 10us max 249us 24.813us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 4167 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 197 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 431286 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 21615 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 4 events vehicle_angular_velocity: gyro filter reset: 4 events vehicle_angular_velocity: gyro filter: 168770 events, 6358473us elapsed, 37.68us avg, min 32us max 261us 7.220us rms sensors: 42194 events, 1091265us elapsed, 25.86us avg, min 19us max 1760us 22.571us rms afbrs50: irq callback: 18768 events, 95464us elapsed, 5.09us avg, min 1us max 8us 1.121us rms afbrs50: transfer callback: 51520 events, 882629us elapsed, 17.13us avg, min 1us max 266us 43.685us rms afbrs50: transfer: 51520 events, 12483805us elapsed, 242.31us avg, min 10us max 1412us 549.098us rms afbrs50: sample interval: 9384 events, 22442.90 avg, min 14755us max 212309us 7927.860us rms paw3902: no motion interrupt: 2587 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 4864 events, 5556482us elapsed, 1142.37us avg, min 1089us max 2758us 85.676us rms bmp388: read: 4864 events, 4673449us elapsed, 960.82us avg, min 942us max 3014us 56.632us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 18240 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 2077 events, 2073042us elapsed, 998.09us avg, min 982us max 1187us 42.457us rms board_adc: sample: 63129 events, 212768us elapsed, 3.37us avg, min 2us max 943us 21.816us rms manual_control: interval: 9742 events, 21596.78 avg, min 74us max 200194us 23058.852us rms manual_control: cycle: 9742 events, 179383us elapsed, 18.41us avg, min 9us max 986us 39.951us rms rc_update: valid data interval: 19262 events, 10933.87 avg, min 88us max 107987us 4080.987us rms rc_update: cycle interval: 19262 events, 10933.87 avg, min 93us max 107987us 4079.815us rms rc_update: cycle: 19262 events, 392252us elapsed, 20.36us avg, min 11us max 1042us 56.563us rms load_mon: cycle: 422 events, 49300us elapsed, 116.82us avg, min 74us max 1060us 144.859us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 57 events, 215us elapsed, 3.77us avg, min 1us max 158us 23.359us rms param: get: 19247 events param: find: 31494 events param: export: 1 events, 17462us elapsed, 17462.00us avg, min 17462us max 17462us nanus rms