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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
3DR-mc4d106ae-m04-PxR-1-01
| Airframe: | 4011 |
| Hardware: | PX4_FMU_V4 |
| Software Version: | v1.11.0 (beta) (4d106aeb) |
| OS Version: | NuttX, v8.2.0 |
| Estimator: | EKF2 |
| Logging Start : | 04-02-2020 18:15 |
| Logging Duration: | 0:01:20 |
| Vehicle Life Flight Time: | 1 days 9 hours 29 minutes 28 seconds |
| Vehicle UUID: | 00010000000037373430333551170037002a (F450-PixRacer V4) |
| Wind Speed: | Calm |
| Flight Rating: | Good |
| Feedback: | - Modes Tested
Position Mode: Good. Failsafe RTL (Return To Land): Not returning after RC shutdown. - Procedure Arm and take off in position mode, after flying approximately a few seconds, turned off the RC to activate the fail-safe RTL, wait for the vehicle to return and land. - Notes No issue noted, good flight in general. |
| Distance: | 163.5 m |
| Max Altitude Difference: | 30 m |
| Average Speed: | 7.3 km/h |
| Max Speed: | 35.5 km/h |
| Max Speed Horizontal: | 35.4 km/h |
| Max Speed Up: | 11.1 km/h |
| Max Speed Down: | 4.9 km/h |
| Max Tilt Angle: | 26.6 deg |
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Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 309587 27.045 232/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 112 0.000 1120/ 1516 50 ( 50) w:sig 3 3 init 1674 0.000 1872/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 255 (255) w:sem 5 185 wq:att_pos_ctrl 255531 18.163 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 15835 1.297 1144/ 1900 241 (241) w:sem 5 18 dataman 1100 0.099 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 615 0.099 920/ 1700 205 (205) w:sem 5 145 wq:I2C1 6308 0.499 840/ 1396 246 (246) w:sem 5 152 wq:SPI2 5160 0.399 576/ 1900 252 (252) w:sem 5 156 wq:SPI1 300291 25.049 1104/ 1900 253 (253) w:sem 5 183 sensors 40109 3.193 1064/ 1964 237 (237) w:sem 10 187 wq:rate_ctrl 111462 9.181 1080/ 1596 255 (255) w:sem 5 190 commander 10960 0.898 1608/ 3212 140 (140) READY 6 191 commander_low_prio 26 0.000 724/ 2996 50 ( 50) w:sem 6 205 mavlink_if1 40604 3.692 1744/ 2540 140 (100) READY 4 206 mavlink_rcv_if1 4885 0.499 2544/ 3940 175 (175) w:sem 4 268 gps 2727 0.199 1144/ 1676 208 (208) w:sem 4 317 mavlink_if2 16893 1.497 1744/ 2484 140 (100) w:sig 4 325 mavlink_rcv_if2 5549 0.499 2672/ 3940 175 (175) w:sem 4 341 wq:UART4 8543 0.698 932/ 1396 235 (235) w:sem 5 523 navigator 3063 0.199 1172/ 1764 140 (105) w:sem 5 598 logger 29996 3.493 3016/ 3644 233 (233) RUN 4 615 log_writer_file 7655 0.998 776/ 1164 60 ( 60) w:sem 4 Processes: 25 total, 4 running, 21 sleeping, max FDs: 20 CPU usage: 70.66% tasks, 2.30% sched, 27.05% idle DMA Memory: 6640 total, 1536 used 1536 peak Uptime: 1206.512s total, 309.588s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 329803 24.875 232/ 512 0 ( 0) READY 3 1 hpwork 0 0.000 344/ 1260 249 (249) w:sig 3 2 lpwork 140 2.797 1120/ 1516 50 ( 50) w:sig 3 3 init 1674 0.000 1872/ 2604 100 (100) w:sem 3 4 wq:manager 0 0.000 368/ 1252 255 (255) w:sem 5 185 wq:att_pos_ctrl 272376 18.181 4992/ 6596 242 (242) w:sem 5 16 wq:hp_default 16734 1.098 1144/ 1900 241 (241) w:sem 5 18 dataman 1134 0.099 760/ 1204 90 ( 90) w:sem 4 20 wq:lp_default 655 0.000 920/ 1700 205 (205) READY 5 145 wq:I2C1 6722 0.499 840/ 1396 246 (246) w:sem 5 152 wq:SPI2 5499 0.499 576/ 1900 252 (252) w:sem 5 156 wq:SPI1 320002 24.875 1104/ 1900 253 (253) w:sem 5 183 sensors 42639 3.696 1064/ 1964 237 (237) w:sem 10 187 wq:rate_ctrl 118727 8.991 1080/ 1596 255 (255) w:sem 5 190 commander 11652 0.799 1608/ 3212 140 (140) READY 6 191 commander_low_prio 27 0.000 724/ 2996 50 ( 50) w:sem 6 205 mavlink_if1 43202 3.696 1744/ 2540 100 (100) READY 4 206 mavlink_rcv_if1 5202 0.399 2544/ 3940 175 (175) w:sem 4 268 gps 2905 0.199 1144/ 1676 208 (208) w:sem 4 317 mavlink_if2 17947 1.398 1744/ 2484 140 (100) READY 4 325 mavlink_rcv_if2 5886 0.399 2672/ 3940 175 (175) w:sem 4 341 wq:UART4 9044 0.599 932/ 1396 235 (235) w:sem 5 523 navigator 3212 0.199 1172/ 1764 140 (105) w:sem 5 598 logger 32590 3.396 3016/ 3644 233 (233) RUN 4 615 log_writer_file 8376 0.999 776/ 1164 60 ( 60) w:sem 4 Processes: 25 total, 6 running, 19 sleeping, max FDs: 20 CPU usage: 72.83% tasks, 2.30% sched, 24.88% idle DMA Memory: 6640 total, 1536 used 1536 peak Uptime: 1285.815s total, 329.804s 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: 576 events, 8745746us elapsed, 15183.59us avg, min 7us max 62535us 16673.777us rms logger_sd_write: 3120 events, 85270956us elapsed, 27330.43us avg, min 9us max 113405us 20579.510us rms navigator: 6250 events, 20751443us elapsed, 3320.23us avg, min 17us max 121869us 14974.605us rms land_detector_cycle: 16491 events, 441093us elapsed, 26.75us avg, min 16us max 445us 70.297us rms mc_pos_control: cycle time: 13655 events, 5985667us elapsed, 438.35us avg, min 19us max 2041us 338.267us rms mc_att_control: cycle: 81432 events, 4434450us elapsed, 54.46us avg, min 37us max 491us 128.952us rms mc_rate_control: cycle: 330701 events, 8094155us elapsed, 24.48us avg, min 20us max 60us 8.108us rms ekf2: update: 81432 events, 62743965us elapsed, 770.51us avg, min 19us max 4796us 1813.045us rms fmu: cycle: 92850 events, 5164220us elapsed, 55.62us avg, min 52us max 108us 8.336us rms control latency: 92851 events, 25747275us elapsed, 277.30us avg, min 194us max 1598us 460.833us rms rc_input: publish interval: 18324 events, 17998.91 avg, min 10556us max 26787us 2335.435us rms rc_input: cycle time: 81240 events, 1235856us elapsed, 15.21us avg, min 7us max 1532us 104.117us rms mavlink_int: 29937 events, 11015.64 avg, min 9105us max 46246us 1585.194us rms mavlink_el: 29937 events, 8968528us elapsed, 299.58us avg, min 88us max 8393us 1100.147us rms mavlink_int: 80413 events, 4101.11 avg, min 2100us max 42948us 1692.294us rms mavlink_el: 80413 events, 22360468us elapsed, 278.07us avg, min 82us max 10326us 1129.777us 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: interval: 330707 events, 997.34 avg, min 661us max 1729us 345.134us rms vehicle_acceleration: interval: 330324 events, 998.49 avg, min 661us max 2429us 345.845us rms battery_status: 32983 events, 947500us elapsed, 28.73us avg, min 22us max 551us 91.557us rms sensors: 81434 events, 105031564us elapsed, 1289.78us avg, min 76us max 6350us 2195.508us rms mpu9250: dupe: 82185 events mpu9250: bad_reg: 0 events mpu9250: read: 412287 events, 35656540us elapsed, 86.48us avg, min 51us max 186us 31.954us rms mpu9250: mag_errors: 0 events mpu9250: mag_overflows: 0 events mpu9250: mag_overruns: 0 events mpu6k_duplicates: 81578 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 412288 events, 23665243us elapsed, 57.40us avg, min 54us max 120us 9.217us rms ms5611: com_err: 0 events ms5611: measure: 32572 events, 320385us elapsed, 9.84us avg, min 9us max 582us 19.784us rms ms5611: read: 32572 events, 560590us elapsed, 17.21us avg, min 14us max 3388us 60.039us rms lis3mdl_read: 23128 events, 37089797us elapsed, 1603.68us avg, min 1373us max 2977us 328.883us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc: sample: 296946 events, 1174598us elapsed, 3.96us avg, min 2us max 528us 35.692us rms rc_update: 18330 events, 1640135us elapsed, 89.48us avg, min 24us max 669us 207.613us rms stack_check: 878 events, 22600us elapsed, 25.74us avg, min 1us max 543us 104.476us rms dataman: write: 8 events, 62658us elapsed, 7832.25us avg, min 3884us max 13394us 21343.227us rms dataman: read: 6220 events, 19755593us elapsed, 3176.14us avg, min 54us max 97326us 15177.438us rms dma_alloc: 1 events param_set: 6 events, 333us elapsed, 55.50us avg, min 4us max 312us 199.356us rms param_get: 944 events, 19054us elapsed, 20.18us avg, min 4us max 2849us 328.554us rms param_find: 117 events, 2722us elapsed, 23.26us avg, min 3us max 1187us 305.070us rms param_export: 1 events, 100948us elapsed, 100948.00us avg, min 100948us max 100948us infus 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: 152 events, 2246013us elapsed, 14776.40us avg, min 8us max 51852us 33686.516us rms logger_sd_write: 807 events, 21374733us elapsed, 26486.66us avg, min 11us max 56671us 41936.777us rms navigator: 1524 events, 3221941us elapsed, 2114.13us avg, min 17us max 40023us 31018.434us rms land_detector_cycle: 4016 events, 103590us elapsed, 25.79us avg, min 16us max 427us 146.114us rms mc_pos_control: cycle time: 3327 events, 1421842us elapsed, 427.36us avg, min 144us max 1746us 707.708us rms mc_att_control: cycle: 19837 events, 1060044us elapsed, 53.44us avg, min 37us max 494us 268.503us rms mc_rate_control: cycle: 80557 events, 1959332us elapsed, 24.32us avg, min 20us max 63us 16.714us rms ekf2: update: 19838 events, 14723210us elapsed, 742.17us avg, min 19us max 4843us 3795.220us rms fmu: cycle: 21502 events, 1192780us elapsed, 55.47us avg, min 52us max 101us 17.794us rms control latency: 21502 events, 5027825us elapsed, 233.83us avg, min 194us max 1593us 967.898us rms rc_input: publish interval: 1233 events, 17985.39 avg, min 11419us max 25249us 2485.485us rms rc_input: cycle time: 19851 events, 272742us elapsed, 13.74us avg, min 7us max 1228us 216.070us rms mavlink_int: 7333 events, 10949.89 avg, min 9116us max 21499us 1496.480us rms mavlink_el: 7333 events, 2064261us elapsed, 281.50us avg, min 88us max 10125us 2288.159us rms mavlink_int: 19937 events, 4027.68 avg, min 2110us max 14555us 1593.444us rms mavlink_el: 19937 events, 5415994us elapsed, 271.66us avg, min 84us max 7035us 2339.754us 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: interval: 80564 events, 996.98 avg, min 667us max 1704us 344.813us rms vehicle_acceleration: interval: 80481 events, 998.02 avg, min 667us max 2379us 345.425us rms battery_status: 8032 events, 235903us elapsed, 29.37us avg, min 22us max 511us 191.696us rms sensors: 19839 events, 24913050us elapsed, 1255.76us avg, min 104us max 5874us 4596.854us rms mpu9250: dupe: 19965 events mpu9250: bad_reg: 0 events mpu9250: read: 100404 events, 8653287us elapsed, 86.18us avg, min 51us max 190us 66.804us rms mpu9250: mag_errors: 0 events mpu9250: mag_overflows: 0 events mpu9250: mag_overruns: 0 events mpu6k_duplicates: 19839 events mpu6k_reset: 0 events mpu6k_bad_reg: 0 events mpu6k_bad_trans: 0 events mpu6k_read: 100405 events, 5734758us elapsed, 57.12us avg, min 54us max 114us 19.228us rms ms5611: com_err: 0 events ms5611: measure: 7934 events, 76253us elapsed, 9.61us avg, min 9us max 327us 40.892us rms ms5611: read: 7934 events, 147932us elapsed, 18.65us avg, min 14us max 4017us 141.868us rms lis3mdl_read: 5638 events, 9001255us elapsed, 1596.53us avg, min 1374us max 2144us 687.145us rms lis3mdl_range_errors: 0 events lis3mdl_conf_errors: 0 events lis3mdl_comms_errors: 0 events adc: sample: 72297 events, 273057us elapsed, 3.78us avg, min 2us max 583us 74.180us rms rc_update: 1233 events, 126699us elapsed, 102.76us avg, min 24us max 565us 811.669us rms stack_check: 214 events, 6665us elapsed, 31.14us avg, min 2us max 447us 223.615us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 807 events, 3073232us elapsed, 3808.22us avg, min 54us max 38701us 42893.500us rms dma_alloc: 0 events param_set: 3 events, 20us elapsed, 6.67us avg, min 4us max 12us 315.244us rms param_get: 24 events, 152us elapsed, 6.33us avg, min 5us max 16us 2103.771us rms param_find: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param_export: 1 events, 98381us elapsed, 98381.00us avg, min 98381us max 98381us infus rms