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PX4 Quadrotor | Open PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | f5a5cade |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:02:32 |
| Vehicle Life Flight Time: | 52 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 223.2 m |
| Max Altitude Difference: | 12 m |
| Average Speed: | 3.8 km/h |
| Max Speed: | 22.3 km/h |
| Max Speed Horizontal: | 21.5 km/h |
| Max Speed Up: | 10.2 km/h |
| Max Speed Down: | 15.4 km/h |
| Max Tilt Angle: | 151.2 deg |
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Console Output
37, API Version: 17104902 v1.5.6 AFBR-S50LV85D ekf2 [783:237] Starting DShot Driver on /dev/ttyS2 Starting Main GPS on /dev/ttyS0 Starting CRSF RC Input Driver on /dev/ttyS4 Conflicting config for /dev/ttyS4 Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B Starting UXRCE-DDS Client on /dev/ttyS3 INFO [uxrce_dds_client] init serial /dev/ttyS3 @ 3000000 baud WARN [SerialImpl] Using non-standard baudrate: 420000 INFO [crsf_rc] Crsf serial opened sucessfully sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver Starting MAVLink on /dev/ttyACM0 INFO [mavlink] mode: Normal, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B ERROR [mavlink] could not open /dev/ttyACM0, retrying INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [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 [uxrce_dds_client] synchronized with time offset 1716333073779889us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180 INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 242 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 246 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266 INFO [uxrce_dds_client] time sync converged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to long range rate: 25 INFO [afbrs50] switched to short range rate: 50 WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to long range rate: 25 WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [afbrs50] switched to short range rate: 50 WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error 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: velocity estimate error 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/2024-05-21/23_12_00.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-21/23_12_00.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 27179 49.687 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.735 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 2244/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.157 1308/ 1976 205 (205) w:sem 5 1065 log_writer_file 5 0.545 620/ 1144 60 ( 60) w:sem 4 479 wq:hp_default 39 3.911 2124/ 2776 237 (237) w:sem 5 503 dataman 0 0.001 828/ 1376 90 ( 90) w:sem 5 539 wq:I2C3 0 0.056 984/ 2312 244 (244) w:sem 5 542 wq:SPI1 50 5.051 1816/ 2368 253 (253) w:sem 5 552 wq:SPI2 56 5.692 1816/ 2368 252 (252) w:sem 5 554 wq:I2C4 4 0.461 864/ 2312 243 (243) w:sem 5 566 wq:SPI3 2 0.274 932/ 2368 251 (251) w:sem 5 764 wq:nav_and_controllers 28 2.846 1460/ 2216 242 (242) w:sem 5 765 wq:rate_ctrl 73 7.365 2312/ 3120 255 (255) w:sem 5 774 wq:INS0 35 3.529 3588/ 5976 241 (241) w:sem 5 775 wq:INS1 37 3.764 3588/ 5976 240 (240) w:sem 5 779 commander 5 0.530 1500/ 3192 140 (140) w:sig 5 850 gps 0 0.038 1196/ 1936 205 (205) w:sem 4 909 mavlink_if0 10 1.015 1852/ 2704 100 (100) w:sig 5 910 mavlink_rcv_if0 1 0.167 1316/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 36 3.626 9348/11872 100 (100) READY 25 954 wq:ttyS4 5 0.595 1044/ 1704 230 (230) READY 5 975 mavlink_if1 34 3.408 1852/ 2800 100 (100) READY 5 980 navigator 0 0.074 1636/ 2104 105 (105) w:sem 11 1048 logger 44 4.419 3060/ 3616 230 (230) RUN 4 1100 mavlink_rcv_if1 1 0.196 1756/ 4776 175 (175) w:sem 5 1073 wq:uavcan 8 0.845 2204/ 3600 236 (236) w:sem 5 Processes: 29 total, 5 running, 24 sleeping CPU usage: 49.30% tasks, 1.01% sched, 49.69% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 48.083s total, 27.179s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 107973 51.157 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.729 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 2244/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 14 1.437 1308/ 1976 205 (205) w:sem 5 1065 log_writer_file 5 0.524 636/ 1144 60 ( 60) w:sem 4 479 wq:hp_default 38 3.816 2124/ 2776 237 (237) w:sem 5 503 dataman 0 0.001 828/ 1376 90 ( 90) w:sem 5 539 wq:I2C3 0 0.056 984/ 2312 244 (244) w:sem 5 542 wq:SPI1 56 5.606 1816/ 2368 253 (253) w:sem 5 552 wq:SPI2 50 5.042 1816/ 2368 252 (252) w:sem 5 554 wq:I2C4 4 0.460 864/ 2312 243 (243) w:sem 5 566 wq:SPI3 2 0.274 932/ 2368 251 (251) w:sem 5 764 wq:nav_and_controllers 31 3.133 1460/ 2216 242 (242) w:sem 5 765 wq:rate_ctrl 73 7.327 2476/ 3120 255 (255) w:sem 5 774 wq:INS0 36 3.645 3588/ 5976 241 (241) w:sem 5 775 wq:INS1 35 3.570 3588/ 5976 240 (240) w:sem 5 779 commander 5 0.523 1500/ 3192 140 (140) w:sig 5 850 gps 0 0.031 1196/ 1936 205 (205) w:sem 4 909 mavlink_if0 10 1.085 1868/ 2704 100 (100) w:sig 5 910 mavlink_rcv_if0 4 0.491 1476/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 27 2.771 9348/11872 100 (100) w:sem 25 954 wq:ttyS4 6 0.647 1044/ 1704 230 (230) READY 5 975 mavlink_if1 35 3.540 1868/ 2800 100 (100) w:sig 5 980 navigator 0 0.081 1636/ 2104 105 (105) w:sem 11 1048 logger 16 1.688 3060/ 3616 230 (230) RUN 4 1100 mavlink_rcv_if1 4 0.493 1756/ 4776 175 (175) w:sem 5 1073 wq:uavcan 8 0.871 2204/ 3600 236 (236) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 47.85% tasks, 0.99% sched, 51.16% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 199.416s total, 107.974s idle
Performance Counters
Pre Flight:
vehicle_optical_flow: cycle: 10293 events, 217402us elapsed, 21.12us avg, min 11us max 372us 20.137us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 177us elapsed, 177.00us avg, min 177us max 177us infus rms uavcan: cycle interval: 15417 events, 3001.05 avg, min 67us max 11069us 310.370us rms uavcan: cycle time: 15417 events, 357963us elapsed, 23.22us avg, min 12us max 1104us 47.362us 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 25us elapsed, 25.00us avg, min 25us max 25us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 30us elapsed, 30.00us avg, min 30us max 30us infus rms geofence_dm_cache_miss: 0 events 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, 24081us elapsed, 24081.00us avg, min 24081us max 24081us infus rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2314 events, 19992.17 avg, min 61us max 41862us 809.160us rms gyro_fft: gyro FIFO data gap: 12 events gyro_fft: FFT: 8311 events, 1192814us elapsed, 143.52us avg, min 129us max 4389us 80.057us rms gyro_fft: cycle interval: 18455 events, 2508.22 avg, min 62us max 46948us 528.496us rms gyro_fft: cycle: 18455 events, 1353192us elapsed, 73.32us avg, min 2us max 4408us 90.275us rms DatamanClient: sync: 1 events, 17106us elapsed, 17106.00us avg, min 17106us max 17106us nanus rms navigator: 983 events, 26777us elapsed, 27.24us avg, min 17us max 1188us 53.185us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 14893 events, 3040.89 avg, min 2095us max 36297us 463.174us rms mavlink: tx run elapsed: 14893 events, 2278389us elapsed, 152.98us avg, min 81us max 3646us 148.332us rms DatamanClient: sync: 3 events, 1946us elapsed, 648.67us avg, min 27us max 1241us 607.531us rms crsf_rc: publish interval: 8771 events, 5277.70 avg, min 4026us max 41903us 1886.218us rms crsf_rc: cycle interval: 8771 events, 5278.24 avg, min 4027us max 41961us 1896.350us rms uxrce_dds_client: cycle interval: 7040 events, 5457.43 avg, min 99us max 53501us 3415.885us rms uxrce_dds_client: cycle: 7039 events, 38412336us elapsed, 5457.07us avg, min 98us max 53501us 3416.188us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4615 events, 10036.20 avg, min 9255us max 44866us 601.379us rms mavlink: tx run elapsed: 4615 events, 613135us elapsed, 132.86us avg, min 74us max 2621us 107.752us rms DatamanClient: sync: 4 events, 917us elapsed, 229.25us avg, min 33us max 429us 214.424us rms mag_bias_estimator: cycle: 2317 events, 42025us elapsed, 18.14us avg, min 2us max 865us 45.951us rms land_detector: cycle: 4645 events, 51465us elapsed, 11.08us avg, min 8us max 160us 9.609us rms mc_pos_control: cycle time: 4647 events, 32296us elapsed, 6.95us avg, min 4us max 178us 7.137us rms flight_mode_manager: cycle: 2320 events, 18534us elapsed, 7.99us avg, min 3us max 673us 48.109us rms mc_hover_thrust_estimator: cycle time: 4646 events, 5240us elapsed, 1.13us avg, min 1us max 124us 2.814us 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: 9159 events, 154233us elapsed, 16.84us avg, min 14us max 199us 5.006us rms mc_rate_control: cycle: 37162 events, 309423us elapsed, 8.33us avg, min 7us max 74us 0.995us rms control_allocator: cycle: 37162 events, 701693us elapsed, 18.88us avg, min 16us max 130us 2.156us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 4646 events, 1478291us elapsed, 318.19us avg, min 83us max 3701us 251.230us rms ekf2: IMU message missed: 1 events ekf2: EKF update: 4646 events, 941140us elapsed, 202.57us avg, min 83us max 697us 91.602us rms pwm_out: interval: 156 events, 296154.95 avg, min 104us max 300647us 24010.824us rms pwm_out: cycle: 156 events, 607us elapsed, 3.89us avg, min 2us max 52us 4.871us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 37163 events, 735496us elapsed, 19.79us avg, min 13us max 70us 3.173us rms control latency: 37162 events, 6925971us elapsed, 186.37us avg, min 157us max 298us 4.976us rms commander: preflight check: 428 events, 76661us elapsed, 179.11us avg, min 110us max 1091us 138.952us rms commander: cycle: 4204 events, 331995us elapsed, 78.97us avg, min 30us max 4414us 136.545us 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: 4013 events, 76720us elapsed, 19.12us avg, min 14us max 446us 18.101us rms vehicle_gps_position: cycle: 155 events, 398us elapsed, 2.57us avg, min 2us max 14us 1.051us rms vehicle_air_data: cycle: 1070 events, 16719us elapsed, 15.63us avg, min 3us max 329us 17.831us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 468 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 307 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 135 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 51 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 37194 events, 1315070us elapsed, 35.36us avg, min 12us max 230us 3.578us rms sensors: 9295 events, 249389us elapsed, 26.83us avg, min 18us max 3141us 44.245us rms afbrs50: irq callback: 4465 events, 21560us elapsed, 4.83us avg, min 3us max 7us 0.786us rms afbrs50: transfer callback: 14013 events, 201707us elapsed, 14.39us avg, min 1us max 258us 29.357us rms afbrs50: transfer: 14014 events, 3012820us elapsed, 214.99us avg, min 9us max 4020us 383.191us rms afbrs50: sample interval: 2232 events, 20761.85 avg, min 9253us max 146655us 5339.146us rms paw3902: no motion interrupt: 2995 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 12 events paw3902: mode change bright (0): 45 events paw3902: false motion report: 0 events paw3902: reset: 57 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 1070 events, 1228044us elapsed, 1147.70us avg, min 1089us max 4552us 174.981us rms bmp388: read: 1069 events, 1028038us elapsed, 961.68us avg, min 942us max 3646us 88.852us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 4015 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: 458 events, 464173us elapsed, 1013.48us avg, min 982us max 4220us 236.166us rms board_adc: sample: 13917 events, 47010us elapsed, 3.38us avg, min 2us max 949us 18.130us rms manual_control: interval: 721 events, 64338.77 avg, min 68us max 226585us 53736.957us rms manual_control: cycle: 721 events, 14567us elapsed, 20.20us avg, min 9us max 315us 36.386us rms rc_update: valid data interval: 4443 events, 10391.77 avg, min 85us max 47942us 2413.778us rms rc_update: cycle interval: 8758 events, 5285.55 avg, min 86us max 47942us 2002.529us rms rc_update: cycle: 8758 events, 139207us elapsed, 15.89us avg, min 8us max 1200us 39.161us rms load_mon: cycle: 93 events, 9217us elapsed, 99.11us avg, min 2us max 416us 80.462us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 4165us elapsed, 595.00us avg, min 7us max 1211us 440.179us rms dma_alloc: 23 events param: set: 97 events, 1176us elapsed, 12.12us avg, min 5us max 24us 5.028us rms param: get: 13683 events param: find: 9547 events param: export: 1 events, 1318us elapsed, 1318.00us avg, min 1318us max 1318us nanus rms
Post Flight:
vehicle_optical_flow: cycle: 39315 events, 843932us elapsed, 21.47us avg, min 13us max 484us 20.584us 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: 50751 events, 3000.18 avg, min 745us max 10502us 247.246us rms uavcan: cycle time: 50751 events, 1146166us elapsed, 22.58us avg, min 13us max 1645us 55.786us 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 rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus 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 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: 416 events, 3180949us elapsed, 7646.51us avg, min 4us max 33110us 2515.060us rms logger_sd_write: 5364 events, 16103879us elapsed, 3002.21us avg, min 5us max 36320us 1986.405us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 15 events, 9333333.33 avg, min 9999771us max 10000230us 89.103us rms gyro_fft: gyro FIFO data gap: 10 events gyro_fft: FFT: 27927 events, 4067971us elapsed, 145.66us avg, min 129us max 436us 47.484us rms gyro_fft: cycle interval: 60979 events, 2496.95 avg, min 329us max 44298us 199.743us rms gyro_fft: cycle: 60979 events, 4596520us elapsed, 75.38us avg, min 2us max 476us 89.695us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 3236 events, 85761us elapsed, 26.50us avg, min 18us max 994us 47.834us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 49887 events, 3052.06 avg, min 2100us max 13703us 345.758us rms mavlink: tx run elapsed: 49887 events, 8147933us elapsed, 163.33us avg, min 86us max 2143us 190.315us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms crsf_rc: publish interval: 28940 events, 5261.08 avg, min 4038us max 35576us 1878.840us rms crsf_rc: cycle interval: 28940 events, 5261.08 avg, min 4038us max 35574us 1878.524us rms uxrce_dds_client: cycle interval: 33008 events, 4612.67 avg, min 99us max 18019us 3845.039us rms uxrce_dds_client: cycle: 33007 events, 152213673us elapsed, 4611.56us avg, min 98us max 18018us 4156.089us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 15220 events, 10003.68 avg, min 9123us max 15250us 137.268us rms mavlink: tx run elapsed: 15220 events, 2031576us elapsed, 133.48us avg, min 87us max 2184us 112.920us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 16 events, 245us elapsed, 15.31us avg, min 9us max 66us 571.148us rms land_detector: cycle: 15253 events, 176136us elapsed, 11.55us avg, min 8us max 204us 10.846us rms mc_pos_control: cycle time: 15253 events, 390475us elapsed, 25.60us avg, min 5us max 179us 17.172us rms flight_mode_manager: cycle: 7613 events, 182198us elapsed, 23.93us avg, min 3us max 231us 31.389us rms mc_hover_thrust_estimator: cycle time: 12901 events, 56986us elapsed, 4.42us avg, min 1us max 159us 6.929us 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: 30507 events, 357088us elapsed, 11.71us avg, min 8us max 152us 5.573us rms mc_rate_control: cycle: 122013 events, 1089427us elapsed, 8.93us avg, min 7us max 35us 1.032us rms control_allocator: cycle: 122013 events, 2263923us elapsed, 18.55us avg, min 16us max 128us 2.446us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15251 events, 5298396us elapsed, 347.41us avg, min 83us max 2183us 359.056us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 15251 events, 3053442us elapsed, 200.21us avg, min 83us max 631us 102.384us rms pwm_out: interval: 508 events, 299410.44 avg, min 299037us max 301175us 176.205us rms pwm_out: cycle: 508 events, 2427us elapsed, 4.78us avg, min 2us max 541us 24.195us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 122013 events, 2537526us elapsed, 20.80us avg, min 15us max 37us 3.645us rms control latency: 122013 events, 23091521us elapsed, 189.25us avg, min 178us max 839us 8.066us rms commander: preflight check: 1398 events, 229094us elapsed, 163.87us avg, min 106us max 1671us 159.688us rms commander: cycle: 13818 events, 1113267us elapsed, 80.57us avg, min 30us max 2064us 137.925us 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: 13187 events, 276481us elapsed, 20.97us avg, min 15us max 1374us 23.447us rms vehicle_gps_position: cycle: 508 events, 1354us elapsed, 2.67us avg, min 2us max 25us 1.520us rms vehicle_air_data: cycle: 3517 events, 56252us elapsed, 15.99us avg, min 10us max 186us 20.367us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 3564 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 254 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 308430 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 14043 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 9 events vehicle_angular_velocity: gyro filter reset: 9 events vehicle_angular_velocity: gyro filter: 122022 events, 4487655us elapsed, 36.78us avg, min 31us max 241us 6.708us rms sensors: 30508 events, 764704us elapsed, 25.07us avg, min 19us max 1390us 25.863us rms afbrs50: irq callback: 14976 events, 72673us elapsed, 4.85us avg, min 1us max 7us 0.896us rms afbrs50: transfer callback: 38884 events, 644260us elapsed, 16.57us avg, min 0us max 257us 36.301us rms afbrs50: transfer: 38884 events, 9881905us elapsed, 254.14us avg, min 11us max 1407us 469.692us rms afbrs50: sample interval: 7488 events, 20331.78 avg, min 11581us max 144552us 4770.946us rms paw3902: no motion interrupt: 3945 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: 3517 events, 4015221us elapsed, 1141.66us avg, min 1089us max 1527us 113.587us rms bmp388: read: 3517 events, 3375438us elapsed, 959.75us avg, min 943us max 1175us 60.168us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 13187 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: 1501 events, 1497156us elapsed, 997.44us avg, min 983us max 1208us 134.359us rms board_adc: sample: 45669 events, 161378us elapsed, 3.53us avg, min 2us max 1584us 26.337us rms manual_control: interval: 7628 events, 19957.48 avg, min 16us max 200259us 25003.723us rms manual_control: cycle: 7628 events, 149724us elapsed, 19.63us avg, min 9us max 1048us 49.150us rms rc_update: valid data interval: 14637 events, 10402.11 avg, min 83us max 44857us 2254.614us rms rc_update: cycle interval: 28939 events, 5261.26 avg, min 84us max 44856us 1900.699us rms rc_update: cycle: 28939 events, 496449us elapsed, 17.16us avg, min 8us max 1933us 52.455us rms load_mon: cycle: 305 events, 34628us elapsed, 113.53us avg, min 64us max 961us 133.427us 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, 59us elapsed, 1.04us avg, min 1us max 3us 6.596us rms param: get: 14418 events param: find: 23273 events param: export: 1 events, 11330us elapsed, 11330.00us avg, min 11330us max 11330us nanus rms