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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: | e9e94ca0 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:01:54 |
| Vehicle Life Flight Time: | 1 hours 20 minutes 11 seconds |
| Vehicle UUID: | 0006000000003331383130335110003c002f |
| Distance: | 742.7 m |
| Max Altitude Difference: | 117 m |
| Average Speed: | 11.2 km/h |
| Max Speed: | 44.1 km/h |
| Max Speed Horizontal: | 42.9 km/h |
| Max Speed Up: | 10.7 km/h |
| Max Speed Down: | 6.7 km/h |
| Max Tilt Angle: | 23.5 deg |
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Console Output
[health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: position 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: Flight termination active WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Flight termination active WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position 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: Flight termination active INFO [commander] Kill disengaged WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable WARN [health_and_arming_checks] Preflight Fail: velocity estimate error WARN [health_and_arming_checks] Preflight Fail: position estimate error WARN [health_and_arming_checks] Preflight Fail: horizontal velocity unstable INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-02/16_55_30.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-02/16_55_30.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 716112 47.851 288/ 768 0 ( 0) READY 3 1 hpwork 7 0.738 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 748/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2076/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 556/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.169 1324/ 1896 205 (205) READY 5 909 mavlink_rcv_if0 1 0.162 1484/ 4776 175 (175) w:sem 5 471 wq:hp_default 38 3.837 2108/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.053 944/ 2312 244 (244) w:sem 5 541 wq:SPI1 55 5.543 1788/ 2368 253 (253) w:sem 5 550 wq:SPI2 46 4.689 1776/ 2368 252 (252) w:sem 5 556 wq:I2C4 8 0.803 1068/ 2312 243 (243) w:sem 5 569 wq:SPI3 2 0.252 800/ 2368 251 (251) w:sem 5 763 wq:nav_and_controllers 28 2.854 1436/ 2216 242 (242) w:sem 5 766 wq:rate_ctrl 76 7.606 2396/ 3120 255 (255) w:sem 5 767 wq:INS0 40 4.017 3596/ 5976 241 (241) w:sem 5 775 wq:INS1 37 3.784 3596/ 5976 240 (240) w:sem 5 777 commander 5 0.530 1516/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1140/ 1936 205 (205) w:sem 4 907 mavlink_if0 9 0.951 1868/ 2704 100 (100) w:sig 5 1041 log_writer_file 6 0.650 732/ 1144 60 ( 60) w:sem 4 949 uxrce_dds_client 35 3.518 9184/ 9872 100 (100) READY 25 956 wq:ttyS4 6 0.606 1068/ 1704 230 (230) w:sem 5 976 navigator 0 0.065 1516/ 2104 105 (105) READY 11 1034 logger 43 4.337 3036/ 3616 230 (230) RUN 4 1046 wq:uavcan 14 1.455 3092/ 3600 236 (236) w:sem 5 1075 mavlink_if1 42 4.242 1916/ 2800 100 (100) READY 5 1076 mavlink_rcv_if1 1 0.173 1836/ 4776 175 (175) w:sem 5 Processes: 29 total, 6 running, 23 sleeping CPU usage: 51.04% tasks, 1.11% sched, 47.85% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 1472.678s total, 716.112s 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: 168848 events, 3104.17 avg, min 2102us max 86948us 533.276us rms mavlink: tx run elapsed: 168848 events, 38373410us elapsed, 227.27us avg, min 87us max 9251us 425.167us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_optical_flow: cycle: 131345 events, 2513034us elapsed, 19.13us avg, min 3us max 273us 22.690us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 268514 events, 1951.99 avg, min 13us max 58706us 1271.635us rms uavcan: cycle time: 268514 events, 8172801us elapsed, 30.44us avg, min 9us max 2374us 126.724us 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: 179 events, 1559503us elapsed, 8712.31us avg, min 4us max 30206us 11049.428us rms logger_sd_write: 2628 events, 8670368us elapsed, 3299.23us avg, min 5us max 53932us 7771.209us 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 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: 22691 events, 22655.70 avg, min 57us max 10000153us 162254.328us rms gyro_fft: gyro FIFO data gap: 6 events gyro_fft: FFT: 97655 events, 14016080us elapsed, 143.53us avg, min 129us max 517us 70.754us rms gyro_fft: cycle interval: 209966 events, 2496.30 avg, min 331us max 60377us 196.766us rms gyro_fft: cycle: 209966 events, 15748333us elapsed, 75.00us avg, min 2us max 535us 133.741us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 11100 events, 288156us elapsed, 25.96us avg, min 11us max 2795us 81.294us rms crsf_rc: publish interval: 96794 events, 5414.94 avg, min 4037us max 93875us 2752.348us rms crsf_rc: cycle interval: 96793 events, 5414.96 avg, min 4037us max 93835us 2753.774us rms uxrce_dds_client: cycle interval: 107457 events, 4877.60 avg, min 99us max 94172us 3906.530us rms uxrce_dds_client: cycle: 107456 events, 523977524us elapsed, 4876.21us avg, min 98us max 94171us 6490.619us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 52222 events, 10036.46 avg, min 9105us max 92878us 542.870us rms mavlink: tx run elapsed: 52222 events, 7523674us elapsed, 144.07us avg, min 78us max 5145us 260.748us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 22933 events, 424478us elapsed, 18.51us avg, min 1us max 1879us 68.395us rms land_detector: cycle: 52502 events, 560630us elapsed, 10.68us avg, min 8us max 151us 14.661us rms mc_pos_control: cycle time: 52501 events, 437465us elapsed, 8.33us avg, min 5us max 155us 19.074us rms flight_mode_manager: cycle: 26205 events, 122379us elapsed, 4.67us avg, min 3us max 202us 22.309us rms mc_hover_thrust_estimator: cycle time: 2200 events, 7885us elapsed, 3.58us avg, min 1us max 61us 18.705us 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: 104988 events, 1802013us elapsed, 17.16us avg, min 8us max 127us 24.962us rms mc_rate_control: cycle: 419942 events, 3392186us elapsed, 8.08us avg, min 6us max 29us 2.027us rms control_allocator: cycle: 419943 events, 7953862us elapsed, 18.94us avg, min 10us max 142us 4.063us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 52497 events, 11756914us elapsed, 223.95us avg, min 93us max 893us 235.738us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 52498 events, 10510852us elapsed, 200.21us avg, min 94us max 864us 173.320us rms pwm_out: interval: 1747 events, 299828.28 avg, min 287882us max 312115us 457.768us rms pwm_out: cycle: 1747 events, 18851us elapsed, 10.79us avg, min 2us max 959us 56.347us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 419943 events, 8265600us elapsed, 19.68us avg, min 15us max 40us 5.734us rms control latency: 419943 events, 79252445us elapsed, 188.72us avg, min 174us max 57763us 89.597us rms commander: preflight check: 4811 events, 1171824us elapsed, 243.57us avg, min 109us max 8294us 593.340us rms commander: cycle: 47504 events, 4277148us elapsed, 90.04us avg, min 34us max 8338us 293.612us 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: 37439 events, 793630us elapsed, 21.20us avg, min 15us max 364us 39.312us rms vehicle_gps_position: cycle: 5243 events, 62183us elapsed, 11.86us avg, min 6us max 237us 27.041us rms vehicle_air_data: cycle: 12104 events, 187197us elapsed, 15.47us avg, min 6us max 306us 22.883us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 9871 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 2951 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 137088 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 4440 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 6 events vehicle_angular_velocity: gyro filter reset: 6 events vehicle_angular_velocity: gyro filter: 419948 events, 15669640us elapsed, 37.31us avg, min 5us max 246us 7.452us rms sensors: 104989 events, 2792201us elapsed, 26.60us avg, min 17us max 1714us 42.488us rms afbrs50: irq callback: 51896 events, 255983us elapsed, 4.93us avg, min 1us max 8us 1.386us rms afbrs50: transfer callback: 130662 events, 2275248us elapsed, 17.41us avg, min 1us max 332us 57.705us rms afbrs50: transfer: 130662 events, 33998618us elapsed, 260.20us avg, min 16us max 1486us 681.666us rms afbrs50: sample interval: 25948 events, 20199.25 avg, min 11442us max 147159us 3741.411us rms paw3902: no motion interrupt: 46482 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: 1 events bmp388: measure: 12103 events, 13883741us elapsed, 1147.13us avg, min 1090us max 7255us 138.422us rms bmp388: read: 12102 events, 11680999us elapsed, 965.21us avg, min 943us max 1229us 82.972us rms mmc5983ma_comms_errors: 0 events mmc5983ma_read: 37438 events icm42688p: DRDY missed: 2 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 1 events icm42688p: FIFO empty: 1 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 1 events icm42688p: FIFO overflow: 1 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: 5166 events, 5389877us elapsed, 1043.34us avg, min 984us max 1457us 118.916us rms board_adc: sample: 157230 events, 578644us elapsed, 3.68us avg, min 2us max 1800us 34.672us rms manual_control: interval: 9438 events, 55524.89 avg, min 15us max 201635us 61805.477us rms manual_control: cycle: 9438 events, 169920us elapsed, 18.00us avg, min 7us max 1063us 77.027us rms rc_update: valid data interval: 48783 events, 10744.20 avg, min 4045us max 217684us 3977.906us rms rc_update: cycle interval: 96794 events, 5414.94 avg, min 4038us max 93893us 2755.883us rms rc_update: cycle: 96794 events, 1469045us elapsed, 15.18us avg, min 7us max 1717us 59.343us rms load_mon: cycle: 1049 events, 135799us elapsed, 129.46us avg, min 73us max 1253us 206.343us 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: 3307 events param: set: 13 events, 43us elapsed, 3.31us avg, min 1us max 5us 46.602us rms param: get: 59885 events param: find: 85712 events param: export: 11 events, 304885us elapsed, 27716.82us avg, min 20087us max 85056us 20076.084us rms