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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
Tuned PIC parameters but MPC_XY_VEL_D_ACC set to 0.1 to see effect on pitch/rollrate setpoint oscillations
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.3 (1dacb4cd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 30-10-2024 20:03 |
| Logging Duration: | 0:00:49 |
| Dropouts: | 5 (0.49 s) |
| Vehicle Life Flight Time: | 1 hours 42 minutes 6 seconds |
| Vehicle UUID: | 000600000000333838393032510d00350023 |
| Distance: | 26.6 m |
| Max Altitude Difference: | 4 m |
| Average Speed: | 1.8 km/h |
| Max Speed: | 10.1 km/h |
| Max Speed Horizontal: | 10.1 km/h |
| Max Speed Up: | 4.9 km/h |
| Max Speed Down: | 1.8 km/h |
| Max Tilt Angle: | 15.6 deg |
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Console Output
nc] RTT too high for timesync: 1324826 ms WARN [timesync] RTT too high for timesync: 1414817 ms WARN [timesync] RTT too high for timesync: 1504827 ms WARN [timesync] RTT too high for timesync: 1594809 ms WARN [timesync] RTT too high for timesync: 1684805 ms WARN [timesync] RTT too high for timesync: 1774802 ms WARN [timesync] RTT too high for timesync: 1864797 ms WARN [timesync] RTT too high for timesync: 1954783 ms WARN [timesync] RTT too high for timesync: 2044789 ms WARN [timesync] RTT too high for timesync: 2134785 ms WARN [timesync] RTT too high for timesync: 2224781 ms WARN [timesync] RTT too high for timesync: 2314777 ms WARN [timesync] RTT too high for timesync: 2404773 ms WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Yaw estimate error WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [health_and_arming_checks] Preflight Fail: Attitude failure (pitch) WARN [health_and_arming_checks] Preflight: GPS fix too low WARN [timesync] RTT too high for timesync: 2494775 ms WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: not enough GPS Satellites WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight Fail: vertical velocity unstable WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high 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/2024-10-30/20_03_19.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-10-30/20_03_19.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 1228428 40.585 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 0 0.001 1116/ 1576 50 ( 50) w:sem 0 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 2 816 mavlink_rcv_if1 4 0.434 1812/ 4616 175 (175) w:sem 5 254 wq:hp_default 10 1.061 1144/ 1872 237 (237) w:sem 2 269 dataman 0 0.010 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.036 1036/ 1896 205 (205) w:sem 2 330 wq:SPI4 80 8.011 1848/ 2368 250 (250) w:sem 2 328 wq:rate_ctrl 78 7.812 2500/ 3120 255 (255) w:sem 2 343 wq:SPI1 63 6.364 1848/ 2368 253 (253) w:sem 2 347 wq:I2C4 1 0.137 936/ 2312 243 (243) w:sem 2 607 wq:nav_and_controllers 32 3.251 1292/ 2216 242 (242) w:sem 2 614 wq:INS0 38 3.845 4316/ 5976 241 (241) w:sem 2 617 wq:INS1 36 3.644 4316/ 5976 240 (240) w:sem 2 619 wq:INS2 36 3.609 4316/ 5976 239 (239) w:sem 2 622 commander 6 0.676 1772/ 3192 140 (140) w:sig 5 658 mavlink_if0 7 0.718 1948/ 2768 100 (100) w:sig 4 659 mavlink_rcv_if0 2 0.206 1516/ 4616 175 (175) w:sem 4 698 wq:ttyS2 2 0.228 872/ 1704 232 (232) w:sem 2 815 mavlink_if1 13 1.348 1972/ 2704 100 (100) w:sig 5 849 mavlink_rcv_if2 2 0.231 1660/ 4616 175 (175) w:sem 4 844 mavlink_if2 54 5.484 1972/ 2704 100 (100) READY 4 1061 log_writer_file 11 1.175 612/ 1144 60 ( 60) w:sem 4 886 mavlink_if3 24 2.423 1972/ 2704 100 (100) w:sig 4 888 mavlink_rcv_if3 3 0.339 1508/ 4616 175 (175) READY 4 924 navigator 0 0.083 1228/ 1896 105 (105) w:sem 6 1049 logger 50 5.040 2932/ 3616 230 (230) RUN 4 1085 wq:uavcan 17 1.734 3140/ 3600 236 (236) w:sem 2 Processes: 29 total, 4 running, 25 sleeping CPU usage: 57.90% tasks, 1.51% sched, 40.59% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 2545.560s total, 1228.428s idle
Performance Counters
Pre Flight:
ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_gps_position messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_magnetometer messages missed: 0 events ekf2: distance_sensor messages missed: 1 events ekf2: distance_sensor messages missed: 11 events ekf2: distance_sensor messages missed: 427 events uavcan: cycle interval: 1117730 events, 2131.12 avg, min 15us max 11466us 1151.146us rms uavcan: cycle time: 1117730 events, 56200520us elapsed, 50.28us avg, min 11us max 1591us 74.042us 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: 75 events, 609711us elapsed, 8129.48us avg, min 4us max 15549us 2944.562us rms logger_sd_write: 980 events, 19702228us elapsed, 20104.31us avg, min 6us max 788826us 49702.527us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 116612 events, 20342.06 avg, min 57us max 10000002us 58441.152us rms navigator: 49900 events, 5167765us elapsed, 103.56us avg, min 9us max 682947us 5449.783us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 476250 events, 5001.59 avg, min 4129us max 46709us 160.756us rms mavlink: tx run elapsed: 476250 events, 83796087us elapsed, 175.95us avg, min 96us max 3522us 73.273us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 790407 events, 3013.65 avg, min 2154us max 45885us 249.377us rms mavlink: tx run elapsed: 790407 events, 178556563us elapsed, 225.90us avg, min 109us max 7988us 136.470us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 238158 events, 10001.77 avg, min 9131us max 46256us 162.060us rms mavlink: tx run elapsed: 238158 events, 38613640us elapsed, 162.13us avg, min 99us max 1992us 61.606us rms tfmini: read: 365292 events, 4753622us elapsed, 13.01us avg, min 2us max 1048us 39.773us rms tfmini: com_err: 0 events mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 476282 events, 5001.25 avg, min 4038us max 45639us 182.779us rms mavlink: tx run elapsed: 476282 events, 18161561us elapsed, 38.13us avg, min 22us max 1430us 47.332us rms mag_bias_estimator: cycle: 117056 events, 2191603us elapsed, 18.72us avg, min 1us max 1133us 14.789us rms land_detector: cycle: 238204 events, 3730668us elapsed, 15.66us avg, min 10us max 219us 13.451us rms mc_pos_control: cycle time: 238204 events, 8106304us elapsed, 34.03us avg, min 25us max 216us 17.214us rms flight_mode_manager: cycle: 119101 events, 4605369us elapsed, 38.67us avg, min 28us max 223us 34.837us rms mc_hover_thrust_estimator: cycle time: 238204 events, 310680us elapsed, 1.30us avg, min 1us max 258us 2.684us 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: 476406 events, 10047782us elapsed, 21.09us avg, min 8us max 190us 27.792us rms mc_rate_control: cycle: 1893901 events, 18737072us elapsed, 9.89us avg, min 7us max 61us 1.599us rms control_allocator: cycle: 1893901 events, 45934006us elapsed, 24.25us avg, min 19us max 189us 3.448us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 238202 events, 37410292us elapsed, 157.05us avg, min 100us max 1245us 73.149us rms ekf2: ECL update: 238203 events, 93754us elapsed, 0.39us avg, min 0us max 67us 0.666us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 238203 events, 49716824us elapsed, 208.72us avg, min 100us max 800us 64.140us rms ekf2: ECL update: 238202 events, 165970us elapsed, 0.69us avg, min 0us max 164us 3.976us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 238202 events, 31789706us elapsed, 133.46us avg, min 100us max 846us 54.364us rms ekf2: ECL update: 238202 events, 96462us elapsed, 0.40us avg, min 0us max 74us 0.802us rms pwm_out: interval: 1893903 events, 1257.73 avg, min 60us max 10808us 642.298us rms pwm_out: cycle: 1893903 events, 27987795us elapsed, 14.78us avg, min 12us max 85us 1.786us rms control latency: 1893903 events, 815805937us elapsed, 430.75us avg, min 148us max 9723us 521.363us rms commander: preflight check: 21680 events, 9903460us elapsed, 456.80us avg, min 267us max 25044us 300.187us rms commander: cycle: 216480 events, 20102812us elapsed, 92.86us avg, min 31us max 25245us 175.477us 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_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 190570 events, 6608608us elapsed, 34.68us avg, min 19us max 759us 24.267us rms vehicle_gps_position: cycle: 11910 events, 128754us elapsed, 10.81us avg, min 7us max 164us 12.622us rms vehicle_air_data: cycle: 177835 events, 4239127us elapsed, 23.84us avg, min 13us max 199us 13.006us rms vehicle_angular_velocity: gyro selection changed: 2 events vehicle_angular_velocity: gyro filter reset: 2 events vehicle_angular_velocity: gyro filter: 1893904 events, 28795471us elapsed, 15.20us avg, min 12us max 355us 1.900us rms sensors: 476410 events, 18767606us elapsed, 39.39us avg, min 15us max 5456us 30.844us rms battery_status: 238202 events, 3568772us elapsed, 14.98us avg, min 12us max 201us 10.309us rms ms5611: com_err: 0 events ms5611: measure: 237367 events, 988760us elapsed, 4.17us avg, min 3us max 138us 2.320us rms ms5611: read: 237367 events, 3430670us elapsed, 14.45us avg, min 11us max 152us 4.194us rms ak09916: magnetic sensor overflow: 0 events ak09916: bad transfer: 0 events ak09916: bad register: 0 events ak09916: reset: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 0 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 237114 events, 1194058us elapsed, 5.04us avg, min 4us max 161us 6.004us rms ms5611: read: 237114 events, 4482846us elapsed, 18.91us avg, min 12us max 180us 10.133us rms board_adc: sample: 1667414 events, 18012006us elapsed, 10.80us avg, min 7us max 189us 13.809us rms manual_control: interval: 18665 events, 127617.91 avg, min 451us max 200814us 62611.648us rms manual_control: cycle: 18665 events, 374583us elapsed, 20.07us avg, min 10us max 834us 42.993us rms rc_update: valid data interval: 111169 events, 21426.97 avg, min 9873us max 37003us 1877.300us rms rc_update: cycle interval: 111169 events, 21426.97 avg, min 10006us max 37003us 1877.420us rms rc_update: cycle: 111169 events, 1835187us elapsed, 16.51us avg, min 12us max 362us 9.932us rms control latency: 949204 events, 391194474us elapsed, 412.13us avg, min 379us max 1725us 83.983us rms px4io: interface write: 949226 events, 220753919us elapsed, 232.56us avg, min 121us max 347us 7.086us rms px4io: interface read: 668317 events, 183176353us elapsed, 274.09us avg, min 135us max 654us 158.422us rms px4io: interval: 949204 events, 2509.50 avg, min 308us max 9974us 392.300us rms px4io: cycle: 949204 events, 422507204us elapsed, 445.12us avg, min 244us max 9550us 649.075us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 1617544 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 1617543 events, 396972511us elapsed, 245.42us avg, min 118us max 650us 103.526us rms load_mon: cycle: 4764 events, 483320us elapsed, 101.45us avg, min 89us max 276us 16.743us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 3523 events, 4188735us elapsed, 1188.97us avg, min 17us max 682885us 20487.152us rms dma_alloc: 65 events param: set: 24 events, 1754us elapsed, 73.08us avg, min 1us max 272us 104.785us rms param: get: 384336 events param: find: 703517 events param: export: 4 events, 248272us elapsed, 62068.00us avg, min 57648us max 70333us 5634.385us rms