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PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | CUBEPILOT_CUBEORANGEPLUS |
| Software Version: | v1.14.0 (b8c541dd) |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | 30-04-2024 10:20 |
| Logging Duration: | 0:05:13 |
| Dropouts: | 5 (2.66 s) |
| Vehicle Life Flight Time: | 4 hours 49 seconds |
| Vehicle UUID: | 0006000000003736393130325113001f002d |
| Distance: | 670.6 m |
| Max Altitude Difference: | 13 m |
| Average Speed: | 7.5 km/h |
| Max Speed: | 20.7 km/h |
| Max Speed Horizontal: | 20.7 km/h |
| Max Speed Up: | 5.1 km/h |
| Max Speed Down: | 4.7 km/h |
| Max Tilt Angle: | 30.8 deg |
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Console Output
HW arch: CUBEPILOT_CUBEORANGEPLUS PX4 git-hash: b8c541dd7277ed735139d7d1bfb829d61fbe29fb PX4 version: Release 1.14.0 (17694975) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: de41e7feaeffaec3ce65327e9569e8fdb553ca3d Build datetime: Oct 19 2023 16:02:44 Build uri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003736393130325113001f002d MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 2820 bytes, decoded 2820 bytes (INT32:71, FLOAT:67) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 62560 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors ms5611 #0 on SPI bus 4 icm42688p #0 on SPI bus 4 rotation 10 icm20948 #0 on SPI bus 4 rotation 10 icm20649 #0 on SPI bus 1 ms5611 #1 on SPI bus 1 ekf2 [571:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Minimal, data rate: 2880 B/s on /dev/ttyS4 @ 57600B Starting Main GPS on /dev/ttyS5 Starting MAVLink on /dev/ttyS0 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS0 @ 57600B Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Onboard, data rate: 5000 B/s on /dev/ttyS1 @ 921600B INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Kuavcan_mag adding channel for topic sensor_mag node 125... uavcan_mag channel 125 instance 1 ok INFO [vehicle_magnetometer] MAG switch from #0 -> #1 uavcan_gnss adding channel for topic sensor_gps node 125... uavcan_gnss node 125 instance 0 ok uavcan_gnss node 125 topic sensor_gps instance 0 ok WARN [uavcan] GNSS Fix2 msg detected for ch 0; disabling Fix msg for this node WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high WARN [health_and_arming_checks] Preflight: GPS Horizontal Pos Error too high INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-04-30/10_13_56.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-04-30/10_13_56.ulg INFO [commander] Takeoff detected INFO [commander] Disarmed by RC (switch) INFO [vehicle_magnetometer] 1 (8944899) EST:0 offset: [0.002, -0.113, -0.087]->[0.006, -0.112, -0.084] (full [0.154, -0.076, WARN [health_and_arming_checks] Preflight Fail: Accel 1 inconsistent - check cal INFO [logger] closed logfile, bytes written: 6081317 WARN [commander] Connection to mission computer lost INFO [commander] Connection to ground station lost INFO [commander] Onboard controller regained ERROR [timesync] Time jump detected. Resetting time synchroniser. INFO [commander] GCS connection regained INFO [commander] Armed by RC (switch) INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-04-30/10_20_52.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-04-30/10_20_52.ulg INFO [commander] Takeoff detected
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 271259 48.717 184/ 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 0 950 log_writer_file 7 0.754 620/ 1144 60 ( 60) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 254 wq:hp_default 10 1.022 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.007 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 0 0.038 1084/ 1896 205 (205) w:sem 1 311 wq:ttyS3 5 0.499 1108/ 1704 231 (231) w:sem 1 329 wq:SPI4 85 8.544 1840/ 2368 250 (250) w:sem 1 344 wq:SPI1 37 3.760 1576/ 2368 253 (253) w:sem 1 554 wq:nav_and_controllers 30 3.003 1592/ 2216 242 (242) w:sem 1 555 wq:rate_ctrl 58 5.805 2500/ 3120 255 (255) w:sem 1 556 wq:INS0 38 3.798 4316/ 5976 241 (241) w:sem 1 559 wq:INS1 33 3.396 4316/ 5976 240 (240) w:sem 1 560 wq:INS2 33 3.382 4316/ 5976 239 (239) w:sem 1 562 commander 6 0.668 1648/ 3192 140 (140) w:sig 5 601 mavlink_if0 6 0.670 1908/ 2768 100 (100) w:sig 4 602 mavlink_rcv_if0 1 0.178 1508/ 4616 175 (175) w:sem 4 680 gps 0 0.039 1236/ 1936 205 (205) w:sem 4 753 mavlink_if1 11 1.170 1908/ 2704 100 (100) w:sig 4 755 mavlink_rcv_if1 2 0.215 1508/ 4616 175 (175) w:sem 4 782 mavlink_if2 43 4.316 1940/ 2712 100 (100) w:sig 4 788 mavlink_rcv_if2 24 2.446 1668/ 4616 175 (175) w:sem 4 829 navigator 0 0.063 1056/ 1896 230 (105) w:sem 6 923 logger 44 4.467 2932/ 3616 230 (230) RUN 4 934 wq:uavcan 16 1.694 3140/ 3600 236 (236) w:sem 1 Processes: 27 total, 2 running, 25 sleeping CPU usage: 49.94% tasks, 1.34% sched, 48.72% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 496.879s total, 271.259s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 434116 42.536 184/ 768 0 ( 0) READY 0 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 0 2 lpwork 69 6.910 1116/ 1576 50 ( 50) w:sem 0 950 log_writer_file 4 0.440 620/ 1144 60 ( 60) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 1 254 wq:hp_default 10 1.024 1144/ 1872 237 (237) w:sem 1 269 dataman 0 0.009 852/ 1280 90 ( 90) w:sem 4 277 wq:lp_default 1 0.139 1084/ 1896 205 (205) w:sem 1 311 wq:ttyS3 5 0.508 1108/ 1704 231 (231) w:sem 1 329 wq:SPI4 85 8.583 1840/ 2368 250 (250) w:sem 1 344 wq:SPI1 37 3.783 1576/ 2368 253 (253) w:sem 1 554 wq:nav_and_controllers 40 4.018 1592/ 2216 242 (242) w:sem 1 555 wq:rate_ctrl 57 5.727 2500/ 3120 255 (255) w:sem 1 556 wq:INS0 38 3.832 4316/ 5976 241 (241) w:sem 1 559 wq:INS1 34 3.488 4316/ 5976 240 (240) w:sem 1 560 wq:INS2 34 3.416 4316/ 5976 239 (239) w:sem 1 562 commander 6 0.690 1648/ 3192 140 (140) w:sig 5 601 mavlink_if0 6 0.666 1908/ 2768 100 (100) w:sig 4 602 mavlink_rcv_if0 6 0.643 1524/ 4616 175 (175) w:sem 4 680 gps 0 0.032 1236/ 1936 205 (205) w:sem 4 753 mavlink_if1 12 1.208 1908/ 2704 100 (100) w:sig 4 755 mavlink_rcv_if1 6 0.603 1508/ 4616 175 (175) READY 4 782 mavlink_if2 43 4.381 1940/ 2712 100 (100) READY 4 788 mavlink_rcv_if2 24 2.472 1668/ 4616 175 (175) w:sem 4 829 navigator 0 0.083 1056/ 1896 230 (105) w:sem 6 923 logger 18 1.826 2932/ 3616 230 (230) RUN 4 934 wq:uavcan 16 1.650 3140/ 3600 236 (236) w:sem 1 Processes: 27 total, 4 running, 23 sleeping CPU usage: 56.13% tasks, 1.33% sched, 42.54% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 809.359s total, 434.116s 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 uavcan: cycle interval: 196248 events, 2117.17 avg, min 18us max 8582us 1153.193us rms uavcan: cycle time: 196248 events, 7967269us elapsed, 40.60us avg, min 10us max 8578us 103.589us 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: 295 events, 2843124us elapsed, 9637.71us avg, min 2220us max 134892us 7933.317us rms logger_sd_write: 1373 events, 27265624us elapsed, 19858.43us avg, min 6us max 2241895us 82276.875us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 14282 events, 28383.31 avg, min 67us max 10000196us 289183.438us rms navigator: 8653 events, 6657629us elapsed, 769.40us avg, min 9us max 2207707us 31077.113us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 135447 events, 3067.47 avg, min 2123us max 35380us 381.166us rms mavlink: tx run elapsed: 135447 events, 26691656us elapsed, 197.06us avg, min 107us max 9885us 225.035us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 41517 events, 10007.36 avg, min 9121us max 41946us 265.602us rms mavlink: tx run elapsed: 41517 events, 6595737us elapsed, 158.87us avg, min 100us max 4290us 114.737us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 82908 events, 5011.28 avg, min 4032us max 37354us 274.173us rms mavlink: tx run elapsed: 82908 events, 3349760us elapsed, 40.40us avg, min 21us max 3254us 75.369us rms mag_bias_estimator: cycle: 14368 events, 286793us elapsed, 19.96us avg, min 1us max 643us 28.003us rms land_detector: cycle: 41549 events, 503758us elapsed, 12.12us avg, min 10us max 108us 6.565us rms mc_pos_control: cycle time: 41549 events, 536307us elapsed, 12.91us avg, min 5us max 182us 12.447us rms flight_mode_manager: cycle: 20775 events, 476144us elapsed, 22.92us avg, min 3us max 425us 44.679us rms mc_hover_thrust_estimator: cycle time: 10628 events, 53496us elapsed, 5.03us avg, min 1us max 128us 4.547us 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: 83098 events, 1525121us elapsed, 18.35us avg, min 8us max 137us 7.574us rms mc_rate_control: cycle: 332395 events, 3376747us elapsed, 10.16us avg, min 8us max 23us 1.246us rms control_allocator: cycle: 332395 events, 7419205us elapsed, 22.32us avg, min 19us max 169us 3.182us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 39491 events, 7418523us elapsed, 187.85us avg, min 101us max 2191us 157.411us rms ekf2: ECL update: 39492 events, 18528us elapsed, 0.46us avg, min 1us max 269us 2.740us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 38989 events, 8103197us elapsed, 207.83us avg, min 101us max 1722us 151.804us rms ekf2: ECL update: 38989 events, 22313us elapsed, 0.57us avg, min 0us max 808us 6.873us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 41549 events, 6508243us elapsed, 156.64us avg, min 100us max 782us 77.258us rms ekf2: ECL update: 41549 events, 18539us elapsed, 0.44us avg, min 0us max 52us 1.185us rms pwm_out: interval: 332396 events, 1250.00 avg, min 803us max 1526us 86.466us rms pwm_out: cycle: 332396 events, 4441894us elapsed, 13.36us avg, min 11us max 75us 1.623us rms control latency: 332396 events, 84346415us elapsed, 253.75us avg, min 150us max 460us 68.466us rms commander: preflight check: 3897 events, 1700527us elapsed, 436.37us avg, min 272us max 3095us 268.561us rms commander: cycle: 37485 events, 4669848us elapsed, 124.58us avg, min 30us max 3132us 243.270us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 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: 33240 events, 1066776us elapsed, 32.09us avg, min 20us max 997us 23.779us rms vehicle_gps_position: cycle: 2077 events, 22606us elapsed, 10.88us avg, min 7us max 159us 14.929us rms vehicle_air_data: cycle: 30914 events, 731550us elapsed, 23.66us avg, min 13us max 127us 11.930us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 332396 events, 5289734us elapsed, 15.91us avg, min 13us max 124us 1.589us rms sensors: 83100 events, 3302890us elapsed, 39.75us avg, min 15us max 4095us 38.853us rms battery_status: 41550 events, 682677us elapsed, 16.43us avg, min 12us max 1205us 22.747us rms ms5611: com_err: 0 events ms5611: measure: 41214 events, 165065us elapsed, 4.01us avg, min 3us max 15us 0.683us rms ms5611: read: 41214 events, 580838us elapsed, 14.09us avg, min 11us max 25us 1.638us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 41218 events, 194591us elapsed, 4.72us avg, min 3us max 60us 2.175us rms ms5611: read: 41218 events, 739840us elapsed, 17.95us avg, min 12us max 77us 4.697us rms board_adc: sample: 290850 events, 2680248us elapsed, 9.22us avg, min 7us max 938us 32.563us rms manual_control: interval: 4345 events, 95591.37 avg, min 3593us max 201841us 68493.172us rms manual_control: cycle: 4345 events, 76832us elapsed, 17.68us avg, min 9us max 821us 47.782us rms rc_update: valid data interval: 18871 events, 22016.59 avg, min 21529us max 33846us 1285.395us rms rc_update: cycle interval: 18871 events, 22016.59 avg, min 21531us max 34141us 1285.872us rms rc_update: cycle: 18871 events, 431264us elapsed, 22.85us avg, min 14us max 1037us 47.319us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 6 events, 1361us elapsed, 226.83us avg, min 125us max 583us 205.306us rms px4io: interface read: 114086 events, 36322501us elapsed, 318.38us avg, min 135us max 3121us 223.592us rms px4io: interval: 18871 events, 22016.59 avg, min 21530us max 32121us 1287.624us rms px4io: cycle: 18871 events, 37522374us elapsed, 1988.36us avg, min 1526us max 12108us 1402.515us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 114092 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 114092 events, 35748043us elapsed, 313.33us avg, min 122us max 3115us 222.078us rms load_mon: cycle: 831 events, 98941us elapsed, 119.06us avg, min 92us max 812us 59.246us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 2205 events, 6484139us elapsed, 2940.65us avg, min 17us max 2207677us 61519.598us rms dma_alloc: 3 events param: set: 18 events, 289us elapsed, 16.06us avg, min 1us max 93us 43.092us rms param: get: 73571 events param: find: 126036 events param: export: 1 events, 47694us elapsed, 47694.00us avg, min 47694us max 47694us nanus rms
Post 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 uavcan: cycle interval: 147521 events, 2122.01 avg, min 15us max 10047us 1157.429us rms uavcan: cycle time: 147521 events, 5957162us elapsed, 40.38us avg, min 10us max 8872us 140.770us 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: 724 events, 6828539us elapsed, 9431.68us avg, min 4us max 18814us 5868.406us rms logger_sd_write: 3512 events, 61916067us elapsed, 17629.86us avg, min 6us max 1986322us 73061.555us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 31 events, 9677419.35 avg, min 9999851us max 10000150us 55.850us rms navigator: 6476 events, 8425112us elapsed, 1300.97us avg, min 9us max 1781115us 49039.480us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 101614 events, 3080.59 avg, min 2124us max 43717us 413.537us rms mavlink: tx run elapsed: 101614 events, 21096149us elapsed, 207.61us avg, min 108us max 4031us 348.471us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 31272 events, 10009.81 avg, min 9121us max 43753us 265.367us rms mavlink: tx run elapsed: 31272 events, 5041582us elapsed, 161.22us avg, min 99us max 3419us 174.792us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 62443 events, 5013.09 avg, min 4035us max 43522us 288.870us rms mavlink: tx run elapsed: 62443 events, 2449002us elapsed, 39.22us avg, min 21us max 3390us 111.441us rms mag_bias_estimator: cycle: 25 events, 440us elapsed, 17.60us avg, min 1us max 34us 685.154us rms land_detector: cycle: 31304 events, 405599us elapsed, 12.96us avg, min 10us max 187us 9.783us rms mc_pos_control: cycle time: 31304 events, 910500us elapsed, 29.09us avg, min 5us max 168us 18.391us rms flight_mode_manager: cycle: 15652 events, 1164731us elapsed, 74.41us avg, min 4us max 391us 61.938us rms mc_hover_thrust_estimator: cycle time: 28486 events, 148287us elapsed, 5.21us avg, min 3us max 82us 4.749us 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: 62608 events, 773822us elapsed, 12.36us avg, min 8us max 77us 10.277us rms mc_rate_control: cycle: 250437 events, 2676020us elapsed, 10.69us avg, min 8us max 24us 1.805us rms control_allocator: cycle: 250438 events, 5584580us elapsed, 22.30us avg, min 19us max 169us 4.698us rms ekf2: IMU message missed: 2 events ekf2: ECL full update: 29752 events, 6481414us elapsed, 217.85us avg, min 102us max 2340us 255.503us rms ekf2: ECL update: 29752 events, 15809us elapsed, 0.53us avg, min 0us max 680us 7.116us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 29375 events, 6962446us elapsed, 237.02us avg, min 103us max 1957us 244.815us rms ekf2: ECL update: 29374 events, 15960us elapsed, 0.54us avg, min 1us max 510us 9.459us rms ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 1 events ekf2: ECL full update: 31304 events, 5563760us elapsed, 177.73us avg, min 102us max 797us 131.322us rms ekf2: ECL update: 31304 events, 14300us elapsed, 0.45us avg, min 1us max 51us 1.762us rms pwm_out: interval: 250438 events, 1249.99 avg, min 806us max 1547us 86.848us rms pwm_out: cycle: 250438 events, 3488473us elapsed, 13.93us avg, min 12us max 80us 2.398us rms control latency: 250438 events, 63842262us elapsed, 254.92us avg, min 151us max 587us 100.781us rms commander: preflight check: 2948 events, 1301114us elapsed, 441.35us avg, min 264us max 2763us 397.749us rms commander: cycle: 28216 events, 3550572us elapsed, 125.84us avg, min 30us max 2799us 361.608us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 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: 25045 events, 784161us elapsed, 31.31us avg, min 19us max 2331us 37.120us rms vehicle_gps_position: cycle: 1566 events, 17338us elapsed, 11.07us avg, min 7us max 181us 23.191us rms vehicle_air_data: cycle: 23290 events, 557864us elapsed, 23.95us avg, min 13us max 127us 17.458us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 250439 events, 3998148us elapsed, 15.96us avg, min 13us max 119us 2.335us rms sensors: 62611 events, 2421003us elapsed, 38.67us avg, min 15us max 4362us 51.884us rms battery_status: 31305 events, 502178us elapsed, 16.04us avg, min 12us max 976us 35.745us rms ms5611: com_err: 0 events ms5611: measure: 31052 events, 124358us elapsed, 4.00us avg, min 3us max 13us 1.011us rms ms5611: read: 31052 events, 438381us elapsed, 14.12us avg, min 11us max 26us 2.402us rms icm20649: DRDY missed: 0 events icm20649: FIFO reset: 0 events icm20649: FIFO overflow: 0 events icm20649: FIFO empty: 0 events icm20649: bad transfer: 0 events icm20649: bad register: 0 events icm20948_ak09916: magnetic sensor overflow: 0 events icm20948_ak09916: bad transfer: 0 events icm20948: FIFO reset: 0 events icm20948: FIFO overflow: 0 events icm20948: FIFO empty: 0 events icm20948: bad transfer: 0 events icm20948: bad register: 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 ms5611: com_err: 0 events ms5611: measure: 31054 events, 146326us elapsed, 4.71us avg, min 4us max 53us 3.104us rms ms5611: read: 31054 events, 557399us elapsed, 17.95us avg, min 12us max 75us 6.847us rms board_adc: sample: 219135 events, 2065232us elapsed, 9.42us avg, min 7us max 2202us 42.915us rms manual_control: interval: 5068 events, 61757.53 avg, min 4537us max 201137us 59904.270us rms manual_control: cycle: 5068 events, 86260us elapsed, 17.02us avg, min 9us max 1028us 61.833us rms rc_update: valid data interval: 14197 events, 22049.28 avg, min 21531us max 33469us 1316.295us rms rc_update: cycle interval: 14197 events, 22049.28 avg, min 21531us max 33470us 1315.484us rms rc_update: cycle: 14197 events, 348467us elapsed, 24.55us avg, min 14us max 1799us 75.823us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms px4io: interface write: 5 events, 1475us elapsed, 295.00us avg, min 126us max 859us 392.655us rms px4io: interface read: 85815 events, 27648019us elapsed, 322.18us avg, min 135us max 2771us 335.419us rms px4io: interval: 14196 events, 22049.30 avg, min 21531us max 33428us 1318.992us rms px4io: cycle: 14196 events, 28616361us elapsed, 2015.80us avg, min 1526us max 13424us 2080.145us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 85821 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 85820 events, 27205456us elapsed, 317.01us avg, min 121us max 2767us 333.129us rms load_mon: cycle: 627 events, 75799us elapsed, 120.89us avg, min 92us max 1019us 97.573us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 1642 events, 8295013us elapsed, 5051.77us avg, min 17us max 1780910us 97263.547us rms dma_alloc: 2 events param: set: 66 events, 773us elapsed, 11.71us avg, min 1us max 145us 41.137us rms param: get: 55493 events param: find: 96246 events param: export: 1 events, 47298us elapsed, 47298.00us avg, min 47298us max 47298us nanus rms