Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 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 Duration: | 0:00:34 |
| Vehicle Life Flight Time: | 1 hours 6 minutes 18 seconds |
| Vehicle UUID: | 0006000000003331383130335110003c002f |
| Distance: | 89.3 m |
| Max Altitude Difference: | 16 m |
| Average Speed: | 4.1 km/h |
| Max Speed: | 34.5 km/h |
| Max Speed Horizontal: | 14.0 km/h |
| Max Speed Up: | 11.3 km/h |
| Max Speed Down: | 34.3 km/h |
| Max Tilt Angle: | 41.6 deg |
Loading Plots...
Console Output
184549631) OS git-hash: cc880bbecd215f5541e4b6d922123fc46f8ccb72 Build datetime: Apr 30 2024 19:04:05 Build uri: localhost Build variant: default Toolchain: GNU GCC, 12.2.1 20221205 PX4GUID: 0006000000003331383130335110003c002f MCU: STM32H7[4|5]xxx, rev. V 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/4601_droneblocks_dexi_5 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors ina226 #0 on I2C bus 3 address 0x41 icm42688p #0 on SPI bus 1 rotation 3 icm42688p #1 on SPI bus 2 rotation 1 ERROR [SPI_I2C] iis2mdc: no instance started (no device on bus?) mmc5983ma #0 on I2C bus 4 address 0x30 bmp390 #0 on I2C bus 4 address 0x76 INFO [paw3902] using yaw rotation 90.000 degrees (1.571 radians) paw3902 #0 on SPI bus 3 AFBR-S50 Chip ID: 37025, API Version: 17104902 v1.5.6 AFBR-S50LV85D WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 2490378 ekf2 [782:237] 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 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: Power module not connected WARN [health_and_arming_checks] Preflight Fail: velocity estimate error 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 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 1714582409404390us 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: 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/2024-04-25/03_44_45.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-04-25/03_44_45.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 26272 47.860 288/ 768 0 ( 0) READY 3 1 hpwork 7 0.790 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 756/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2076/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 572/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.171 1292/ 1896 205 (205) w:sem 5 1043 log_writer_file 5 0.553 620/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 40 4.085 2100/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.054 944/ 2312 244 (244) w:sem 5 541 wq:SPI1 50 5.040 1776/ 2368 253 (253) w:sem 5 550 wq:SPI2 56 5.619 1776/ 2368 252 (252) w:sem 5 556 wq:I2C4 8 0.858 988/ 2312 243 (243) w:sem 5 569 wq:SPI3 2 0.268 972/ 2368 251 (251) w:sem 5 763 wq:nav_and_controllers 30 3.029 1436/ 2216 242 (242) w:sem 5 766 wq:rate_ctrl 74 7.454 2304/ 3120 255 (255) w:sem 5 767 wq:INS0 35 3.515 3596/ 5976 241 (241) w:sem 5 775 wq:INS1 37 3.782 3596/ 5976 240 (240) w:sem 5 777 commander 5 0.527 1468/ 3192 140 (140) w:sig 5 850 gps 0 0.040 1156/ 1936 205 (205) w:sem 4 907 mavlink_if0 10 1.009 1844/ 2704 100 (100) w:sig 5 909 mavlink_rcv_if0 1 0.192 1316/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 35 3.551 9324/ 9872 100 (100) w:sem 25 956 wq:ttyS4 5 0.592 1116/ 1704 230 (230) READY 5 976 navigator 0 0.072 1612/ 2104 105 (105) w:sem 11 1034 logger 43 4.356 3036/ 3616 230 (230) RUN 4 1046 wq:uavcan 8 0.823 2188/ 3600 236 (236) w:sem 5 1073 mavlink_if1 44 4.448 1852/ 2800 100 (100) READY 5 1076 mavlink_rcv_if1 1 0.171 1740/ 4776 175 (175) w:sem 5 Processes: 29 total, 4 running, 25 sleeping CPU usage: 51.01% tasks, 1.13% sched, 47.86% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 43.617s total, 26.272s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 43830 47.361 288/ 768 0 ( 0) READY 3 1 hpwork 7 0.747 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.001 756/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2076/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 572/ 1232 255 (255) w:sem 5 5 wq:lp_default 22 2.217 1292/ 1896 205 (205) w:sem 5 1043 log_writer_file 5 0.577 636/ 1144 60 ( 60) w:sem 4 471 wq:hp_default 39 3.983 2108/ 2776 237 (237) w:sem 5 495 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 538 wq:I2C3 0 0.057 944/ 2312 244 (244) w:sem 5 541 wq:SPI1 55 5.577 1776/ 2368 253 (253) w:sem 5 550 wq:SPI2 51 5.113 1776/ 2368 252 (252) w:sem 5 556 wq:I2C4 8 0.855 988/ 2312 243 (243) w:sem 5 569 wq:SPI3 2 0.262 972/ 2368 251 (251) w:sem 5 763 wq:nav_and_controllers 30 3.052 1436/ 2216 242 (242) w:sem 5 766 wq:rate_ctrl 73 7.365 2304/ 3120 255 (255) w:sem 5 767 wq:INS0 37 3.721 3596/ 5976 241 (241) w:sem 5 775 wq:INS1 34 3.474 3596/ 5976 240 (240) w:sem 5 777 commander 5 0.520 1468/ 3192 140 (140) w:sig 5 850 gps 0 0.000 1156/ 1936 205 (205) w:sem 4 907 mavlink_if0 9 0.994 1844/ 2704 100 (100) w:sig 5 909 mavlink_rcv_if0 4 0.449 1452/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 32 3.249 9324/ 9872 100 (100) READY 25 956 wq:ttyS4 6 0.625 1116/ 1704 230 (230) w:sem 5 976 navigator 0 0.087 1612/ 2104 105 (105) w:sem 11 1034 logger 17 1.786 3036/ 3616 230 (230) RUN 4 1046 wq:uavcan 8 0.852 2188/ 3600 236 (236) w:sem 5 1073 mavlink_if1 45 4.497 1852/ 2800 100 (100) READY 7 1076 mavlink_rcv_if1 14 1.408 1748/ 4776 175 (175) READY 7 Processes: 29 total, 5 running, 24 sleeping CPU usage: 51.47% tasks, 1.17% sched, 47.36% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 77.494s total, 43.830s 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: 4395 events, 3049.37 avg, min 2186us max 32313us 563.344us rms mavlink: tx run elapsed: 4395 events, 928654us elapsed, 211.30us avg, min 79us max 5213us 242.788us rms DatamanClient: sync: 1 events, 29us elapsed, 29.00us avg, min 29us max 29us nanus rms vehicle_optical_flow: cycle: 10165 events, 220517us elapsed, 21.69us avg, min 9us max 256us 21.684us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 13929 events, 2999.55 avg, min 121us max 5792us 187.536us rms uavcan: cycle time: 13929 events, 272645us elapsed, 19.57us avg, min 12us max 1149us 30.237us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write: 1 events, 13092us elapsed, 13092.00us avg, min 13092us max 13092us nanus 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, 183us elapsed, 183.00us avg, min 183us max 183us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 27us elapsed, 27.00us avg, min 27us max 27us nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 2088 events, 20012.78 avg, min 61us max 73927us 1423.518us rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 7743 events, 1154994us elapsed, 149.17us avg, min 136us max 1182us 22.157us rms gyro_fft: cycle interval: 16748 events, 2496.27 avg, min 318us max 4634us 149.032us rms gyro_fft: cycle: 16748 events, 1300891us elapsed, 77.67us avg, min 2us max 1237us 76.872us rms DatamanClient: sync: 1 events, 4747us elapsed, 4747.00us avg, min 4747us max 4747us nanus rms navigator: 884 events, 27037us elapsed, 30.58us avg, min 18us max 1102us 52.276us rms crsf_rc: publish interval: 5838 events, 7160.22 avg, min 4036us max 106078us 13468.705us rms crsf_rc: cycle interval: 5838 events, 7160.66 avg, min 4037us max 106110us 13467.208us rms uxrce_dds_client: cycle interval: 1228 events, 4970.43 avg, min 104us max 40036us 3584.803us rms uxrce_dds_client: cycle: 1227 events, 6102529us elapsed, 4973.54us avg, min 104us max 40035us 3586.309us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 4173 events, 10018.89 avg, min 9223us max 34854us 510.561us rms mavlink: tx run elapsed: 4173 events, 558668us elapsed, 133.88us avg, min 69us max 1892us 116.576us rms DatamanClient: sync: 4 events, 903us elapsed, 225.75us avg, min 32us max 430us 211.941us rms mag_bias_estimator: cycle: 2090 events, 32984us elapsed, 15.78us avg, min 1us max 908us 41.504us rms land_detector: cycle: 4187 events, 46733us elapsed, 11.16us avg, min 8us max 167us 8.270us rms mc_pos_control: cycle time: 4187 events, 60508us elapsed, 14.45us avg, min 1us max 656us 16.009us rms flight_mode_manager: cycle: 2090 events, 161435us elapsed, 77.24us avg, min 3us max 827us 183.156us rms mc_hover_thrust_estimator: cycle time: 4185 events, 4071us elapsed, 0.97us avg, min 1us max 72us 1.720us 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: 7414 events, 113554us elapsed, 15.32us avg, min 8us max 166us 5.595us rms mc_rate_control: cycle: 33550 events, 267691us elapsed, 7.98us avg, min 7us max 68us 0.989us rms control_allocator: cycle: 33550 events, 631178us elapsed, 18.81us avg, min 16us max 134us 2.248us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 4194 events, 924224us elapsed, 220.37us avg, min 75us max 746us 125.339us rms ekf2: IMU message missed: 2 events ekf2: EKF update: 4194 events, 821122us elapsed, 195.78us avg, min 75us max 633us 97.819us rms pwm_out: interval: 141 events, 295745.19 avg, min 201us max 300618us 25247.316us rms pwm_out: cycle: 141 events, 569us elapsed, 4.04us avg, min 2us max 68us 6.108us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 33551 events, 655894us elapsed, 19.55us avg, min 13us max 69us 3.192us rms control latency: 33550 events, 6237071us elapsed, 185.90us avg, min 158us max 296us 6.745us rms commander: preflight check: 384 events, 76455us elapsed, 199.10us avg, min 108us max 1324us 169.670us rms commander: cycle: 3801 events, 295611us elapsed, 77.77us avg, min 31us max 2437us 119.673us 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: 3018 events, 60901us elapsed, 20.18us avg, min 14us max 439us 21.489us rms vehicle_gps_position: cycle: 140 events, 323us elapsed, 2.31us avg, min 1us max 5us 0.574us rms vehicle_air_data: cycle: 966 events, 14159us elapsed, 14.66us avg, min 3us max 299us 15.328us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 689 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 236 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 93 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 42 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: 33582 events, 1167740us elapsed, 34.77us avg, min 12us max 256us 5.306us rms sensors: 8394 events, 214912us elapsed, 25.60us avg, min 18us max 1776us 34.090us rms afbrs50: irq callback: 4144 events, 20444us elapsed, 4.93us avg, min 3us max 7us 0.871us rms afbrs50: transfer callback: 11846 events, 183682us elapsed, 15.51us avg, min 1us max 243us 31.219us rms afbrs50: transfer: 11846 events, 2733436us elapsed, 230.75us avg, min 10us max 1246us 390.524us rms afbrs50: sample interval: 2072 events, 20197.86 avg, min 17057us max 143690us 3881.822us rms paw3902: no motion interrupt: 3806 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 1 events paw3902: mode change bright (0): 2 events paw3902: false motion report: 0 events paw3902: reset: 3 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 966 events, 1107455us elapsed, 1146.43us avg, min 1090us max 1317us 60.092us rms bmp388: read: 965 events, 928330us elapsed, 962.00us avg, min 942us max 3863us 98.789us rms mmc5983ma_comms_errors: 0 events mmc5983ma_read: 3019 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: 413 events, 409943us elapsed, 992.60us avg, min 982us max 1142us 27.850us rms board_adc: sample: 12594 events, 46476us elapsed, 3.69us avg, min 2us max 1066us 21.051us rms manual_control: interval: 491 events, 85486.11 avg, min 54us max 200978us 72994.031us rms manual_control: cycle: 491 events, 7801us elapsed, 15.89us avg, min 6us max 902us 44.510us rms rc_update: valid data interval: 2828 events, 10689.73 avg, min 4090us max 160238us 3955.360us rms rc_update: cycle interval: 5838 events, 7160.27 avg, min 4038us max 106080us 13469.105us rms rc_update: cycle: 5838 events, 88450us elapsed, 15.15us avg, min 7us max 882us 36.743us rms load_mon: cycle: 84 events, 7485us elapsed, 89.11us avg, min 1us max 414us 70.981us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 5 events, 1502us elapsed, 300.40us avg, min 7us max 405us 165.013us rms dma_alloc: 134 events param: set: 197 events, 3997us elapsed, 20.29us avg, min 5us max 42us 9.875us rms param: get: 37929 events param: find: 9084 events param: export: 1 events, 17629us elapsed, 17629.00us avg, min 17629us max 17629us infus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 11526 events, 3020.20 avg, min 2106us max 21660us 333.355us rms mavlink: tx run elapsed: 11526 events, 2351507us elapsed, 204.02us avg, min 89us max 2281us 221.032us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms vehicle_optical_flow: cycle: 8867 events, 184599us elapsed, 20.82us avg, min 4us max 421us 28.847us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: gnss: rtcm stream pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 11601 events, 3001.06 avg, min 1303us max 12200us 197.409us rms uavcan: cycle time: 11601 events, 218437us elapsed, 18.83us avg, min 13us max 1078us 42.561us 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: 95 events, 838445us elapsed, 8825.74us avg, min 2255us max 58899us 6331.548us rms logger_sd_write: 1393 events, 4383684us elapsed, 3146.94us avg, min 5us max 50395us 2736.953us 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 nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 3 events, 6666667.33 avg, min 9999814us max 10000188us 186.964us rms gyro_fft: gyro FIFO data gap: 4 events gyro_fft: FFT: 6253 events, 998888us elapsed, 159.75us avg, min 137us max 1082us 37.105us rms gyro_fft: cycle interval: 13927 events, 2499.80 avg, min 354us max 36529us 412.288us rms gyro_fft: cycle: 13927 events, 1124594us elapsed, 80.75us avg, min 2us max 1159us 118.296us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms navigator: 737 events, 19405us elapsed, 26.33us avg, min 18us max 642us 66.944us rms crsf_rc: publish interval: 6437 events, 5407.66 avg, min 4024us max 45818us 2442.907us rms crsf_rc: cycle interval: 6438 events, 5407.46 avg, min 4025us max 45815us 2445.095us rms uxrce_dds_client: cycle interval: 7905 events, 4403.38 avg, min 103us max 24315us 3287.854us rms uxrce_dds_client: cycle: 7904 events, 34799705us elapsed, 4402.80us avg, min 102us max 24314us 3578.524us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 3478 events, 10008.75 avg, min 9203us max 21605us 287.820us rms mavlink: tx run elapsed: 3478 events, 517028us elapsed, 148.66us avg, min 81us max 1206us 175.639us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 42 events, 450us elapsed, 10.71us avg, min 7us max 31us 296.301us rms land_detector: cycle: 3489 events, 36018us elapsed, 10.32us avg, min 8us max 149us 11.276us rms mc_pos_control: cycle time: 3489 events, 51970us elapsed, 14.90us avg, min 5us max 128us 20.899us rms flight_mode_manager: cycle: 1741 events, 23674us elapsed, 13.60us avg, min 2us max 116us 201.114us rms mc_hover_thrust_estimator: cycle time: 1481 events, 4685us elapsed, 3.16us avg, min 1us max 75us 4.968us 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: 6976 events, 105249us elapsed, 15.09us avg, min 8us max 95us 7.849us rms mc_rate_control: cycle: 27902 events, 240206us elapsed, 8.61us avg, min 7us max 26us 1.438us rms control_allocator: cycle: 27902 events, 519935us elapsed, 18.63us avg, min 16us max 125us 3.424us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3487 events, 724344us elapsed, 207.73us avg, min 75us max 812us 195.126us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 3488 events, 676401us elapsed, 193.92us avg, min 75us max 682us 150.933us rms pwm_out: interval: 116 events, 297418.27 avg, min 299375us max 300625us 168.984us rms pwm_out: cycle: 116 events, 465us elapsed, 4.01us avg, min 2us max 41us 8.250us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 27902 events, 575665us elapsed, 20.63us avg, min 16us max 37us 4.795us rms control latency: 27903 events, 5318197us elapsed, 190.60us avg, min 178us max 687us 11.076us rms commander: preflight check: 319 events, 56904us elapsed, 178.38us avg, min 106us max 971us 225.322us rms commander: cycle: 3163 events, 258253us elapsed, 81.65us avg, min 33us max 1208us 167.215us 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: 2503 events, 56172us elapsed, 22.44us avg, min 15us max 1273us 38.922us rms vehicle_gps_position: cycle: 116 events, 287us elapsed, 2.47us avg, min 1us max 14us 1.360us rms vehicle_air_data: cycle: 804 events, 11855us elapsed, 14.75us avg, min 10us max 178us 21.217us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 1698 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 67 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 69072 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 1974 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 3 events vehicle_angular_velocity: gyro filter reset: 3 events vehicle_angular_velocity: gyro filter: 27904 events, 1048001us elapsed, 37.56us avg, min 31us max 245us 8.699us rms sensors: 6977 events, 180098us elapsed, 25.81us avg, min 19us max 1807us 43.564us rms afbrs50: irq callback: 3210 events, 15999us elapsed, 4.98us avg, min 1us max 8us 1.320us rms afbrs50: transfer callback: 9247 events, 148093us elapsed, 16.02us avg, min 1us max 244us 48.201us rms afbrs50: transfer: 9247 events, 2137269us elapsed, 231.13us avg, min 11us max 1250us 591.006us rms afbrs50: sample interval: 1605 events, 21679.84 avg, min 13143us max 147057us 8054.846us rms paw3902: no motion interrupt: 1032 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: 804 events, 921895us elapsed, 1146.64us avg, min 1090us max 1325us 87.844us rms bmp388: read: 804 events, 769930us elapsed, 957.62us avg, min 944us max 1109us 112.228us rms mmc5983ma_comms_errors: 0 events mmc5983ma_read: 2503 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: 343 events, 344706us elapsed, 1004.97us avg, min 984us max 1161us 48.531us rms board_adc: sample: 10434 events, 39167us elapsed, 3.75us avg, min 2us max 789us 30.641us rms manual_control: interval: 2049 events, 16988.35 avg, min 15us max 200014us 15951.138us rms manual_control: cycle: 2049 events, 39482us elapsed, 19.27us avg, min 9us max 767us 46.532us rms rc_update: valid data interval: 3230 events, 10776.82 avg, min 241us max 50001us 3221.381us rms rc_update: cycle interval: 6430 events, 5413.55 avg, min 241us max 45838us 2502.483us rms rc_update: cycle: 6430 events, 105856us elapsed, 16.46us avg, min 8us max 815us 50.323us rms load_mon: cycle: 70 events, 8692us elapsed, 124.17us avg, min 65us max 920us 156.219us 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: 3 events param: set: 48 events, 53us elapsed, 1.10us avg, min 1us max 4us 20.172us rms param: get: 4433 events param: find: 5725 events param: export: 1 events, 19099us elapsed, 19099.00us avg, min 19099us max 19099us infus rms