Do you need help with interpreting the plots?
See here.
PX4 Quadrotor | Open 3D ViewOpen PID Analysis |
test 3
| Airframe: | Generic Quadcopter Quadrotor x (4001) |
| Hardware: | PX4_FMU_V5 (V5005000) |
| Software Version: | 857381d9 branch: tf/driver-sps30_20231004 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:11 |
| Vehicle Life Flight Time: | 55 minutes 59 seconds |
| Vehicle UUID: | 000200000000333039313538510a00310028 (F450 Li-Iion) |
| Distance: | 101.6 m |
| Max Altitude Difference: | 49 m |
| Average Speed: | 4.8 km/h |
| Max Speed: | 11.0 km/h |
| Max Speed Horizontal: | 2.4 km/h |
| Max Speed Up: | 11.0 km/h |
| Max Speed Down: | 7.0 km/h |
| Max Tilt Angle: | 12.7 deg |
Loading Plots...
Console Output
ommander] Disarmed by landing INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 ERROR [dataman_client] timeout after 1000 ms! WARN [navigator] Invalid mission state. INFO [logger] closed logfile, bytes written: 2822349 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [sht3x] Connected to SHT3x sensor, SN: 5490286 INFO [commander] Armed by external command INFO [navigator] Executing Mission INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2023-12-29/18_51_18.ulg INFO [logger] Opened full log file: /fs/microsd/log/2023-12-29/18_51_18.ulg INFO [navigator] Climb to 10.0 meters above home
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 170673 19.585 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 556/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 5 wq:lp_default 0 0.073 1444/ 1896 205 (205) READY 4 732 wq:rate_ctrl 112 11.261 2332/ 3120 255 (255) w:sem 4 103 wq:hp_default 18 1.874 1172/ 2368 237 (237) w:sem 4 671 dataman 0 0.084 868/ 1376 90 ( 90) w:sem 5 1425 mavlink_rcv_if0 3 0.364 1716/ 4760 175 (175) w:sem 5 745 wq:SPI1 144 14.437 1796/ 2368 253 (253) w:sem 4 758 wq:SPI4 3 0.320 864/ 2368 250 (250) w:sem 4 762 wq:I2C3 3 0.319 932/ 2312 244 (244) w:sem 4 923 wq:I2C4 2 0.213 940/ 2312 243 (243) w:sem 4 925 wq:I2C2 0 0.095 884/ 2312 245 (245) w:sem 4 990 wq:I2C1 8 0.802 1012/ 2312 246 (246) w:sem 4 1177 wq:nav_and_controllers 67 6.710 1452/ 2216 242 (242) w:sem 4 1190 wq:INS0 67 6.682 4212/ 5976 241 (241) w:sem 4 1192 wq:INS1 72 7.182 4212/ 5976 240 (240) w:sem 4 1194 wq:INS2 71 7.091 4212/ 5976 239 (239) w:sem 4 1196 commander 11 1.107 1532/ 3192 140 (140) w:sig 5 1327 gps 1 0.196 1220/ 1936 205 (205) w:sem 4 1424 mavlink_if0 19 1.959 1916/ 2704 100 (100) READY 5 1653 log_writer_file 7 0.751 700/ 1144 60 ( 60) READY 4 1458 mavlink_if1 38 3.834 1940/ 2712 100 (100) READY 5 1459 mavlink_rcv_if1 4 0.405 1468/ 4760 175 (175) READY 5 1495 wq:ttyS4 7 0.762 1116/ 1704 230 (230) READY 4 1518 navigator 2 0.243 1676/ 2104 105 (105) READY 11 1645 logger 94 9.440 3084/ 3616 230 (230) RUN 4 1684 wq:uavcan 15 1.569 2260/ 3600 236 (236) w:sem 4 Processes: 30 total, 9 running, 21 sleeping CPU usage: 77.78% tasks, 2.63% sched, 19.59% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 556.114s total, 170.673s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 189859 19.338 240/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.002 556/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2340/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 4 5 wq:lp_default 62 6.249 1444/ 1896 205 (205) w:sem 4 732 wq:rate_ctrl 112 11.202 2332/ 3120 255 (255) w:sem 4 103 wq:hp_default 19 1.937 1172/ 2368 237 (237) w:sem 4 671 dataman 0 0.034 868/ 1376 90 ( 90) w:sem 5 1425 mavlink_rcv_if0 3 0.358 1716/ 4760 175 (175) w:sem 5 745 wq:SPI1 144 14.411 1796/ 2368 253 (253) w:sem 4 758 wq:SPI4 3 0.326 864/ 2368 250 (250) w:sem 4 762 wq:I2C3 3 0.309 932/ 2312 244 (244) w:sem 4 923 wq:I2C4 2 0.218 940/ 2312 243 (243) w:sem 4 925 wq:I2C2 0 0.090 884/ 2312 245 (245) w:sem 4 990 wq:I2C1 7 0.777 1012/ 2312 246 (246) w:sem 4 1177 wq:nav_and_controllers 68 6.827 1452/ 2216 242 (242) w:sem 4 1190 wq:INS0 65 6.570 4212/ 5976 241 (241) w:sem 4 1192 wq:INS1 71 7.156 4212/ 5976 240 (240) w:sem 4 1194 wq:INS2 70 7.051 4212/ 5976 239 (239) w:sem 4 1196 commander 10 1.010 1532/ 3192 140 (140) w:sig 5 1327 gps 2 0.214 1220/ 1936 205 (205) READY 4 1424 mavlink_if0 19 1.974 1916/ 2704 100 (100) READY 5 1653 log_writer_file 6 0.683 700/ 1144 60 ( 60) w:sem 4 1458 mavlink_if1 39 3.938 1940/ 2712 100 (100) READY 5 1459 mavlink_rcv_if1 4 0.476 1468/ 4760 175 (175) w:sem 5 1495 wq:ttyS4 8 0.884 1116/ 1704 230 (230) READY 4 1518 navigator 1 0.163 1676/ 2104 105 (105) READY 11 1645 logger 35 3.559 3084/ 3616 230 (230) RUN 4 1684 wq:uavcan 16 1.632 2260/ 3600 236 (236) w:sem 4 Processes: 30 total, 7 running, 23 sleeping CPU usage: 78.06% tasks, 2.60% sched, 19.34% idle DMA Memory: 5120 total, 1536 used 2048 peak Uptime: 626.359s total, 189.860s 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 mission_dm_cache_miss: 0 events rtl_dm_cache_miss_land: 0 events rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 62784 events, 2967.86 avg, min 23us max 8270us 870.076us rms uavcan: cycle time: 62784 events, 3907840us elapsed, 62.24us avg, min 13us max 4962us 293.174us 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 mission_dm_cache_miss: 8 events 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: 102 events, 901181us elapsed, 8835.11us avg, min 9us max 45025us 4930.839us rms logger_sd_write: 620 events, 4750633us elapsed, 7662.31us avg, min 10us max 896569us 38854.133us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7324 events, 24090.51 avg, min 64us max 10000026us 201961.031us rms navigator: 3911 events, 1696559us elapsed, 433.79us avg, min 28us max 1194522us 19243.518us rms rc_input: publish interval: 20697 events, 9000.05 avg, min 1457us max 89878us 1991.886us rms rc_input: cycle time: 46489 events, 1608353us elapsed, 34.60us avg, min 8us max 4576us 217.029us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34952 events, 5329.32 avg, min 4211us max 120359us 1114.069us rms mavlink: tx run elapsed: 34952 events, 16950282us elapsed, 484.96us avg, min 187us max 86947us 989.011us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 18300 events, 10178.87 avg, min 9212us max 127228us 1200.583us rms mavlink: tx run elapsed: 18300 events, 7161983us elapsed, 391.37us avg, min 176us max 8129us 1104.261us rms mag_bias_estimator: cycle: 7349 events, 643167us elapsed, 87.52us avg, min 1us max 3208us 361.989us rms land_detector: cycle: 18666 events, 675127us elapsed, 36.17us avg, min 19us max 349us 73.384us rms mc_pos_control: cycle time: 18666 events, 1692496us elapsed, 90.67us avg, min 50us max 724us 99.666us rms flight_mode_manager: cycle: 9317 events, 1081421us elapsed, 116.07us avg, min 69us max 399us 388.747us rms mc_hover_thrust_estimator: cycle time: 18666 events, 77034us elapsed, 4.13us avg, min 1us max 251us 16.940us 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: 37332 events, 927301us elapsed, 24.84us avg, min 16us max 316us 25.784us rms mc_rate_control: cycle: 148220 events, 2703839us elapsed, 18.24us avg, min 14us max 41us 4.501us rms control_allocator: cycle: 148220 events, 6478428us elapsed, 43.71us avg, min 36us max 79us 9.571us rms ekf2: vehicle_magnetometer messages missed: 19 events ekf2: vehicle_air_data messages missed: 1 events ekf2: IMU message missed: 42 events ekf2: ECL full update: 20558 events, 9501166us elapsed, 462.16us avg, min 188us max 4977us 759.007us rms ekf2: ECL update: 20549 events, 18773us elapsed, 0.91us avg, min 1us max 595us 18.486us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 18666 events, 7058761us elapsed, 378.16us avg, min 194us max 2850us 466.600us rms ekf2: ECL update: 18666 events, 16204us elapsed, 0.86us avg, min 1us max 556us 7.534us rms ekf2: vehicle_magnetometer messages missed: 10 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 18534 events, 6798236us elapsed, 366.80us avg, min 188us max 1604us 318.141us rms ekf2: ECL update: 18534 events, 23587us elapsed, 1.27us avg, min 1us max 368us 18.367us rms pwm_out: interval: 621 events, 299516.91 avg, min 294945us max 304290us 813.436us rms pwm_out: cycle: 621 events, 7846us elapsed, 12.63us avg, min 5us max 1474us 122.150us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 1810 events, 1839261us elapsed, 1016.17us avg, min 390us max 6107us 1257.610us rms commander: cycle: 16423 events, 4560187us elapsed, 277.67us avg, min 59us max 6220us 868.515us 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: 23513 events, 1487469us elapsed, 63.26us avg, min 36us max 381us 63.248us rms vehicle_gps_position: cycle: 931 events, 18067us elapsed, 19.41us avg, min 13us max 255us 39.988us rms vehicle_air_data: cycle: 13901 events, 501154us elapsed, 36.05us avg, min 21us max 306us 51.071us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 148225 events, 4120014us elapsed, 27.80us avg, min 24us max 74us 5.139us rms sensors: 37333 events, 3760915us elapsed, 100.74us avg, min 42us max 649us 99.899us rms battery_status: 18635 events, 880106us elapsed, 47.23us avg, min 22us max 3436us 233.398us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 23513 events, 21038259us elapsed, 894.75us avg, min 828us max 1917us 258.164us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 18535 events, 101320us elapsed, 5.47us avg, min 3us max 219us 15.148us rms ms5611: read: 18535 events, 347229us elapsed, 18.73us avg, min 8us max 241us 28.541us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 223620 events, 1649286us elapsed, 7.38us avg, min 3us max 4039us 91.407us rms manual_control: interval: 18298 events, 10180.02 avg, min 1619us max 110835us 5287.436us rms manual_control: cycle: 18298 events, 800579us elapsed, 43.75us avg, min 19us max 4897us 226.623us rms rc_update: valid data interval: 20697 events, 9000.05 avg, min 1449us max 89884us 2003.087us rms rc_update: cycle interval: 20697 events, 9000.05 avg, min 1451us max 89884us 1995.319us rms rc_update: cycle: 20697 events, 1434660us elapsed, 69.32us avg, min 24us max 4540us 281.164us rms control latency: 74207 events, 46602669us elapsed, 628.01us avg, min 507us max 1698us 321.088us rms px4io: interface write: 74209 events, 17893106us elapsed, 241.12us avg, min 130us max 380us 18.663us rms px4io: interface read: 51227 events, 14350624us elapsed, 280.14us avg, min 140us max 685us 262.630us rms px4io: interval: 74207 events, 2511.20 avg, min 564us max 9353us 411.141us rms px4io: cycle: 74207 events, 34570049us elapsed, 465.86us avg, min 261us max 9198us 1114.830us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 125436 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 125443 events, 31322687us elapsed, 249.70us avg, min 123us max 679us 171.217us rms load_mon: cycle: 371 events, 165731us elapsed, 446.71us avg, min 142us max 3554us 790.325us rms dataman: write: 19 events, 101416us elapsed, 5337.68us avg, min 138us max 58951us 13295.461us rms dataman: read: 56 events, 1251340us elapsed, 22345.36us avg, min 13us max 1133723us 152239.016us rms rgbled: led_control message missed: 0 events dma_alloc: 3 events param: set: 3 events, 148us elapsed, 49.33us avg, min 3us max 100us 130.757us rms param: get: 34054 events param: find: 58338 events param: export: 1 events, 24233us elapsed, 24233.00us avg, min 24233us max 24233us 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 mission_dm_cache_miss: 0 events rtl_dm_cache_miss_land: 0 events rtl_dm_cache_miss_geo: 0 events uavcan: cycle interval: 23768 events, 2989.69 avg, min 33us max 9420us 866.621us rms uavcan: cycle time: 23768 events, 1348296us elapsed, 56.73us avg, min 14us max 4944us 502.869us 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 mission_dm_cache_miss: 0 events 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: 182 events, 1507145us elapsed, 8281.02us avg, min 7us max 16518us 4625.398us rms logger_sd_write: 1160 events, 6726645us elapsed, 5798.83us avg, min 11us max 266084us 29784.729us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 7 events, 8571230.00 avg, min 9998610us max 10001249us 891.037us rms navigator: 1493 events, 167502us elapsed, 112.19us avg, min 23us max 10304us 31153.846us rms rc_input: publish interval: 7899 events, 8992.76 avg, min 1352us max 16464us 1884.014us rms rc_input: cycle time: 17730 events, 627981us elapsed, 35.42us avg, min 9us max 2920us 374.325us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 13155 events, 5399.46 avg, min 4230us max 122013us 1355.772us rms mavlink: tx run elapsed: 13155 events, 6667013us elapsed, 506.80us avg, min 187us max 13860us 1714.703us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6946 events, 10225.82 avg, min 9252us max 121796us 1501.665us rms mavlink: tx run elapsed: 6946 events, 2743654us elapsed, 395.00us avg, min 177us max 6808us 1840.331us rms mag_bias_estimator: cycle: 14 events, 1537us elapsed, 109.79us avg, min 1us max 871us 8609.038us rms land_detector: cycle: 7119 events, 277429us elapsed, 38.97us avg, min 19us max 307us 127.882us rms mc_pos_control: cycle time: 7119 events, 658540us elapsed, 92.50us avg, min 50us max 397us 173.386us rms flight_mode_manager: cycle: 3553 events, 463119us elapsed, 130.35us avg, min 72us max 394us 633.026us rms mc_hover_thrust_estimator: cycle time: 7119 events, 77599us elapsed, 10.90us avg, min 1us max 518us 33.232us 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: 14238 events, 371484us elapsed, 26.09us avg, min 16us max 276us 44.663us rms mc_rate_control: cycle: 56530 events, 1109418us elapsed, 19.63us avg, min 15us max 41us 7.768us rms control_allocator: cycle: 56530 events, 2455629us elapsed, 43.44us avg, min 36us max 72us 16.455us rms ekf2: vehicle_magnetometer messages missed: 7 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 24 events ekf2: ECL full update: 7856 events, 3726732us elapsed, 474.38us avg, min 188us max 5661us 1305.543us rms ekf2: ECL update: 7853 events, 7133us elapsed, 0.90us avg, min 0us max 566us 31.090us rms ekf2: vehicle_magnetometer messages missed: 0 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 7119 events, 2754400us elapsed, 386.91us avg, min 189us max 3413us 803.978us rms ekf2: ECL update: 7119 events, 6359us elapsed, 0.89us avg, min 1us max 210us 13.095us rms ekf2: vehicle_magnetometer messages missed: 5 events ekf2: vehicle_air_data messages missed: 0 events ekf2: IMU message missed: 0 events ekf2: ECL full update: 7069 events, 2633760us elapsed, 372.58us avg, min 186us max 1836us 549.671us rms ekf2: ECL update: 7068 events, 10239us elapsed, 1.45us avg, min 1us max 330us 32.031us rms pwm_out: interval: 237 events, 298733.47 avg, min 296378us max 303265us 746.800us rms pwm_out: cycle: 237 events, 6944us elapsed, 29.30us avg, min 5us max 2281us 277.921us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 691 events, 739057us elapsed, 1069.55us avg, min 387us max 7318us 2197.052us rms commander: cycle: 6234 events, 1811827us elapsed, 290.64us avg, min 60us max 7396us 1509.322us 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: 8965 events, 538604us elapsed, 60.08us avg, min 36us max 367us 108.187us rms vehicle_gps_position: cycle: 356 events, 7930us elapsed, 22.28us avg, min 13us max 224us 70.436us rms vehicle_air_data: cycle: 5302 events, 191992us elapsed, 36.21us avg, min 22us max 311us 87.826us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 56535 events, 1572452us elapsed, 27.81us avg, min 24us max 72us 8.795us rms sensors: 14239 events, 1385403us elapsed, 97.30us avg, min 42us max 395us 166.725us rms battery_status: 7107 events, 335548us elapsed, 47.21us avg, min 22us max 4482us 403.495us rms hmc5883: conf_err: 0 events hmc5883: rng_err: 0 events hmc5883: com_err: 0 events hmc5883: read: 8965 events, 8024298us elapsed, 895.07us avg, min 829us max 1998us 444.002us rms ist8310: reset: 0 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 7069 events, 38737us elapsed, 5.48us avg, min 3us max 212us 25.907us rms ms5611: read: 7069 events, 132759us elapsed, 18.78us avg, min 8us max 242us 49.072us rms bmi055_gyro: DRDY missed: 1 events bmi055_gyro: FIFO reset: 0 events bmi055_gyro: FIFO overflow: 0 events bmi055_gyro: FIFO empty: 0 events bmi055_gyro: bad transfer: 0 events bmi055_gyro: bad register: 0 events bmi055_accel: DRDY missed: 0 events bmi055_accel: FIFO reset: 0 events bmi055_accel: FIFO overflow: 0 events bmi055_accel: FIFO empty: 0 events bmi055_accel: bad transfer: 0 events bmi055_accel: bad register: 0 events icm20689: DRDY missed: 0 events icm20689: FIFO reset: 0 events icm20689: FIFO overflow: 0 events icm20689: FIFO empty: 0 events icm20689: bad transfer: 0 events icm20689: bad register: 0 events icm20602: DRDY missed: 0 events icm20602: FIFO reset: 0 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 85296 events, 641596us elapsed, 7.52us avg, min 3us max 3663us 157.816us rms manual_control: interval: 7326 events, 9696.13 avg, min 1327us max 48726us 3552.565us rms manual_control: cycle: 7326 events, 310866us elapsed, 42.43us avg, min 18us max 3578us 382.839us rms rc_update: valid data interval: 7899 events, 8992.76 avg, min 1327us max 16656us 1898.782us rms rc_update: cycle interval: 7899 events, 8992.76 avg, min 1359us max 16465us 1888.833us rms rc_update: cycle: 7899 events, 552376us elapsed, 69.93us avg, min 25us max 4774us 487.847us rms control latency: 28304 events, 17905760us elapsed, 632.62us avg, min 521us max 1672us 553.788us rms px4io: interface write: 28306 events, 6829882us elapsed, 241.29us avg, min 135us max 377us 32.185us rms px4io: interface read: 19508 events, 5472036us elapsed, 280.50us avg, min 140us max 664us 452.271us rms px4io: interval: 28305 events, 2511.07 avg, min 562us max 9349us 410.864us rms px4io: cycle: 28304 events, 13203872us elapsed, 466.50us avg, min 262us max 9193us 1918.086us rms arch_px4io_serial: DMA errors: 0 events px4io: badidle: 0 events px4io: idle: 47816 events px4io: uarterrs: 0 events px4io: protoerrs: 0 events px4io: crcerrs: 0 events px4io: timeouts: 0 events px4io: retries: 0 events px4io: txns: 47817 events, 11949825us elapsed, 249.91us avg, min 129us max 654us 294.741us rms load_mon: cycle: 143 events, 67449us elapsed, 471.67us avg, min 142us max 3435us 1357.522us rms dataman: write: 1 events, 1416us elapsed, 1416.00us avg, min 1416us max 1416us infus rms dataman: read: 20 events, 13775us elapsed, 688.75us avg, min 12us max 7081us 259024.531us rms rgbled: led_control message missed: 0 events dma_alloc: 2 events param: set: 3 events, 10us elapsed, 3.33us avg, min 2us max 6us 130.777us rms param: get: 12292 events param: find: 22490 events param: export: 1 events, 19773us elapsed, 19773.00us avg, min 19773us max 19773us nanus rms