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PX4 Fixed Wing | Open PID Analysis |
| Airframe: | ThunderFly TF-G2 Autogyro (17003) |
| Hardware: | PX4_FMU_V6X (V6X008) |
| Software Version: | 9d3f2657 branch: tf/s35770 |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:00:27 |
| Vehicle Life Flight Time: | 0 seconds |
| Vehicle UUID: | 0006000000003338393630335107004e0034 |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 6.4 deg |
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Console Output
aldata' failed (2) New /fs/mtd_caldata size is: ERROR [bsondump] open '/fs/mtd_caldata' failed (2) INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 1390 bytes, decoded 1390 bytes (INT32:27, FLOAT:37) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson ERROR [netman] Network could not be saved! Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/17003_TF-G2 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes WARN [px4io] check CRC failed: -1, CRC: 2305713667 WARN [px4io] IO refused to reboot WARN [px4io] reboot failed - -1, still attempting upgrade [PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin [PX4IO] bootloader not responding WARN [px4io] IO refused to reboot WARN [px4io] reboot failed - -1, still attempting upgrade [PX4IO] using firmware from /etc/extras/px4_io-v2_default.bin [PX4IO] bootloader not responding ERROR [px4io] error updating PX4IO - check that bootloader mode is enabled INFO [tune_control] Stopping playback... ERROR [px4io] Failed to communicate with IO, abort. ERROR [px4io] Task start failed (-1) PX4IO start failed Board sensors: /etc/init.d/rc.board_sensors icm45686 #0 on SPI bus 3 icm45686 #1 on SPI bus 2 icm45686 #2 on SPI bus 1 rotation 10 bmm150 #0 on I2C bus 4 (external) address 0x10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) icp201xx #0 on I2C bus 4 (external) address 0x64 bmp388 #0 on I2C bus 2 (external) address 0x76 WARN [SPI_I2C] ms5611: no instance started (no device on bus?) sdp3x #0 on I2C bus 2 (external) address 0x21 ERROR [sdp3x] get scale failed WARN [health_and_arming_checks] Preflight Fail: Airspeed selector module down WARN [health_and_arming_checks] Preflight Fail: ekf2 missing data WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD ekf2 [639:237] Board mavlink: /etc/init.d/rc.board_mavlink INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode. Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B Starting MAVLink on ethernet INFO [mavlink] mode: Normal, data rate: 100000 B/s on udp port 14550 remote port 14550 INFO [cdcacm_autostart] Starting CDC/ACM autostart WARN [mavlink] no broadcasting address found INFO [logger] logger started (mode=all) INFO [airspeed_selector] Airspeed sensor healthy, start using again (-1, 1) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [Ksercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD INFO [mavlink] Starting mavlink shell WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD WARN [health_and_arming_checks] Preflight Fail: Crash dumps present on SD INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-08-13/23_05_39.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-08-13/23_05_39.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 293794 57.636 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2316/ 3144 100 (100) w:sem 4 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.192 1388/ 1976 205 (205) w:sem 5 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.000 508/ 2024 49 ( 49) w:sem 4 1648 log_writer_file 3 0.349 604/ 1144 60 ( 60) w:sem 4 62 wq:hp_default 6 0.647 856/ 2776 237 (237) w:sem 5 282 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 395 wq:I2C0 0 0.007 700/ 2312 247 (247) w:sem 5 397 wq:SPI0 0 0.007 700/ 2368 254 (254) w:sem 5 412 wq:SPI3 17 1.755 1844/ 2368 251 (251) w:sem 5 424 wq:SPI2 15 1.576 1932/ 2368 252 (252) w:sem 5 431 wq:SPI1 16 1.610 1816/ 2368 253 (253) w:sem 5 458 wq:I2C4 2 0.250 1036/ 2312 243 (243) w:sem 5 470 wq:I2C2 3 0.347 908/ 2312 245 (245) w:sem 5 625 wq:nav_and_controllers 34 3.449 1340/ 2216 242 (242) w:sem 5 626 wq:rate_ctrl 20 2.046 2528/ 3120 255 (255) w:sem 5 627 wq:INS0 41 4.098 3788/ 5976 241 (241) w:sem 5 628 wq:INS1 39 3.926 3788/ 5976 240 (240) w:sem 5 629 wq:INS2 39 3.964 3788/ 5976 239 (239) w:sem 5 632 commander 5 0.574 1484/ 3192 140 (140) w:sig 5 1033 mavlink_if0 10 1.090 1836/ 3048 100 (100) w:sig 5 1036 mavlink_rcv_if0 1 0.190 2284/ 6136 175 (175) w:sem 5 1149 mavlink_if1 30 3.071 1876/ 3048 100 (100) w:sig 5 1151 mavlink_rcv_if1 1 0.149 2292/ 6136 175 (175) w:sem 5 1230 wq:ttyS5 2 0.268 668/ 1704 229 (229) w:sem 5 1271 navigator 0 0.064 1504/ 2144 105 (105) w:sem 11 1593 logger 53 5.339 3052/ 3616 230 (230) RUN 4 1683 mavlink_shell 0 0.000 1092/ 2000 100 (100) w:sem 4 1660 wq:uavcan 8 0.861 2204/ 3600 236 (236) w:sem 5 1681 mavlink_if2 48 4.892 1940/ 3136 100 (100) READY 7 1682 mavlink_rcv_if2 2 0.268 2636/ 6136 175 (175) READY 7 1684 netinit 0 0.000 508/ 2024 49 ( 49) w:sem 4 1705 gps 2 0.264 1188/ 1968 205 (205) w:sem 4 Processes: 37 total, 4 running, 33 sleeping CPU usage: 41.26% tasks, 1.10% sched, 57.64% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 452.310s total, 293.794s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 310158 60.538 272/ 768 0 ( 0) READY 3 1 hpwork 0 0.000 292/ 1224 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2316/ 3144 100 (100) w:sem 4 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.194 1388/ 1976 205 (205) READY 5 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.004 508/ 2024 49 ( 49) w:sem 4 1648 log_writer_file 3 0.322 620/ 1144 60 ( 60) w:sem 4 62 wq:hp_default 6 0.650 856/ 2776 237 (237) w:sem 5 282 dataman 0 0.001 1060/ 1376 90 ( 90) w:sem 5 395 wq:I2C0 0 0.007 700/ 2312 247 (247) w:sem 5 397 wq:SPI0 0 0.005 700/ 2368 254 (254) w:sem 5 412 wq:SPI3 17 1.758 1844/ 2368 251 (251) w:sem 5 424 wq:SPI2 15 1.575 1932/ 2368 252 (252) w:sem 5 431 wq:SPI1 16 1.614 1816/ 2368 253 (253) w:sem 5 458 wq:I2C4 2 0.246 1036/ 2312 243 (243) w:sem 5 470 wq:I2C2 3 0.343 908/ 2312 245 (245) w:sem 5 625 wq:nav_and_controllers 34 3.446 1340/ 2216 242 (242) w:sem 5 626 wq:rate_ctrl 20 2.050 2528/ 3120 255 (255) w:sem 5 627 wq:INS0 41 4.097 3788/ 5976 241 (241) w:sem 5 628 wq:INS1 39 3.927 3788/ 5976 240 (240) w:sem 5 629 wq:INS2 39 3.970 3788/ 5976 239 (239) w:sem 5 632 commander 5 0.545 1484/ 3192 140 (140) w:sig 5 1033 mavlink_if0 11 1.102 1836/ 3048 100 (100) w:sig 5 1036 mavlink_rcv_if0 2 0.202 2284/ 6136 175 (175) w:sem 5 1149 mavlink_if1 32 3.223 1876/ 3048 100 (100) w:sig 5 1151 mavlink_rcv_if1 1 0.157 2292/ 6136 175 (175) w:sem 5 1230 wq:ttyS5 2 0.278 668/ 1704 229 (229) READY 5 1271 navigator 0 0.063 1504/ 2144 105 (105) w:sem 11 1593 logger 22 2.271 3052/ 3616 230 (230) RUN 4 1683 mavlink_shell 0 0.000 1092/ 2000 100 (100) w:sem 4 1660 wq:uavcan 8 0.850 2204/ 3600 236 (236) w:sem 5 1681 mavlink_if2 50 5.017 1940/ 3136 100 (100) READY 7 1682 mavlink_rcv_if2 2 0.286 2636/ 6136 175 (175) w:sem 7 1684 netinit 0 0.005 508/ 2024 49 ( 49) w:sem 4 1705 gps 1 0.147 1188/ 1968 205 (205) READY 4 Processes: 37 total, 6 running, 31 sleeping CPU usage: 38.37% tasks, 1.10% sched, 60.54% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 478.620s total, 310.158s 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: 147821 events, 3006.42 avg, min 2221us max 25000us 203.318us rms mavlink: tx run elapsed: 147821 events, 21835778us elapsed, 147.72us avg, min 85us max 22663us 69.644us rms DatamanClient: sync: 3 events, 6738us elapsed, 2246.00us avg, min 29us max 3428us 1921.385us rms uavcan: cycle interval: 148500 events, 2999.94 avg, min 268us max 3414us 61.083us rms uavcan: cycle time: 148500 events, 2648437us elapsed, 17.83us avg, min 11us max 196us 8.832us 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 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, 11424us elapsed, 11424.00us avg, min 11424us max 11424us nanus rms DatamanClient: sync: 1 events, 17419us elapsed, 17419.00us avg, min 17419us max 17419us infus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 26us elapsed, 26.00us avg, min 26us max 26us infus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 30us elapsed, 30.00us avg, min 30us max 30us infus rms mission_dm_cache_miss: 0 events DatamanClient: sync: 1 events, 28us elapsed, 28.00us avg, min 28us max 28us nanus rms geofence_dm_cache_miss: 0 events gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 22274 events, 20000.90 avg, min 3607us max 63605us 334.229us rms DatamanClient: sync: 1 events, 7585us elapsed, 7585.00us avg, min 7585us max 7585us infus rms navigator: 9335 events, 194292us elapsed, 20.81us avg, min 11us max 18089us 188.501us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 111372 events, 566581us elapsed, 5.09us avg, min 4us max 25us 0.659us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 148180 events, 3006.65 avg, min 2127us max 27920us 226.725us rms mavlink: tx run elapsed: 148180 events, 13280360us elapsed, 89.62us avg, min 56us max 1764us 14.233us rms DatamanClient: sync: 1 events, 29us elapsed, 29.00us avg, min 29us max 29us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 44500 events, 10011.96 avg, min 9157us max 32037us 283.069us rms mavlink: tx run elapsed: 44500 events, 4952073us elapsed, 111.28us avg, min 74us max 450us 17.538us rms DatamanClient: sync: 4 events, 3469us elapsed, 867.25us avg, min 33us max 3110us 1498.970us rms mag_bias_estimator: cycle: 22280 events, 116341us elapsed, 5.22us avg, min 1us max 193us 3.526us rms land_detector: cycle: 44563 events, 283069us elapsed, 6.35us avg, min 5us max 121us 1.366us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms airspeed_selector: elapsed: 4457 events, 71951us elapsed, 16.14us avg, min 14us max 278us 5.140us rms fw_pos_control: cycle: 22283 events, 1128030us elapsed, 50.62us avg, min 10us max 308us 4.916us rms fw_att_control: cycle: 89040 events, 1318884us elapsed, 14.81us avg, min 13us max 251us 1.636us rms fw_rate_control: cycle: 178253 events, 10017314us elapsed, 56.20us avg, min 47us max 279us 4.031us rms control_allocator: cycle: 356506 events, 4244531us elapsed, 11.91us avg, min 6us max 135us 4.516us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 44563 events, 11816646us elapsed, 265.17us avg, min 85us max 720us 85.178us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 44564 events, 12352291us elapsed, 277.18us avg, min 84us max 773us 114.730us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 44565 events, 11489213us elapsed, 257.81us avg, min 84us max 683us 74.526us rms pwm_out: interval: 1487 events, 299596.59 avg, min 180us max 300041us 7775.087us rms pwm_out: cycle: 1487 events, 6210us elapsed, 4.18us avg, min 3us max 127us 3.358us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 4054 events, 674878us elapsed, 166.47us avg, min 159us max 5256us 87.534us rms commander: cycle: 40503 events, 2326921us elapsed, 57.45us avg, min 31us max 5846us 64.658us 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_imu: gyro data gap: 1 events vehicle_imu: accel data gap: 1 events vehicle_magnetometer: cycle: 9790 events, 183545us elapsed, 18.75us avg, min 7us max 387us 5.174us rms vehicle_gps_position: cycle: 1486 events, 3831us elapsed, 2.58us avg, min 1us max 48us 1.607us rms vehicle_air_data: cycle: 10294 events, 199069us elapsed, 19.34us avg, min 12us max 206us 4.699us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 178267 events, 2735673us elapsed, 15.35us avg, min 13us max 38us 0.632us rms sensors: 89131 events, 2747105us elapsed, 30.82us avg, min 27us max 1645us 11.954us rms battery_status: 44567 events, 369389us elapsed, 8.29us avg, min 7us max 69us 1.586us rms sdp3x: communication errors: 1 events sdp3x: read: 41188 events, 27262353us elapsed, 661.90us avg, min 659us max 797us 6.841us rms bmp388: comms errors: 1 events bmp388: measure: 10297 events, 11345185us elapsed, 1101.80us avg, min 1097us max 6638us 56.037us rms bmp388: read: 10295 events, 9817061us elapsed, 953.58us avg, min 949us max 1063us 5.531us rms icp201xx: bad transfer: 0 events icp201xx: read: 13377 events, 445854822us elapsed, 33329.96us avg, min 2123us max 33953us 519.058us rms icp201xx: reset: 1 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 1 events bmm150: bad transfer: 0 events bmm150: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events icm45686: FIFO reset: 1 events icm45686: FIFO overflow: 0 events icm45686: FIFO empty: 0 events icm45686: bad transfer: 0 events icm45686: bad register: 0 events board_adc: sample: 356848 events, 799435us elapsed, 2.24us avg, min 2us max 54us 0.795us rms manual_control: interval: 10840 events, 41148.75 avg, min 30us max 200265us 14417.111us rms manual_control: cycle: 10840 events, 141278us elapsed, 13.03us avg, min 6us max 650us 25.752us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 901 events, 91054us elapsed, 101.06us avg, min 2us max 283us 36.015us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 17799us elapsed, 2542.71us avg, min 7us max 5083us 1802.723us rms dma_alloc: 10 events param: set: 64 events, 599us elapsed, 9.36us avg, min 5us max 18us 3.103us rms param: get: 77652 events param: find: 124615 events param: export: 1 events, 6930us elapsed, 6930.00us avg, min 6930us max 6930us nanus rms
Post Flight:
mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9082 events, 2999.91 avg, min 2391us max 3918us 103.016us rms mavlink: tx run elapsed: 9082 events, 1337988us elapsed, 147.32us avg, min 111us max 1005us 284.115us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 9084 events, 2999.67 avg, min 2594us max 3338us 61.125us rms uavcan: cycle time: 9084 events, 163091us elapsed, 17.95us avg, min 14us max 90us 36.811us 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 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: 76 events, 462494us elapsed, 6085.45us avg, min 1906us max 10338us 1871.784us rms logger_sd_write: 282 events, 1343872us elapsed, 4765.50us avg, min 5us max 52665us 2961.861us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us 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: 1363 events, 19976.02 avg, min 7349us max 20235us 346.974us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 570 events, 10356us elapsed, 18.17us avg, min 14us max 312us 763.680us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 6812 events, 34737us elapsed, 5.10us avg, min 4us max 24us 2.766us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 9082 events, 2999.98 avg, min 2205us max 3666us 93.086us rms mavlink: tx run elapsed: 9082 events, 842529us elapsed, 92.77us avg, min 81us max 738us 59.634us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 2725 events, 9996.25 avg, min 9788us max 10218us 61.577us rms mavlink: tx run elapsed: 2725 events, 285233us elapsed, 104.67us avg, min 97us max 287us 72.103us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 1363 events, 7165us elapsed, 5.26us avg, min 2us max 12us 14.658us rms land_detector: cycle: 2725 events, 17248us elapsed, 6.33us avg, min 5us max 13us 5.600us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms airspeed_selector: elapsed: 272 events, 4369us elapsed, 16.06us avg, min 15us max 35us 20.882us rms fw_pos_control: cycle: 1362 events, 68512us elapsed, 50.30us avg, min 47us max 82us 20.129us rms fw_att_control: cycle: 5450 events, 80455us elapsed, 14.76us avg, min 13us max 40us 6.735us rms fw_rate_control: cycle: 10901 events, 619429us elapsed, 56.82us avg, min 50us max 93us 16.873us rms control_allocator: cycle: 21802 events, 260534us elapsed, 11.95us avg, min 6us max 32us 18.818us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2725 events, 723357us elapsed, 265.45us avg, min 87us max 622us 354.871us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2725 events, 758198us elapsed, 278.24us avg, min 87us max 785us 479.109us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 2725 events, 703094us elapsed, 258.02us avg, min 87us max 567us 309.650us rms pwm_out: interval: 91 events, 296703.31 avg, min 299981us max 300019us 2.908us rms pwm_out: cycle: 91 events, 357us elapsed, 3.92us avg, min 3us max 5us 13.648us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 248 events, 41990us elapsed, 169.31us avg, min 159us max 696us 357.240us rms commander: cycle: 2478 events, 142168us elapsed, 57.37us avg, min 35us max 747us 266.874us 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: 556 events, 10999us elapsed, 19.78us avg, min 8us max 37us 21.857us rms vehicle_gps_position: cycle: 91 events, 245us elapsed, 2.69us avg, min 2us max 4us 6.547us rms vehicle_air_data: cycle: 630 events, 12225us elapsed, 19.40us avg, min 15us max 43us 19.499us rms vehicle_angular_velocity: gyro selection changed: 0 events vehicle_angular_velocity: gyro filter reset: 0 events vehicle_angular_velocity: gyro filter: 10901 events, 167647us elapsed, 15.38us avg, min 14us max 25us 2.634us rms sensors: 5450 events, 168070us elapsed, 30.84us avg, min 27us max 143us 49.245us rms battery_status: 2725 events, 22535us elapsed, 8.27us avg, min 7us max 61us 6.677us rms sdp3x: communication errors: 0 events sdp3x: read: 2518 events, 1666502us elapsed, 661.84us avg, min 659us max 714us 28.423us rms bmp388: comms errors: 0 events bmp388: measure: 630 events, 693711us elapsed, 1101.13us avg, min 1097us max 1193us 226.799us rms bmp388: read: 630 events, 600791us elapsed, 953.64us avg, min 950us max 1064us 23.364us rms icp201xx: bad transfer: 0 events icp201xx: read: 817 events, 27232419us elapsed, 33332.21us avg, min 32734us max 33930us 2148.612us rms icp201xx: reset: 0 events bmm150: self test failed: 0 events bmm150: overflow: 0 events bmm150: reset: 0 events bmm150: bad transfer: 0 events bmm150: 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 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 board_adc: sample: 21808 events, 49014us elapsed, 2.25us avg, min 2us max 22us 3.300us rms manual_control: interval: 681 events, 39939.14 avg, min 30us max 97045us 11316.906us rms manual_control: cycle: 681 events, 7573us elapsed, 11.12us avg, min 8us max 128us 102.982us rms rc_update: valid data interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_update: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 55 events, 6182us elapsed, 112.40us avg, min 78us max 224us 154.181us 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: 0 events param: set: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms param: get: 4252 events param: find: 7502 events param: export: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms