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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
| Airframe: | ThunderFly TF-G2 Autogyro (17003) |
| Hardware: | PX4_FMU_V5 (V560) |
| Software Version: | v1.12.0 (beta) (0d0fe2f5) |
| OS Version: | NuttX, v10.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:00 |
| Vehicle Life Flight Time: | 37 minutes 42 seconds |
| Vehicle UUID: | 000200000000323433383039511900210023 (TF-G2) |
| Max Altitude Difference: | 0 m |
| Max Tilt Angle: | 21.1 deg |
Warning
Corrupt Log File
This log contains corrupt data. Some of the shown data might be wrong
and some data might be missing.
A possible cause is a corrupt file system and exchanging or reformatting
the SD card fixes the problem.
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Console Output
sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver HW arch: PX4_FMU_V5 HW type: V560 HW version: 0x00000006 HW revision: 0x00000000 FW git-hash: 0d0fe2f51a1ae012baaa1a80d35c24b27e6f533a FW version: 1.12.0 80 (17563776) OS: NuttX OS version: Release 10.0.0 (167772415) OS git-hash: bf06434168d1b60474e90b277ff117975e250e6a Build datetime: May 7 2021 12:05:40 Build uri: localhost Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 000200000000323433383039511900210023 MCU: STM32F76xxx, rev. Z INFO [param] selected parameter default file /fs/mtd_params INFO [parameters] BSON document size 2490 bytes, decoded 2490 bytes Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults INFO [dataman] Unknown restart, data manager file '/fs/microsd/dataman' size is 362560 bytes Custom: /fs/microsd/etc/config.txt pcf8583 #0 on I2C bus 4 (external) INFO [uavcan] Node ID 1, bitrate 1000000 Board sensors: /etc/init.d/rc.board_sensors icm20602 #0 on SPI bus 1 (devid=0x38) icm20689 #0 on SPI bus 1 (devid=0x3c) bmi055 #0 on SPI bus 1 (devid=0x41) bmi055 #1 on SPI bus 1 (devid=0x42) ms5611 #0 on SPI bus 4 (devid=0x3d) ist8310 #0 on I2C bus 3 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) sdp3x_airspeed #0 on I2C bus 4 (external) Board extras: /etc/init.d/rc.board_mavlink INFO [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B Starting Main GPS on /dev/ttyS0 Starting MAVLink on /dev/ttyS1 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B Starting MAVLink on /dev/ttyS2 INFO [mavlink] mode: Onboard, data rate: 2880 B/s on /dev/ttyS2 @ 57600B INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [pwm_out] instance: 0, max rate: 100, default: 50, alt: 50 INFO [init] Mixer: /fs/microsd/etc/mixers/TF-G2.main.mix on /dev/pwm_output0 INFO [init] setting PWM_AUX_OUT none ekf2 [440:100] INFO [ekf2] starting instance 0, IMU:0 (3670026), MAG:0 (396825) INFO [ekf2] starting instance 1, IMU:1 (3932170), MAG:0 (396825) INFO [ekf2] starting instance 2, IMU:2 (4259850), MAG:0 (396825) INFO [logger] logger started (mode=all) NuttShell (NSH) NuttX-10.0.0 nsh> [KINFO [commander] Connection to ground station lost ERROR [uavcan] couldn't start parameter count: -2 INFO [commander] Data link regained INFO [mavlink] Starting mavlink shell INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2021-05-10/12_11_26.ulg INFO [logger] Opened full log file: /fs/microsd/log/2021-05-10/12_11_26.ulg
Performance Counters
Pre Flight:
vehicle_gps_position: cycle: 4579 events, 83255us elapsed, 18.18us avg, min 13us max 226us 13.780us 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: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 28648 events, 19999.30 avg, min 13018us max 26921us 290.832us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: gyro data gap: 0 events gyro_fft: FFT: 53760 events, 18335630us elapsed, 341.06us avg, min 238us max 2042us 168.120us rms gyro_fft: cycle interval: 76176 events, 7521.26 avg, min 471us max 15714us 819.214us rms gyro_fft: cycle: 76176 events, 26870784us elapsed, 352.75us avg, min 4us max 3689us 466.846us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 57212 events, 16111214us elapsed, 281.61us avg, min 153us max 2084us 166.271us rms ekf2: ECL update: 57134 events, 312797us elapsed, 5.47us avg, min 1us max 618us 7.069us rms navigator: 11742 events, 365487us elapsed, 31.13us avg, min 16us max 4642us 82.097us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 57256 events, 16337791us elapsed, 285.35us avg, min 151us max 1664us 163.006us rms ekf2: ECL update: 57523 events, 308161us elapsed, 5.36us avg, min 1us max 113us 3.679us rms land_detector: cycle: 57266 events, 664729us elapsed, 11.61us avg, min 7us max 249us 6.463us rms airspeed_selector: elapsed: 5718 events, 214251us elapsed, 37.47us avg, min 28us max 527us 19.942us rms fw_pos_control_l1: cycle: 28629 events, 1028216us elapsed, 35.92us avg, min 15us max 694us 12.711us rms fw_att_control: cycle: 113816 events, 5513086us elapsed, 48.44us avg, min 19us max 1449us 29.283us rms ekf2: IMU message missed: 0 events ekf2: ECL full update: 57256 events, 15525428us elapsed, 271.16us avg, min 153us max 741us 90.923us rms ekf2: ECL update: 57501 events, 383921us elapsed, 6.68us avg, min 1us max 151us 6.838us rms pwm_out: interval: 56842 events, 10082.82 avg, min 176us max 4732711us 19810.158us rms pwm_out: cycle: 56841 events, 1789467us elapsed, 31.48us avg, min 7us max 1065us 7.353us rms control latency: 56837 events, 3655208us elapsed, 64.31us avg, min 57us max 576us 10.223us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 143264 events, 1956369us elapsed, 13.66us avg, min 7us max 2109us 50.030us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 113154 events, 5063.03 avg, min 4170us max 41093us 450.481us rms mavlink: tx run elapsed: 113154 events, 25420731us elapsed, 224.66us avg, min 140us max 5914us 152.813us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 57012 events, 10048.87 avg, min 9163us max 41908us 404.066us rms mavlink: tx run elapsed: 57012 events, 12188537us elapsed, 213.79us avg, min 112us max 5859us 146.179us rms mavlink: send_bytes error: 0 events mavlink: tx run interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms mavlink: tx run elapsed: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms vehicle_magnetometer: cycle: 53796 events, 1361501us elapsed, 25.31us avg, min 11us max 718us 19.740us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 228808 events, 2505.60 avg, min 67us max 3325us 47.146us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 227520 events, 2519.78 avg, min 68us max 4092us 72.458us rms battery_status: 57330 events, 2061629us elapsed, 35.96us avg, min 22us max 1929us 79.118us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 229661 events, 2496.31 avg, min 1990us max 2971us 13.795us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 229663 events, 2496.31 avg, min 1990us max 2971us 13.795us rms vehicle_imu: gyro data gap: 1 events vehicle_imu: gyro update interval: 229621 events, 2496.85 avg, min 2140us max 2833us 11.165us rms vehicle_imu: accel data gap: 1 events vehicle_imu: accel update interval: 229621 events, 2496.85 avg, min 2140us max 2833us 11.165us rms vehicle_air_data: cycle: 42830 events, 921222us elapsed, 21.51us avg, min 14us max 195us 14.198us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events sensors: 114788 events, 8411624us elapsed, 73.28us avg, min 36us max 619us 15.746us rms aspd_com_err: 0 events aspd_read: 53733 events, 35030696us elapsed, 651.94us avg, min 640us max 836us 22.539us rms ist8310: reset: 1 events ist8310: bad transfer: 0 events ist8310: bad register: 0 events ms5611: com_err: 0 events ms5611: measure: 57120 events, 287163us elapsed, 5.03us avg, min 3us max 150us 6.923us rms ms5611: read: 57119 events, 914922us elapsed, 16.02us avg, min 7us max 168us 11.798us rms bmi055_gyro: DRDY missed: 0 events bmi055_gyro: FIFO reset: 1 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: 1 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: 1 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: 1 events icm20602: FIFO overflow: 0 events icm20602: FIFO empty: 0 events icm20602: bad transfer: 0 events icm20602: bad register: 0 events board_adc: sample: 688164 events, 3905393us elapsed, 5.68us avg, min 3us max 2020us 32.118us 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 uavcan: gnss: rtcm pub: 0 events, 0.00 avg, min 0us max 0us 0.000us rms uavcan: cycle interval: 278463 events, 2059.51 avg, min 29us max 11651us 1260.536us rms uavcan: cycle time: 278463 events, 17267694us elapsed, 62.01us avg, min 13us max 5802us 109.083us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms load_mon: cycle: 1148 events, 131922us elapsed, 114.91us avg, min 3us max 1694us 128.001us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 60101us elapsed, 8585.86us avg, min 31us max 57065us 21399.355us rms dma_alloc: 9 events param: set: 127 events, 4200us elapsed, 33.07us avg, min 3us max 186us 21.361us rms param: get: 143136 events param: find: 153374 events param: export: 1 events, 21403us elapsed, 21403.00us avg, min 21403us max 21403us infus rms