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PX4 Fixed Wing | Open 3D ViewOpen PID Analysis |
TF-G250
| Airframe: | ThunderFly TF-G2 Autogyro (17003) |
| Hardware: | THUNDERFLY_TFG250 (V6X008) |
| Software Version: | v1.15.0 (beta) (6665e234) branch: tf/tfg250/baseboard |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Start : | |
| Logging Duration: | 0:00:38 |
| Vehicle Life Flight Time: | 38 minutes 54 seconds |
| Vehicle UUID: | 0006000000003338393630335107004e0034 |
| Feedback: | Let rovně se zatáčkou po delší době. |
| Distance: | 142.7 m |
| Max Altitude Difference: | 3 m |
| Average Speed: | 14.6 km/h |
| Max Speed: | 35.9 km/h |
| Max Speed Horizontal: | 33.5 km/h |
| Max Speed Up: | 5.2 km/h |
| Max Speed Down: | 14.7 km/h |
| Max Tilt Angle: | 85.7 deg |
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Console Output
ri: localhost Build variant: default Toolchain: GNU GCC, 9.3.1 20200408 (release) PX4GUID: 0006000000003338393630335107004e0034 MCU: STM32H7[4|5]xxx, rev. V ERROR [bsondump] open '/fs/mtd_caldata' 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 2083 bytes, decoded 2083 bytes (INT32:52, FLOAT:45) 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 ERROR [param] Parameter SENS_EN_INA238 not found. ERROR [param] Parameter SENS_EN_INA228 not found. ERROR [param] Parameter SENS_EN_INA226 not found. Loading airframe: /etc/init.d/airframes/17003_TF-G2 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes rgbled_is31fl3195 #0 on I2C bus 1 (external) address 0x54 Custom: /fs/microsd/etc/config.txt s35770 #0 on I2C bus 2 (external) address 0x32 Board sensors: /etc/init.d/rc.board_sensors ERROR [param] Parameter SENS_EN_INA226 not found ERROR [param] Parameter SENS_EN_INA228 not found ERROR [param] Parameter SENS_EN_INA238 not found 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 ERROR [param] Parameter -S not found ekf2 [534:237] Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS2 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B INFO [cdcacm_autostart] Starting CDC/ACM autostart ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid ERROR [parameters] get: param 65535 invalid 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: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll) WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable INFO [commander] Connection to ground station lost WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [commander] GCS connection regained WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable INFO [mavlink] Starting mavlink shell INFO [gps] exiting WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: heading estimate not stable WARN [health_and_arming_checks] Preflight Fail: Strong magnetic interference INFO [commander] Armed by external command INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2025-03-18/15_00_46.ulg INFO [logger] Opened full log file: /fs/microsd/log/2025-03-18/15_00_46.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 172777 63.316 240/ 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 2332/ 3144 229 (100) w:sem 4 4 wq:manager 0 0.000 636/ 1232 255 (255) w:sem 6 5 wq:lp_default 0 0.031 1404/ 2320 205 (205) w:sem 6 6 Telnet daemon 0 0.000 556/ 1984 100 (100) w:sem 1 7 netinit 0 0.000 524/ 2024 49 ( 49) w:sem 4 851 mavlink_rcv_if0 4 0.402 2692/ 6104 175 (175) w:sem 7 188 wq:hp_default 6 0.677 884/ 2776 237 (237) w:sem 6 200 dataman 0 0.001 1068/ 1376 90 ( 90) w:sem 5 237 wq:I2C1 0 0.012 716/ 2312 246 (246) w:sem 6 250 wq:I2C2 5 0.539 940/ 2312 245 (245) w:sem 6 313 wq:I2C0 0 0.000 788/ 2312 247 (247) w:sem 6 318 wq:SPI0 0 0.001 788/ 2368 254 (254) w:sem 6 347 wq:SPI3 17 1.789 1836/ 2368 251 (251) w:sem 6 361 wq:SPI2 15 1.572 1876/ 2368 252 (252) w:sem 6 363 wq:SPI1 16 1.609 1892/ 2368 253 (253) w:sem 6 367 wq:I2C4 2 0.233 972/ 2312 243 (243) w:sem 6 511 wq:nav_and_controllers 34 3.431 1348/ 2216 242 (242) w:sem 6 522 wq:rate_ctrl 33 3.353 2548/ 3120 255 (255) w:sem 6 524 wq:INS0 46 4.607 3620/ 5976 241 (241) w:sem 6 526 wq:INS1 45 4.528 3620/ 5976 240 (240) w:sem 6 528 wq:INS2 45 4.574 3620/ 5976 239 (239) w:sem 6 530 commander 5 0.569 1556/ 3192 140 (140) w:sig 5 849 mavlink_if0 11 1.114 1908/ 3048 100 (100) w:sig 7 1206 log_writer_file 3 0.353 612/ 1144 60 ( 60) w:sem 4 920 wq:ttyS5 0 0.000 820/ 1704 229 (229) w:sem 6 957 navigator 0 0.067 1548/ 2144 105 (105) w:sem 11 1175 logger 53 5.324 3100/ 3616 230 (230) RUN 4 1289 mavlink_shell 0 0.000 908/ 2000 100 (100) w:sem 4 1271 wq:uavcan 8 0.801 2252/ 3600 236 (236) w:sem 6 1291 netinit 0 0.000 484/ 2024 49 ( 49) w:sem 4 1302 gps 1 0.171 1204/ 1968 205 (205) w:sem 4 Processes: 34 total, 2 running, 32 sleeping CPU usage: 35.76% tasks, 0.92% sched, 63.32% idle DMA Memory: 5120 total, 1536 used 1536 peak Uptime: 240.736s total, 172.778s idle
Performance Counters
Pre Flight:
uavcan: cycle interval: 79487 events, 2999.90 avg, min 278us max 5326us 131.704us rms uavcan: cycle time: 79487 events, 1319689us elapsed, 16.60us avg, min 12us max 225us 7.262us 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, 14052us elapsed, 14052.00us avg, min 14052us max 14052us infus rms DatamanClient: sync: 1 events, 17035us elapsed, 17035.00us avg, min 17035us max 17035us nanus rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 1 events, 43us elapsed, 43.00us avg, min 43us max 43us nanus rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 1 events, 29us elapsed, 29.00us avg, min 29us max 29us nanus 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: 11921 events, 20003.50 avg, min 66us max 69461us 629.284us rms DatamanClient: sync: 1 events, 6669us elapsed, 6669.00us avg, min 6669us max 6669us infus rms navigator: 4997 events, 96919us elapsed, 19.40us avg, min 13us max 18310us 258.866us rms rc_input: publish interval: 0 events, 0.00 avg, min 0us max 0us 0.000us rms rc_input: cycle time: 6 events, 47us elapsed, 7.83us avg, min 4us max 21us 6.524us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 23842 events, 10002.74 avg, min 9508us max 31070us 238.521us rms mavlink: tx run elapsed: 23842 events, 2593560us elapsed, 108.78us avg, min 76us max 419us 19.825us rms DatamanClient: sync: 6 events, 10211us elapsed, 1701.83us avg, min 33us max 3314us 1713.634us rms mavlink: listing: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mavlink: create file: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 11923 events, 62244us elapsed, 5.22us avg, min 1us max 167us 4.224us rms land_detector: cycle: 23856 events, 146287us elapsed, 6.13us avg, min 5us max 123us 1.404us rms fw_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms airspeed_selector: elapsed: 2378 events, 37327us elapsed, 15.70us avg, min 14us max 114us 2.548us rms fw_pos_control: cycle: 11929 events, 414226us elapsed, 34.72us avg, min 11us max 306us 16.986us rms fw_att_control: cycle: 47245 events, 907804us elapsed, 19.21us avg, min 15us max 248us 2.522us rms fw_rate_control: cycle: 95427 events, 8450757us elapsed, 88.56us avg, min 76us max 2106us 7.953us rms control_allocator: cycle: 190854 events, 2604940us elapsed, 13.65us avg, min 7us max 139us 5.019us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 23858 events, 6022374us elapsed, 252.43us avg, min 87us max 684us 105.277us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 23858 events, 6390233us elapsed, 267.84us avg, min 87us max 745us 137.893us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 23858 events, 5882398us elapsed, 246.56us avg, min 86us max 632us 91.400us rms pwm_out: interval: 190856 events, 1250.05 avg, min 34us max 14647us 1209.683us rms pwm_out: cycle: 190855 events, 2478129us elapsed, 12.98us avg, min 10us max 79us 1.062us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms commander: preflight check: 2174 events, 372272us elapsed, 171.24us avg, min 153us max 1058us 51.453us rms commander: cycle: 21682 events, 1301556us elapsed, 60.03us avg, min 32us max 1485us 56.131us 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: 6973 events, 108099us elapsed, 15.50us avg, min 8us max 458us 7.517us rms vehicle_gps_position: cycle: 817 events, 2236us elapsed, 2.74us avg, min 1us max 48us 2.130us rms vehicle_air_data: cycle: 5512 events, 105316us elapsed, 19.11us avg, min 14us max 184us 4.795us rms vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 95440 events, 1496831us elapsed, 15.68us avg, min 13us max 81us 0.724us rms sensors: 47718 events, 1493056us elapsed, 31.29us avg, min 24us max 1708us 17.494us rms battery_status: 23860 events, 187907us elapsed, 7.88us avg, min 7us max 58us 0.987us rms sdp3x: communication errors: 1 events sdp3x: read: 22053 events, 14481164us elapsed, 656.65us avg, min 653us max 796us 6.758us rms bmp388: comms errors: 1 events bmp388: measure: 5513 events, 6041475us elapsed, 1095.86us avg, min 1088us max 6553us 74.741us rms bmp388: read: 5511 events, 5222646us elapsed, 947.68us avg, min 943us max 1029us 8.574us rms icp201xx: bad transfer: 0 events icp201xx: read: 7163 events, 238728376us elapsed, 33327.99us avg, min 2110us max 33964us 574.741us 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: 191120 events, 419962us elapsed, 2.20us avg, min 2us max 58us 0.879us rms manual_control: interval: 4916 events, 48591.58 avg, min 168us max 200506us 46351.883us rms manual_control: cycle: 4916 events, 61037us elapsed, 12.42us avg, min 5us max 834us 26.067us 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 rgbled: led_control message missed: 0 events load_mon: cycle: 478 events, 34334us elapsed, 71.83us avg, min 1us max 197us 8.262us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 7 events, 17696us elapsed, 2528.00us avg, min 7us max 4484us 1694.443us rms dma_alloc: 11 events param: set: 98 events, 1242us elapsed, 12.67us avg, min 5us max 28us 5.220us rms param: get: 44417 events param: find: 65337 events param: export: 2 events, 11097us elapsed, 5548.50us avg, min 5269us max 5828us 395.274us rms