CPU overload on CUAV V5+ large vehicle

[wolfin (h wolfin)]

Hello everyone,

I built a hexacopter with a length of 130 cm and a weight of 12 kg using Hobbywing X6 Plus motors, an MK15 controller, and a CUAV V5+ flight controller. However, when I try to take off this drone in auto mode or in guided mode, the CPU overloads, and a CPU error is displayed on the HUD screen of the mission planner. The drone then switches to RTL mode and land. After checking the logs, I found that the CPU reached 100 percent. two or three time

Does anyone know what the problem might be and what changes should be made?

[amilcarlucas]

1. update to ArduCopter 4.5.5.
2. post a .bin log file

[wolfin (h wolfin)]

i using arducopter 4.6.0

00000080.BIN

[xfacta (Shawn)]

I’ve also been thinking about this for some time. I’ve found all recent copter versions give high CPU usage on the CUAV V5 Nano - about 5% higher than an old Pixhawk1-1M just idling (not armed). At idle the CPU can be at 48% to 52%.
You can see in this old log the CPU goes to 100% for much of the flights, and there is some small amount of uncommanded movements at times. There was some twitching and fake telemetry messages such as “disarmed” when it wasnt.
I dont have a more recent flight log since I stopped using the V5 Nano for flight, but have tested a lot of firmware versions without flying, and with minimum features, all with the same result.

For comparison a Cube Orange configured the same as the Nano idles at about 32% and only goes a few percent higher during flight.
Plane firmware idles at about 4% on every flight controller I have. I dont have anything set up to fly for a better test. From plane logs I’ve seen the usage can go up to 10% or a bit more, but nothing near 100%

[andyp1per]

Does @SYS/tasks.txt tell you where the CPU is going?

[wolfin (h wolfin)]

i haven’t this file on my drone files

[wolfin (h wolfin)]

i use v5+ its work on quad pretty good but on hexa…
can i decrease main loop frequency to 300hz?
Can this help?

all cuav product have this issue?

[xfacta (Shawn)]

Tasks just has “TasksV2”, basically empty, but Threads has:

ISR           PRI=255 sp=0x20020000 STACK=1312/1536
ArduCopter    PRI=182 sp=0x20020600 STACK=3976/7168
idle          PRI=  1 sp=0x2003F478 STACK=288/496
UART_RX       PRI= 60 sp=0x2007CFB8 STACK=856/1200
OTG1          PRI= 60 sp=0x2007C070 STACK=344/752
monitor       PRI=183 sp=0x2003BA18 STACK=1104/1456
timer         PRI=181 sp=0x2003CFD8 STACK=1600/1968
rcout         PRI=181 sp=0x2003C5F8 STACK=680/944
rcin          PRI=177 sp=0x2003C008 STACK=1080/1456
io            PRI= 58 sp=0x2003B028 STACK=1576/2480
storage       PRI= 59 sp=0x2003C9E8 STACK=912/1456
UART2         PRI= 60 sp=0x2007B0E8 STACK=272/752
UART3         PRI= 60 sp=0x2007A5A0 STACK=264/752
UART1         PRI= 60 sp=0x200799D8 STACK=352/752
UART4         PRI= 60 sp=0x20078E10 STACK=480/752
OTG2          PRI= 60 sp=0x20077EC8 STACK=344/752
SPI4          PRI=181 sp=0x20076A78 STACK=944/1456
log_io        PRI= 59 sp=0x200613F8 STACK=1520/2016
I2C0          PRI=176 sp=0x2005F860 STACK=984/1456
SPI1          PRI=181 sp=0x2005CDE0 STACK=824/1456
FTP           PRI= 58 sp=0x20053708 STACK=1032/2992

With SCHED_DEBUG,2 I get messages like:

9/08/2024 7:43:19 AM : PERF: 0/4000 [2569:2430] F=400Hz sd=6 Ex=0
9/08/2024 7:43:09 AM : PERF: 0/4000 [2555:2443] F=400Hz sd=6 Ex=0
9/08/2024 7:42:59 AM : PERF: 0/4000 [2551:2449] F=399Hz sd=7 Ex=0
9/08/2024 7:42:49 AM : PERF: 0/4000 [2556:2444] F=400Hz sd=7 Ex=0
9/08/2024 7:42:41 AM : PERF: 0/4000 [2553:2447] F=400Hz sd=7 Ex=0

With SCHED_DEBUG,3 I get messages like:

9/08/2024 7:47:10 AM : PERF: 25/4000 [3226:2189] F=398Hz sd=92 Ex=100
9/08/2024 7:46:59 AM : PERF: 49/4000 [3341:2162] F=396Hz sd=102 Ex=100
9/08/2024 7:46:49 AM : PERF: 42/4000 [3252:2200] F=397Hz sd=97 Ex=0

Let me know if there is anything else I can check on or a procedure to follow.

@wolfin as a test I reduced loop rate to 200Hz and CPU usage drops to 30% to 35% which looks good, but I’d be doubtful about safe flying with copter without at least retuning or extensive testing. 300Hz gave me about 40% CPU usage.
You would have to try 300Hz on a copter you are prepared to have damaged if it doesnt work out so well.

This may be a problem with the V5 flight controllers, which are based on FMUv5. I’m not aware of it happening on V7 or anything else, but we may lack data too.

[andyp1per]

try tasks a few times - it needs the first call to setup the timings. To see thread CPU usage you would need to build with --enable-stats

[xfacta (Shawn)]

Hi wolfin
Try a flight with these and no other changes, so it should be totally safe:

INS_ENABLE_MASK,3
INS_USE3,0

then send a link to the .bin log if you can.
These drop the CPU usage down to around 38% to 44% on the bench, (down from about 70% with all my last known-flying config)

[xfacta (Shawn)]

Sorry Andy, Tasks didnt come good.
Are you able to do me a CUAV V5 Nano build with that option, current Stable version please.

I dont have a copter to put this FC onto but bench testing is enough to see the differences so far.

[cuav_le]

@andyp1per This may be due to the fact that FMU v5 uses an F7 processor, but it uses a complete Ardupilot, while FMU V2/V3 has deleted many new drivers and functions. I have used other manufacturers’ FMU v5 products and obtained the same results. It seems that we should delete some unnecessary programs. Good performance for the H7, I didn’t find any issues in the X7.

[andyp1per]

https://www.dropbox.com/scl/fi/5boqzdnh00dynodg5yq8z/arducopter.apj?rlkey=2srmxfq6906dbg4369pw8b7pu&dl=0

[andyp1per]

Unfortunately I don’t have any v5 flight controllers from any manufacturer so its difficult for me to test

[xfacta (Shawn)]

Thanks for the build Andy.
With all my normal parameters and 3 IMUs enabled…
The headline act seems to be Copter::read_AHRS TOT=58.8%
With Copter::update_flight_mode using up a bit more time than I expected

I can easily run tests, but I’m not set up to compile the firmware myself.

ThreadsV2
ISR           PRI=255 sp=0x20020000 STACK=1276/1536 LOAD= 2.0%
ArduCopter    PRI=182 sp=0x20020600 STACK=3976/7168 LOAD=39.9%
idle          PRI=  1 sp=0x2003F590 STACK= 296/ 504 LOAD= 9.6%
UART_RX       PRI= 60 sp=0x2007CF98 STACK= 864/1208 LOAD= 0.6%
OTG1          PRI= 60 sp=0x2007C030 STACK= 344/ 760 LOAD= 0.1%
monitor       PRI=183 sp=0x2003BA38 STACK=1112/1464 LOAD= 0.3%
timer         PRI=181 sp=0x2003D078 STACK=1544/1976 LOAD= 1.1%
rcout         PRI=181 sp=0x2003C658 STACK= 568/ 952 LOAD= 5.2%
rcin          PRI=177 sp=0x2003C048 STACK=1080/1464 LOAD= 0.3%
io            PRI= 58 sp=0x2003B028 STACK=1624/2488 LOAD= 0.3%*
storage       PRI= 59 sp=0x2003CA68 STACK= 944/1464 LOAD= 0.1%
UART2         PRI= 60 sp=0x2007B088 STACK= 488/ 760 LOAD= 0.1%
UART3         PRI= 60 sp=0x2007A520 STACK= 344/ 760 LOAD= 0.2%
UART1         PRI= 60 sp=0x200799B8 STACK= 352/ 760 LOAD= 0.1%
UART4         PRI= 60 sp=0x20078E50 STACK= 488/ 760 LOAD= 0.1%
MSP           PRI= 59 sp=0x20078288 STACK= 976/1464 LOAD= 0.2%
SPI4          PRI=181 sp=0x20076E40 STACK= 952/1464 LOAD= 0.3%
OSD           PRI= 59 sp=0x200763A8 STACK=1304/1720 LOAD= 0.1%
log_io        PRI= 59 sp=0x20061728 STACK=1080/2016 LOAD= 0.1%
I2C0          PRI=176 sp=0x2005F868 STACK= 968/1464 LOAD= 0.2%
SPI1          PRI=181 sp=0x2005E9C8 STACK= 768/1464 LOAD=38.2%
Scripting     PRI=  2 sp=0x200589F8 STACK=15296/17848 LOAD= 0.1%
FTP           PRI= 58 sp=0x2004A3F0 STACK=1040/3000 LOAD= 0.2%

TasksV2
AP_InertialSensor::update*       MIN=  30 MAX= 276 AVG=  45 OVR=  0 SLP=  0, TOT= 2.1%
Copter::run_rate_controller*     MIN=  21 MAX= 252 AVG=  30 OVR=  0 SLP=  0, TOT= 1.4%
Copter::motors_output*           MIN=  67 MAX= 485 AVG= 137 OVR=  0 SLP=  0, TOT= 6.4%
Copter::read_AHRS*               MIN= 464 MAX=2825 AVG=1270 OVR=  2 SLP=  0, TOT=58.8%
Copter::read_inertia*            MIN=   5 MAX= 124 AVG=  12 OVR=  0 SLP=  0, TOT= 0.6%
Copter::check_ekf_reset*         MIN=   3 MAX=  85 AVG=  10 OVR=  0 SLP=  0, TOT= 0.4%
Copter::update_flight_mode*      MIN= 134 MAX= 595 AVG= 299 OVR=  0 SLP=  0, TOT=14.1%
Copter::update_home_from_EKF*    MIN=   2 MAX= 108 AVG=   9 OVR=  0 SLP=  0, TOT= 0.4%
Copter::update_land_and_crash_de MIN=   5 MAX= 246 AVG=  22 OVR=  0 SLP=  0, TOT= 1.1%
Copter::update_rangefinder_terra MIN=   2 MAX= 112 AVG=   8 OVR=  0 SLP=  0, TOT= 0.4%
AP_Mount::update_fast*           MIN=   1 MAX= 127 AVG=   3 OVR=  0 SLP=  0, TOT= 0.1%
Copter::Log_Video_Stabilisation* MIN=   1 MAX= 115 AVG=   4 OVR=  0 SLP=  0, TOT= 0.2%
AP_GyroFFT::sample_gyros*        MIN=   1 MAX= 117 AVG=   3 OVR=  0 SLP=  0, TOT= 0.1%
Copter::rc_loop                  MIN=   6 MAX= 220 AVG=  18 OVR=  0 SLP=  0, TOT= 0.9%
Copter::throttle_loop            MIN=   7 MAX= 110 AVG=  13 OVR=  1 SLP=  0, TOT= 0.1%
Copter::fence_check              MIN=   3 MAX=  19 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
AP_GPS::update                   MIN=   9 MAX= 178 AVG=  37 OVR=  0 SLP=  0, TOT= 0.2%
AP_OpticalFlow::update           MIN=   1 MAX=  94 AVG=   4 OVR=  1 SLP=  0, TOT= 0.1%
Copter::update_batt_compass      MIN=  25 MAX= 151 AVG=  78 OVR=  2 SLP=  0, TOT= 0.1%
RC_Channels::read_aux_all        MIN=   7 MAX=   8 AVG=   7 OVR=  0 SLP=  0, TOT= 0.0%
Copter::arm_motors_check         MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::auto_disarm_check        MIN=   2 MAX=   3 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
Copter::auto_trim                MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::read_rangefinder         MIN=  10 MAX= 154 AVG=  30 OVR=  1 SLP=  0, TOT= 0.1%
AP_Proximity::update             MIN=   2 MAX= 122 AVG=   9 OVR=  6 SLP=  0, TOT= 0.2%
AP_Beacon::update                MIN=   1 MAX= 122 AVG=   8 OVR= 15 SLP=  0, TOT= 0.4%
AP_Airspeed::update              MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::update_altitude          MIN=  21 MAX= 264 AVG=  92 OVR=  2 SLP=  0, TOT= 0.1%
Copter::run_nav_updates          MIN=   2 MAX=  21 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
Copter::update_throttle_hover    MIN=   2 MAX=  56 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
ModeSmartRTL::save_position      MIN=   3 MAX=   3 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AC_Sprayer::update               MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::three_hz_loop            MIN=   5 MAX=   5 AVG=   5 OVR=  0 SLP=  0, TOT= 0.0%
AP_ServoRelayEvents::update_even MIN=   3 MAX=  51 AVG=   7 OVR=  0 SLP=  0, TOT= 0.0%
AP_Baro::accumulate              MIN=   1 MAX=  82 AVG=   9 OVR=  0 SLP=  0, TOT= 0.1%
Copter::update_precland          MIN=   1 MAX= 183 AVG=   7 OVR=  9 SLP=  0, TOT= 0.3%
Copter::loop_rate_logging        MIN=   2 MAX= 118 AVG=   6 OVR=  8 SLP=  0, TOT= 0.3%
Compass::cal_update              MIN=   2 MAX=  79 AVG=   4 OVR=  0 SLP=  0, TOT= 0.1%
AP_Notify::update                MIN=   7 MAX= 166 AVG=  26 OVR=  0 SLP=  0, TOT= 0.1%
Copter::one_hz_loop              MIN=   0 MAX=   0 AVG=   0 OVR=  0 SLP=  0, TOT= 0.0%
Copter::ekf_check                MIN=   2 MAX=   3 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
Copter::check_vibration          MIN=   4 MAX=   5 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
Copter::gpsglitch_check          MIN=   2 MAX=   3 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
Copter::takeoff_check            MIN=   2 MAX=  82 AVG=   6 OVR=  1 SLP=  0, TOT= 0.0%
Copter::landinggear_update       MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::standby_update           MIN=   3 MAX= 112 AVG=   7 OVR=  1 SLP=  0, TOT= 0.1%
Copter::lost_vehicle_check       MIN=   5 MAX=   5 AVG=   5 OVR=  0 SLP=  0, TOT= 0.0%
GCS::update_receive              MIN=  14 MAX= 255 AVG=  43 OVR= 10 SLP=  0, TOT= 2.1%
GCS::update_send                 MIN=  23 MAX= 457 AVG=  80 OVR= 14 SLP=  0, TOT= 3.7%
AP_Mount::update                 MIN=   1 MAX=  69 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
AP_Camera::update                MIN=   2 MAX=  83 AVG=   8 OVR=  1 SLP=  0, TOT= 0.1%
Copter::ten_hz_logging_loop      MIN= 193 MAX= 466 AVG= 395 OVR=  5 SLP=  0, TOT= 0.5%
Copter::twentyfive_hz_logging    MIN=   4 MAX= 149 AVG=  26 OVR=  1 SLP=  0, TOT= 0.1%
AP_Logger::periodic_tasks        MIN=  13 MAX= 261 AVG=  43 OVR= 12 SLP=  0, TOT= 2.1%
AP_InertialSensor::periodic      MIN=   1 MAX= 143 AVG=   5 OVR=  9 SLP=  0, TOT= 0.2%
AP_Scheduler::update_logging     MIN=  62 MAX=  62 AVG=  62 OVR=  0 SLP=  0, TOT= 0.0%
AP_RPM::update                   MIN=   1 MAX=  23 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_TempCalibration::update       MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::avoidance_adsb_update    MIN=   8 MAX=  54 AVG=  16 OVR=  0 SLP=  0, TOT= 0.0%
Copter::terrain_update           MIN=   2 MAX=  71 AVG=  13 OVR=  0 SLP=  0, TOT= 0.0%
AP_Gripper::update               MIN=   2 MAX=   3 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_Winch::update                 MIN=   2 MAX=  36 AVG=   5 OVR=  0 SLP=  0, TOT= 0.0%
AP_Button::update                MIN=   2 MAX=  31 AVG=  11 OVR=  0 SLP=  0, TOT= 0.0%
AP_Stats::update                 MIN=   4 MAX=   4 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
AP_NMEA_Output::update           MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_RunCam::update                MIN=   1 MAX=  66 AVG=   3 OVR=  1 SLP=  0, TOT= 0.0%
AP_GyroFFT::update               MIN=   1 MAX= 188 AVG=  12 OVR= 19 SLP=  0, TOT= 0.6%
AP_GyroFFT::update_parameters    MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::update_dynamic_notch MIN=   2 MAX= 214 AVG=  17 OVR= 10 SLP=  0, TOT= 0.8%
AP_VideoTX::update               MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Tramp::update                 MIN=   1 MAX=  42 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::send_watchdog_reset_ MIN=   3 MAX=   3 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_ESC_Telem::update             MIN=  44 MAX= 381 AVG= 136 OVR= 40 SLP=  0, TOT= 1.8%
AP_Generator::update             MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::publish_osd_info     MIN=   9 MAX=   9 AVG=   9 OVR=  0 SLP=  0, TOT= 0.0%
AP_TemperatureSensor::update     MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::accel_cal_update     MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AC_Fence::update                 MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_AIS::update                   MIN=   1 MAX=  55 AVG=  19 OVR=  0 SLP=  0, TOT= 0.0%
AP_EFI::update                   MIN=   3 MAX=  60 AVG=   9 OVR=  0 SLP=  0, TOT= 0.1%
AP_Vehicle::one_Hz_update        MIN=   2 MAX=   2 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::check_motor_noise    MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Filters::update               MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::update_arming        MIN= 972 MAX= 972 AVG= 972 OVR=  1 SLP=  0, TOT= 0.2%

Another reboot and check gives
Copter::read_AHRS* MIN= 376 MAX=3848 AVG=1301 OVR= 74 SLP= 0, TOT=63.7%
and slightly lower Copter::update_flight_mode

[andyp1per]

read_AHRS() is the EKF update so you would expect that to be expensive. The suspicious one is SPI1 - 38% is pretty high for that. I wonder if we are getting some SPI collisions.

[wolfin (h wolfin)]

@xfacta

@wolfin as a test I reduced loop rate to 200Hz and CPU usage drops to 30% to 35% which looks good, but I’d be doubtful about safe flying with copter without at least retuning or extensive testing. 300Hz gave me about 40% CPU usage.
You would have to try 300Hz on a copter you are prepared to have damaged if it doesnt work out so well.

Thank you for your response and the time you took.
No, I cannot take the risk of this device crashing.
Are you sure that if I use a 300 Hz loop, it will lead to a crash?
Are there any safer ways to test it?"

[wolfin (h wolfin)]

@xfacta

Hi wolfin
Try a flight with these and no other changes, so it should be totally safe:

INS_ENABLE_MASK,3
INS_USE3,0

then send a link to the .bin log if you can.
These drop the CPU usage down to around 38% to 44% on the bench, (down from about 70% with all my last known-flying config)

Hi xfacta
Okay, I will test this configuration as soon as possible and will inform you of the results.

[wolfin (h wolfin)]

exactly in my task file read_AHRS took 62% of cpu @andyp1per

TasksV2
AP_InertialSensor::update*       MIN=  17 MAX=  36 AVG=  20 OVR=  0 SLP=  0, TOT= 1.4%
Copter::run_rate_controller*     MIN=  20 MAX=  41 AVG=  23 OVR=  0 SLP=  0, TOT= 1.6%
Copter::motors_output*           MIN=  79 MAX= 193 AVG=  85 OVR=  0 SLP=  0, TOT= 5.7%
Copter::read_AHRS*               MIN= 381 MAX=2466 AVG= 932 OVR=  0 SLP=  0, TOT=61.9%
Copter::read_inertia*            MIN=   5 MAX=  98 AVG=  12 OVR=  0 SLP=  0, TOT= 0.8%
Copter::check_ekf_reset*         MIN=   3 MAX=  87 AVG=   8 OVR=  0 SLP=  0, TOT= 0.5%
Copter::update_flight_mode*      MIN=  52 MAX= 337 AVG= 106 OVR=  0 SLP=  0, TOT= 7.1%
Copter::update_home_from_EKF*    MIN=   2 MAX= 107 AVG=   5 OVR=  0 SLP=  0, TOT= 0.3%
Copter::update_land_and_crash_de MIN=   5 MAX= 136 AVG=  12 OVR=  0 SLP=  0, TOT= 0.8%
Copter::update_rangefinder_terra MIN=   2 MAX= 162 AVG=   6 OVR=  0 SLP=  0, TOT= 0.4%
AP_Mount::update_fast*           MIN=   1 MAX= 145 AVG=   2 OVR=  0 SLP=  0, TOT= 0.1%
Copter::Log_Video_Stabilisation* MIN=   1 MAX=  92 AVG=   4 OVR=  0 SLP=  0, TOT= 0.2%
AP_GyroFFT::sample_gyros*        MIN=   1 MAX= 113 AVG=   2 OVR=  0 SLP=  0, TOT= 0.1%
Copter::rc_loop                  MIN=   6 MAX= 156 AVG=  15 OVR=  0 SLP=  0, TOT= 1.0%
Copter::throttle_loop            MIN=   6 MAX=  92 AVG=  16 OVR=  4 SLP=  0, TOT= 0.1%
Copter::fence_check              MIN=   2 MAX=  58 AVG=   5 OVR=  0 SLP=  0, TOT= 0.0%
AP_GPS::update                   MIN=  11 MAX= 758 AVG=  81 OVR= 38 SLP=  0, TOT= 0.9%
AP_OpticalFlow::update           MIN=   1 MAX= 157 AVG=   5 OVR=  0 SLP=  0, TOT= 0.3%
Copter::update_batt_compass      MIN=  23 MAX= 170 AVG=  47 OVR=  5 SLP=  0, TOT= 0.1%
RC_Channels::read_aux_all        MIN=   6 MAX=  87 AVG=  13 OVR=  6 SLP=  0, TOT= 0.0%
Copter::arm_motors_check         MIN=   1 MAX=  66 AVG=   2 OVR=  1 SLP=  0, TOT= 0.0%
Copter::auto_disarm_check        MIN=   1 MAX=  54 AVG=   4 OVR=  1 SLP=  0, TOT= 0.0%
Copter::auto_trim                MIN=   1 MAX=  31 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::read_rangefinder         MIN=   6 MAX= 121 AVG=  19 OVR=  2 SLP=  0, TOT= 0.1%
AP_Proximity::update             MIN=   2 MAX= 167 AVG=  10 OVR=115 SLP=  0, TOT= 0.6%
AP_Beacon::update                MIN=   1 MAX=  81 AVG=   2 OVR=  8 SLP=  0, TOT= 0.1%
AP_Airspeed::update              MIN=   1 MAX=  39 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::update_altitude          MIN=  19 MAX= 125 AVG=  35 OVR=  3 SLP=  0, TOT= 0.1%
Copter::run_nav_updates          MIN=   1 MAX=  68 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
Copter::update_throttle_hover    MIN=   1 MAX=  72 AVG=   3 OVR=  0 SLP=  0, TOT= 0.1%
ModeSmartRTL::save_position      MIN=   3 MAX=  51 AVG=   8 OVR=  0 SLP=  0, TOT= 0.0%
AC_Sprayer::update               MIN=   1 MAX=   6 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
Copter::three_hz_loop            MIN=   4 MAX=  37 AVG=   6 OVR=  0 SLP=  0, TOT= 0.0%
AP_ServoRelayEvents::update_even MIN=   1 MAX=  96 AVG=   4 OVR=  2 SLP=  0, TOT= 0.1%
Copter::update_precland          MIN=   1 MAX= 120 AVG=   7 OVR= 70 SLP=  0, TOT= 0.5%
Copter::loop_rate_logging        MIN=   2 MAX= 144 AVG=   5 OVR= 38 SLP=  0, TOT= 0.4%
Compass::cal_update              MIN=   1 MAX=  91 AVG=   4 OVR=  0 SLP=  0, TOT= 0.1%
AP_Notify::update                MIN=   6 MAX= 117 AVG=  14 OVR=  0 SLP=  0, TOT= 0.1%
Copter::one_hz_loop              MIN=  41 MAX= 152 AVG=  94 OVR=  3 SLP=  0, TOT= 0.0%
Copter::ekf_check                MIN=   1 MAX=  41 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
Copter::check_vibration          MIN=   3 MAX=  73 AVG=   8 OVR=  5 SLP=  0, TOT= 0.0%
Copter::gpsglitch_check          MIN=   2 MAX=  61 AVG=   4 OVR=  1 SLP=  0, TOT= 0.0%
Copter::takeoff_check            MIN=   2 MAX=  63 AVG=   6 OVR=  9 SLP=  0, TOT= 0.1%
Copter::landinggear_update       MIN=   1 MAX=  34 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
Copter::standby_update           MIN=   1 MAX= 136 AVG=   5 OVR=  4 SLP=  0, TOT= 0.1%
Copter::lost_vehicle_check       MIN=   3 MAX=  92 AVG=   8 OVR=  3 SLP=  0, TOT= 0.0%
GCS::update_receive              MIN=  17 MAX= 456 AVG=  46 OVR=  8 SLP=  0, TOT= 3.1%
GCS::update_send                 MIN=  32 MAX= 524 AVG=  78 OVR=  2 SLP=  0, TOT= 5.2%
AP_Mount::update                 MIN=   1 MAX=  49 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_Camera::update                MIN=   2 MAX=  54 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
Copter::ten_hz_logging_loop      MIN= 129 MAX= 313 AVG= 204 OVR=  0 SLP=  0, TOT= 0.4%
Copter::twentyfive_hz_logging    MIN=   3 MAX=  74 AVG=  10 OVR=  0 SLP=  0, TOT= 0.1%
AP_Logger::periodic_tasks        MIN=  11 MAX= 167 AVG=  25 OVR=  0 SLP=  0, TOT= 1.7%
AP_InertialSensor::periodic      MIN=   1 MAX=  55 AVG=   2 OVR=  1 SLP=  0, TOT= 0.1%
AP_Scheduler::update_logging     MIN=  16 MAX=  16 AVG=  16 OVR=  0 SLP=  0, TOT= 0.0%
AP_RPM::update                   MIN=   1 MAX=  55 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_TempCalibration::update       MIN=   1 MAX=  51 AVG=   5 OVR=  0 SLP=  0, TOT= 0.0%
Copter::avoidance_adsb_update    MIN=  10 MAX=  84 AVG=  24 OVR=  0 SLP=  0, TOT= 0.1%
Copter::terrain_update           MIN=  82 MAX= 283 AVG= 153 OVR= 62 SLP=  0, TOT= 0.3%
AP_Winch::update                 MIN=   2 MAX=  60 AVG=   4 OVR=  1 SLP=  0, TOT= 0.1%
AP_Button::update                MIN=   1 MAX=  22 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_Custom::update_custom         MIN=   1 MAX=  58 AVG=   4 OVR=  7 SLP=  0, TOT= 0.0%
AP_NMEA_Output::update           MIN=   1 MAX=  48 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_RunCam::update                MIN=   1 MAX=  37 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_GyroFFT::update               MIN=   1 MAX= 110 AVG=   6 OVR= 24 SLP=  0, TOT= 0.4%
AP_GyroFFT::update_parameters    MIN=   1 MAX=  22 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::update_dynamic_notch MIN=   2 MAX=  84 AVG=   4 OVR=  0 SLP=  0, TOT= 0.3%
AP_VideoTX::update               MIN=   1 MAX=  46 AVG=   7 OVR=  0 SLP=  0, TOT= 0.0%
AP_Tramp::update                 MIN=   1 MAX=  38 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::send_watchdog_reset_ MIN=   2 MAX=   2 AVG=   2 OVR=  0 SLP=  0, TOT= 0.0%
AP_ESC_Telem::update             MIN=  31 MAX= 219 AVG=  59 OVR=298 SLP=  0, TOT= 1.3%
AP_Generator::update             MIN=   1 MAX=  37 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::publish_osd_info     MIN=   3 MAX=  47 AVG=   8 OVR=  1 SLP=  0, TOT= 0.0%
AP_TemperatureSensor::update     MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::accel_cal_update     MIN=   1 MAX=  67 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
AC_Fence::update                 MIN=   1 MAX=  58 AVG=   4 OVR=  0 SLP=  0, TOT= 0.0%
AP_AIS::update                   MIN=   1 MAX=  49 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_EFI::update                   MIN=   3 MAX=  64 AVG=   7 OVR=  0 SLP=  0, TOT= 0.1%
AP_Gripper::update               MIN=   1 MAX=  30 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::one_Hz_update        MIN=  16 MAX=  63 AVG=  23 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::check_motor_noise    MIN=   1 MAX=   2 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Filters::update               MIN=   1 MAX=   1 AVG=   1 OVR=  0 SLP=  0, TOT= 0.0%
AP_Stats::update                 MIN=   3 MAX=   4 AVG=   3 OVR=  0 SLP=  0, TOT= 0.0%
AP_Vehicle::update_arming        MIN= 475 MAX= 584 AVG= 510 OVR=  8 SLP=  0, TOT= 0.1%

[cuav_le]

Do you need it? I will send you a cuav v5