Understanding the px4 log


I’m new to px4. I have been studying the code and I have been been exploring the stack and built my own quad recently.
I have been able to achieve decent stabilize mode, alt hold and position hold (I observe minor drift though).
Following is one of the log for position hold. I’m not sure if this is called a good performance.

Now I need help in understanding the log (I couldn’t find any documentation explaining log analysis) and improve the flight performance.

Also most of the graphs has estimated and setpoint, can someone let me know what is difference?


Estimated is where your aircraft thinks it is. Setpoint is where you’re commanding your aircraft to go.

It’s hard for me to tell from the plot if it’s performing well or now. I’m going to assume it wasn’t though.

Thanks @nkhoit for your reply