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cascade/roll_step

A scenario of the Cascaded controller, from tools/trace/scenarios/cascade/roll_step.hpp.

✓ pass

  • The clang run (clang 18.1 optimized) matches the committed trace.
  • The gcc run (gcc 13.3 optimized) matches the committed trace.

Shown on

These players show the same trace, with panels chosen to explain it:

Every channel

cascade/roll_step: every channel 1× real time
World: z up · Body: x forward, y left, z up
Rotors (PX4 Quad X): 0 FR, 1 RL spin CCW · 2 FL, 3 RR spin CW
Thrust arrows: 1 N = 4 cm · Grid: 0.5 m · Body axes: x red, y green, z blue
position [m] x y z
velocity [m/s] x y z
body_rates [rad/s] x y z dashed: command
rotor_speeds [rad/s] rotor 1 rotor 2 rotor 3 rotor 4 dashed: command
rotor_thrusts [N] rotor 1 rotor 2 rotor 3 rotor 4
roll_pitch_yaw [rad] roll pitch yaw
roll_setpoint [rad] roll_setpoint
body_torque [N·m] [0] [1] [2]
t = 0.000 s / 1.000 s

Keys (with the player focused): Space play/pause · ← → one sample (Shift: ten) · Home/End · [ ] speed

1 s of the control/cascade scenario roll_step.hpp, 201 samples every 0.005 s. The panels plot every channel that changes: position, velocity, body_rates, rotor_speeds, rotor_thrusts, roll_pitch_yaw, roll_setpoint, body_torque, with setpoints dashed. 1 events are marked. Pass criteria: BB-I2 roll_overshoot <= 0.1.

  1. roll target 30°, at hover thrust
  • ✓ passBB-I2 roll_overshoot = 0 (<= 0.1), computed by the scenario harness

All scenarios