cascade/schedule

A scenario of the Cascaded controller, from tools/trace/scenarios/cascade/schedule.cpp.

✓ 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:

• How often does each loop update its output? (How the Cascade Works)
• Does each loop update only on its own ticks? (Cascade V&V Plan)

Every channel

cascade/schedule: every channel 1× real time

velocity_setpoint_x [m/s] velocity_setpoint_x

target_tilt [rad] target_tilt

pitch_rate_setpoint [rad/s] pitch_rate_setpoint

pitch_torque [N·m] pitch_torque

tick tick

t = 0.000 s / 0.100 s

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

0.1 s of the control/cascade scenario schedule.cpp, 101 samples every 0.001 s. The panels plot every channel that changes: velocity_setpoint_x, target_tilt, pitch_rate_setpoint, pitch_torque, tick. 3 events are marked. Pass criteria: BB-T1 updates_off_schedule <= 0.

1. t = 0.000 s the setpoint sets off at 5 m/s; all three loops run, with no error yet
2. t = 0.020 s position loop: 0.1 m behind, so a 3.3° tilt target
3. t = 0.024 s attitude loop, 4 ms later: the next rate setpoint toward that tilt

• ✓ passBB-T1 updates_off_schedule = 0 (<= 0), computed by the scenario harness

Block control/cascadeScenario tools/trace/scenarios/cascade/schedule.cppSeed 0dt_sim 0.001 s · dt_trace 0.001 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

All scenarios