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Reflex

cascade/waypoint

A scenario of the Cascaded controller, from tools/trace/scenarios/cascade/waypoint.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/waypoint: 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
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
setpoint_position [m] x y z
cross_track [m] cross_track
along_track_lag [m] along_track_lag
speed [m/s] [0] [1]
tilt [rad] [0] [1]
t = 0.000 s / 18.000 s

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

18 s of the control/cascade scenario waypoint.hpp, 451 samples every 0.04 s. The panels plot every channel that changes: position, velocity, body_rates, rotor_speeds, rotor_thrusts, roll_pitch_yaw, setpoint_position, cross_track, along_track_lag, speed, tilt, with setpoints dashed. 5 events are marked. Pass criteria: BB-I2 worst_criterion_fraction <= 1.

  1. leg 1: the setpoint sets off along +x
  2. corner: the setpoint turns 90°
  3. corner: the setpoint turns 90°
  4. corner: the setpoint turns 90°
  5. back at the start: hover
  • ✓ passBB-I2 worst_criterion_fraction = 0.1981 (<= 1), computed by the scenario harness

All scenarios