filters/delay

A scenario of the Gyro filters, from tools/trace/scenarios/filters/delay.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 long do the gyro filters delay a change in roll rate? (How the Gyro Filters Work)
• Does the gyro chain leave the rate loop 45° of phase margin? (Gyro Filters V&V Plan)

Every channel

filters/delay: every channel 1× real time

roll_rate [rad/s] [0] [1] [2] [3]

t = 0.000 s / 0.040 s

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

0.04 s of the dsp/filters scenario delay.cpp, 321 samples every 0.000125 s. The panels plot every channel that changes: roll_rate. 2 events are marked. Pass criteria: BB-C2 rate_loop_phase_margin_deg >= 45 deg.

1. t = 0.005 s a 1 rad/s roll-rate step reaches the gyro
2. t = 0.008 s the chain's output reaches half the step, 3.4 ms after it

• ✓ passBB-C2 rate_loop_phase_margin_deg = 53.04 deg (>= 45), computed by the scenario harness

Block dsp/filtersScenario tools/trace/scenarios/filters/delay.cppSeed 0dt_sim 0.000125 s · dt_trace 0.000125 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

All scenarios