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mixer/clip_vs_priority

A scenario of the Mixer, from tools/trace/scenarios/mixer/clip_vs_priority.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

mixer/clip_vs_priority: 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
clip_position [m] x y z
clip_rotor_thrusts [N] rotor 1 rotor 2 rotor 3 rotor 4
tilt_error [rad] [0] [1]
yaw [rad] [0] [1]
yaw_setpoint [rad] yaw_setpoint
collective [N] [0] [1]
collective_demand [N] collective_demand
roll_torque [N·m] [0] [1]
yaw_torque [N·m] [0] [1]
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/mixer scenario clip_vs_priority.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, clip_position, clip_rotor_thrusts, tilt_error, yaw, yaw_setpoint, collective, collective_demand, roll_torque, yaw_torque, with setpoints dashed. 1 events are marked. Pass criteria: BB-I2 tilt_error_after_0.2s <= 0.05235987755982988 rad.

  1. target: yaw 60°, roll 30°, collective at the throttle
  • ✓ passBB-I2 tilt_error_after_0.2s = 0.02456 rad (<= 0.05236), computed by the scenario harness

All scenarios