mixer/priority

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

• How much roll can RP-1 get, and at what collective? (Mixer Deployment)
• As the roll demand grows past what the rotors can give, what goes first? (How the Mixer Works)
• Is the achieved torque always the demand, scaled? (Mixer V&V Plan)

Every channel

mixer/priority: every channel 1× real time

thrusts [N] [0] [1] [2] [3]

allocation [N] [0] [1] [2] [3]

collective [N] [0] [1]

roll_torque [N·m] [0] [1]

pitch_torque [N·m] [0] [1]

yaw_torque [N·m] [0] [1]

scales [0] [1]

report [0] [1] [2] [3]

t = 0.000 s / 5.000 s

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

5 s of the control/mixer scenario priority.hpp, 251 samples every 0.02 s. The panels plot every channel that changes: thrusts, allocation, collective, roll_torque, pitch_torque, yaw_torque, scales, report. 4 events are marked. Pass criteria: BB-T1 achieved_torque_vs_scaled_demand <= 1e-12 N·m.

1. t = 0.00 s roll torque ramps up from 0
2. t = 0.90 s yaw starts to give way, at τx = 0.45 N·m
3. t = 1.88 s the collective moves, at τx = 0.94 N·m
4. t = 3.74 s roll and pitch scale down, at τx = 1.87 N·m

• ✓ passBB-T1 achieved_torque_vs_scaled_demand = 4.44e-16 N·m (<= 1.00e-12), computed by the scenario harness

Block control/mixerScenario tools/trace/scenarios/mixer/priority.hppSeed 0dt_sim 0.02 s · dt_trace 0.02 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• thrust_limits = [0, 12] N

All scenarios