mixer/throttle_sweep

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

• Across the whole throttle range, when does the mixer change the demand? (How the Mixer Works)
• Does any rotor jump where the mixer starts or stops cutting? (Mixer V&V Plan)
• Which channel does the report flag as the throttle sweeps? (Mixer)

Every channel

mixer/throttle_sweep: 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 / 6.500 s

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

6.5 s of the control/mixer scenario throttle_sweep.cpp, 261 samples every 0.025 s. The panels plot every channel that changes: thrusts, allocation, collective, roll_torque, pitch_torque, yaw_torque, scales, report. 5 events are marked. Pass criteria: BB-T1 rotor_thrust_step_per_collective_step <= 1.

1. t = 0.00 s F = 0.0 N: collective raised above F, yaw cut
2. t = 1.13 s F = 9.0 N: collective as demanded, yaw cut
3. t = 1.93 s F = 15.4 N: collective as demanded, yaw whole
4. t = 4.75 s F = 38.0 N: collective as demanded, yaw cut
5. t = 5.20 s F = 41.6 N: collective held below F, yaw cut

• ✓ passBB-T1 rotor_thrust_step_per_collective_step = 0.5 (<= 1), computed by the scenario harness

Block control/mixerScenario tools/trace/scenarios/mixer/throttle_sweep.cppSeed 0dt_sim 0.025 s · dt_trace 0.025 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