pid/timing_fault

A scenario of the PID controller, from tools/trace/scenarios/pid/timing_fault.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:

• What does the controller do when its scheduler misbehaves? (PID Controller)

Every channel

pid/timing_fault: every channel 1× real time

response response

setpoint setpoint

command command

integral integral

dt_passed [s] dt_passed

t = 0.000 s / 0.250 s

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

0.25 s of the control/pid scenario timing_fault.cpp, 251 samples every 0.001 s. The panels plot every channel that changes: response, setpoint, command, integral, dt_passed. 5 events are marked. Pass criteria: BB-T1 output_and_integral_change_on_faulted_ticks <= 0.

1. t = 0.020 s setpoint 0.5
2. t = 0.050 s duplicated tick: dt = 0
3. t = 0.070 s clock steps back: dt = −1 ms
4. t = 0.100 s the controller misses 49 ticks
5. t = 0.149 s it runs again, with dt = 50 ms

• ✓ passBB-T1 output_and_integral_change_on_faulted_ticks = 0 (<= 0), computed by the scenario harness

Block control/pidScenario tools/trace/scenarios/pid/timing_fault.cppSeed 0dt_sim 0.001 s · dt_trace 0.001 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

All scenarios