Skip to content
Reflex

quadrotor/battery_sag

A scenario of the Quadrotor model, from tools/trace/scenarios/quadrotor/battery_sag.cpp.

– no checks

  • 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

quadrotor/battery_sag: 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
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
battery_used battery_used
thrust_scale thrust_scale
thrust_to_weight_max thrust_to_weight_max
t = 0.000 s / 12.000 s

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

12 s of the model/quadrotor scenario battery_sag.cpp, 241 samples every 0.05 s. The panels plot every channel that changes: position, velocity, rotor_speeds, rotor_thrusts, battery_used, thrust_scale, thrust_to_weight_max, with setpoints dashed. 1 events are marked. It has no pass criteria.

  1. battery empty: thrust per rotor speed is 70 % of full; it falls no further

Constant over the run

  • attitude = [1, 0, 0, 0]
  • body_rates = [0, 0, 0] rad/s
  • roll_pitch_yaw = [0, 0, 0] rad
  • rotor_speed_max = 3672 rad/s

All scenarios