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quadrotor/ground_contact

A scenario of the Quadrotor model, from tools/trace/scenarios/quadrotor/ground_contact.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:

Every channel

quadrotor/ground_contact: 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
on_ground on_ground
vertical_thrust [N] vertical_thrust
t = 0.000 s / 4.000 s

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

4 s of the model/quadrotor scenario ground_contact.cpp, 401 samples every 0.01 s. The panels plot every channel that changes: position, velocity, body_rates, rotor_speeds, rotor_thrusts, roll_pitch_yaw, on_ground, vertical_thrust, with setpoints dashed. 5 events are marked. Pass criteria: BB-T4 grounded_steps_moved <= 0.

  1. rotors to 90 % of hover speed: 81 % of the weight, stays on the ground
  2. rotors to 110 %: lifts off when the vertical thrust passes the weight
  3. lift-off
  4. rotors to 85 % with a roll pulse: descends rolled right
  5. touch-down: velocity and rates stop at once; the tilt stays
  • ✓ passBB-T4 grounded_steps_moved = 0 (<= 0), computed by the scenario harness

Constant over the run

  • weight = 9.807 N

All scenarios