quadrotor/invariant_violation

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

• Where does an invalid state come from? (Quadrotor Model)

Every channel

quadrotor/invariant_violation: 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

Chase Behind Overview

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

height_above_ground [m] height_above_ground

on_ground on_ground

t = 0.000 s / 0.800 s

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

0.8 s of the model/quadrotor scenario invariant_violation.cpp, 81 samples every 0.01 s. The panels plot every channel that changes: position, velocity, rotor_speeds, rotor_thrusts, height_above_ground, on_ground, with setpoints dashed. 3 events are marked. It has no pass criteria.

1. t = 0.100 s the caller applies the -2 cm altimeter correction, and again every 0.1 s
2. t = 0.763 s touch-down
3. t = 0.800 s monitor: I5 (below_ground) before step 800, position.z = -0.02 m < ground_z = 0 m

Block model/quadrotorScenario tools/trace/scenarios/quadrotor/invariant_violation.cppSeed 0dt_sim 0.001 s · dt_trace 0.01 sgcc 13.3 optimizedGenerated at 2183adcFormat reflex-trace/1, checked by CI against a fresh run

Constant over the run

• attitude = [1, 0, 0, 0]
• body_rates = [0, 0, 0] rad/s
• rotor_speeds_setpoint = [1610, 1610, 1610, 1610] rad/s
• roll_pitch_yaw = [0, 0, 0] rad

All scenarios