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quadrotor/punch_out

A scenario of the Quadrotor model, from tools/trace/scenarios/quadrotor/punch_out.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/punch_out: 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
speed [m/s] speed
body_torque [N·m] [0] [1] [2]
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 punch_out.cpp, 81 samples every 0.01 s. The panels plot every channel that changes: position, velocity, body_rates, rotor_speeds, rotor_thrusts, roll_pitch_yaw, speed, body_torque, with setpoints dashed. 4 events are marked. It has no pass criteria.

  1. full throttle: every rotor commanded to ω_max
  2. rotor speeds above 95 % of ω_max: outside the expected envelope
  3. airspeed above 5 m/s: outside the expected envelope
  4. roll command ±20 rad/s: the left rotors are clamped, only the right respond

Constant over the run

  • rotor_speed_max = 3672 rad/s

All scenarios