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quadrotor/roll_pulse

A scenario of the Quadrotor model, from tools/trace/scenarios/quadrotor/roll_pulse.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/roll_pulse: 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
t = 0.000 s / 1.500 s

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

1.5 s of the model/quadrotor scenario roll_pulse.cpp, 151 samples every 0.01 s. The panels plot every channel that changes: position, velocity, body_rates, rotor_speeds, rotor_thrusts, roll_pitch_yaw, with setpoints dashed. 3 events are marked. Pass criteria: BB-V3 attitude_norm_error_max <= 1.7763568394002505e-15.

  1. left rotors +40 rad/s, right rotors -40 rad/s: roll torque
  2. reversed: braking torque
  3. hover command: the vehicle stays rolled about 10°
  • ✓ passBB-V3 attitude_norm_error_max = 4.44e-16 (<= 1.78e-15), computed by the scenario harness

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