quadrotor/rotor_torques

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

• Which way does each rotor push and twist the body? (How the Quadrotor Model Works)

Every channel

quadrotor/rotor_torques: 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

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

total_thrust [N] total_thrust

body_torque [N·m] [0] [1] [2]

t = 0.000 s / 2.400 s

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

2.4 s of the model/quadrotor scenario rotor_torques.cpp, 241 samples every 0.01 s. The panels plot every channel that changes: rotor_speeds, rotor_thrusts, total_thrust, body_torque, with setpoints dashed. 6 events are marked. It has no pass criteria.

1. t = 0.10 s rotor 0 (front right, CCW) alone
2. t = 0.50 s rotor 1 (rear left, CCW) alone
3. t = 0.90 s rotor 2 (front left, CW) alone
4. t = 1.30 s rotor 3 (rear right, CW) alone
5. t = 1.70 s all four: the torques cancel; thrust 81 % of the weight
6. t = 2.10 s all rotors commanded to stop

Block model/quadrotorScenario tools/trace/scenarios/quadrotor/rotor_torques.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

• position = [0, 0, 0] m
• velocity = [0, 0, 0] m/s
• attitude = [1, 0, 0, 0]
• body_rates = [0, 0, 0] rad/s
• roll_pitch_yaw = [0, 0, 0] rad
• weight = 9.807 N

All scenarios