fastdyn.main|INFO| ****** Fastdyn Framework 0.1.0 ******* fastdyn.main|INFO| The output directory already exists at Path /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/work. Deleting it! fastdyn.main|INFO| Creating output directory at path: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/work FastDyn timing log: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/work/fastdyn_timing.jsonl Building FMU 'quadrotor' from /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter.toml Compiling target 'fmi3' for FastDyn_Copter FMI 3.0.2 source-code ME+CS FMU with native tensor variables FMI 3 ME+CS source FMU written to: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter FastDyn_Copter/ unpacked source FMU FastDyn_Copter.fmu standards-valid flat FMU archive Advertised profiles: FMI 3 Model Exchange and Co-Simulation. -- The C compiler identification is GNU 15.2.0 -- The CXX compiler identification is GNU 15.2.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /nix/store/xcnqqnhw9hb4j5rjgds2yjryi8qki5f3-gcc-wrapper-15.2.0/bin/gcc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /nix/store/xcnqqnhw9hb4j5rjgds2yjryi8qki5f3-gcc-wrapper-15.2.0/bin/g++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Configuring done (0.9s) -- Generating done (0.0s) -- Build files have been written to: /tmp/nix-shell.OKHZZD/tmpbg1l9r90 [ 50%] Building C object CMakeFiles/Rumoca_866a1182_5f20_4bdf_8b3c_d057c26da218.dir/home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/.fastdyn-fmu-7gnlp_q0/fmu/sources/model.c.o [100%] Linking C shared library Rumoca_866a1182_5f20_4bdf_8b3c_d057c26da218.so [100%] Built target Rumoca_866a1182_5f20_4bdf_8b3c_d057c26da218 Install the project... -- Install configuration: "Release" -- Installing: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/.fastdyn-fmu-7gnlp_q0/fmu/binaries/x86_64-linux/Rumoca_866a1182_5f20_4bdf_8b3c_d057c26da218.so FASTDYN_LOG|INFO| [timing] fastdyn:fmu.prepare_native 3.505s ok FASTDYN_LOG|INFO| [timing] fastdyn:fmu.rumoca_compile 7.886s ok FMU ready: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/FastDyn_Copter.fmu FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.fmu_auto_build 7.899s ok FASTDYN_LOG|INFO| [timing] fastdyn:helpers.load_config 0.002s ok FASTDYN_LOG|INFO| [timing] fastdyn:helper.mavproxy.popen 0.001s ok FASTDYN_LOG|INFO| MAVCesium web viewer: open http://127.0.0.1:5000/mavcesium/ FASTDYN_LOG|INFO| [timing] fastdyn:helper.mission.popen 0.001s ok FASTDYN_LOG|INFO| [timing] fastdyn:helpers.start 0.002s ok FASTDYN_LOG|INFO| Parsing Config file: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter.toml FASTDYN_LOG|INFO| Parsing the passed path for the CMSIS SVD FASTDYN_LOG|INFO| Using SVD: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/third_party/common/cmsis-svd-data/data/STMicro/STM32F427.svd (key='STM32F427') [mission] connecting to udpin:127.0.0.1:14552 FASTDYN_LOG|INFO| Creating IRQ Map using the CMSIS SVD FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.parse_config 1.307s ok FASTDYN_LOG|INFO| [timing] fastdyn:machine0.compile_device_routing 0.000s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.write_device_config 0.000s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.build_command 0.002s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.setup 0.002s ok FASTDYN_LOG|INFO| [timing] fastdyn:machine0.qemu_setup 0.003s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.kill_existing 0.122s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.build_env 0.000s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.popen 0.001s ok FASTDYN_VIRTUAL|WARN|function_tracer| no function-trace manifests were available Initializing flight controllers FMU parameter override: Cm=0.016 FMU parameter override: Cn_r=-0.10000000000000001 FMU parameter override: Ct=8.5485800000000001e-06 FMU parameter override: ground_alt_wgs84=149 FMU parameter override: inertia=0.02601237985;0;0;0;0.02590943825;0;0;0;0.045571756801 FMU parameter override: lat0=40.414929000000001 FMU parameter override: lon0=-86.932387000000006 FMU parameter override: mass=2.5644000999999998 FMU parameter override: omega_max=1300 FMU parameter override: pwm_max=1900 FMU parameter override: pwm_min=1100 FMU backend loaded: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/copter/FastDyn_Copter.runtime/binaries/x86_64-linux/Rumoca_866a1182_5f20_4bdf_8b3c_d057c26da218.so FMU timing: init_wall=0.000s Current CPU type: cortex-m4-arm-cpu FMU backend advances synchronously from QEMU timer ticks Periodic IRQ 66 every 1000000 ns GCS using UART at address 0x200139C0 Copter frame class address mismatch: expected 0x20008284, got 0x00000AAC [GCSReceiver]: Listening for incoming data on UDP port 14551... [GPSInputReceiver]: Listening for incoming data on UDP port 14553... Send socket not initialized. Cannot send MAVLink message. Failed to send mavlink message to GCS Send socket not initialized. Cannot send MAVLink message. Failed to send mavlink message to GCS Send socket not initialized. Cannot send MAVLink message. Failed to send mavlink message to GCS Send socket not initialized. Cannot send MAVLink message. Failed to send mavlink message to GCS Send socket not initialized. Cannot send MAVLink message. Failed to send mavlink message to GCS [GCSReceiver]: Initialized send socket to GCS at 127.0.0.1:33163 [mission] heartbeat from system=1 component=1 [mission] loading 8 params from virtuals/physics/flight_controllers/courbet/mavlink/copter_init.param [mission] param BRD_SAFETY_DEFLT=0 [mission] param FS_THR_ENABLE=0 [mission] param DISARM_DELAY=0 [mission] param EK3_SRC1_POSZ=3 [mission] param EK3_SRC2_POSZ=3 [mission] param EK3_SRC3_POSZ=3 [mission] param COMPASS_DEC=12.67 [mission] param ARMING_CHECK=0 [mission] params sent [mission] waiting up to 180s for ArduPilot readiness [mission] STATUSTEXT: Initialising ArduPilot [mission] STATUSTEXT: ArduPilot Ready [mission] STATUSTEXT: AHRS: DCM active [mission] STATUSTEXT: RCOut: None [mission] STATUSTEXT: GPS 1: specified as MAV [mission] STATUSTEXT: Terrain: Allocation failed [mission] STATUSTEXT: GPS 1: detected MAV [mission] rel_alt=0.0m [mission] STATUSTEXT: EKF3 IMU0 initialised [mission] STATUSTEXT: AHRS: EKF3 active [mission] ArduPilot ready with GPS and EKF initialized [mission] keeping QGC home row for ArduPilot mission indexing [mission] uploading 6 mission items from virtuals/physics/flight_controllers/courbet/mavlink/copter_mission.waypoints [mission] previous mission cleared [mission] sending mission item 0/5 [mission] sending mission item 1/5 [mission] sending mission item 2/5 [mission] sending mission item 3/5 [mission] sending mission item 4/5 [mission] sending mission item 5/5 [mission] upload accepted [mission] ensuring armed state in STABILIZE [mission] setting mode STABILIZE [mission] safety switch released [mission] arming with force [mission] STATUSTEXT: Flight plan received [mission] safety ack result=0 [mission] arm ack result=4 [mission] STATUSTEXT: Arm: AHRS: EKF starting GPS checks [mission] STATUSTEXT: Arm: AHRS: EKF starting GPS checks [mission] rel_alt=0.0m [mission] current item 0/5 [mission] STATUSTEXT: Frame: QUAD/X [mission] rel_alt=0.0m FMU timing: sim=15.097s wall_since_init=5.000s sim_wall_rtf=3.02x advanced=15.097s wall_advance=0.174s fmu_compute_rtf=86.64x advance_calls=15093 do_steps=15095 avg_do_step=11.4us [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] STATUSTEXT: EKF3 IMU0 origin set [mission] STATUSTEXT: Field Elevation Set: 149m [mission] STATUSTEXT: EKF3 IMU0 tilt alignment complete [mission] STATUSTEXT: EKF3 IMU0 MAG0 initial yaw alignment complete [mission] rel_alt=0.1m [mission] arming with force [mission] arm ack result=0 [mission] armed [mission] waiting up to 180s for EKF GPS fusion [mission] rel_alt=0.0m [mission] current item 0/5 [mission] rel_alt=0.0m FMU timing: sim=28.862s wall_since_init=10.000s sim_wall_rtf=2.89x advanced=28.862s wall_advance=0.327s fmu_compute_rtf=88.36x advance_calls=28858 do_steps=28860 avg_do_step=11.2us [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m FMU timing: sim=42.961s wall_since_init=15.000s sim_wall_rtf=2.86x advanced=42.961s wall_advance=0.484s fmu_compute_rtf=88.71x advance_calls=42957 do_steps=42959 avg_do_step=11.2us [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] STATUSTEXT: EKF3 IMU0 is using GPS [mission] EKF GPS fusion confirmed [mission] ensuring mode AUTO [mission] setting mode AUTO [mission] STATUSTEXT: Mode change to AUTO failed: requires position [mission] rel_alt=0.0m [mission] current item 0/5 FMU timing: sim=56.850s wall_since_init=20.001s sim_wall_rtf=2.84x advanced=56.850s wall_advance=0.643s fmu_compute_rtf=88.35x advance_calls=56846 do_steps=56848 avg_do_step=11.2us [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] setting mode AUTO [mission] mode AUTO confirmed [mission] current mission item set to 0 [mission] mission start requested [mission] monitoring for 180s [mission] STATUSTEXT: Mission: 1 Takeoff [mission] current item 0/5 [mission] STATUSTEXT: Mission: 1 Takeoff [mission] rel_alt=0.0m [mission] current item 1/5 FMU timing: sim=70.979s wall_since_init=25.001s sim_wall_rtf=2.84x advanced=70.979s wall_advance=0.814s fmu_compute_rtf=87.21x advance_calls=70975 do_steps=70977 avg_do_step=11.4us [mission] rel_alt=1.3m [mission] rel_alt=2.7m [mission] STATUSTEXT: EKF3 IMU0 MAG0 in-flight yaw alignment complete [mission] rel_alt=3.9m [mission] rel_alt=5.1m [mission] rel_alt=6.3m [mission] rel_alt=7.5m [mission] rel_alt=8.8m [mission] rel_alt=10.0m [mission] rel_alt=11.1m [mission] rel_alt=12.4m [mission] rel_alt=13.5m [mission] rel_alt=14.5m [mission] reached item 1/5 [mission] STATUSTEXT: Mission: 2 WP [mission] current item 2/5 [mission] rel_alt=15.0m FMU timing: sim=84.256s wall_since_init=30.001s sim_wall_rtf=2.81x advanced=84.256s wall_advance=0.997s fmu_compute_rtf=84.51x advance_calls=84252 do_steps=84254 avg_do_step=11.7us [mission] rel_alt=15.1m [mission] reached item 2/5 [mission] STATUSTEXT: Reached command #2 [mission] STATUSTEXT: Mission: 3 WP [mission] current item 3/5 [mission] rel_alt=15.0m [mission] rel_alt=15.0m [mission] reached item 3/5 [mission] STATUSTEXT: Reached command #3 [mission] STATUSTEXT: Mission: 4 WP [mission] current item 4/5 [mission] rel_alt=15.0m [mission] rel_alt=15.0m FMU timing: sim=97.799s wall_since_init=35.001s sim_wall_rtf=2.79x advanced=97.799s wall_advance=1.171s fmu_compute_rtf=83.49x advance_calls=97795 do_steps=97797 avg_do_step=11.9us [mission] reached item 4/5 [mission] STATUSTEXT: Reached command #4 [mission] STATUSTEXT: Mission: 5 Land [mission] current item 5/5 [mission] rel_alt=15.0m [mission] rel_alt=15.0m [mission] rel_alt=15.0m [mission] rel_alt=15.0m [mission] rel_alt=14.0m [mission] rel_alt=12.8m [mission] rel_alt=11.7m FMU timing: sim=111.365s wall_since_init=40.001s sim_wall_rtf=2.78x advanced=111.365s wall_advance=1.342s fmu_compute_rtf=82.98x advance_calls=111361 do_steps=111363 avg_do_step=11.9us [mission] rel_alt=10.6m [mission] rel_alt=9.4m [mission] rel_alt=8.4m [mission] rel_alt=7.4m [mission] rel_alt=6.4m [mission] rel_alt=5.3m [mission] rel_alt=4.3m FMU timing: sim=125.344s wall_since_init=45.002s sim_wall_rtf=2.79x advanced=125.344s wall_advance=1.513s fmu_compute_rtf=82.84x advance_calls=125340 do_steps=125342 avg_do_step=12.0us [mission] rel_alt=3.3m [mission] rel_alt=2.3m [mission] rel_alt=1.2m [mission] rel_alt=0.2m [mission] rel_alt=-0.0m [mission] STATUSTEXT: Mission: 1 Takeoff [mission] current item 1/5 [mission] final landing confirmed near ground FASTDYN_LOG|INFO| [timing] fastdyn:helper.mission.exited exit_code=0 FASTDYN_LOG|INFO| [timing] fastdyn:qemu.wait 49.038s ok FASTDYN_LOG|INFO| [timing] fastdyn:machine0.qemu_execution 49.163s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.machine0.run 49.166s ok FASTDYN_LOG|INFO| [timing] fastdyn:helpers.stop 0.164s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.run.total 58.543s ok