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/payload/work. Deleting it! fastdyn.main|INFO| Creating output directory at path: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/work FastDyn timing log: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/work/fastdyn_timing.jsonl Building FMU 'qavr_payload' from /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload.toml Compiling target 'fmi3' for FastDyn_QavrSidePayload 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/payload FastDyn_QavrSidePayload/ unpacked source FMU FastDyn_QavrSidePayload.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 (1.0s) -- Generating done (0.0s) -- Build files have been written to: /tmp/nix-shell.mU74ri/tmpsgp94lfm [ 50%] Building C object CMakeFiles/Rumoca_5b54a1e7_91e9_4e73_8b4d_8527997db569.dir/home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/.fastdyn-fmu-igcfalxb/fmu/sources/model.c.o [100%] Linking C shared library Rumoca_5b54a1e7_91e9_4e73_8b4d_8527997db569.so [100%] Built target Rumoca_5b54a1e7_91e9_4e73_8b4d_8527997db569 Install the project... -- Install configuration: "Release" -- Installing: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/.fastdyn-fmu-igcfalxb/fmu/binaries/x86_64-linux/Rumoca_5b54a1e7_91e9_4e73_8b4d_8527997db569.so FASTDYN_LOG|INFO| [timing] fastdyn:fmu.prepare_native 3.717s ok FASTDYN_LOG|INFO| [timing] fastdyn:fmu.rumoca_compile 10.204s ok FMU ready: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/FastDyn_QavrSidePayload.fmu FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.fmu_auto_build 10.216s 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/payload.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 1.315s 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 0.134s 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: attachment_b=0.07778174593052023;-0.07778174593052023;0 FMU parameter override: payload_mass=0.050000000000000003 FMU backend loaded: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/payload/FastDyn_QavrSidePayload.runtime/binaries/x86_64-linux/Rumoca_5b54a1e7_91e9_4e73_8b4d_8527997db569.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 [GCSReceiver]: Initialized send socket to GCS at 127.0.0.1:58386 [mission] heartbeat from system=1 component=1 [mission] loading 27 params from out/qavr-controller.param [mission] param BRD_SAFETY_DEFLT=0 [mission] param FS_THR_ENABLE=0 [mission] param FS_GCS_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=0 [mission] param COMPASS_AUTODEC=0 [mission] param ARMING_CHECK=0 [mission] param GUID_OPTIONS=0 [mission] param MOT_PWM_MIN=1100 [mission] param MOT_PWM_MAX=1900 [mission] param MOT_THST_EXPO=0.5 [mission] param MOT_THST_HOVER=0.2 [mission] param ATC_RAT_RLL_P=0.0459849 [mission] param ATC_RAT_RLL_I=0.0459849 [mission] param ATC_RAT_RLL_D=0.00120043 [mission] param ATC_RAT_PIT_P=0.0742121 [mission] param ATC_RAT_PIT_I=0.0742121 [mission] param ATC_RAT_PIT_D=0.00194942 [mission] param ATC_RAT_RLL_FLTT=40 [mission] param ATC_RAT_RLL_FLTD=40 [mission] param ATC_RAT_PIT_FLTT=40 [mission] param ATC_RAT_PIT_FLTD=40 [mission] param ATC_ANG_RLL_P=4.5 [mission] param ATC_ANG_PIT_P=4.5 [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=14.652s wall_since_init=5.000s sim_wall_rtf=2.93x advanced=14.652s wall_advance=0.179s fmu_compute_rtf=81.95x advance_calls=14648 do_steps=14650 avg_do_step=12.1us [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=27.869s wall_since_init=10.000s sim_wall_rtf=2.79x advanced=27.869s wall_advance=0.354s fmu_compute_rtf=78.76x advance_calls=27865 do_steps=27867 avg_do_step=12.6us [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=41.364s wall_since_init=15.000s sim_wall_rtf=2.76x advanced=41.364s wall_advance=0.542s fmu_compute_rtf=76.30x advance_calls=41360 do_steps=41362 avg_do_step=13.0us [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m FMU timing: sim=54.864s wall_since_init=20.000s sim_wall_rtf=2.74x advanced=54.864s wall_advance=0.730s fmu_compute_rtf=75.16x advance_calls=54860 do_steps=54862 avg_do_step=13.2us [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 [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m [mission] rel_alt=0.0m FMU timing: sim=68.776s wall_since_init=25.000s sim_wall_rtf=2.75x advanced=68.776s wall_advance=0.907s fmu_compute_rtf=75.84x advance_calls=68772 do_steps=68774 avg_do_step=13.1us [mission] setting mode AUTO [mission] mode AUTO confirmed [mission] current mission item set to 0 [mission] mission start requested [mission] monitoring for 180s [mission] current item 0/5 [mission] STATUSTEXT: Mission: 1 Takeoff [mission] STATUSTEXT: Mission: 1 Takeoff [mission] rel_alt=0.0m [mission] current item 1/5 [mission] rel_alt=1.4m [mission] rel_alt=2.9m [mission] STATUSTEXT: EKF3 IMU0 MAG0 in-flight yaw alignment complete [mission] rel_alt=4.1m [mission] rel_alt=5.3m [mission] rel_alt=6.5m [mission] rel_alt=7.7m [mission] rel_alt=9.0m [mission] rel_alt=10.1m [mission] rel_alt=11.2m [mission] rel_alt=12.5m [mission] rel_alt=13.6m [mission] rel_alt=14.7m [mission] reached item 1/5 [mission] STATUSTEXT: Mission: 2 WP [mission] current item 2/5 FMU timing: sim=81.523s wall_since_init=30.000s sim_wall_rtf=2.72x advanced=81.523s wall_advance=1.081s fmu_compute_rtf=75.42x advance_calls=81519 do_steps=81521 avg_do_step=13.2us [mission] rel_alt=15.0m [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=15.1m [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 FMU timing: sim=93.797s wall_since_init=35.001s sim_wall_rtf=2.68x advanced=93.797s wall_advance=1.264s fmu_compute_rtf=74.20x advance_calls=93793 do_steps=93795 avg_do_step=13.4us [mission] rel_alt=15.0m [mission] rel_alt=15.0m [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 FMU timing: sim=106.001s wall_since_init=40.001s sim_wall_rtf=2.65x advanced=106.001s wall_advance=1.424s fmu_compute_rtf=74.46x advance_calls=105997 do_steps=105999 avg_do_step=13.3us [mission] rel_alt=14.3m [mission] rel_alt=13.2m [mission] rel_alt=12.1m [mission] rel_alt=11.1m [mission] rel_alt=10.0m [mission] rel_alt=8.9m [mission] rel_alt=7.9m [mission] rel_alt=6.9m FMU timing: sim=118.339s wall_since_init=45.001s sim_wall_rtf=2.63x advanced=118.339s wall_advance=1.595s fmu_compute_rtf=74.20x advance_calls=118335 do_steps=118337 avg_do_step=13.4us [mission] rel_alt=5.8m [mission] rel_alt=4.6m [mission] rel_alt=3.5m [mission] rel_alt=2.5m [mission] rel_alt=1.4m FMU timing: sim=130.406s wall_since_init=50.001s sim_wall_rtf=2.61x advanced=130.406s wall_advance=1.757s fmu_compute_rtf=74.22x advance_calls=130402 do_steps=130404 avg_do_step=13.4us [mission] rel_alt=0.4m [mission] rel_alt=-0.1m [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 51.836s ok FASTDYN_LOG|INFO| [timing] fastdyn:machine0.qemu_execution 51.973s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.machine0.run 51.976s ok FASTDYN_LOG|INFO| [timing] fastdyn:helpers.stop 0.165s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.run.total 63.678s ok