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/varying/work. Deleting it! fastdyn.main|INFO| Creating output directory at path: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/varying/work FastDyn timing log: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/varying/work/fastdyn_timing.jsonl FMU ready: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/varying/FastDyn_QavrVaryingLoad.fmu FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.fmu_auto_build 0.012s 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/varying.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 1.387s 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 0.002s ok FASTDYN_LOG|INFO| [timing] fastdyn:qemu.kill_existing 0.125s 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: modulation=0.5 FMU parameter override: payload_mass=0.050000000000000003 FMU parameter override: period=5 FMU backend loaded: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/varying/FastDyn_QavrVaryingLoad.runtime/binaries/x86_64-linux/Rumoca_67882ee7_c98d_4a04_a36c_009f1fb4daf4.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 127.0.0.1:37331 [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] rel_alt=0.0m [mission] STATUSTEXT: Terrain: Allocation failed [mission] STATUSTEXT: GPS 1: detected MAV [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=14.756s wall_since_init=5.000s sim_wall_rtf=2.95x advanced=14.756s wall_advance=0.186s fmu_compute_rtf=79.52x advance_calls=14752 do_steps=14754 avg_do_step=12.5us [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=0.1m [mission] current item 0/5 [mission] rel_alt=0.0m FMU timing: sim=27.945s wall_since_init=10.002s sim_wall_rtf=2.79x advanced=27.945s wall_advance=0.361s fmu_compute_rtf=77.45x advance_calls=27941 do_steps=27943 avg_do_step=12.8us [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=41.658s wall_since_init=15.002s sim_wall_rtf=2.78x advanced=41.658s wall_advance=0.538s fmu_compute_rtf=77.44x advance_calls=41654 do_steps=41656 avg_do_step=12.8us [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=55.566s wall_since_init=20.003s sim_wall_rtf=2.78x advanced=55.566s wall_advance=0.714s fmu_compute_rtf=77.80x advance_calls=55562 do_steps=55564 avg_do_step=12.7us [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=69.761s wall_since_init=25.003s sim_wall_rtf=2.79x advanced=69.761s wall_advance=0.902s fmu_compute_rtf=77.37x advance_calls=69757 do_steps=69759 avg_do_step=12.8us [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=8.9m [mission] rel_alt=10.1m [mission] rel_alt=11.2m [mission] rel_alt=12.6m [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 [mission] rel_alt=15.0m FMU timing: sim=83.278s wall_since_init=30.003s sim_wall_rtf=2.78x advanced=83.278s wall_advance=1.078s fmu_compute_rtf=77.23x advance_calls=83274 do_steps=83276 avg_do_step=12.8us [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 [mission] rel_alt=15.0m FMU timing: sim=96.996s wall_since_init=35.003s sim_wall_rtf=2.77x advanced=96.996s wall_advance=1.253s fmu_compute_rtf=77.43x advance_calls=96992 do_steps=96994 avg_do_step=12.8us [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 FMU timing: sim=110.792s wall_since_init=40.003s sim_wall_rtf=2.77x advanced=110.792s wall_advance=1.445s fmu_compute_rtf=76.68x advance_calls=110788 do_steps=110790 avg_do_step=12.9us [mission] rel_alt=12.8m [mission] rel_alt=11.7m [mission] rel_alt=10.6m [mission] rel_alt=9.6m [mission] rel_alt=8.5m [mission] rel_alt=7.4m [mission] rel_alt=6.4m [mission] rel_alt=5.3m FMU timing: sim=124.954s wall_since_init=45.003s sim_wall_rtf=2.78x advanced=124.954s wall_advance=1.619s fmu_compute_rtf=77.16x advance_calls=124950 do_steps=124952 avg_do_step=12.9us [mission] rel_alt=4.3m [mission] rel_alt=3.1m [mission] rel_alt=2.1m [mission] rel_alt=1.1m [mission] rel_alt=0.0m [mission] STATUSTEXT: Mission: 1 Takeoff [mission] firmware landed_state=ON_GROUND, rel_alt=-0.035m [mission] final landing confirmed near ground FASTDYN_LOG|INFO| [timing] fastdyn:helper.mission.exited exit_code=0 FASTDYN_LOG|INFO| [timing] fastdyn:qemu.wait 49.226s ok FASTDYN_LOG|INFO| [timing] fastdyn:machine0.qemu_execution 49.353s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.machine0.run 49.356s ok FASTDYN_LOG|INFO| [timing] fastdyn:helpers.stop 0.164s ok FASTDYN_LOG|INFO| [timing] fastdyn:fastdyn.run.total 50.925s ok