fastdyn.main|INFO|  ****** Fastdyn Framework 0.1.0 *******
fastdyn.main|WARNING|  The output directory: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/rover/work passed by the user does not exist.
fastdyn.main|INFO|  Creating output directory at path: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/rover/work
FastDyn timing log: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/rover/work/fastdyn_timing.jsonl
FMU ready: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/rover/FastDyn_Rover.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/rover.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 1.411s 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|  Prepared QEMU memory backend out/local-rumoca/rover/ram0.ram with size 512M.
FASTDYN_LOG|INFO|  Prepared QEMU memory backend out/local-rumoca/rover/ram1.ram with size 512K.
FASTDYN_LOG|INFO|  [timing] fastdyn:qemu.build_command 0.002s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:qemu.setup 0.003s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:machine0.qemu_setup 0.003s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:qemu.kill_existing 0.100s 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: ground_alt_wgs84=149
FMU parameter override: lat0=40.414929000000001
FMU parameter override: lon0=-86.932387000000006
FMU backend loaded: /home/jgoppert/git/rumoca_fastdyn_tutorial/FastDyn/out/local-rumoca/rover/FastDyn_Rover.runtime/binaries/x86_64-linux/Rumoca_c038beb3_c759_4d4c_b013_b501dfd69e5a.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 0x20013348
[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
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
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
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
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
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
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
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 127.0.0.1:39475
[mission] heartbeat from system=1 component=1
[mission] loading 17 params from virtuals/physics/flight_controllers/courbet/mavlink/rover_fmu.param
[mission] param BRD_SAFETY_DEFLT=0
[mission] param ARMING_CHECK=0
[mission] STATUSTEXT: EKF3 IMU0 initialised
[mission] param EK3_SRC1_POSZ=3
[mission] param COMPASS_DEC=0
[mission] param FS_THR_ENABLE=0
[mission] param FS_GCS_ENABLE=0
[mission] param SERVO1_FUNCTION=26
[mission] param SERVO3_FUNCTION=70
[mission] param CRUISE_SPEED=2
[mission] param CRUISE_THROTTLE=25
[mission] param WP_SPEED=2
[mission] param SERVO1_REVERSED=1
[mission] param SERVO1_MIN=1000
[mission] param SERVO1_MAX=2000
[mission] param SERVO3_MIN=1000
[mission] param SERVO3_MAX=2000
[mission] param COMPASS_AUTODEC=0
[mission] params sent
[mission] waiting up to 180s for ArduPilot readiness
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] STATUSTEXT: EKF3 IMU0 origin set
[mission] ArduPilot ready with GPS and EKF initialized
[mission] keeping QGC home row for ArduPilot mission indexing
[mission] uploading 5 mission items from virtuals/physics/flight_controllers/courbet/mavlink/rover_rectangle.txt
[mission] previous mission cleared
[mission] sending mission item 0/4
[mission] sending mission item 1/4
[mission] sending mission item 2/4
[mission] sending mission item 3/4
[mission] sending mission item 4/4
[mission] upload accepted
[mission] ensuring armed state in MANUAL
[mission] setting mode MANUAL
[mission] safety switch released
[mission] arming with force
[mission] rel_alt=0.0m
[mission] current item 0/4
[mission] STATUSTEXT: Flight plan received
[mission] safety ack result=0
[mission] arm ack result=0
[mission] STATUSTEXT: Throttle armed
[mission] STATUSTEXT: EKF3 IMU0 MAG0 initial yaw alignment complete
[mission] STATUSTEXT: EKF3 IMU0 MAG0 in-flight yaw alignment complete
[mission] armed
[mission] waiting up to 180s for EKF GPS fusion
[mission] rel_alt=0.0m
[mission] current item 0/4
FMU timing: sim=15.663s wall_since_init=5.000s sim_wall_rtf=3.13x advanced=15.663s wall_advance=0.138s fmu_compute_rtf=113.82x advance_calls=15659 do_steps=15661 avg_do_step=8.7us
[mission] STATUSTEXT: EKF3 IMU0 tilt alignment complete
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
FMU timing: sim=31.258s wall_since_init=10.000s sim_wall_rtf=3.13x advanced=31.258s wall_advance=0.277s fmu_compute_rtf=113.04x advance_calls=31254 do_steps=31256 avg_do_step=8.8us
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
[mission] rel_alt=0.0m
FMU timing: sim=46.812s wall_since_init=15.000s sim_wall_rtf=3.12x advanced=46.812s wall_advance=0.414s fmu_compute_rtf=113.18x advance_calls=46808 do_steps=46810 avg_do_step=8.8us
[mission] rel_alt=0.0m
[mission] rel_alt=149.0m
[mission] STATUSTEXT: EKF3 IMU0 is using GPS
[mission] EKF GPS fusion confirmed
[mission] ensuring mode AUTO
[mission] setting mode AUTO
[mission] STATUSTEXT: AHRS: EKF3 active
[mission] STATUSTEXT: Flight mode change failed
[mission] rel_alt=149.0m
[mission] current item 0/4
[mission] STATUSTEXT: EKF failsafe cleared
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
FMU timing: sim=61.979s wall_since_init=20.001s sim_wall_rtf=3.10x advanced=61.979s wall_advance=0.550s fmu_compute_rtf=112.64x advance_calls=61975 do_steps=61977 avg_do_step=8.8us
[mission] rel_alt=149.0m
[mission] setting mode AUTO
[mission] mode AUTO confirmed
[mission] current mission item set to 0
[mission] mission start requested
[mission] monitoring for 180s
[mission] current item 0/4
[mission] STATUSTEXT: Mission: 1 WP
[mission] STATUSTEXT: Mission: 1 WP
[mission] rel_alt=149.0m
[mission] current item 1/4
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
FMU timing: sim=75.543s wall_since_init=25.001s sim_wall_rtf=3.02x advanced=75.543s wall_advance=0.701s fmu_compute_rtf=107.83x advance_calls=75539 do_steps=75541 avg_do_step=9.2us
[mission] rel_alt=149.0m
[mission] reached item 1/4
[mission] STATUSTEXT: Reached waypoint #1
[mission] STATUSTEXT: Mission: 2 WP
[mission] rel_alt=149.0m
[mission] current item 2/4
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
FMU timing: sim=90.383s wall_since_init=30.001s sim_wall_rtf=3.01x advanced=90.383s wall_advance=0.852s fmu_compute_rtf=106.14x advance_calls=90379 do_steps=90381 avg_do_step=9.3us
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] reached item 2/4
[mission] STATUSTEXT: Reached waypoint #2
[mission] STATUSTEXT: Mission: 3 WP
[mission] current item 3/4
[mission] rel_alt=149.0m
FMU timing: sim=105.251s wall_since_init=35.001s sim_wall_rtf=3.01x advanced=105.251s wall_advance=1.012s fmu_compute_rtf=104.00x advance_calls=105247 do_steps=105249 avg_do_step=9.5us
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] reached item 3/4
[mission] STATUSTEXT: Reached waypoint #3
[mission] STATUSTEXT: Mission: 4 WP
[mission] current item 4/4
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
FMU timing: sim=120.708s wall_since_init=40.001s sim_wall_rtf=3.02x advanced=120.708s wall_advance=1.163s fmu_compute_rtf=103.81x advance_calls=120704 do_steps=120706 avg_do_step=9.5us
[mission] rel_alt=149.0m
[mission] rel_alt=149.0m
[mission] reached item 4/4
[mission] final waypoint reached
FASTDYN_LOG|INFO|  [timing] fastdyn:helper.mission.exited exit_code=0
FASTDYN_LOG|INFO|  [timing] fastdyn:qemu.wait 42.235s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:machine0.qemu_execution 42.337s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:fastdyn.machine0.run 42.340s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:helpers.stop 0.164s ok
FASTDYN_LOG|INFO|  [timing] fastdyn:fastdyn.run.total 43.933s ok