François Felix Ingrand » Drone V&V

[GenoM3] quad quad error creating /home/felix/.quad.pid-lerema: File exists

tUnix20932: No matching device

tUnix20932: No matching device

0.522477 [quad:Fiacre_quad_exp_init_genom] Init sec_start.

[GenoM3] quad quad Calling h2initGlob.

[GenoM3] quad quad forcibly disabling the protection against duplicate instances

[GenoM3] quad quad cleaning pocolibs quad device

[GenoM3] quad quad cleaning pocolibs quad/* devices

[GenoM3] quad maneuver created outport maneuver/genom_state

[GenoM3] quad maneuver created outport maneuver/genom_metadata

[GenoM3] quad maneuver created inport maneuver/state

[GenoM3] quad maneuver created outport maneuver/desired

[GenoM3] quad maneuver setup and running

[GenoM3] quad nhfc created outport nhfc/genom_state

[GenoM3] quad nhfc created outport nhfc/genom_metadata

[GenoM3] quad nhfc created outport nhfc/rotor_input

[GenoM3] quad nhfc created inport nhfc/rotor_measure

[GenoM3] quad nhfc created inport nhfc/state

[GenoM3] quad nhfc created inport nhfc/reference

[GenoM3] quad nhfc created outport nhfc/external_wrench

[GenoM3] quad nhfc setup and running

[GenoM3] quad rotorcraft created outport rotorcraft/genom_state

[GenoM3] quad rotorcraft created outport rotorcraft/genom_metadata

[GenoM3] quad rotorcraft created inport rotorcraft/rotor_input

[GenoM3] quad rotorcraft created outport rotorcraft/rotor_measure

[GenoM3] quad rotorcraft created outport rotorcraft/imu

[GenoM3] quad rotorcraft created outport rotorcraft/mag

[GenoM3] quad rotorcraft setup and running

[GenoM3] quad pom created outport pom/genom_state

[GenoM3] quad pom created outport pom/genom_metadata

[GenoM3] quad pom setup and running

[GenoM3] quad optitrack created outport optitrack/genom_state

[GenoM3] quad optitrack created outport optitrack/genom_metadata

[GenoM3] quad optitrack setup and running

[GenoM3] quad hippo created outport hippo/genom_state

[GenoM3] quad hippo created outport hippo/genom_metadata

[GenoM3] quad hippo setup and running

# .''

# ._.-.___.' (`\ >> Initialize engine structures <<

# //( ( `' >> Engine is initialized and ready to start <<

# '/ )\ ).__. ) >> Compute initial state <<

# ' <' `\ ._/'\ >> GO hippo GO <<

# ` \ \ vk

# _TICK_UNIT_ = 100000 ns

0.543120 3 [*** FiacreModel ***] quad maneuver: Activity plan DONE (ether), back to ET.

0.543131 3 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 0

0.544705 18 [*** FiacreModel ***] quad nhfc: Activity main ***ERROR*** port pom_frame_port RUP.

0.544918 21 [*** FiacreModel ***] quad hippo: CT init Mbox

0.544943 21 [*** FiacreModel ***] quad optitrack: CT init Mbox

0.544961 21 [*** FiacreModel ***] quad rotorcraft: Activity main ***ERROR*** port rotorcraft_imu_port RUP.

0.544964 21 [*** FiacreModel ***] quad rotorcraft: Activity main ***ERROR*** port rotorcraft_mag_port RUP.

0.545130 23 [*** FiacreModel ***] quad rotorcraft: CT init Mbox

0.545572 27 [*** FiacreModel ***] quad pom: ET filter ***OVERSHOOT*** its period (#cycles): 1

0.545615 27 [*** FiacreModel ***] quad pom: Activity io ***ERROR*** port optitrack_bodies_port RUP.

[GenoM3] quad pom created outport pom/frame/robot

0.545725 29 [*** FiacreModel ***] quad pom: CT init Mbox

0.548217 54 [*** FiacreModel ***] quad maneuver: CT init Mbox

0.548244 54 [*** FiacreModel ***] quad maneuver: CT processes plan permanent activity DONE.

0.553717 109 [*** FiacreModel ***] quad nhfc: CT init Mbox

18.626971 180403 [*** FiacreModel ***] quad rotorcraft: CT set_velocity request processing

18.627456 180406 [*** FiacreModel ***] quad rotorcraft: CT set_velocity ctrl activity report

18.630119 180424 [*** FiacreModel ***] quad rotorcraft: CT stop request processing

18.631231 180433 [*** FiacreModel ***] quad rotorcraft: Activity stop DONE (ether), back to ET.

18.631248 180433 [*** FiacreModel ***] quad rotorcraft: ET main activity returned ACT_ETHER. 5

18.631346 180433 [*** FiacreModel ***] quad rotorcraft: CT processes main activities, activity report.

48.316347 476645 [*** FiacreModel ***] quad optitrack: CT connect request processing

48.321714 476699 [*** FiacreModel ***] quad optitrack: Activity connect DONE (ether), back to ET.

48.321723 476699 [*** FiacreModel ***] quad optitrack: ET publish activity returned ACT_ETHER. 4

48.321761 476699 [*** FiacreModel ***] quad optitrack: CT processes publish activities, activity report.

[GenoM3] quad optitrack created outport optitrack/bodies/crane

[GenoM3] quad optitrack created outport optitrack/bodies/QR_1

49.323824 486719 [*** FiacreModel ***] quad pom: CT connect_port request processing

[GenoM3] quad pom created inport pom/measure/imu

49.324029 486720 [*** FiacreModel ***] quad pom: CT connect_port ctrl activity report

49.324727 486727 [*** FiacreModel ***] quad pom: CT connect_port request processing

[GenoM3] quad pom created inport pom/measure/mocap

49.324920 486729 [*** FiacreModel ***] quad pom: CT connect_port ctrl activity report

49.325648 486736 [*** FiacreModel ***] quad pom: CT add_measurement request processing

49.326720 486747 [*** FiacreModel ***] quad pom: Activity add_measurement DONE (ether), back to ET.

49.326732 486747 [*** FiacreModel ***] quad pom: ET io activity returned ACT_ETHER. 1

49.326780 486747 [*** FiacreModel ***] quad pom: CT processes io activities, activity report.

49.327421 486754 [*** FiacreModel ***] quad pom: CT add_measurement request processing

49.327723 486757 [*** FiacreModel ***] quad pom: Activity add_measurement DONE (ether), back to ET.

49.327736 486757 [*** FiacreModel ***] quad pom: ET io activity returned ACT_ETHER. 1

49.327785 486757 [*** FiacreModel ***] quad pom: CT processes io activities, activity report.

49.328519 486764 [*** FiacreModel ***] quad pom: CT set_history_length request processing

49.328531 486764 [*** FiacreModel ***] quad pom: CT set_history_length ctrl activity report

49.329337 486772 [*** FiacreModel ***] quad maneuver: CT connect_port request processing

49.329434 486773 [*** FiacreModel ***] quad maneuver: CT connect_port ctrl activity report

49.330258 486781 [*** FiacreModel ***] quad rotorcraft: CT connect request processing

quad-hippo-pocolibs: connected to mkfl1.8.4, /dev/ttyUSB0

49.635238 489830 [*** FiacreModel ***] quad rotorcraft: Activity connect DONE (ether), back to ET.

49.635253 489830 [*** FiacreModel ***] quad rotorcraft: ET comm activity returned ACT_ETHER. 1

49.635335 489830 [*** FiacreModel ***] quad rotorcraft: CT processes comm activities, activity report.

49.635510 489831 [*** FiacreModel ***] quad rotorcraft: ET main ***OVERSHOOT*** its period (#cycles): 11

49.636233 489839 [*** FiacreModel ***] quad rotorcraft: CT connect_port request processing

49.636328 489840 [*** FiacreModel ***] quad rotorcraft: CT connect_port ctrl activity report

49.637140 489846 [*** FiacreModel ***] quad rotorcraft: CT set_sensor_rate request processing

49.637420 489849 [*** FiacreModel ***] quad rotorcraft: CT set_sensor_rate ctrl activity report

49.638330 489855 [*** FiacreModel ***] quad rotorcraft: CT set_imu_calibration request processing

49.638471 489856 [*** FiacreModel ***] quad rotorcraft: CT set_imu_calibration ctrl activity report

49.639427 489863 [*** FiacreModel ***] quad nhfc: CT set_mass request processing

49.639445 489863 [*** FiacreModel ***] quad nhfc: CT set_mass ctrl activity report

49.640539 489875 [*** FiacreModel ***] quad nhfc: CT set_geom request processing

49.640723 489876 [*** FiacreModel ***] quad nhfc: CT set_geom ctrl activity report

49.641642 489885 [*** FiacreModel ***] quad nhfc: CT set_servo_gain request processing

49.641669 489885 [*** FiacreModel ***] quad nhfc: CT set_servo_gain ctrl activity report

49.642482 489891 [*** FiacreModel ***] quad nhfc: CT set_emerg request processing

49.642596 489892 [*** FiacreModel ***] quad nhfc: CT set_emerg ctrl activity report

49.643363 489900 [*** FiacreModel ***] quad nhfc: CT connect_port request processing

49.643440 489901 [*** FiacreModel ***] quad nhfc: CT connect_port ctrl activity report

49.644315 489908 [*** FiacreModel ***] quad nhfc: CT connect_port request processing

49.644403 489909 [*** FiacreModel ***] quad nhfc: CT connect_port ctrl activity report

119.241753 1185661 [*** FiacreModel ***] quad rotorcraft: CT start request processing

120.474315 1197983 [*** FiacreModel ***] quad rotorcraft: Activity start DONE (ether), back to ET.

120.474329 1197983 [*** FiacreModel ***] quad rotorcraft: ET main activity returned ACT_ETHER. 3

120.474381 1197983 [*** FiacreModel ***] quad rotorcraft: CT processes main activities, activity report.

120.475331 1197991 [*** FiacreModel ***] quad maneuver: CT set_current_state request processing

120.475544 1197992 [*** FiacreModel ***] quad maneuver: Activity set_current_state DONE (ether), back to ET.

120.475555 1197992 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 1

120.475597 1197992 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

120.476251 1197997 [*** FiacreModel ***] quad nhfc: CT set_current_position request processing

120.477717 1198011 [*** FiacreModel ***] quad nhfc: Activity set_current_position DONE (ether), back to ET.

120.477728 1198011 [*** FiacreModel ***] quad nhfc: ET main activity returned ACT_ETHER. 2

120.477772 1198011 [*** FiacreModel ***] quad nhfc: CT processes main activities, activity report.

120.478522 1198019 [*** FiacreModel ***] quad rotorcraft: CT servo request processing

120.479026 1198022 [*** FiacreModel ***] quad nhfc: CT servo request processing

120.479284 1198023 [*** FiacreModel ***] quad rotorcraft: Activity servo ***ERROR*** port rotorcraft_rotor_input_port RUP.

131.212728 1305349 [*** FiacreModel ***] quad maneuver: CT take_off request processing

132.213435 1315355 [*** FiacreModel ***] quad maneuver: Activity take_off DONE (ether), back to ET.

132.213450 1315355 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 4

132.213529 1315355 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

139.434334 1387551 [*** FiacreModel ***] quad maneuver: CT take_off request processing

140.770227 1400906 [*** FiacreModel ***] quad maneuver: Activity take_off DONE (ether), back to ET.

140.770247 1400906 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 4

140.770345 1400906 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

141.930637 1412502 [*** FiacreModel ***] quad maneuver: CT take_off request processing

143.266120 1425855 [*** FiacreModel ***] quad maneuver: Activity take_off DONE (ether), back to ET.

143.266136 1425855 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 4

143.266210 1425855 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

161.194337 1605112 [*** FiacreModel ***] quad maneuver: CT take_off request processing

162.974131 1622905 [*** FiacreModel ***] quad maneuver: Activity take_off DONE (ether), back to ET.

162.974147 1622905 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 4

162.974211 1622905 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

185.378838 1846919 [*** FiacreModel ***] quad maneuver: CT goto request processing

188.097819 1874105 [*** FiacreModel ***] quad maneuver: Activity goto DONE (ether), back to ET.

188.097835 1874105 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 5

188.097926 1874105 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

196.867057 1961780 [*** FiacreModel ***] quad maneuver: CT goto request processing

199.094822 1984055 [*** FiacreModel ***] quad maneuver: Activity goto DONE (ether), back to ET.

199.094843 1984055 [*** FiacreModel ***] quad maneuver: ET plan activity returned ACT_ETHER. 5

199.094945 1984055 [*** FiacreModel ***] quad maneuver: CT processes plan activities, activity report.

208.779351 2080886 [*** FiacreModel ***] quad pom: CT SetDelay request processing

208.779430 2080886 [*** FiacreModel ***] quad pom: CT SetDelay ctrl activity report

Starting 200000 delay.

208.978710 2082878 [*** FiacreModel ***] quad --PATCH-- monitor_wait 200 ms elapsed

208.978719 2082878 [*** FiacreModel ***] quad --PATCH-- monitor_error entered

208.978720 2082878 [*** FiacreModel ***] quad --PATCH-- monitor_error stopping Track

208.978721 2082878 [*** FiacreModel ***] quad --PATCH-- monitor_error to monitor_start

208.979217 2082883 [*** FiacreModel ***] quad rotorcraft: Activity servo DONE (ether), back to ET.

208.979227 2082883 [*** FiacreModel ***] quad rotorcraft: ET main activity returned ACT_ETHER. 4

208.979287 2082883 [*** FiacreModel ***] quad rotorcraft: CT processes main activities, activity report.

Ending 200000 delay.

208.979943 2082889 [*** FiacreModel ***] quad pom: ET filter ***OVERSHOOT*** its period (#cycles): 200

208.980071 2082890 [*** FiacreModel ***] quad pom: ET io ***OVERSHOOT*** its period (#cycles): 199

208.980217 2082891 [*** FiacreModel ***] quad nhfc: ET main ***OVERSHOOT*** its period (#cycles): 199

quad-hippo-pocolibs: emergency descent due to uncertain position estimation

208.980329 2082892 [*** FiacreModel ***] quad nhfc: ET wo ***OVERSHOOT*** its period (#cycles): 19

quad-hippo-pocolibs: recovered from emergency

231.628907 2309310 [*** FiacreModel ***] quad rotorcraft: CT set_velocity request processing

231.629397 2309314 [*** FiacreModel ***] quad rotorcraft: CT set_velocity ctrl activity report

231.630139 2309322 [*** FiacreModel ***] quad rotorcraft: CT stop request processing

231.649316 2309513 [*** FiacreModel ***] quad rotorcraft: Activity stop DONE (ether), back to ET.

231.649327 2309513 [*** FiacreModel ***] quad rotorcraft: ET main activity returned ACT_ETHER. 5

231.649392 2309513 [*** FiacreModel ***] quad rotorcraft: CT processes main activities, activity report.