SIM001

SIM001

Map

Every expectation, placed after the ones that get the system into a state where it applies, starting from each section's setup. Dashed arrows are exceptions, red ones are conflicts nobody has settled, and dashed outlines are invariants. Colours show each expectation's verdict.

verified failed not supported yet untested

SIM001 › The simulator

StartThrottle up throws the planeThrottle up throws theplaneSpace throws the planeSpace throws the planeReset picks the plane back upReset picks the plane backupA throw with the nose down crashes the planeA throw with the nose downcrashes the planeP pauses the simP pauses the simP again resumesP again resumesA pause holds the plane in your handA pause holds the plane inyour handA throw during a pause waits for the pause to endA throw during a pausewaits for the pause to endWithout a flight controller there is only one modeWithout a flight controllerthere is only one modeLow rates for gentle flyingLow rates for gentle flyingHigh rates for tight turnsHigh rates for tight turnsDifferential thrust offDifferential thrust offDifferential thrust onDifferential thrust onChase follows the planeChase follows the planeFPV looks out of the noseFPV looks out of the noseLine of sight is the view from the pilot boxLine of sight is the viewfrom the pilot boxAuto-zoom offAuto-zoom offAuto-zoom onAuto-zoom onH shows the help screenH shows the help screenH again hides itH again hides itEsc hides the help screenEsc hides the help screenV fits a fresh batteryV fits a fresh battery

SIM001 › The simulator › Recreation

StartG starts a raceG starts a raceT starts a game of tagT starts a game of tagThe key of the game stops itThe key of the game stopsitThe game waits for you to take offThe game waits for you totake offAt GO the computer pilots throw their planesAt GO the computer pilotsthrow their planesA lap is once round the outside of the pylonsA lap is once round theoutside of the pylonsThe last lap finishes the raceThe last lap finishes theraceA turn inside a pylon is a cutA turn inside a pylon is acutA second cut disqualifies youA second cut disqualifiesyouA touch passes it onA touch passes it onThe chaser comes after youThe chaser comes after youOut of the arena, you are itOut of the arena, you areitTwo minutes of tagTwo minutes of tagA race starts with every plane on the groundA race starts with everyplane on the ground

SIM001 › Ground control station

StartPLAN picks the planning toolPLAN picks the planningtoolPLAN again goes back to panningPLAN again goes back topanningGOTO picks the fly-to toolGOTO picks the fly-to toolA GOTO click flies the plane thereA GOTO click flies theplane thereArming sets homeArming sets homeDISARM disarmsDISARM disarmsAUTO flies the vehicle's missionAUTO flies the vehicle'smissionAUTO with no mission asks firstAUTO with no mission asksfirstAUTO twice goes anywayAUTO twice goes anywayIn AUTO, a throw starts the missionIn AUTO, a throw starts themissionThe arm switch arms the vehicleThe arm switch arms thevehicleThe screen shows that the plane is armedThe screen shows that theplane is armed

SIM001 › Ground control station › Planning a mission

StartA click adds a waypointA click adds a waypointRight-click removes the last itemRight-click removes thelast itemRight-click on an empty plan does nothingRight-click on an emptyplan does nothingCLEAR empties the planCLEAR empties the planA full plan takes no more waypointsA full plan takes no morewaypointsAn empty plan has no last itemAn empty plan has no lastitemALT+ raises the plan altitudeALT+ raises the planaltitudeALT+ stops at 300 mALT+ stops at 300 mALT- lowers the plan altitudeALT- lowers the planaltitudeALT- stops at 10 mALT- stops at 10 mWaypoints already planned keep their altitudeWaypoints already plannedkeep their altitudeA height check raises waypoints above the terrainA height check raiseswaypoints above the terrainA new waypoint needs a new height checkA new waypoint needs a newheight check+TKOF puts a takeoff first+TKOF puts a takeoff firstThe plan has only one takeoffThe plan has only onetakeoffOn an empty plan the takeoff is also the last itemOn an empty plan thetakeoff is also the last…+RTL ends the plan with a return+RTL ends the plan with areturnChanging a command keeps the item in its placeChanging a command keepsthe item in its placeChanging a command makes the vehicle's copy out of dateChanging a command makesthe vehicle's copy out of…UPLOAD writes the plan to the vehicleUPLOAD writes the plan tothe vehicleUPLOAD does not send an empty planUPLOAD does not send anempty planChanging the plan makes the vehicle's copy out of dateChanging the plan makes thevehicle's copy out of dateDOWNLOAD only readsDOWNLOAD only readsEDIT brings the vehicle's mission back into the planEDIT brings the vehicle'smission back into the planSaving keeps the plan in a fileSaving keeps the plan in afileChanging the plan after savingChanging the plan aftersavingLoading brings the saved plan backLoading brings the savedplan backBefore a save, there is nothing to loadBefore a save, there isnothing to loadA survey grid fills the area with waypointsA survey grid fills thearea with waypointsMeasuring between two points shows the distanceMeasuring between twopoints shows the distancePLAN picks the planning toolPLAN picks the planningtool

SIM001 › Ground control station › Flying a mission

StartEach waypoint reached moves the mission onEach waypoint reached movesthe mission onAfter the last waypoint the plane flies homeAfter the last waypoint theplane flies homeA mission that ends with a loiter keeps circlingA mission that ends with aloiter keeps circlingA mission that ends with a landing landsA mission that ends with alanding landsA mission that ends with RTL flies home in AUTOA mission that ends withRTL flies home in AUTOWP1 restarts the missionWP1 restarts the missionDisarming outside AUTO restarts the missionDisarming outside AUTOrestarts the missionDisarming in AUTO keeps the plane's placeDisarming in AUTO keeps theplane's place+RTL ends the plan with a return+RTL ends the plan with areturnChanging a command keeps the item in its placeChanging a command keepsthe item in its placeUPLOAD writes the plan to the vehicleUPLOAD writes the plan tothe vehicleEDIT brings the vehicle's mission back into the planEDIT brings the vehicle'smission back into the planCRUISE changes a hover into forward flightCRUISE changes a hover intoforward flightQLOITER changes forward flight back into a hoverQLOITER changes forwardflight back into a hoverThe mode switch picks the modeThe mode switch picks themodeQHOVER is a hover modeQHOVER is a hover modeCRUISE changes a hover into forward flight with the radioCRUISE changes a hover intoforward flight with the…The screen shows the flight modeThe screen shows the flightmode

SIM001 › Ground control station › Flying a VTOL

StartVTOL TKOF lifts the plane straight upVTOL TKOF lifts the planestraight upQLAND brings the plane straight downQLAND brings the planestraight downCRUISE changes a hover into forward flightCRUISE changes a hover intoforward flightQLOITER changes forward flight back into a hoverQLOITER changes forwardflight back into a hoverA hover draws 15 to 25 AA hover draws 15 to 25 AThe load pulls the voltage downThe load pulls the voltagedownCruise draws 3 to 7 ACruise draws 3 to 7 AArming sets homeArming sets homeThe arm switch arms the vehicleThe arm switch arms thevehicleThe screen shows that the plane is armedThe screen shows that theplane is armed

SIM001 › Ground control station › Flying with a radio

StartThe arm switch arms the vehicleThe arm switch arms thevehicleTaking the arm switch down disarms the vehicleTaking the arm switch downdisarms the vehicleThe mode switch picks the modeThe mode switch picks themodeA raised throttle stick lifts the planeA raised throttle sticklifts the planeA centred throttle stick holds the heightA centred throttle stickholds the heightA lowered throttle stick brings the plane downA lowered throttle stickbrings the plane downFBWA changes a hover into forward flightFBWA changes a hover intoforward flightIn FBWA, the aileron stick banks the planeIn FBWA, the aileron stickbanks the planeIn FBWA, the wings become level againIn FBWA, the wings becomelevel againButton 2 brings the plane out of FBWA and back to a hoverButton 2 brings the planeout of FBWA and back to a…QHOVER is a hover modeQHOVER is a hover modeCRUISE changes a hover into forward flight with the radioCRUISE changes a hover intoforward flight with the…QRTL brings the plane home and lands it softlyQRTL brings the plane homeand lands it softlyQLOITER changes forward flight back into a hoverQLOITER changes forwardflight back into a hoverThe screen shows that the plane is armedThe screen shows that theplane is armedThe screen shows the flight modeThe screen shows the flightmodeThe throttle stick lifts the plane on the serial lineThe throttle stick liftsthe plane on the serial…

SIM001 › Ground control station › Setting up the radio

StartF2 calibrates the radioF2 calibrates the radio

SIM001 › Ground control station › Games with ArduPilot

StartA race starts with every plane on the groundA race starts with everyplane on the groundNobody arms before GONobody arms before GOAt GO the arm switch arms your planeAt GO the arm switch armsyour planeThe computer pilots take off after GOThe computer pilots takeoff after GO

SIM001 › Ground control station › The TX15 on the serial line

StartThe screen shows that the plane is armedThe screen shows that theplane is armedThe screen shows the flight modeThe screen shows the flightmodeThe throttle stick lifts the plane on the serial lineThe throttle stick liftsthe plane on the serial…The screen shows forward flightThe screen shows forwardflightThe aileron stick banks the plane on the serial lineThe aileron stick banks theplane on the serial lineThe wings become level again on the serial lineThe wings become levelagain on the serial lineThe screen shows the plane back in a hoverThe screen shows the planeback in a hoverThe screen shows the plane landed and disarmedThe screen shows the planelanded and disarmedQLOITER changes forward flight back into a hoverQLOITER changes forwardflight back into a hoverThe arm switch arms the vehicleThe arm switch arms thevehicleThe mode switch picks the modeThe mode switch picks themodeA raised throttle stick lifts the planeA raised throttle sticklifts the planeFBWA changes a hover into forward flightFBWA changes a hover intoforward flight

SIM001 › Flying with a flight controller

StartANGLE levels the plane for youANGLE levels the plane foryouIn ANGLE, the stick sets the bankIn ANGLE, the stick setsthe bankIn ANGLE, the wings become level againIn ANGLE, the wings becomelevel againACRO holds the attitudeACRO holds the attitudeMANUAL gives you the control surfacesMANUAL gives you thecontrol surfacesArming lets ArduPilot run the motorsArming lets ArduPilot runthe motorsOpening the throttle lifts the VTOL straight upOpening the throttle liftsthe VTOL straight upClosing the throttle holds the hoverClosing the throttle holdsthe hoverSending the plane home lands itSending the plane homelands it

SIM001 › Other aircraft

StartA plane that sends Remote ID gets a markerA plane that sends RemoteID gets a markerRemote ID does not reach farRemote ID does not reachfarYour own transmitter is not another planeYour own transmitter is notanother planeA plane on the MAVLink network gets a markerA plane on the MAVLinknetwork gets a markerThe MAVLink network has a limit tooThe MAVLink network has alimit tooA plane that sends both gets one markerA plane that sends bothgets one markerA plane that goes quiet goes staleA plane that goes quietgoes staleA quiet plane leaves the map after a minuteA quiet plane leaves themap after a minuteA lost radio link makes every marker staleA lost radio link makesevery marker staleA crowd does not crowd out your planeA crowd does not crowd outyour plane

SIM001 › Watching a real plane

StartNo telemetry, no planeNo telemetry, no planeThe plane is where it says it isThe plane is where it saysit isThe plane banks as it banksThe plane banks as it banksThe plane points where it fliesThe plane points where itfliesA quiet plane stays where it was last heardA quiet plane stays whereit was last heard

SIM001 › The flight computer

StartA centred stick is 1500 usA centred stick is 1500 usA stick at full travel is at the end of the rangeA stick at full travel isat the end of the rangeA stick at half travel is half wayA stick at half travel ishalf wayThe arm switch goes to its channelThe arm switch goes to itschannelA frame with a wrong checksum does nothingA frame with a wrongchecksum does nothingA quiet line is a failsafeA quiet line is a failsafeThe plane flies again when the TX15 comes backThe plane flies again whenthe TX15 comes backThe TX15 shows the flight modeThe TX15 shows the flightmodeThe TX15 shows when the plane is armedThe TX15 shows when theplane is armedThe TX15 shows the batteryThe TX15 shows the batteryThe TX15 shows the bankThe TX15 shows the bankThe ground station hears the plane through the TX15The ground station hearsthe plane through the TX15The position on the map comes from the telemetry of the lineThe position on the mapcomes from the telemetry of…Commands of the ground station reach ArduPilotCommands of the groundstation reach ArduPilotThe telemetry does not use more than the line carriesThe telemetry does not usemore than the line carriesWithout the TX15 the ground station hears nothingWithout the TX15 the groundstation hears nothingThe screen shows the airspeedThe screen shows theairspeedThe screen shows the climb with its signThe screen shows the climbwith its signThe screen counts the satellitesThe screen counts thesatellitesThe screen shows what ArduPilot saysThe screen shows whatArduPilot says

SIM001 › Flying by plan

StartAGENT mode takes a go-to planAGENT mode takes a go-toplanAGENT mode takes a short planAGENT mode takes a shortplanA plan is refused outside AGENT modeA plan is refused outsideAGENT modeA malformed plan is refused with a reasonA malformed plan is refusedwith a reasonAGENT mode starts with no planAGENT mode starts with noplanA new plan id replaces the planA new plan id replaces theplanA repeated plan id changes nothingA repeated plan id changesnothingA plan that runs out makes the plane circleA plan that runs out makesthe plane circleA new plan ends the circleA new plan ends the circleThe plane reports its plan once a secondThe plane reports its planonce a secondGo to flies over the point, then circles itGo to flies over the point,then circles itAn orbit plan circles a pointAn orbit plan circles apointOrbit holds its radius and its heightOrbit holds its radius andits heightA band plan holds a height bandA band plan holds a heightbandBand keeps the plane between its two heightsBand keeps the planebetween its two heightsA loiter plan circles where the plane isA loiter plan circles wherethe plane isLoiter stays round the place where it beganLoiter stays round theplace where it beganA pursue plan chases another aircraftA pursue plan chasesanother aircraftPursue closes on the target and stays on its tailPursue closes on the targetand stays on its tailAn evade plan breaks away from another aircraftAn evade plan breaks awayfrom another aircraftEvade opens the distance from a chaserEvade opens the distancefrom a chaserA target that goes silent ends the chaseA target that goes silentends the chaseThe envelope leaves a safe plan aloneThe envelope leaves a safeplan aloneThe plane stays inside the fenceThe plane stays inside thefenceThe plane stays above the floorThe plane stays above thefloorThe plane stays below the ceilingThe plane stays below theceilingUnder the stall margin, the plane gets its airspeed back firstUnder the stall margin, theplane gets its airspeed…After a recovery, the plane flies onAfter a recovery, the planeflies onThe plane keeps clear of an aircraft that crosses its pathThe plane keeps clear of anaircraft that crosses its…Bad input gives wings level and the throttle to the pilotBad input gives wings leveland the throttle to the…The plane flies again when the position estimate comes backThe plane flies again whenthe position estimate comes…With space to turn, planes on plans keep their separationWith space to turn, planeson plans keep their…In a small fence, the fence wins over the separationIn a small fence, the fencewins over the separationThe plane that is it pursues the plane it can catch soonestThe plane that is itpursues the plane it can…A plane that is not it holds its own height bandA plane that is not itholds its own height bandA plane that is not it breaks away from a chaser that comes nearA plane that is not itbreaks away from a chaser…A plane that is not it never pursuesA plane that is not itnever pursuesEvery plane plays in AGENT mode and accepts every commandEvery plane plays in AGENTmode and accepts every…Each new plane that is it is reportedEach new plane that is itis reported