Dear, everyone!
After setting up the SITL enviroment, I could find airplane(rascal) was rolling on the ground. It looks like rolling opposite propeller rotation. I attached a video clip.
Command : make px4_sitl jsbsim
I refenced this link for making SITL environment.
Also, I did check 4 files, but I don’t know how to solve it.
- /root/PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/models/Rascal/Rascal110-JSBSim.xml
- /root/PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/scene/LSZH.xml
- /root/PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/models/Rascal/Rascal110-JSBSim-set.xml
- /root/PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/models/Rascal/Engines/18x8.xml
downloaded rascal and copied it, but same
link : Index of /flightgear/ftp/Aircraft-2020/
path : /root/PX4-Autopilot/Tools/simulation/jsbsim/jsbsim_bridge/models/Rascal
logs :
root@docker-desktop:~/PX4-Autopilot# make px4_sitl jsbsim
[0/4] Performing build step for ‘jsbsim_bridge’
ninja: no work to do.
[3/4] cd /root/PX4-Autopilot/build/px4_sitl_default/src…X4-Autopilot /root/PX4-Autopilot/build/px4_sitl_default
SITL ARGS
sitl_bin: /root/PX4-Autopilot/build/px4_sitl_default/bin/px4
model: rascal
world: LSZH
src_path: /root/PX4-Autopilot
build_path: /root/PX4-Autopilot/build/px4_sitl_default
SITL COMMAND: “/root/PX4-Autopilot/build/px4_sitl_default/bin/px4” “/root/PX4-Autopilot/build/px4_sitl_default”/etc
JSBSim Flight Dynamics Model v1.2.2.dev1 [GitHub build 1390/commit 0f00b806a74027d71a3e758bbb1e177e4b6130f2] Oct 12 2024 11:02:26
[JSBSim-ML v2.0]
JSBSim startup beginning …
Output data set: 0
Reading Aircraft Configuration File: rascal
Version: 2.0
This aircraft model is a BETA release!!!
This aircraft model probably will not fly as expected.
Use this model for development purposes ONLY!!!
Description: Models a rascal
Model Author: Author Name
Creation Date: Creation Date
Version: Version
Aircraft Metrics:
WingArea: 10.570000
WingSpan: 9.170000
Incidence: 0.000000
Chord: 1.150000
H. Tail Area: 1.690000
H. Tail Arm: 3.280000
V. Tail Area: 1.060000
V. Tail Arm: 0.000000
Eyepoint (x, y, z): 20.000000 , 0.000000 , 5.000000
Ref Pt (x, y, z): 37.400000 , 0.000000 , 0.000000
Visual Ref Pt (x, y, z): 0.000000 , 0.000000 , 0.000000
Mass and Balance:
baseIxx: 1.950000 slug-ft2
baseIyy: 1.550000 slug-ft2
baseIzz: 1.910000 slug-ft2
baseIxy: -0.000000 slug-ft2
baseIxz: 0.000000 slug-ft2
baseIyz: -0.000000 slug-ft2
Empty Weight: 13.000000 lbm
CG (x, y, z): 36.400000 , 0.000000 , 4.000000
Ground Reactions:
BOGEY LEFT_MLG
Location: 33.1 , -9.9 , -13.1
Spring Constant: 20
Damping Constant: 10 (linear)
Rebound Damping Constant: 10 (linear)
Dynamic Friction: 0.5
Static Friction: 0.8
Rolling Friction: 0.02
Steering Type: FIXED
Grouping: LEFT
Max Steer Angle: 0
Retractable: 0
BOGEY RIGHT_MLG
Location: 33.1 , 9.9 , -13.1
Spring Constant: 20
Damping Constant: 10 (linear)
Rebound Damping Constant: 10 (linear)
Dynamic Friction: 0.5
Static Friction: 0.8
Rolling Friction: 0.02
Steering Type: FIXED
Grouping: RIGHT
Max Steer Angle: 0
Retractable: 0
BOGEY TAIL_LG
Location: 68.9 , 0 , -6.6
Spring Constant: 10
Damping Constant: 5 (linear)
Rebound Damping Constant: 5 (linear)
Dynamic Friction: 0.5
Static Friction: 0.8
Rolling Friction: 0.02
Steering Type: CASTERED
Grouping: NONE
Max Steer Angle: 360
Retractable: 0
Propulsion:
(FUEL) tank holds 1.5 lbs. FUEL
currently at 100% of maximum capacity
Tank location (X, Y, Z): 36.36, 0, -1.89375
Effective radius: 0 inches
Initial temperature: -9999 Fahrenheit
Priority: 1
1 dimensional table with 11 rows.
0.0000 0.0776
0.1000 0.0744
0.2000 0.0712
0.3000 0.0655
0.4000 0.0588
0.5000 0.0518
0.6000 0.0419
0.7000 0.0318
0.8000 0.0172
1.0000 -0.0058
1.4000 -0.0549
1 dimensional table with 11 rows.
0.0000 0.0902
0.1000 0.0893
0.2000 0.0880
0.3000 0.0860
0.4000 0.0810
0.5000 0.0742
0.6000 0.0681
0.7000 0.0572
0.8000 0.0467
1.0000 0.0167
1.4000 -0.0803
Propeller Name: Rascal Propeller
IXX = 0.0008
Diameter = 1.5000 ft.
Number of Blades = 2
Gear Ratio = 1.0000
Minimum Pitch = 30.0000
Maximum Pitch = 30.0000
Minimum RPM = 0.0000
Maximum RPM = 0.0000
X = 1.0000
Y = 0.0000
Z = 0.0000
Pitch = 0.0000 degrees
Yaw = 0.0000 degrees
Engine Name: electric_engine_1050W
Power Watts: 1050.0000
FCS: FCS: rascal
Channel All
Loading Component "Pitch Trim Sum" of type: SUMMER
Minimum limit: constant value -1.000000
Maximum limit: constant value 1.000000
INPUTS:
elevator-cmd-norm
pitch-trim-cmd-norm
OUTPUT: pitch-trim-sum
| ___ \ \ \ / / / |
| |/ / \ V / / /| |
Loading Component “Elevator Control” of type: AEROSURFACE_SCALE
| __/ / \ / /| |
INPUT: pitch-trim-sum
| | / /^\ \ ___ |
_| / / |_/
GAIN: constant value 1.000000
OUTPUT: elevator-pos-rad
px4 starting.
OUTPUT: elevator-control
In/Out Mapping:
Input MIN: -1.0000
Input MAX: 1.0000
Output MIN: -0.3500
Output MAX: 0.3000
Loading Component "Elevator Normalized" of type: AEROSURFACE_SCALE
INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INPUT: elevator-pos-rad
GAIN: constant value 1.000000
OUTPUT: elevator-pos-norm
OUTPUT: elevator-normalized
In/Out Mapping:
Input MIN: -0.3000
Input MAX: 0.3000
Output MIN: -1.0000
Output MAX: 1.0000
Loading Component "Roll Trim Sum" of type: SUMMER
Minimum limit: constant value -1.000000
Maximum limit: constant value 1.000000
INPUTS:
aileron-cmd-norm
roll-trim-cmd-norm
OUTPUT: roll-trim-sum
Loading Component "Left Aileron Control" of type: AEROSURFACE_SCALE
INPUT: roll-trim-sum
GAIN: constant value 1.000000
OUTPUT: left-aileron-pos-rad
OUTPUT: left-aileron-control
In/Out Mapping:
Input MIN: -1.0000
Input MAX: 1.0000
Output MIN: -0.3500
Output MAX: 0.3500
Loading Component "Right Aileron Control" of type: AEROSURFACE_SCALE
INPUT: -roll-trim-sum
GAIN: constant value 1.000000
OUTPUT: right-aileron-pos-rad
OUTPUT: right-aileron-control
In/Out Mapping:
Input MIN: -1.0000
Input MAX: 1.0000
Output MIN: -0.3500
Output MAX: 0.3500
Loading Component "Left aileron Normalized" of type: AEROSURFACE_SCALE
INPUT: left-aileron-pos-rad
GAIN: constant value 1.000000
OUTPUT: left-aileron-pos-norm
OUTPUT: left-aileron-normalized
In/Out Mapping:
Input MIN: -0.3500
Input MAX: 0.3500
Output MIN: -1.0000
Output MAX: 1.0000
Loading Component "Right aileron Normalized" of type: AEROSURFACE_SCALE
INPUT: right-aileron-pos-rad
GAIN: constant value 1.000000
OUTPUT: right-aileron-pos-norm
OUTPUT: right-aileron-normalized
In/Out Mapping:
Input MIN: -0.3500
Input MAX: 0.3500
Output MIN: -1.0000
Output MAX: 1.0000
Loading Component "Rudder Command Sum" of type: SUMMER
Minimum limit: constant value -1.000000
Maximum limit: constant value 1.000000
INPUTS:
rudder-cmd-norm
yaw-trim-cmd-norm
OUTPUT: rudder-command-sum
Loading Component "Rudder Control" of type: AEROSURFACE_SCALE
INPUT: rudder-command-sum
GAIN: constant value 1.000000
OUTPUT: rudder-pos-rad
OUTPUT: rudder-control
In/Out Mapping:
Input MIN: -1.0000
Input MAX: 1.0000
Output MIN: -0.3500
Output MAX: 0.3500
Loading Component "Rudder Normalized" of type: AEROSURFACE_SCALE
INPUT: rudder-pos-rad
GAIN: constant value 1.000000
OUTPUT: rudder-pos-norm
OUTPUT: rudder-normalized
In/Out Mapping:
Input MIN: -0.3500
Input MAX: 0.3500
Output MIN: -1.0000
Output MAX: 1.0000
Aerodynamics (Lift|Side|Drag axes):
1 dimensional table with 5 rows.
-1.5700 1.5000
-0.2600 0.0560
0.0000 0.0280
0.2600 0.0560
1.5700 1.5000
Function: aero/coefficient/CD0
Function: aero/coefficient/CDi
1 dimensional table with 5 rows.
-1.5700 1.2300
-0.2600 0.0500
0.0000 0.0000
0.2600 0.0500
1.5700 1.2300
Function: aero/coefficient/CDbeta
Function: aero/coefficient/CDde
Function: aero/coefficient/CYb
1 dimensional table with 4 rows.
-0.2000 -0.7500
0.0000 0.2500
0.2300 1.4000
0.6000 0.7100
Function: aero/coefficient/CLalpha
Function: aero/coefficient/CLde
Function: aero/coefficient/Clb
Function: aero/coefficient/Clp
Function: aero/coefficient/Clr
1 dimensional table with 2 rows.
0.0000 0.1300
5.0000 0.0570
Function: aero/coefficient/Clda
Function: aero/coefficient/Cldr
Function: aero/coefficient/Cmalpha
1 dimensional table with 2 rows.
0.0000 -0.5000
2.0000 -0.2750
Function: aero/coefficient/Cmde
Function: aero/coefficient/Cmq
Function: aero/coefficient/Cmadot
Function: aero/coefficient/Cnb
Function: aero/coefficient/Cnr
Function: aero/coefficient/Cndr
Function: aero/coefficient/Cnda
Function: aero/coefficient/Cndi
Creating UDP socket on port 5550
Successfully connected to socket for output …
Mass Properties Report (English units: lbf, in, slug-ft^2)
Weight CG-X CG-Y CG-Z Ixx Iyy Izz Ixy Ixz Iyz
Base Vehicle 13.0 36.4 0.0 4.0 1.9 1.6 1.9 -0.0 0.0 -0.0
0 Fuel 1.5 36.36 0-1.89375 0 0 0
Total: 14.5 36.4 0.0 3.4 2.0 1.6 1.9 0.0 -0.0 0.0
End of vehicle configuration loading.
INFO [init] found model autostart file as SYS_AUTOSTART=1033
INFO [param] selected parameter default file parameters.bson
INFO [param] importing from ‘parameters.bson’
INFO [parameters] BSON document size 404 bytes, decoded 404 bytes (INT32:14, FLOAT:6)
INFO [param] selected parameter backup file parameters_backup.bson
INFO [dataman] data manager file ‘./dataman’ size is 7872608 bytes
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 212000 us
INFO [commander] LED: open /dev/led0 failed (22)
INFO [uxrce_dds_client] init UDP agent IP:127.0.0.1, port:8888
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
GEAR_CONTACT: 0.3520 seconds: LEFT_MLG 1
GEAR_CONTACT: 0.3520 seconds: RIGHT_MLG 1
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2024-11-07/08_14_02.ulg
INFO [logger] Opened full log file: ./log/2024-11-07/08_14_02.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}BROADCAST = 1 to enable network)
INFO [mavlink] MAVLink only on localhost (set param MAV{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> GEAR_CONTACT: 0.4920 seconds: TAIL_LG 1
INFO [mavlink] partner IP: 127.0.0.1
INFO [tone_alarm] home set
WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station
INFO [commander] Ready for takeoff!
INFO [tone_alarm] notify positive
INFO [commander] Armed by external command
INFO [tone_alarm] arming warning
INFO [navigator] Executing Mission
GEAR_CONTACT: 17.4960 seconds: RIGHT_MLG 0
GEAR_CONTACT: 17.8680 seconds: TAIL_LG 0
GEAR_CONTACT: 17.8840 seconds: LEFT_MLG 0
GEAR_CONTACT: 17.9520 seconds: TAIL_LG 1
GEAR_CONTACT: 17.9800 seconds: LEFT_MLG 1
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
WARN [failsafe] Failsafe activated
INFO [commander] Disarmed by failsafe
INFO [tone_alarm] notify neutral
GEAR_CONTACT: 18.1920 seconds: RIGHT_MLG 1
INFO [logger] closed logfile, bytes written: 3710486
WARN [health_and_arming_checks] Preflight Fail: Airspeed too high - check airspeed calibration
WARN [health_and_arming_checks] Preflight Fail: Attitude failure (roll)
CRASH DETECTED 21.8800 seconds: LEFT_MLGCRASH DETECTED 21.8800 seconds: RIGHT_MLGCRASH DETECTED 21.8800 seconds: TAIL_LGCRASH DETECTED 21.8840 seconds: LEFT_MLGCRASH DETECTED 21.8840 seconds: RIGHT_MLGCRASH DETECTED 21.8840 seconds: TAIL_LGCRASH DETECTED 21.8880 seconds: LEFT_MLGCRASH DETECTED 21.8880 seconds: RIGHT_MLGCRASH DETECTED 21.8880 seconds: TAIL_LGCRASH DETECTED 21.8920 seconds: LEFT_MLGCRASH DETECTED 21.8920 seconds: RIGHT_MLGCRASH DETECTED 21.8920 seconds: TAIL_LGCRASH DETECTED 21.8960 seconds: LEFT_MLGCRASH DETECTED 21.8960 seconds: RIGHT_MLGCRASH DETECTED 21.8960 seconds: TAIL_LGCRASH DETECTED 21.9000 seconds: LEFT_MLGCRASH DETECTED 21.9000 seconds: RIGHT_MLGCRASH DETECTED 21.9000 seconds: TAIL_LGCRASH DETECTED 21.9040 seconds: LEFT_MLGCRASH DETECTED 21.9040 seconds: RIGHT_MLGCRASH DETECTED 21.9040 seconds: TAIL_LGCRASH DETECTED 21.9080 seconds: LEFT_MLGCRASH DETECTED 21.9080 seconds: RIGHT_MLGCRASH DETECTED 21.9080 seconds: TAIL_LGCRASH DETECTED 21.9120 seconds: LEFT_MLGCRASH DETECTED 21.9120 seconds: RIGHT_MLGCRASH DETECTED 21.9120 seconds: TAIL_LGCRASH DETECTED 21.9160 seconds: LEFT_MLGCRASH DETECTED 21.9160 seconds: RIGHT_MLGCRASH DETECTED 21.9160 seconds: TAIL_LGCRASH DETECTED 21.9200 seconds: LEFT_MLGCRASH DETECTED 21.9200 seconds: RIGHT_MLGCRASH DETECTED 21.9200 seconds: TAIL_LGCRASH DETECTED 21.9240 seconds: LEFT_MLGCRASH DETECTED 21.9240 seconds: RIGHT_MLGCRASH DETECTED 21.9240 seconds: TAIL_LGCRASH DETECTED 21.9280 seconds: LEFT_MLGCRASH DETECTED 21.9280 seconds: RIGHT_MLGCRASH DETECTED 21.9280 seconds: TAIL_LGCRASH DETECTED 21.9320 seconds: LEFT_MLGCRASH DETECTED 21.9320 seconds: RIGHT_MLGCRASH DETECTED 21.9320 seconds: TAIL_LGCRASH DETECTED 21.9360 seconds: LEFT_MLGCRASH DETECTED 21.9360 seconds: RIGHT_MLGCRASH DETECTED 21.9360 seconds: TAIL_LGCRASH DETECTED 21.9400 seconds: LEFT_MLGCRASH DETECTED 21.9400 seconds: RIGHT_MLGCRASH DETECTED 21.9400 seconds: TAIL_LGCRASH DETECTED 21.9440 seconds: LEFT_MLGCRASH DETECTED 21.9440 seconds: RIGHT_MLGCRASH DETECTED 21.9440 seconds: TAIL_LGCRASH DETECTED 21.9480 seconds: LEFT_MLGCRASH DETECTED 21.9480 seconds: RIGHT_MLGCRASH DETECTED 21.9480 seconds: TAIL_LGCRASH DETECTED 21.9520 seconds: LEFT_MLGCRASH DETECTED 21.9520 seconds: RIGHT_MLGCRASH DETECTED 21.9520 seconds: TAIL_LGCRASH DETECTED 21.9560 seconds: LEFT_MLGCRASH DETECTED 21.9560 seconds: RIGHT_MLGCRASH DETECTED 21.9560 seconds: TAIL_LGCRASH DETECTED 21.9600 seconds: LEFT_MLGCRASH DETECTED 21.9600 seconds: RIGHT_MLGCRASH DETECTED 21.9600 seconds: TAIL_LGCRASH DETECTED 21.9640 seconds: LEFT_MLGCRASH DETECTED 21.9640 seconds: RIGHT_MLGCRASH DETECTED 21.9640 seconds: TAIL_LGCRASH DETECTED 21.9680 seconds: LEFT_MLGCRASH DETECTED 21.9680 seconds: RIGHT_MLGCRASH DETECTED 21.9680 seconds: TAIL_LGCRASH DETECTED 21.9720 seconds: LEFT_MLGCRASH DETECTED 21.9720 seconds: RIGHT_MLGCRASH DETECTED 21.9720 seconds: TAIL_LGCRASH DETECTED 21.9760 seconds: LEFT_MLGCRASH DETECTED 21.9760 seconds: RIGHT_MLGCRASH DETECTED 21.9760 seconds: TAIL_LGCRASH DETECTED 21.9800 seconds: LEFT_MLGCRASH DETECTED 21.9800 seconds: RIGHT_MLGCRASH DETECTED 21.9800 seconds: TAIL_LGCRASH DETECTED 21.9840 seconds: LEFT_MLGCRASH DETECTED 21.9840 seconds: RIGHT_MLGCRASH DETECTED 21.9840 seconds: TAIL_LGCRASH DETECTED 21.9880 seconds: LEFT_MLGCRASH DETECTED 21.9880 seconds: RIGHT_MLGCRASH DETECTED 21.9880 seconds: TAIL_LGCRASH DETECTED 21.9920 seconds: LEFT_MLGCRASH DETECTED 21.9920 seconds: RIGHT_MLGCRASH DETECTED 21.9920 seconds: TAIL_LGCRASH DETECTED 21.9960 seconds: LEFT_MLGCRASH DETECTED 21.9960 seconds: RIGHT_MLGCRASH DETECTED 21.9960 seconds: TAIL_LGCRASH DETECTED 22.0000 seconds: LEFT_MLGCRASH DETECTED 22.0000 seconds: RIGHT_MLGCRASH DETECTED 22.0000 seconds: TAIL_LGCRASH DETECTED 22.0040 seconds: LEFT_MLGCRASH DETECTED 22.0040 seconds: RIGHT_MLGCRASH DETECTED 22.0040 seconds: TAIL_LGCRASH DETECTED 22.0080 seconds: LEFT_MLGCRASH DETECTED 22.0080 seconds: RIGHT_MLGCRASH DETECTED 22.0080 seconds: TAIL_LGCRASH DETECTED 22.0120 seconds: LEFT_MLGCRASH DETECTED 22.0120 seconds: RIGHT_MLGCRASH DETECTED 22.0120 seconds: TAIL_LGCRASH DETECTED 22.0160 seconds: LEFT_MLGCRASH DETECTED 22.0160 seconds: RIGHT_MLGCRASH DETECTED 22.0160 seconds: TAIL_LGCRASH DETECTED 22.0200 seconds: LEFT_MLGCRASH DETECTED 22.0200 seconds: RIGHT_MLGCRASH DETECTED 22.0200 seconds: TAIL_LGCRASH DETECTED 22.0240 seconds: LEFT_MLGCRASH DETECTED 22.0240 seconds: RIGHT_MLGCRASH DETECTED 22.0240 seconds: TAIL_LGCRASH DETECTED 22.0280 seconds: LEFT_MLGCRASH DETECTED 22.0280 seconds: RIGHT_MLGCRASH DETECTED 22.0280 seconds: TAIL_LGCRASH DETECTED 22.0320 seconds: LEFT_MLGCRASH DETECTED 22.0320 seconds: RIGHT_MLGCRASH DETECTED 22.0320 seconds: TAIL_LGCRASH DETECTED 22.0360 seconds: LEFT_MLGCRASH DETECTED 22.0360 seconds: RIGHT_MLGCRASH DETECTED 22.0360 seconds: TAIL_LGCRASH DETECTED 22.0400 seconds: LEFT_MLGCRASH DETECTED 22.0400 seconds: RIGHT_MLGCRASH DETECTED 22.0400 seconds: TAIL_LGCRASH DETECTED 22.0440 seconds: LEFT_MLGCRASH DETECTED 22.0440 seconds: RIGHT_MLGCRASH DETECTED 22.0440 seconds: TAIL_LGCRASH DETECTED 22.0480 seconds: LEFT_MLGCRASH DETECTED 22.0480 seconds: RIGHT_MLGCRASH DETECTED 22.0480 seconds: TAIL_LGCRASH DETECTED 22.0520 seconds: LEFT_MLGCRASH DETECTED 22.0520 seconds: RIGHT_MLGCRASH DETECTED 22.0520 seconds: TAIL_LGCRASH DETECTED 22.0560 seconds: LEFT_MLGCRASH DETECTED 22.0560 seconds: RIGHT_MLGCRASH DETECTED 22.0560 seconds: TAIL_LGCRASH DETECTED 22.0600 seconds: LEFT_MLGCRASH DETECTED 22.0600 seconds: RIGHT_MLGCRASH DETECTED 22.0600 seconds: TAIL_LGCRASH DETECTED 22.0640 seconds: LEFT_MLGCRASH DETECTED 22.0640 seconds: RIGHT_MLGCRASH DETECTED 22.0640 seconds: TAIL_LGCRASH DETECTED 22.0680 seconds: LEFT_MLGCRASH DETECTED 22.0680 seconds: RIGHT_MLGCRASH DETECTED 22.0680 seconds: TAIL_LGCRASH DETECTED 22.0720 seconds: LEFT_MLGCRASH DETECTED 22.0720 seconds: RIGHT_MLGCRASH DETECTED 22.0720 seconds: TAIL_LGCRASH DETECTED 22.0760 seconds: LEFT_MLGCRASH DETECTED 22.0760 seconds: RIGHT_MLGCRASH DETECTED 22.0760 seconds: TAIL_LGCRASH DETECTED 22.0800 seconds: LEFT_MLGCRASH DETECTED 22.0800 seconds: RIGHT_MLGCRASH DETECTED 22.0800 seconds: TAIL_LGCRASH DETECTED 22.0840 seconds: LEFT_MLGCRASH DETECTED 22.0840 seconds: RIGHT_MLGCRASH DETECTED 22.0840 seconds: TAIL_LGCRASH DETECTED 22.0880 seconds: LEFT_MLGCRASH DETECTED 22.0880 seconds: RIGHT_MLGCRASH DETECTED 22.0880 seconds: TAIL_LGCRASH DETECTED 22.0920 seconds: LEFT_MLGCRASH DETECTED 22.0920 seconds: RIGHT_MLGCRASH DETECTED 22.0920 seconds: TAIL_LGCRASH DETECTED 22.0960 seconds: LEFT_MLGCRASH DETECTED 22.0960 seconds: RIGHT_MLGCRASH DETECTED 22.0960 seconds: TAIL_LGCRASH DETECTED 22.1000 seconds: LEFT_MLGCRASH DETECTED 22.1000 seconds: RIGHT_MLGCRASH DETECTED 22.1000 seconds: TAIL_LGCRASH DETECTED 22.1040 seconds: LEFT_MLGCRASH DETECTED 22.1040 seconds: RIGHT_MLGCRASH DETECTED 22.1040 seconds: TAIL_LGCRASH DETECTED 22.1080 seconds: LEFT_MLGCRASH DETECTED 22.1080 seconds: RIGHT_MLGCRASH DETECTED 22.1080 seconds: TAIL_LGCRASH DETECTED 22.1120 seconds: LEFT_MLGCRASH DETECTED 22.1120 seconds: RIGHT_MLGCRASH DETECTED 22.1120 seconds: TAIL_LGCRASH DETECTED 22.1160 seconds: LEFT_MLGCRASH DETECTED 22.1160 seconds: RIGHT_MLGCRASH DETECTED 22.1160 seconds: TAIL_LGCRASH DETECTED 22.1200 seconds: LEFT_MLGCRASH DETECTED 22.1200 seconds: RIGHT_MLGCRASH DETECTED 22.1200 seconds: TAIL_LGCRASH DETECTED 22.1240 seconds: LEFT_MLGCRASH DETECTED 22.1240 seconds: RIGHT_MLGCRASH DETECTED 22.1240 seconds: TAIL_LGCRASH DETECTED 22.1280 seconds: LEFT_MLGCRASH DETECTED 22.1280 seconds: RIGHT_MLGCRASH DETECTED 22.1280 seconds: TAIL_LGCRASH DETECTED 22.1320 seconds: LEFT_MLGCRASH DETECTED 22.1320 seconds: RIGHT_MLGCRASH DETECTED 22.1320 seconds: TAIL_LGCRASH DETECTED 22.1360 seconds: LEFT_MLGCRASH DETECTED 22.1360 seconds: RIGHT_MLGCRASH DETECTED 22.1360 seconds: TAIL_LGCRASH DETECTED 22.1400 seconds: LEFT_MLGCRASH DETECTED 22.1400 seconds: RIGHT_MLGCRASH DETECTED 22.1400 seconds: TAIL_LGCRASH DETECTED 22.1440 seconds: LEFT_MLGCRASH DETECTED 22.1440 seconds: RIGHT_MLGCRASH DETECTED 22.1440 seconds: TAIL_LGCRASH DETECTED 22.1480 seconds: LEFT_MLGCRASH DETECTED 22.1480 seconds: RIGHT_MLGCRASH DETECTED 22.1480 seconds: TAIL_LGCRASH DETECTED 22.1520 seconds: LEFT_MLGCRASH DETECTED 22.1520 seconds: RIGHT_MLGCRASH DETECTED 22.1520 seconds: TAIL_LGCRASH DETECTED 22.1560 seconds: LEFT_MLGCRASH DETECTED 22.1560 seconds: RIGHT_MLGCRASH DETECTED 22.1560 seconds: TAIL_LGCRASH DETECTED 22.1600 seconds: LEFT_MLGCRASH DETECTED 22.1600 seconds: RIGHT_MLGCRASH DETECTED 22.1600 seconds: TAIL_LGCRASH DETECTED 22.1640 seconds: LEFT_MLGCRASH DETECTED 22.1640 seconds: RIGHT_MLGCRASH DETECTED 22.1640 seconds: TAIL_LGCRASH DETECTED 22.1680 seconds: LEFT_MLGCRASH DETECTED 22.1680 seconds: RIGHT_MLGCRASH DETECTED 22.1680 seconds: TAIL_LGCRASH DETECTED 22.1720 seconds: LEFT_MLGCRASH DETECTED 22.1720 seconds: RIGHT_MLGCRASH DETECTED 22.1720 seconds: TAIL_LGCRASH DETECTED 22.1760 seconds: LEFT_MLGCRASH DETECTED 22.1760 seconds: RIGHT_MLGCRASH DETECTED 22.1760 seconds: TAIL_LGCRASH DETECTED 22.1800 seconds: LEFT_MLGCRASH DETECTED 22.1800 seconds: RIGHT_MLGCRASH DETECTED 22.1800 seconds: TAIL_LGCRASH DETECTED 22.1840 seconds: LEFT_MLGCRASH DETECTED 22.1840 seconds: RIGHT_MLGCRASH DETECTED 22.1840 seconds: TAIL_LGCRASH DETECTED 22.1880 seconds: LEFT_MLGCRASH DETECTED 22.1880 seconds: RIGHT_MLGCRASH DETECTED 22.1880 seconds: TAIL_LGCRASH DETECTED 22.1920 seconds: LEFT_MLGCRASH DETECTED 22.1920 seconds: RIGHT_MLGCRASH DETECTED 22.1920 seconds: TAIL_LGCRASH DETECTED 22.1960 seconds: LEFT_MLGCRASH DETECTED 22.1960 seconds: RIGHT_MLGCRASH DETECTED 22.1960 seconds: TAIL_LGCRASH DETECTED 22.2000 seconds: LEFT_MLGCRASH DETECTED 22.2000 seconds: RIGHT_MLGCRASH DETECTED 22.2000 seconds: TAIL_LGCRASH DETECTED 22.2040 seconds: LEFT_MLGCRASH DETECTED 22.2040 seconds: RIGHT_MLGCRASH DETECTED 22.2040 seconds: TAIL_LGCRASH DETECTED 22.2080 seconds: LEFT_MLGCRASH DETECTED 22.2080 seconds: RIGHT_MLGCRASH DETECTED 22.2080 seconds: TAIL_LGCRASH DETECTED 22.2120 seconds: LEFT_MLGCRASH DETECTED 22.2120 seconds: RIGHT_MLGCRASH DETECTED 22.2120 seconds: TAIL_LGCRASH DETECTED 22.2160 seconds: LEFT_MLGCRASH DETECTED 22.2160 seconds: RIGHT_MLGCRASH DETECTED 22.2160 seconds: TAIL_LGCRASH DETECTED 22.2200 seconds: LEFT_MLGCRASH DETECTED 22.2200 seconds: RIGHT_MLGCRASH DETECTED 22.2200 seconds: TAIL_LGCRASH DETECTED 22.2240 seconds: LEFT_MLGCRASH DETECTED 22.2240 seconds: RIGHT_MLGCRASH DETECTED 22.2240 seconds: TAIL_LGCRASH DETECTED 22.2280 seconds: LEFT_MLGCRASH DETECTED 22.2280 seconds: RIGHT_MLGCRASH DETECTED 22.2280 seconds: TAIL_LGCRASH DETECTED 22.2320 seconds: LEFT_MLGCRASH DETECTED 22.2320 seconds: RIGHT_MLGCRASH DETECTED 22.2320 seconds: TAIL_LGCRASH DETECTED 22.2360 seconds: LEFT_MLGCRASH DETECTED 22.2360 seconds: RIGHT_MLGCRASH DETECTED 22.2360 seconds: TAIL_LGCRASH DETECTED 22.2400 seconds: LEFT_MLGCRASH DETECTED 22.2400 seconds: RIGHT_MLGCRASH DETECTED 22.2400 seconds: TAIL_LGCRASH DETECTED 22.2440 seconds: LEFT_MLGCRASH DETECTED 22.2440 seconds: RIGHT_MLGCRASH DETECTED 22.2440 seconds: TAIL_LGCRASH DETECTED 22.2480 seconds: LEFT_MLGCRASH DETECTED 22.2480 seconds: RIGHT_MLGCRASH DETECTED 22.2480 seconds: TAIL_LGCRASH DETECTED 22.2520 seconds: LEFT_MLGCRASH DETECTED 22.2520 seconds: RIGHT_MLGCRASH DETECTED 22.2520 seconds: TAIL_LGCRASH DETECTED 22.2560 seconds: LEFT_MLGCRASH DETECTED 22.2560 seconds: RIGHT_MLGCRASH DETECTED 22.2560 seconds: TAIL_LGCRASH DETECTED 22.2600 seconds: LEFT_MLGCRASH DETECTED 22.2600 seconds: RIGHT_MLGCRASH DETECTED 22.2600 seconds: TAIL_LGCRASH DETECTED 22.2640 seconds: LEFT_MLGCRASH DETECTED 22.2640 seconds: RIGHT_MLGCRASH DETECTED 22.2640 seconds: TAIL_LGCRASH DETECTED 22.2680 seconds: LEFT_MLGCRASH DETECTED 22.2680 seconds: RIGHT_MLGCRASH DETECTED 22.2680 seconds: TAIL_LGCRASH DETECTED 22.2720 seconds: LEFT_MLGCRASH DETECTED 22.2720 seconds: RIGHT_MLGCRASH DETECTED 22.2720 seconds: TAIL_LGCRASH DETECTED 22.2760 seconds: LEFT_MLGCRASH DETECTED 22.2760 seconds: RIGHT_MLGCRASH DETECTED 22.2760 seconds: TAIL_LGCRASH DETECTED 22.2800 seconds: LEFT_MLGCRASH DETECTED 22.2800 seconds: RIGHT_MLGCRASH DETECTED 22.2800 seconds: TAIL_LGCRASH DETECTED 22.2840 seconds: LEFT_MLGCRASH DETECTED 22.2840 seconds: RIGHT_MLGCRASH DETECTED 22.2840 seconds: TAIL_LGCRASH DETECTED 22.2880 seconds: LEFT_MLGCRASH DETECTED 22.2880 seconds: RIGHT_MLGCRASH DETECTED 22.2880 seconds: TAIL_LGCRASH DETECTED 22.2920 seconds: LEFT_MLGCRASH DETECTED 22.2920 seconds: RIGHT_MLGCRASH DETECTED 22.2920 seconds: TAIL_LGCRASH DETECTED 22.2960 seconds: LEFT_MLGCRASH DETECTED 22.2960 seconds: RIGHT_MLGCRASH DETECTED 22.2960 seconds: TAIL_LGCRASH DETECTED 22.3000 seconds: LEFT_MLGCRASH DETECTED 22.3000 seconds: RIGHT_MLGCRASH DETECTED 22.3000 seconds: TAIL_LGCRASH DETECTED 22.3040 seconds: LEFT_MLGCRASH DETECTED 22.3040 seconds: RIGHT_MLGCRASH DETECTED 22.3040 seconds: TAIL_LGCRASH DETECTED 22.3120 seconds: LEFT_MLGCRASH DETECTED 22.3120 seconds: RIGHT_MLGCRASH DETECTED 22.3120 seconds: TAIL_LGCRASH DETECTED 22.3200 seconds: LEFT_MLGCRASH DETECTED 22.3200 seconds: RIGHT_MLGCRASH DETECTED 22.3200 seconds: TAIL_LGCRASH DETECTED 22.3240 seconds: LEFT_MLGCRASH DETECTED 22.3240 seconds: RIGHT_MLGCRASH DETECTED 22.3240 seconds: TAIL_LGGEAR_CONTACT: 22.3280 seconds: LEFT_MLG 0
GEAR_CONTACT: 22.3280 seconds: RIGHT_MLG 0
GEAR_CONTACT: 22.3280 seconds: TAIL_LG 0
2.