Runtime verification of autopilot systems using a fragment of MTL-

Current real-time embedded systems development frameworks lack support for the verification of properties using explicit time where counting time (i.e., durations) may play an important role in the development process. Focusing on the real-time constraints inherent to these systems, we present a framework that addresses the specification of duration properties for runtime verification by employing a fragment of metric temporal logic with durations. We also provide an overview of the framework, the synthesis tools, and the library to support monitoring properties for real-time systems developed in C++11. The results obtained provide clear evidence of the feasibility and advantages of employing a duration-sensitive formalism to increase the dependability of avionic controller systems such as the PX4 and the Ardupilot flight stacks.