Read platform and sensor motions from UAV scenario simulation
UAV Toolbox / UAV Scenario and Sensor Modeling
Use this block to read motion as a bus from a sensor or platform in a UAV scenario simulation. The motion bus contains the position, orientation, velocity, angular velocity, acceleration, and ID of the platform or sensor.
To use this block, ensure that a UAV Scenario Configuration block is in your model.
This block uses the sample time specified in the UAV Scenario Configuration block.
The UAV Scenario blocks do not support:
Multiple instances of the UAV Scenario Configuration block
Rapid acceleration mode
In addition, the execution order is important when using these blocks in a closed loop simulation. The UAV Scenario Configuration block must execute first. The UAV Scenario Motion Write block must execute before the UAV Scenario Motion Read, UAV Scenario Lidar, and UAV Scenario Scope blocks.
Motion— UAV motion data
Output motion from a platform or sensor specified as a bus with the following properties with the name specified in Platform or sensor name:
PlatformID – ID of platform based on order of platforms
Position – Position in NED frame specified as a 1-by-3 vector.
Orientation – Orientation in NED frame specified as a 1-by-4 vector, quaternion, frame rotation from NED frame to UAV body frame.
Velocity – Velocity in NED frame specified as a 1-by-3 vector.
Acceleration – Acceleration in NED frame specified as a 1-by-3 vector.
AngularVelocity – Angular velocity in NED frame specified as a 1-by-3 vector.
If a sensor name is specified in
Platform or sensor
name, the SensorID field is added to the bus fields of
the motion output bus.
SensorID – ID of sensor specified as a scalar based on
the order of sensors in the
The platform and sensors motion buses are of the type named in the
Sensor motion bus name and
Sensor motion bus
name properties of the UAV Scenario
Configuration block in the model.
Platform or sensor name— Platform or sensor name
'UAV'(default) | string
Use Select to choose one platform or sensor from the UAV Scenario to read motion from.
This parameter effects the fields of the motion bus output. See
Motion output for
Coordinate frame of output motion— Coordinate frame of output motion
Specify the coordinate frame of the output motion as East-North-Up
'ENU') or North-East-Down (