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UAV Scenario Motion Write

Update platform motion in UAV scenario simulation

  • Library:
  • UAV Toolbox / UAV Scenario and Sensor Modeling

  • UAV Scenario Motion Write block

Description

Use this block to update the motion state of a platform in a UAV scenario simulation with input signals at each time step. The block takes the position, orientation, velocity, acceleration, and angular velocity as inputs to update the motion state bus of the specified platform. However, this block does not move the platform based on velocity and acceleration inputs as there is no kinematic model being simulated in the UAV Scenario.

To use this block, ensure that UAV Scenario Configuration block is in your model.

This block uses the sample time specified in the UAV Scenario Configuration block.

Limitations

The UAV Scenario blocks do not support:

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.

Ports

Input

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Specify input position of platform in input coordinate frame as a 1-by-3 vector.

Specify input orientation of platform in input coordinate frame as a 1-by-4 vector quaternion.

Specify input velocity of platform in input coordinate frame as a 1-by-3 vector.

Specify input acceleration of platform in input coordinate frame as a 1-by-3 vector.

Specify input angular velocity of platform in input coordinate frame, specified as a 1-by-3 vector.

Parameters

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Use Select to choose a platform name string from the UAV Scenario.

Specify coordinate frame of input motion as 'NED'(North-East-Down) or 'ENU'(East-North-Up).

Introduced in R2021b