Update platform motion in UAV scenario simulation
UAV Toolbox / UAV Scenario and Sensor Modeling
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.
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.
Specify input position of platform in input coordinate frame as a 1-by-3 vector.
Orientation— Orientation quaternion
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.
AngularVelocity— Angular Velocity
Specify input angular velocity of platform in input coordinate frame, specified as a 1-by-3 vector.
Platform name— Platform name
'UAV'(default) | string
Use Select to choose a platform name string from the UAV Scenario.
Coordinate frame of input motion— Coordinate frame of input motion
Specify coordinate frame of input motion as