UAV Scenario Motion Write

Update platform motion in UAV scenario simulation

Since R2021b

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Libraries:
UAV Toolbox / UAV Scenario and Sensor Modeling

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.

Examples

Simulate UAV Scenario Using Scenario Blocks

Use the UAV scenario blocks to simulate a scenario in Simulink®.

• Open Live Script

Limitations

The UAV Scenario blocks do not support:

• Code generation

• Model reference

• 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.

Ports

Input

Position — Position

1-by-3 vector

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

Orientation — Orientation quaternion

1-by-4 vector

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

Velocity — Velocity

1-by-3 vector

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

Acceleration — Acceleration

1-by-3 vector

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

AngularVelocity — Angular Velocity

1-by-3 vector

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

Parameters

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

'NED' (default) | ENU

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

Version History

Introduced in R2021b