Simulation 3D Multirotor Pack
Generate translation and rotation information for multirotor rotorcraft
Since R2023b
Libraries:
Aerospace Blockset /
Animation /
Simulation 3D
Description
The Simulation 3D Multirotor Pack block creates translation and rotation
information for the Simulation 3D Rotorcraft block with
Type set to Multirotor
. Use the
Simulation 3D Multirotor Pack block to provide translation and rotation
information to the Translation and Rotation input
ports of the Simulation 3D Rotorcraft block.
Ports
Input
Body_T — Body translation
1-by-3 matrix
Body translation, specified as a 1-by-3 matrix.
Data Types: single
| double
Rotor1_T — Rotor 1 translation
1-by-3 matrix
Rotor 1 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 1 translation parameter.
Data Types: single
| double
Rotor2_T — Rotor 2 translation
1-by-3 matrix
Rotor 2 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 2 translation parameter.
Data Types: single
| double
Rotor3_T — Rotor 3 translation
1-by-3 matrix
Rotor 3 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 3 translation parameter.
Data Types: single
| double
Rotor4_T — Rotor 4 translation
1-by-3 matrix
Rotor 4 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 4 translation parameter.
Data Types: single
| double
Rotor5_T — Rotor 5 translation
1-by-3 matrix
Rotor 5 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 5 translation parameter.
Data Types: single
| double
Rotor6_T — Rotor 6 translation
1-by-3 matrix
Rotor 6 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 6 translation parameter.
Data Types: single
| double
Rotor7_T — Rotor 7 translation
1-by-3 matrix
Rotor 7 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 7 translation parameter.
Data Types: single
| double
Rotor8_T — Rotor 8 translation
1-by-3 matrix
Rotor 8 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 8 translation parameter.
Data Types: single
| double
Sensor1_T — Sensor 1 translation
1-by-3 matrix
Sensor 1 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Sensor 1 translation parameter.
Data Types: single
| double
Sensor2_T — Sensor 2 translation
1-by-3 matrix
Sensor 2 translation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Sensor 2 translation parameter.
Data Types: single
| double
Body_R — Body rotation
1-by-3 matrix
Body rotation, specified as a 1-by-3 matrix.
Data Types: single
| double
Rotor1_R — Rotor 1 rotation
1-by-3 matrix
Rotor 1 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 1 rotation parameter.
Data Types: single
| double
Rotor2_R — Rotor 2 rotation
1-by-3 matrix
Rotor 2 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 2 rotation parameter.
Data Types: single
| double
Rotor3_R — Rotor 3 rotation
1-by-3 matrix
Rotor 3 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 3 rotation parameter.
Data Types: single
| double
Rotor4_R — Rotor 4 rotation
1-by-3 matrix
Rotor 4 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 4 rotation parameter.
Data Types: single
| double
Rotor5_R — Rotor 5 rotation
1-by-3 matrix
Rotor 5 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 5 rotation parameter.
Data Types: single
| double
Rotor6_R — Rotor 6 rotation
1-by-3 matrix
Rotor 6 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 6 rotation parameter.
Data Types: single
| double
Rotor7_R — Rotor 7 rotation
1-by-3 matrix
Rotor 7 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 7 rotation parameter.
Data Types: single
| double
Rotor8_R — Rotor 8 rotation
1-by-3 matrix
Rotor 8 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Rotor 8 rotation parameter.
Data Types: single
| double
Sensor1_R — Sensor 1 rotation
1-by-3 matrix
Sensor 1 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Sensor 1 rotation parameter.
Data Types: single
| double
Sensor2_R — Sensor 2 rotation
1-by-3 matrix
Sensor 2 rotation, specified as a 1-by-3 matrix.
Dependencies
To enable this port, select the Sensor 2 rotation parameter.
Data Types: single
| double
Output
Translation — Multirotor translation
11
-by-3
array
Rotorcraft translation for multirotor, returned as an
11
-by-3
array. The signal contains translation
[X, Y, Z], in meters, with
one row of the array for each bone of the rotorcraft.
The translation applies to these bones of the
Multirotor
type.
Bone | Index |
---|---|
BODY | 1 |
ROTOR1 | 2 |
ROTOR2 | 3 |
ROTOR3 | 4 |
ROTOR4 | 5 |
ROTOR5 | 6 |
ROTOR6 | 7 |
ROTOR7 | 8 |
ROTOR8 | 9 |
SENSOR1 | 10 |
SENSOR2 | 11 |
Rotation — Rotorcraft rotation
11
-by-3
array
Rotorcraft rotation for multirotor, returned as an
11
-by-3
array:
The rotation applies to the same bones as listed for the Translation port.
The signal contains the rotation [roll, pitch, yaw], in radians, with one row of the array for each bone of the rotorcraft.
Parameters
Propulsion
Rotor 1 translation — Option to enable Rotor1_T input port
off
(default) | on
Select this parameter to enable the Rotor1_T input port.
Programmatic Use
Block Parameter:
Rotor1_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 2 translation — Option to enable Rotor2_T input port
off
(default) | on
Select this parameter to enable the Rotor2_T input port.
Programmatic Use
Block Parameter:
Rotor2_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 3 translation — Option to enable Rotor3_T input port
off
(default) | on
Select this parameter to enable the Rotor3_T input port.
Programmatic Use
Block Parameter:
Rotor3_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 4 translation — Option to enable Rotor4_T input port
off
(default) | on
Select this parameter to enable the Rotor4_T input port.
Programmatic Use
Block Parameter:
Rotor4_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 5 translation — Option to enable Rotor5_T input port
off
(default) | on
Select this parameter to enable the Rotor5_T input port.
Programmatic Use
Block Parameter:
Rotor5_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 6 translation — Option to enable Rotor6_T input port
off
(default) | on
Select this parameter to enable the Rotor6_T input port.
Programmatic Use
Block Parameter:
Rotor6_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 7 translation — Option to enable Rotor7_T input port
off
(default) | on
Select this parameter to enable the Rotor7_T input port.
Programmatic Use
Block Parameter:
Rotor7_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 8 translation — Option to enable Rotor8_T input port
off
(default) | on
Select this parameter to enable the Rotor8_T input port.
Programmatic Use
Block Parameter:
Rotor8_T |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Rotor 1 rotation — Option to enable Rotor1_R input port
off
(default) | on
Select this parameter to enable the Rotor1_R input port.
Programmatic Use
Block Parameter: Rotor1_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 2 rotation — Option to enable Rotor2_R input port
off
(default) | on
Select this parameter to enable the Rotor2_R input port.
Programmatic Use
Block Parameter: Rotor2_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 3 rotation — Option to enable Rotor3_R input port
off
(default) | on
Select this parameter to enable the Rotor3_R input port.
Programmatic Use
Block Parameter: Rotor3_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 4 rotation — Option to enable Rotor4_R input port
off
(default) | on
Select this parameter to enable the Rotor4_R input port.
Programmatic Use
Block Parameter: Rotor4_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 5 rotation — Option to enable Rotor5_R input port
off
(default) | on
Select this parameter to enable the Rotor5_R input port.
Programmatic Use
Block Parameter: Rotor5_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 6 rotation — Option to enable Rotor6_R input port
off
(default) | on
Select this parameter to enable the Rotor6_R input port.
Programmatic Use
Block Parameter: Rotor6_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 7 rotation — Option to enable Rotor7_R input port
off
(default) | on
Select this parameter to enable the Rotor7_R input port.
Programmatic Use
Block Parameter: Rotor7_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Rotor 8 rotation — Option to enable Rotor8_R input port
off
(default) | on
Select this parameter to enable the Rotor8_R input port.
Programmatic Use
Block Parameter: Rotor8_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Sensors
Sensor 1 translation — Option to enable Sensor1_T input port
off
(default) | on
Select this parameter to enable the Sensor1_T input port.
Programmatic Use
Block Parameter: Sensor1_T |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Sensor 2 translation — Option to enable Sensor2_T input port
off
(default) | on
Select this parameter to enable the Sensor2_T input port.
Programmatic Use
Block Parameter: Sensor2_T |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Sensor 1 rotation — Option to enable Sensor1_R input port
off
(default) | on
Select this parameter to enable the Sensor1_R input port.
Programmatic Use
Block Parameter: Sensor1_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Sensor 2 rotation — Option to enable Sensor2_R input port
off
(default) | on
Select this parameter to enable the Sensor2_R input port.
Programmatic Use
Block Parameter: Sensor2_R |
Type: character vector |
Values: 'on' | 'off' |
Default: 'off' |
Geospatial
Select input coordinate frame — Input coordinate frame
NED
(default) | ECEF
Select the input coordinate frame to position aerospace vehicles with respect to north-east-down (NED) or the Earth center (ECEF). Use this parameter with the Use Earth center as origin (ECEF) parameter of the Simulation 3D Scene Configuration block.
Programmatic Use
To set the block parameter value
programmatically, use the set_param
function.
To get the block parameter value
programmatically, use the get_param
function.
Parameter: | GeoRadioButton |
Values: | 'NED' (default) | 'ECEF' |
Enable geospatial correction — Option to enable geospatial correction
off
(default) | on
Select this parameter to enable the geospatial correction to the input body translation and rotation.
Dependencies
To enable this parameter, set Select input coordinate frame
to NED
.
Programmatic Use
Block Parameter:
AdjustForCesium |
Type: character vector |
Values: 'on' |
'off' |
Default: 'off' |
Direction of x-axis (degrees clockwise from north) — Compass direction of x-axis
90
(default) | real scalar
Specify the compass direction of the x-axis, specified as a real scalar, in degrees.
Dependencies
To enable this parameter:
Set Select input coordinate frame to NED
Select Enable geospatial correction
Programmatic Use
Block Parameter:
Heading0 |
Type: character vector |
Values: 90 | real
scalar |
Default: '90' |
Version History
Introduced in R2023bR2024a: Simulation 3D Multirotor Pack Block Now Supports Earth-centered Earth-fixed (ECEF) Input Coordinate Frame
To enable ECEF coordinate systems for translation input, the Simulation 3D Multirotor Pack block has been updated. Use these parameters with the Use Earth center as origin (ECEF) parameter in the Simulation 3D Scene Configuration block.
Select input coordinate frame
ECEF — ECEF input coordinate frame. When you select this coordinate frame, the annotation
Origin: Earth center (ECEF)
appears under the pack block icons.NED — NED coordinate frame. Prior to R2024a, NED was the only supported coordinate frame.
Direction of x-axis (degrees clockwise from north) — Direction of the x-axis. This parameter is enabled when you select the Enable geospatial correction check box.
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