record
Vehicles.Cubs2.OuterLoopComponents.RouteParameters
Public declarations
Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.
| Role | Name | Type | Dimensions / attributes / default | Description |
|---|---|---|---|---|
| field | nSegments | Integer | = 6 | flyable segments between route points |
| field | waypoints | Real | [7, 3] = [
0.0, 0.0, 0.0;
-8.0, -8.0, 3.0;
-8.0, 2.0, 3.0;
18.0, 2.0, 3.0;
18.0, -8.0, 3.0;
5.0, -8.0, 3.0;
-8.0, -8.0, 3.0] | route point rows are [x, y, z] [m] |
| field | cruiseSpeed | Real | (unit="m/s") = 4.5 | |
| field | altitudeToFlightPathGain | Real | = 2.0 | |
| field | altitudeLookaheadDistance | Real | (unit="m") = 8.0 | |
| field | flightPathAngleLimit | Real | (unit="rad") = 0.12 | |
| field | speedToAccelerationGain | Real | = 1.0 | |
| field | crossTrackSteeringDistance | Real | (unit="m") = 4.25 | atan steering distance; 45 deg correction occurs when |cross-track| = d |
| field | waypointSwitchingDistance | Real | (unit="m") = 4.0 | advance when remaining along-track distance enters the endpoint guard |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
record RouteParameters
Integer nSegments = 6 "flyable segments between route points";
Real waypoints[7, 3] = [
0.0, 0.0, 0.0;
-8.0, -8.0, 3.0;
-8.0, 2.0, 3.0;
18.0, 2.0, 3.0;
18.0, -8.0, 3.0;
5.0, -8.0, 3.0;
-8.0, -8.0, 3.0] "route point rows are [x, y, z] [m]";
Real cruiseSpeed(unit="m/s") = 4.5;
Real altitudeToFlightPathGain = 2.0;
Real altitudeLookaheadDistance(unit="m") = 8.0;
Real flightPathAngleLimit(unit="rad") = 0.12;
Real speedToAccelerationGain = 1.0;
Real crossTrackSteeringDistance(unit="m") = 4.25
"atan steering distance; 45 deg correction occurs when |cross-track| = d";
Real waypointSwitchingDistance(unit="m") = 4.0
"advance when remaining along-track distance enters the endpoint guard";
end RouteParameters;