model

Vehicles.Cubs2.Test.Scenarios.Mission

Base classes

Vehicles.Cubs2.ClosedLoopVehicle

Follow base classes for inherited declarations; this page lists explicit declarations only.

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
output	`lapCount`	`Integer`	`(start = 0, fixed = true)`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model Mission
  extends Vehicles.Cubs2.ClosedLoopVehicle(
    initialQuaternion =
      {0.38268343236508984, 0.0, 0.0, -0.9238795325112867},
    engaged = true,
    armed = true,
    stickOverrideActive = false,
    stickOverride = zeros(4));
  discrete output Integer lapCount(start = 0, fixed = true);
protected
  discrete Integer previousWaypoint(start = 1, fixed = true);
algorithm
  when sample(0.0, 0.02) then
    if pre(previousWaypoint) == route.nSegments and currentWaypoint == 1 then
      lapCount := pre(lapCount) + 1;
    else
      lapCount := pre(lapCount);
    end if;
    previousWaypoint := currentWaypoint;
  end when;
end Mission;