model

Vehicles.Cubs2.Test.Scenarios.PatternMission

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
parameter	`patternRoute`	`Components.RouteParameters`	`= Components.RouteParameters( cruiseSpeed = 4.0, waypointSwitchingDistance = 3.0, waypoints = [ 0.0, 0.0, 3.0; 12.0, 0.0, 3.0; 30.0, 0.0, 3.0; 30.0, 20.0, 3.0; 0.0, 20.0, 3.0; 0.0, 0.0, 3.0; 12.0, 0.0, 3.0])`
output	`lapCount`	`Integer`	`(start = 0, fixed = true)`
output	`landing`	`Boolean`	`(start = false, fixed = true)`
output	`missionPhase`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model PatternMission
  parameter Components.RouteParameters patternRoute = Components.RouteParameters(
    cruiseSpeed = 4.0,
    waypointSwitchingDistance = 3.0,
    waypoints = [
      0.0, 0.0, 3.0;
      12.0, 0.0, 3.0;
      30.0, 0.0, 3.0;
      30.0, 20.0, 3.0;
      0.0, 20.0, 3.0;
      0.0, 0.0, 3.0;
      12.0, 0.0, 3.0]);
  extends Vehicles.Cubs2.ClosedLoopVehicle(
    route = patternRoute,
    initialPosition_m = {0.0, 0.0, 3.0},
    initialVelocityBody_m_s = {4.0, 0.0, 0.0},
    engaged = true,
    armed = not (landing and position_m[3] < 0.4),
    stickOverrideActive = landing,
    stickOverride = {0.0, -0.25, 0.0, 0.12});
  discrete output Integer lapCount(start = 0, fixed = true);
  discrete output Boolean landing(start = false, fixed = true);
  output Integer missionPhase;
protected
  discrete Integer previousWaypoint(start = 1, fixed = true);
algorithm
  when sample(0.0, 0.02) then
    if not pre(landing) and position_m[3] > 2.0
        and pre(previousWaypoint) == 6 and currentWaypoint == 1 then
      lapCount := pre(lapCount) + 1;
    else
      lapCount := pre(lapCount);
    end if;
    previousWaypoint := currentWaypoint;
    landing := pre(landing) or lapCount >= 2;
  end when;
equation
  if landing then
    missionPhase = 3;
  elseif position_m[3] > 0.4 then
    missionPhase = 2;
  else
    missionPhase = 1;
  end if;
end PatternMission;