model

Vehicles.Cubs2.Test.Scenarios.TakeoffOpenLoop

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
output	`time_s`	`Real`
output	`position_m`	`Real`	`[3]`
output	`euler_rad`	`Real`	`[3]`
output	`airspeed_m_s`	`Real`
output	`stickCommand`	`Real`	`[4]`
output	`actuatorCommand`	`Real`	`[4]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model TakeoffOpenLoop
  Vehicles.Cubs2.Plant plant;
  Vehicles.Cubs2.OnboardStabilizerSurrogate onboardStabilizer;

  output Real time_s;
  output Real position_m[3];
  output Real euler_rad[3];
  output Real airspeed_m_s;
  output Real stickCommand[4];
  output Real actuatorCommand[4];

equation
  if time < 0.8 then
    stickCommand = {0.0, 0.0, 0.0, 1.0};
  else
    stickCommand = {0.0, 0.55, 0.0, 1.0};
  end if;
  onboardStabilizer.armed = 1.0;
  onboardStabilizer.pilotCommand = stickCommand;
  onboardStabilizer.gyro = plant.gyro;
  onboardStabilizer.up_body = plant.up_body;
  onboardStabilizer.airspeed = plant.airspeed;
  actuatorCommand = onboardStabilizer.surfaceCommand;
  {plant.ail, plant.elev, plant.rud, plant.thr} = actuatorCommand;
  time_s = time;
  position_m = plant.position;
  euler_rad = Vehicles.Interfaces.eulerFromQuaternion(plant.quat);
  airspeed_m_s = plant.airspeed;
end TakeoffOpenLoop;