block

Vehicles.Rdd2.CommandMapping

Map pilot input into rate, attitude, and thrust demands

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
parameter	`samplePeriod`	`Real`	`(unit="s") = 0.001`
parameter	`maxRollPitchRateRadS`	`Real`	`(unit="rad/s") = 6.0`
parameter	`maxYawRateRadS`	`Real`	`(unit="rad/s") = 3.5`
parameter	`maxAutoLevelTiltRad`	`Real`	`(unit="rad") = 0.61086524`

Modelica declarations and implementation

Show parameters, interfaces and source

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

block CommandMapping "Map pilot input into rate, attitude, and thrust demands"
  import Interfaces = Vehicles.Rdd2.ControllerInterfaces;

  parameter Real samplePeriod(unit="s") = 0.001;
  parameter Real maxRollPitchRateRadS(unit="rad/s") = 6.0;
  parameter Real maxYawRateRadS(unit="rad/s") = 3.5;
  parameter Real maxAutoLevelTiltRad(unit="rad") = 0.61086524;

  Interfaces.PilotInput pilot;
  Interfaces.PilotCommands commands;

protected
  discrete Real normalizedStick[3](each start = 0.0)
    "Normalized {roll, pitch, yaw} stick position";

algorithm
  when sample(0.0, samplePeriod) then
    normalizedStick := MathUtilities.clipVector(pilot.stick, -1.0, 1.0);
    commands.throttleInput := MathUtilities.clip(pilot.throttle, 0.0, 1.0);

    commands.acroRateDesired_rad_s :=
      {maxRollPitchRateRadS, maxRollPitchRateRadS, maxYawRateRadS}
      .* normalizedStick;
    commands.attitudeTiltDesired_rad :=
      maxAutoLevelTiltRad * normalizedStick[1:2];
  end when;
end CommandMapping;