model
Vehicles.Rdd2.Test.GlobalWaypointMission
GPS-navigated RDD2 waypoint mission authored in global latitude/longitude/altitude
Runs WaypointMission in global mode: the box waypoints are
interpreted as latitude/longitude/altitude and projected into the local
East-North-Up frame through the mission origin before guidance. Guidance
flies on the GPS-aided inertial solution
(navigationSource = 1), so the mission exercises the
geodetic projection round-trip and GPS position/velocity fusion together.
The flown local trajectory must match the optical-flow local-mode mission
to within the navigation-modality tolerance.
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model GlobalWaypointMission
"GPS-navigated RDD2 waypoint mission authored in global latitude/longitude/altitude"
extends WaypointMission(
useGlobalWaypoints = true,
navigationSource = 1);
annotation(Documentation(info="<html>
<p>Runs <code>WaypointMission</code> in global mode: the box waypoints are
interpreted as latitude/longitude/altitude and projected into the local
East-North-Up frame through the mission origin before guidance. Guidance
flies on the GPS-aided inertial solution
(<code>navigationSource = 1</code>), so the mission exercises the
geodetic projection round-trip and GPS position/velocity fusion together.
The flown local trajectory must match the optical-flow local-mode mission
to within the navigation-modality tolerance.</p>
</html>"));
end GlobalWaypointMission;