model

Vehicles.Rdd2.Test.UkfWaypointMission

Optical-flow waypoint mission using the StrapdownINS manifold UKF

Base classes

Vehicles.Rdd2.WaypointVehicleSystem

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
parameter	`cruiseAltitude_m`	`Real`	`= 2.0`
parameter	`boxSide_m`	`Real`	`= 4.0`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model UkfWaypointMission
  "Optical-flow waypoint mission using the StrapdownINS manifold UKF"
  parameter Real cruiseAltitude_m = 2.0;
  parameter Real boxSide_m = 4.0;
  extends Vehicles.Rdd2.WaypointVehicleSystem(
    redeclare block EstimatorModel = Estimation.StrapdownINS.UKF.Estimator,
    useGlobalWaypoints=false,
    navigationSource=2,
    estimatorInitialPositionWorldEnu_m={0.08, -0.06, 0.04},
    localRoute=[
      0.0,       0.0,       0.0;
      0.0,       0.0,       cruiseAltitude_m;
      boxSide_m, 0.0,       cruiseAltitude_m;
      boxSide_m, boxSide_m, cruiseAltitude_m;
      0.0,       boxSide_m, cruiseAltitude_m;
      0.0,       0.0,       cruiseAltitude_m;
      0.0,       0.0,       0.3;
      0.0,       0.0,       0.1]);
  annotation(experiment(StartTime=0.0, StopTime=45.0,
    Tolerance=1.0e-8, Interval=0.005));
end UkfWaypointMission;