model

Vehicles.Rdd2.Test.WaypointMission

Optical-flow-navigated takeoff, box, and landing mission in the local East-North-Up frame

Defines only the local box route and experiment. Plant, task periods, signal routing, planning, guidance, rate control, and allocation belong to the reusable Vehicles.Rdd2.WaypointVehicleSystem stack.

Guidance flies on the optical-flow-aided inertial solution (navigationSource = 2): position is dead-reckoned from the IMU with planar body-velocity aiding, matching a GPS-denied indoor flight over a textured floor. The small deterministic initial position error is a qualification witness: controller feedback must follow the Kalman estimate rather than coincident plant truth.

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 WaypointMission
  "Optical-flow-navigated takeoff, box, and landing mission in the local East-North-Up frame"
  parameter Real cruiseAltitude_m = 2.0;
  parameter Real boxSide_m = 4.0;

  extends Vehicles.Rdd2.WaypointVehicleSystem(
    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),
    Documentation(info = "<html>
      <p>Defines only the local box route and experiment. Plant, task periods,
      signal routing, planning, guidance, rate control, and allocation belong
      to the reusable <code>Vehicles.Rdd2.WaypointVehicleSystem</code> stack.</p>
      <p>Guidance flies on the optical-flow-aided inertial solution
      (<code>navigationSource&nbsp;=&nbsp;2</code>): position is dead-reckoned
      from the IMU with planar body-velocity aiding, matching a GPS-denied
      indoor flight over a textured floor. The small deterministic initial
      position error is a qualification witness: controller feedback must
      follow the Kalman estimate rather than coincident plant truth.</p>
    </html>"));
end WaypointMission;