Simulation 3D Multirotor Pack

R2026b

Generate translation and rotation information for multirotor rotorcraft

Since R2023b

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  • Simulation 3D Multirotor Pack block icon

Libraries:
Aerospace Blockset / Animation / Simulation 3D

Description

The Simulation 3D Multirotor Pack block creates translation and rotation information for the Simulation 3D Rotorcraft block with Type set to Multirotor. Use the Simulation 3D Multirotor Pack block to provide translation and rotation information to the Translation and Rotation input ports of the Simulation 3D Rotorcraft block.

Ports

Input

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Body translation, specified as a 1-by-3 matrix.

Data Types: single | double

Rotor 1 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 1 translation parameter.

Data Types: single | double

Rotor 2 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 2 translation parameter.

Data Types: single | double

Rotor 3 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 3 translation parameter.

Data Types: single | double

Rotor 4 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 4 translation parameter.

Data Types: single | double

Rotor 5 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 5 translation parameter.

Data Types: single | double

Rotor 6 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 6 translation parameter.

Data Types: single | double

Rotor 7 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 7 translation parameter.

Data Types: single | double

Rotor 8 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 8 translation parameter.

Data Types: single | double

Sensor 1 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Sensor 1 translation parameter.

Data Types: single | double

Sensor 2 translation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Sensor 2 translation parameter.

Data Types: single | double

Body rotation, specified as a 1-by-3 matrix.

Data Types: single | double

Rotor 1 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 1 rotation parameter.

Data Types: single | double

Rotor 2 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 2 rotation parameter.

Data Types: single | double

Rotor 3 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 3 rotation parameter.

Data Types: single | double

Rotor 4 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 4 rotation parameter.

Data Types: single | double

Rotor 5 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 5 rotation parameter.

Data Types: single | double

Rotor 6 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 6 rotation parameter.

Data Types: single | double

Rotor 7 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 7 rotation parameter.

Data Types: single | double

Rotor 8 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Rotor 8 rotation parameter.

Data Types: single | double

Sensor 1 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Sensor 1 rotation parameter.

Data Types: single | double

Sensor 2 rotation, specified as a 1-by-3 matrix.

Dependencies

To enable this port, select the Sensor 2 rotation parameter.

Data Types: single | double

Output

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Rotorcraft translation for multirotor, returned as an 11-by-3 array. The signal contains translation [X, Y, Z], in meters, with one row of the array for each bone of the rotorcraft.

The translation applies to these bones of the Multirotor type.

BoneIndex

BODY

1

ROTOR1

2

ROTOR2

3

ROTOR3

4

ROTOR4

5

ROTOR5

6

ROTOR6

7

ROTOR7

8

ROTOR8

9

SENSOR1

10

SENSOR2

11

Rotorcraft rotation for multirotor, returned as an 11-by-3 array:

The rotation applies to the same bones as listed for the Translation port.

The signal contains the rotation [roll, pitch, yaw], in radians, with one row of the array for each bone of the rotorcraft.

Parameters

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Propulsion

Select this parameter to enable the Rotor1_T input port.

Programmatic Use

Block Parameter: Rotor1_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor2_T input port.

Programmatic Use

Block Parameter: Rotor2_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor3_T input port.

Programmatic Use

Block Parameter: Rotor3_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor4_T input port.

Programmatic Use

Block Parameter: Rotor4_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor5_T input port.

Programmatic Use

Block Parameter: Rotor5_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor6_T input port.

Programmatic Use

Block Parameter: Rotor6_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor7_T input port.

Programmatic Use

Block Parameter: Rotor7_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor8_T input port.

Programmatic Use

Block Parameter: Rotor8_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor1_R input port.

Programmatic Use

Block Parameter: Rotor1_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor2_R input port.

Programmatic Use

Block Parameter: Rotor2_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor3_R input port.

Programmatic Use

Block Parameter: Rotor3_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor4_R input port.

Programmatic Use

Block Parameter: Rotor4_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor5_R input port.

Programmatic Use

Block Parameter: Rotor5_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor6_R input port.

Programmatic Use

Block Parameter: Rotor6_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor7_R input port.

Programmatic Use

Block Parameter: Rotor7_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Rotor8_R input port.

Programmatic Use

Block Parameter: Rotor8_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Sensors

Select this parameter to enable the Sensor1_T input port.

Programmatic Use

Block Parameter: Sensor1_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Sensor2_T input port.

Programmatic Use

Block Parameter: Sensor2_T
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Sensor1_R input port.

Programmatic Use

Block Parameter: Sensor1_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Select this parameter to enable the Sensor2_R input port.

Programmatic Use

Block Parameter: Sensor2_R
Type: character vector
Values: 'on' | 'off'
Default: 'off'

Input

Option to use alternative input coordinate frame to position aerospace vehicles. When this parameter is cleared, no transformations are performed on the input data.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter: EnableUETransform
Values: 'on' (default) | 'off'

Select the input coordinate frame to position aerospace vehicles with respect to north-east-down (NED), fixed-frame (Fixed-frame), or International Celestial Reference Frame (ICRF). The coordinate frame graphic reflects the selected input coordinate frame.

If the model contains an associated Simulation 3D Scene Configuration block, Simulation 3D Multirotor Pack block uses the coordinate frame of the Simulation 3D Scene Configuration. In this case, the Select input coordinate frame might be disabled. For more information about the Simulation 3D Multirotor Pack block coordinate frame, see Algorithms.

Dependencies

To enable this parameter, select the Use alternative input coordinate frame parameter.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter: GeoRadioButton
Values: 'NED' (default) | 'Fixed-frame' | 'ICRF'

Option to apply a fixed Euler rotation offset to the vehicle attitude. When you select this parameter, you can specify roll, pitch, and yaw offset values. The rotation offset is applied after the base coordinate frame transform, in ZYX order (yaw first, then pitch, then roll).

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter: EnableRotationOffset
Values: 'off' (default) | 'on'

Fixed Euler rotation offset to apply to the vehicle attitude, specified as a 1-by-3 vector of [roll, pitch, yaw] values in degrees. The rotation is applied after the base coordinate frame transform, in ZYX order (yaw first, then pitch, then roll).

Dependencies

To enable this parameter, select the Specify rotation offset parameter.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter: RotationOffset
Values: '[0,0,0]' (default)

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"aerolibsim3d/Simulation 3D Multirotor Pack"

Example: add_block("aerolibsim3d/Simulation 3D Multirotor Pack","myModel/myBlock",MakeNameUnique="on")

For information about programmatic access to individual block parameters, see the Programmatic Use section of parameter descriptions on this page.

Algorithms

If a model contains a Simulation 3D Multirotor Pack block and an associated Simulation 3D Scene Configuration block, the Input tab options of Simulation 3D Multirotor Pack block might be disabled. In this case, the Simulation 3D Multirotor Pack block synchronizes its coordinate system with the scene specified for the Simulation 3D Scene Configuration block if the scene appears in this table.

Simulation 3D Scene Configuration Block SceneSimulation 3D Multirotor Pack Coordinate System

Airport, Apple Hill, Griffiss Airport, and Underwater

NED

Earth, Moon, and Space

ICRF

Geospatial with LLA origin

NED

Geospatial with tileset center origin

Fixed-frame

For more information on ICRF and fixed-frame coordinate systems, see ECI and ECEF Coordinates.

The Simulation 3D Multirotor Pack block does not synchronize with any other scene selections in the Simulation 3D Scene Configuration block.

Version History

Introduced in R2023b

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See Also

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