I need to learn how to use this code. I'm trying to implement it in MATLAB. I'm having trouble getting the plane to assume a higher altitude.

Question

DJ V 2024-5-31

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2124511-i-need-to-learn-how-to-use-this-code-i-m-trying-to-implement-it-in-matlab-i-m-having-trouble-get

评论： Manikanta Aditya 2024-6-1

I'm having trouble getting the plane to assume a higher altitude. Can anyone please look for the comment in the top section that is associated with assigning a variable a value, remove the comment, and see what the software does? Thank you. I have never dealt with "handles" before, and I need a quick course on the subject.

pn=0;

pe=0;

pd=0;

phi=0;

theta=0;

psi=0;

handle=[];

%Simulation parameters

dpn=0.5; %Change in position.

dpsi=0.01; %Change in yaw angle.

simlength=150;%Number of Sim Steps

%Draw and update the plane's position.

for k = 1:simlength

pn = pn+dpn;

pe = pe+dpn;

%THE CODE THAT PRODUCES A PROBLEM IS BELOW

%pd = pd +.1;

psi = psi+dpsi;

%Draw or update the plane.

handle = drawPlaneBody(pn,pe,pd,phi,theta,psi,handle);

pause(0.1); %Pause to visualize the movement

end

function handle = drawPlaneBody(pn,pe,pd,phi,theta,psi,handle)

%define points on plane in local NED coordintates

NED = airplanepoints;

%rotate plane by (phi; theta; psi)

NED = rotate(NED, phi, theta, psi);

%translate plane to [pn; pe; pd]

NED = translate(NED, pn, pe, pd);

%transform vertices from NED to XYZ

R = [...

0, 1, 0;...

1, 0 , 0;...

0, 0, -1;...

];

XYZ = R* NED';

%plot plane

if isempty(handle)

handle = plot3(XYZ(1,:),XYZ(2,:),XYZ(3,:),'b');

xlim([-100 100]);

ylim([-100 100]);

zlim([0 100]);

grid on;%show grid

xlabel('X');ylabel('Y');zlabel('Z');%label axes

else

set(handle, 'XData', XYZ(1,:), 'YData',XYZ(2,:), 'ZData',XYZ(3,:));

drawnow

end

function XYZ = airplanepoints

%define points on the aircraft in local NED

XYZ = [...

0 0 0;%point1

-2 1 1;%point2

-2 1 -1;%point3

0 0 0;%point1

-2 -1 1;%point4

-2 -1 -1;%point5

0 0 0;%point1

-2 1 1;%point2

-2 -1 1;%point4

0 0 0;%point1

-2 1 -1;%point3

-2 -1 -1;%point5

0 0 0;%point1

-2 1 1;%point2

-18 0 0;%point6

-2 1 -1;%point3

-18 0 0;%point6

-2 -1 -1;%point5

-18 0 0;%point6

-2 -1 1;%point4

-18 0 0;%point6

-2 1 1;%point2

0 0 0;%point1

-5 0 0;%point7

-5 -10 0;%point8

-8 -10 0;%point9

-8 10 0;%point10

-5 10 0;%point11

-5 0 0;%point7

-15.5 0 0;%point12

-15.5 2 0;%point13

-17.5 2 0;%point14

-17.5 -2 0;%point15

-15.5 -2 0;%point16

-15.5 0 0;%point12

-18 0 0;%point6

-18 0 -3;%point17

-15.5 0 0;%point15

-18 0 0;%point16

];

end

function XYZ=rotate(XYZ,phi,theta,psi)

%define rotation matrix

R_roll = [

1, 0, 0;

0, cos(phi), -sin(phi);

0, sin(phi), cos(phi)];

R_pitch = [

cos(theta), 0, sin(theta);

0, 1, 0;

-sin(theta), 0, cos(theta)];

R_yaw = [

cos(psi), -sin(psi), 0;

sin(psi), cos(psi), 0;

0, 0, 1];

R = R_roll*R_pitch*R_yaw;

%rotate vertices

XYZ =R*XYZ';

XYZ = XYZ';

end

function XYZ = translate(XYZ, pn, pe, pd)

XYZ = XYZ' + repmat([pn;pe;pd],1,size(XYZ,1));

XYZ=XYZ';

end

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

Answer 1

Manikanta Aditya 2024-6-1

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/2124511-i-need-to-learn-how-to-use-this-code-i-m-trying-to-implement-it-in-matlab-i-m-having-trouble-get#answer_1466126

在 MATLAB Online 中打开

Hi @DJ V

The issue you’re facing is due to the commented line of code that changes the altitude (pd) of the plane. If you uncomment the line pd = pd +.1;, the plane will start to change its altitude.

Here’s the code:

pn=0;
pe=0;
pd=0;
phi=0;
theta=0;
psi=0;
handle=[];
%Simulation parameters
dpn=0.5; %Change in position.
dpsi=0.01; %Change in yaw angle.
simlength=150;%Number of Sim Steps
%Draw and update the plane's position.
for k = 1:simlength
    pn = pn+dpn;
    pe = pe+dpn;
    pd = pd +.1; %Uncommented this line
    psi = psi+dpsi;
    %Draw or update the plane.
    handle = drawPlaneBody(pn,pe,pd,phi,theta,psi,handle);
    pause(0.1); %Pause to visualize the movement
end
% Rest of the code remains the same

As for the “handles”, in MATLAB, a handle is a variable that you can use to access graphics objects (like plots, lines, surfaces, etc.). In your code, handle is used to store the handle of the plot created by plot3 function.

This handle is then used to update the plot in subsequent iterations of the loop. If handle is empty (i.e., the plot has not been created yet), a new plot is created. Otherwise, the existing plot is updated with new data. This is done using the set function.

Hope this helps.

3 个评论
显示 1更早的评论隐藏 1更早的评论

DJ V 2024-6-1

移动：Stephen23 2024-6-1

The new code that works.

pn=0;

pe=0;

pd=0;

phi=0;

theta=0;

psi=0;

handle=[];

%Simulation parameters

dpn=0.5; %Change in position.

dpsi=0.01; %Change in yaw angle.

simlength=150;%Number of Sim Steps

%Draw and update the plane's position.

for k = 1:simlength

pn = pn+dpn;

pe = pe+dpn;

%THE CODE THAT PRODUCES A PROBLEM IS BELOW

pd = pd -1;

psi = psi+dpsi;

%Draw or update the plane.

handle = drawPlaneBody(pn,pe,pd,phi,theta,psi,handle);

pause(0.1); %Pause to visualize the movement

end

Manikanta Aditya 2024-6-1

Thanks for sharing @DJ V!

请先登录，再进行评论。

I need to learn how to use this code. I'm trying to implement it in MATLAB. I'm having trouble getting the plane to assume a higher altitude.

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

回答（1 个）

3 个评论
显示 1更早的评论隐藏 1更早的评论

另请参阅

类别

标签

产品

版本

Community Treasure Hunt

I need to learn how to use this code. I'm trying to implement it in MATLAB. I'm having trouble getting the plane to assume a higher altitude.

0 个评论 显示 -2更早的评论隐藏 -2更早的评论

回答（1 个）

3 个评论 显示 1更早的评论隐藏 1更早的评论

另请参阅

类别

标签

产品

版本

Community Treasure Hunt

0 个评论
显示 -2更早的评论隐藏 -2更早的评论

3 个评论
显示 1更早的评论隐藏 1更早的评论