As part of developing a new graduate level Guidance, Navigation, and Control course at Embry-Riddle Aeronautical University, a Simulink blockset has been developed that will allow students to work solely in Matlab/Simulink for the development of GNC code. This code can be downloaded directly to the ArduPilot 2.0 integrated sensor and processing package allowing the students to easily develop small unmanned aerial vehicles. The blockset is useful in that it eliminates the requirement to have a knowledgeable programmer, and a knowledgeable electrical engineer to integrate hardware and software with the airframe. The included guide is intended to describe the functionality of the blockset, provide recommendations for how to implement control designs, and steps on how to embed the code onto the ArduPilot directly from Simulink. The blockset is in early development and there is room for improvement; it is expected that future students or the academic community as a whole will advance the capabilities going forward.
This blockset uses the new Run-On-Target-Hardware feature that first appeared in Matlab 2012a which allows Simulink users to auto-generate code from a Simulink model for select hardware targets. This feature was previously only available to owners of Simulink Coder and other similar toolboxes.
For more information, please see the HowTo document included in the .zip file. The authors of the blockset may be reached at:
Robert Hartley (2023). APM2 Simulink Blockset (https://www.mathworks.com/matlabcentral/fileexchange/39037-apm2-simulink-blockset), MATLAB Central File Exchange. 检索来源 .
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