Simulation 3D Multirotor Pack

Generate translation and rotation information for multirotor rotorcraft

Since R2023b

• 

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

Body_T — Body translation

1-by-3 matrix

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

Data Types: single | double

Rotor1_T — Rotor 1 translation

1-by-3 matrix

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

Rotor2_T — Rotor 2 translation

1-by-3 matrix

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

Rotor3_T — Rotor 3 translation

1-by-3 matrix

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

Rotor4_T — Rotor 4 translation

1-by-3 matrix

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

Rotor5_T — Rotor 5 translation

1-by-3 matrix

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

Rotor6_T — Rotor 6 translation

1-by-3 matrix

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

Rotor7_T — Rotor 7 translation

1-by-3 matrix

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

Rotor8_T — Rotor 8 translation

1-by-3 matrix

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

Sensor1_T — Sensor 1 translation

1-by-3 matrix

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

Sensor2_T — Sensor 2 translation

1-by-3 matrix

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_R — Body rotation

1-by-3 matrix

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

Data Types: single | double

Rotor1_R — Rotor 1 rotation

1-by-3 matrix

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

Rotor2_R — Rotor 2 rotation

1-by-3 matrix

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

Rotor3_R — Rotor 3 rotation

1-by-3 matrix

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

Rotor4_R — Rotor 4 rotation

1-by-3 matrix

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

Rotor5_R — Rotor 5 rotation

1-by-3 matrix

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

Rotor6_R — Rotor 6 rotation

1-by-3 matrix

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

Rotor7_R — Rotor 7 rotation

1-by-3 matrix

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

Rotor8_R — Rotor 8 rotation

1-by-3 matrix

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

Sensor1_R — Sensor 1 rotation

1-by-3 matrix

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

Sensor2_R — Sensor 2 rotation

1-by-3 matrix

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

Translation — Multirotor translation

11-by-3 array

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.

Bone	Index
BODY	1
ROTOR1	2
ROTOR2	3
ROTOR3	4
ROTOR4	5
ROTOR5	6
ROTOR6	7
ROTOR7	8
ROTOR8	9
SENSOR1	10
SENSOR2	11

Rotation — Rotorcraft rotation

11-by-3 array

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

Propulsion

Rotor 1 translation — Option to enable Rotor1_T input port

off (default) | on

Select this parameter to enable the Rotor1_T input port.

Programmatic Use

Block Parameter: Rotor1_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 2 translation — Option to enable Rotor2_T input port

off (default) | on

Select this parameter to enable the Rotor2_T input port.

Programmatic Use

Block Parameter: Rotor2_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 3 translation — Option to enable Rotor3_T input port

off (default) | on

Select this parameter to enable the Rotor3_T input port.

Programmatic Use

Block Parameter: Rotor3_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 4 translation — Option to enable Rotor4_T input port

off (default) | on

Select this parameter to enable the Rotor4_T input port.

Programmatic Use

Block Parameter: Rotor4_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 5 translation — Option to enable Rotor5_T input port

off (default) | on

Select this parameter to enable the Rotor5_T input port.

Programmatic Use

Block Parameter: Rotor5_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 6 translation — Option to enable Rotor6_T input port

off (default) | on

Select this parameter to enable the Rotor6_T input port.

Programmatic Use

Block Parameter: Rotor6_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 7 translation — Option to enable Rotor7_T input port

off (default) | on

Select this parameter to enable the Rotor7_T input port.

Programmatic Use

Block Parameter: Rotor7_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 8 translation — Option to enable Rotor8_T input port

off (default) | on

Select this parameter to enable the Rotor8_T input port.

Programmatic Use

Block Parameter: Rotor8_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 1 rotation — Option to enable Rotor1_R input port

off (default) | on

Select this parameter to enable the Rotor1_R input port.

Programmatic Use

Block Parameter: Rotor1_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 2 rotation — Option to enable Rotor2_R input port

off (default) | on

Select this parameter to enable the Rotor2_R input port.

Programmatic Use

Block Parameter: Rotor2_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 3 rotation — Option to enable Rotor3_R input port

off (default) | on

Select this parameter to enable the Rotor3_R input port.

Programmatic Use

Block Parameter: Rotor3_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 4 rotation — Option to enable Rotor4_R input port

off (default) | on

Select this parameter to enable the Rotor4_R input port.

Programmatic Use

Block Parameter: Rotor4_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 5 rotation — Option to enable Rotor5_R input port

off (default) | on

Select this parameter to enable the Rotor5_R input port.

Programmatic Use

Block Parameter: Rotor5_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 6 rotation — Option to enable Rotor6_R input port

off (default) | on

Select this parameter to enable the Rotor6_R input port.

Programmatic Use

Block Parameter: Rotor6_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 7 rotation — Option to enable Rotor7_R input port

off (default) | on

Select this parameter to enable the Rotor7_R input port.

Programmatic Use

Block Parameter: Rotor7_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Rotor 8 rotation — Option to enable Rotor8_R input port

off (default) | on

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

Sensor 1 translation — Option to enable Sensor1_T input port

off (default) | on

Select this parameter to enable the Sensor1_T input port.

Programmatic Use

Block Parameter: Sensor1_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Sensor 2 translation — Option to enable Sensor2_T input port

off (default) | on

Select this parameter to enable the Sensor2_T input port.

Programmatic Use

Block Parameter: Sensor2_T

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Sensor 1 rotation — Option to enable Sensor1_R input port

off (default) | on

Select this parameter to enable the Sensor1_R input port.

Programmatic Use

Block Parameter: Sensor1_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Sensor 2 rotation — Option to enable Sensor2_R input port

off (default) | on

Select this parameter to enable the Sensor2_R input port.

Programmatic Use

Block Parameter: Sensor2_R

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Geospatial

Select input coordinate frame — Input coordinate frame

NED (default) | ECEF

Select the input coordinate frame to position aerospace vehicles with respect to north-east-down (NED) or the Earth center (ECEF). Use this parameter with the Use Earth center as origin (ECEF) parameter of the Simulation 3D Scene Configuration block.

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) | 'ECEF'

Enable geospatial correction — Option to enable geospatial correction

off (default) | on

Select this parameter to enable the geospatial correction to the input body translation and rotation.

Dependencies

To enable this parameter, set Select input coordinate frame to NED.

Programmatic Use

Block Parameter: AdjustForCesium

Type: character vector

Values: 'on' | 'off'

Default: 'off'

Direction of x-axis (degrees clockwise from north) — Compass direction of x-axis

90 (default) | real scalar

Specify the compass direction of the x-axis, specified as a real scalar, in degrees.

Dependencies

To enable this parameter:

• Set Select input coordinate frame to NED

• Select Enable geospatial correction

Programmatic Use

Block Parameter: Heading0

Type: character vector

Values: 90 | real scalar

Default: '90'

Version History

Introduced in R2023b

R2024a: Simulation 3D Multirotor Pack Block Now Supports Earth-centered Earth-fixed (ECEF) Input Coordinate Frame

To enable ECEF coordinate systems for translation input, the Simulation 3D Multirotor Pack block has been updated. Use these parameters with the Use Earth center as origin (ECEF) parameter in the Simulation 3D Scene Configuration block.

• Select input coordinate frame

  • ECEF — ECEF input coordinate frame. When you select this coordinate frame, the annotation Origin: Earth center (ECEF) appears under the pack block icons.

  • NED — NED coordinate frame. Prior to R2024a, NED was the only supported coordinate frame.

• Direction of x-axis (degrees clockwise from north) — Direction of the x-axis. This parameter is enabled when you select the Enable geospatial correction check box.