Simulation 3D Multirotor Pack

Generate translation and rotation information for multirotor rotorcraft

Since R2023b

expand all in page

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'

Input

Select input coordinate frame — Input coordinate frame
`NED` (default) | `Fixed-frame` | `ICRF`

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).

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.

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'`

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 Scene	Simulation 3D Multirotor Pack Coordinate System
`Airport`	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

R2025a: Simulation 3D Multirotor Pack block now synchronizes coordinate frame with Simulation 3D Scene Configuration block

The Simulation 3D Multirotor Pack block has these changes:

The Geospatial tab was renamed to Input tab.
On the Input tab, the Select input coordinate frame pane now contains these coordinate frame buttons:
- Fixed-frame — Fixed-frame coordinate frame. When you select this coordinate frame, the annotation Fixed-frame appears under the pack block icons.
- ICRF — International Celestial Reference Frame coordinate frame. When you select this coordinate frame, the annotation ICRF appears under the pack block icons.
- NED — North-east-down coordinate frame. When you select this coordinate frame, the annotation NED appears under the pack block icons.
If a model contains a Simulation 3D pack block and an associated Simulation 3D Scene Configuration block, the Input tab options of Simulation 3D Multirotor Pack might be disabled. In this case, the Simulation 3D Multirotor Pack synchronizes coordinate systems with the Simulation 3D Scene Configuration block.
The coordinate system displays as an annotation under the block.
The Enable geospatial correction and Direction of x-axis (degrees clockwise from north) parameters have been removed.

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.

See Also

Simulation 3D Rotorcraft | Simulation 3D Scene Configuration