Path Manager

Compute and execute a UAV autonomous mission

Since R2020b

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Libraries:
UAV Toolbox / Algorithms

Description

The Path Manager block computes mission parameters for an unmanned aerial vehicle (UAV) by sequentially switching between mission points specified in the MissionData input port. The MissionCmd input port changes the execution order at runtime. The block supports both multirotor and fixed-wing UAV types.

Ports

Input

Pose — Current UAV pose

four-element column vector

Current UAV pose, specified as a four-element column vector of [x;y;z;courseAngle]. x, y, and z is the current position of the UAV in north-east-down (NED) coordinates specified in meters. courseAngle specifies the course angle in radians in the range [-pi, pi].

Data Types: single | double

MissionData — UAV mission data

UAVPathManagerBus bus

UAV mission data, specified as a UAVPathManagerBus bus. The UAVPathManagerBus bus has the three bus elements mode, position, and params.

You can use the Constant (Simulink) block to specify the mission data as an n-by-1 array of structures and set the output data type to Bus:UAVPathManagerBus. n is the number of mission points. The fields of each structure are:

• mode — Mode of the mission point, specified as an 8-bit unsigned integer between 1 and 6.

• position — Position of the mission point, specified as a three-element column vector of [x;y;z]. x, y, and z is the position in north-east-down (NED) coordinates specified in meters.

• params — Parameters of the mission point, specified as a four-element column vector.

The values assigned to the fields, in turn, are assigned to their corresponding bus elements in the UAVPathManagerBus bus.

This table describes the types of mode and the corresponding values for the position and params fields in a mission point structure.

mode	position	params	Mode description
uint8(1)	[x;y;z]	[p1;p2;p3;p4]	Takeoff — Take off from the ground and travel toward the specified position
uint8(2)	[x;y;z]	[yaw;radius;p3;p4] yaw — Yaw angle in radians in the range [-pi, pi] radius — Transition radius in meters	Waypoint — Navigate to waypoint
uint8(3)	[x;y;z] x, y, and z is the center of the circular orbit in NED coordinates specified in meters	[radius;turnDir;numTurns;p4] radius — Radius of the orbit in meters turnDir — Turn direction, specified as one of these: 1 — Clockwise turn —1 — Counter-clockwise turn 0 — Automatic selection of turn direction numTurns — Number of turns	Orbit — Orbit along the circumference of a circle defined by the parameters
uint8(4)	[x;y;z]	[p1;p2;p3;p4]	Land — Land at the specified position
uint8(5)	[x;y;z] The launch position is specified in the Home input port	[p1;p2;p3;p4]	RTL — Return to launch position
uint8(6)	[x;y;z]	[p1;p2;p3;p4] p1, p2, p3, and p4 are user-specified parameters corresponding to a custom mission point	Custom — Custom mission point

Note

p1, p2, p3, and p4 are user-specified parameters.

Example: [struct('mode',uint8(1),'position',[0;0;100],'params',[0;0;0;0])]

Data Types: bus

IsModeDone — Determine if mission point was executed

0 (default) | 1

Determine if the mission point was executed, specified as 0 (false) or 1 (true).

Data Types: Boolean

MissionCmd — Command to change mission

uint8(0) (default) | 8-bit unsigned integer between 0 and 3

Command to change mission at runtime, specified as an 8-bit unsigned integer between 0 and 3.

This table describes the possible mission commands.

Mission Command	Description
uint8(0)	Default — Execute the mission from first to the last mission point in the sequence
uint8(1)	Hold — Hold at the current mission point Loiter around the current position for fixed-wing and hover at the current position for multirotor UAVs
uint8(2)	Repeat — Repeat the mission after reaching the last mission point
uint8(3)	RTL — Execute return to launch (RTL) mode After RTL, the mission resumes if the MissionCmd input is changed to Default or Repeat

Data Types: uint8

Home — UAV home location

three-element column vector

UAV home location, specified as a three-element column vector of [x;y;z]. x, y, and z is the position in north-east-down (NED) coordinates specified in meters.

Data Types: single | double

Output

MissionParams — UAV mission parameters

UAVPathManagerBus bus

UAV mission parameters, returned as a 2-by-1 array of buses of the type UAVPathManagerBus. The first element of the bus array is the current mission point, and the second element of the bus array is the previous mission point.

This table describes the output mission parameters depending on the mission mode.

Current Mission Mode	Output Mission Parameters
	Mission Points	mode	position	params
Takeoff	First bus element: Current	uint8(1)	[x;y;z]	[p1;p2;p3;p4]
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point
Waypoint	First bus element: Current	uint8(2)	[x;y;z]	[yaw;radius;p3;p4] yaw — Yaw angle in radians in the range [-pi, pi] radius — Transition radius in meters
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	[yaw;radius;p3;p4] if the previous mission point was Takeoff [courseAngle;25;p3;p4] otherwise courseAngle — Angle of the line segment between the previous and the current position, specified in radians in the range [-pi, pi]
Orbit	First bus element: Current	uint8(3)	[x;y;z] x, y, and z is the center of the circular orbit in NED coordinates specified in meters	[radius;turnDir;numTurns;p4] radius — Radius of the orbit in meters turnDir — Turn direction, specified as one of these: 1 — Clockwise turn —1 — Counter-clockwise turn 0 — Automatic selection of turn direction numTurns — Number of turns
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point
Land	First bus element: Current	uint8(4)	[x;y;z]	[p1;p2;p3;p4]
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point
RTL	First bus element: Current	uint8(5)	[x;y;z] The launch position is specified in the Home input port	[p1;p2;p3;p4]
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point
Custom	First bus element: Current	uint8(6)	[x;y;z]	[p1;p2;p3;p4] p1, p2, p3, and p4 are user-specified parameters corresponding to a custom mission point
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point

Note

p1, p2, p3, and p4 are user-specified parameters.

At start of simulation, the previous mission point is set to the Armed mode.

mode	position	params
uint8(0)	[x;y;z] position of the UAV at simulation start.	[-1;-1;-1;-1]

Set the end mission point to RTL or Land mode, else the end mission point is automatically set to Hold mode.

This table describes the output mission parameters when the input to the MissionCmd input port is set to Hold mode.

UAV Type	Output Mission Parameters
	Mission Points	mode	position	params
Multirotor	First bus element: Current	uint8(7)	[x;y;z]	[-1;-1;-1;-1]
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point
Fixed-Wing	First bus element: Current	uint8(7)	[x;y;z] x, y, and z is the center of the circular orbit in NED coordinates specified in meters	[radius;turnDir;-1;-1] radius — Loiter radius is specified in the Loiter radius parameter turnDir — Turn direction is specified as 0 for automatic selection of turn direction
	Second bus element: Previous	mode of the previous mission point	position of the previous mission point	params of the previous mission point

Data Types: bus

Parameters

UAV type — Type of UAV

multirotor (default) | fixed-wing

Type of UAV, specified as either multirotor or fixed-wing.

Tunable: No

Loiter radius — Loiter radius for fixed-wing UAV

25 (default) | positive numeric scalar

Loiter radius for the fixed-wing UAV, specified as a positive numeric scalar in meters.

Dependencies: To enable this parameter, set the UAV type parameter to fixed-wing.

Tunable: No

Data type — Data type of input mission bus

double (default) | single

Data type of the input mission bus, specified as either double or single.

Tunable: No

Mission bus name — Name of input mission bus

'UAVPathManagerBus' (default)

Name of the input mission bus, specified as 'UAVPathManagerBus'.

Tunable: No

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2020b