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UAV Algorithms

Guidance models and waypoint following for unmanned aerial vehicles (UAVs)

Unmanned aerial vehicles (UAVs) can be modeled and controlled using UAV Library for Robotics System Toolbox™ functions, objects, and blocks. You can simulate a reduced-order guidance model for fixed-wing and multirotor UAVs that approximates a closed-loop autopilot controller with a kinematic model. Generate control commands, UAV states, and environmental inputs using the given functions. A waypoint follower is also provided to execute flight missions based on pre-defined waypoints.

Note

Using UAV Algorithms requires you to install the UAV Library for Robotics System Toolbox. To install add-ons, use roboticsAddons and select the desired add-on.

Functions

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Install Add-ons

roboticsAddons Install add-ons for robotics

UAV Variable Inputs

`control`	Control commands for UAV
`derivative`	Time derivative of UAV states
`environment`	Environmental inputs for UAV
`state`	UAV state vector

MAVLink Dialect

`mavlinkdialect`	Parse and store MAVLink dialect XML
`createmsg`	Create MAVLink message
`createcmd`	Create MAVLink command message
`deserializemsg`	Deserialize MAVLink message from binary buffer
`msginfo`	Message definition for message ID
`enuminfo`	Enum definition for enum ID
`enum2num`	Enum value for given entry
`num2enum`	Enum entry for given value

MAVLink Communication

`mavlinkio`	Connect with MAVLink clients to exchange messages
`connect`	Connect to MAVLink clients through UDP port
`disconnect`	Disconnect from MAVLink clients
`sendmsg`	Send MAVLink message
`sendudpmsg`	Send MAVLink message to UDP port
`serializemsg`	Serialize MAVLink message to binary buffer
`listConnections`	List all active MAVLink connections
`listClients`	List all connected MAVLink clients
`listTopics`	List all topics received by MAVLink client

MAVLink Subscriber

`mavlinksub`	Receive MAVLink messages
`latestmsgs`	Received messages from MAVLink subscriber

MAVLink tlogs

`mavlinktlog`	Read MAVLink message from tlog file
`readmsg`	Read specific messages from tlog file

Plot Transforms

plotTransforms Plot 3-D transforms from translations and rotations

Objects

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Guidance And Control

`multirotor`	Guidance model for multirotor UAVs
`fixedwing`	Guidance model for fixed-wing UAVs
`uavWaypointFollower`	Follow waypoints for UAV
`uavOrbitFollower`	Orbit location of interest using a UAV

MAVLink

`mavlinkdialect`	Parse and store MAVLink dialect XML
`mavlinkio`	Connect with MAVLink clients to exchange messages
`mavlinksub`	Receive MAVLink messages
`mavlinkclient`	MAVLink client information
`mavlinktlog`	Read MAVLink message from tlog file

Blocks

UAV Animation	Animate UAV flight path using translations and rotations
UAV Guidance Model	Reduced-order model for UAV
Waypoint Follower	Follow waypoints for UAV
Orbit Follower	Orbit location of interest using UAV

Topics

Approximate High-Fidelity UAV model with UAV Guidance Model block

Simulation models often need different levels of fidelity during different development stages.

Tuning Waypoint Follower for Fixed-Wing UAV

This example designs a waypoint following controller for a fixed-wing unmanned aerial vehicle (UAV) using the UAV Guidance Model and Waypoint Follower blocks from the UAV Library for Robotics System Toolbox.

Load and Playback MAVLink TLOG

This example shows how to load a telemetry log (TLOG) containing MAVLink packets into MATLAB®.

Use a MAVLink Parameter Protocol for Tuning UAV Parameters in MATLAB

This example shows how to use a MAVLink parameter protocol in MATLAB and communicate with external ground control stations.