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How to change waypoints while running the simulation model when using UAV toolbox(Path Manager)?

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SHICHEN HU
SHICHEN HU on 7 May 2021
Commented: Jianxin Sun on 12 Aug 2021
I want to achieve a flight path like this:
There are some cars along the road, once the UAV has detected a car, it would fly towards the car, otherwise it would fly along the road.
I am trying to modify the UAV package delivery example(https://ww2.mathworks.cn/help/uav/ug/uav-package-delivery.html) to achieve this in simulink.
But it seems that the PathManager block only receive the waypoint set once.
For example,
Here I have 12 waypoints along the road, the first waypoint pair is (point1,point2), if there is no car along this road,
then the next waypoint pair is (point2, point3)
But when I change the value of GCScommands in the Multirotor block, it didn't recieve the value.
(I changed the value directly from the data dictionary)
After the UAV reach point2, it will stuck at there instead of moving forward, even I have changed the value of GCSCommands into (point2,point3).
It will still take the first 2 points as waypoints.
How can I solve this?

Accepted Answer

Jianxin Sun
Jianxin Sun on 10 May 2021
Hi Shichen,
Mission data is loaded in "uavPackageDelivery/Ground Control Station/Get Flight Mission/noQGC" subsystem when model simulation starts in this example. If you want to dynamically update the mission, you can modify this subsystem to accept run time changes. Alternatviely, you can add a state machine before the control reaches "uavPackageDelivery/Multirotor (MultirotorModel)/Guidance Logic/Full Guidance Logic/Guidance Stateflow" subsystem and switch to alternative control modes when you detect a car.
Thanks,
Jianxin
  5 Comments
Jianxin Sun
Jianxin Sun on 12 Aug 2021
Hi Robert,
I tried your modification. I think you need to explict set the data type for your MATLAB function block output. It should be set to Bus:uavPathManagerBus type like the screenshot shown below. You can refer to https://www.mathworks.com/help/simulink/ug/ports-and-data-manager.html to find out how to open the dialog below for MATLAB function block.
Thanks,
Jianxin

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