After you have completed Setup and Configuration, use the Code Generation Simulink® template to create a model to be deployed on your Parrot® minidrone hardware. This template is designed to spin the four motors on the drone cyclically for 2 seconds each. You can update this template to add your own logic to start the drone.
At the MATLAB® command prompt, type
On the Simulink Start Page, navigate to Simulink Support Package for Parrot Minidrones, and select Code Generation Template.
A Simulink model opens. This model is configured for code generation and contains two inports, two outports, and a subsystem block. For more information, see Inports in Code Generation Template and Outports and Signals in Code Generation Template.
The Code Generation Template is available only if you have installed Simulink Support Package for Parrot Minidrones. For more information, see Setup and Configuration.
The Code Generation Template model contains two inport blocks,
AC cmd and
AC cmd – This inport is connected to a
Bus Selector block that provides five output signals:
<controlModePosVSOrient> – Checks for
the presence of pitch and roll values in the
orient_ref signal. This signal is set to
true if both pitch and roll values are
<controlModePosVSOrient> signal can
be used to determine if the controller logic that drives the
drone uses orientation or position control. If one or both of
the pitch value or roll value is present, the drone will fly
based on those orientation values only, and it will ignore any
reference to the desired position of the drone specified using
<pos_ref> – An array representing
x-, y-, and
z-axes values (in meters) of the desired
position of the drone.
<takeoff_flag> – A flag that is set to
true for 1 second. After you execute the start command, there is
a calibration period for 2 seconds, after which the
<takeoff_flag> is set to true for 1
second. This flag is disabled after that 1-second period. This
flag can be used to include any additional logic that needs to
be considered when the motors on the drone start (for example,
to separate the logic required for take-off and
<orient_ref> – An array representing the
yaw, pitch, and roll values (in radians per second) that
determine the orientation of the drone.
<live_time_ticks> – This signal
represents a continuous counter that is incremented at the rate
of 5 ms (200 Hz frequency). This counter is present in the
control code that is running in the drone at every 5 ms. In
other words, the
is incremented by 200 each second.
In the Code Generation Template, the signals from the
cmd block are terminated. However, you can connect the
signals when you design a model based on the template.
Sensors – This inport is connected to a
Bus Selector that provides output signals that are derived from the
different sensors on the drone. The
Sensors inport is
further divided into
VisionSensors connects to a Bus Selector block
that provides three output signals:
<opticalFlow_data> – Obtains the
values of horizontal displacement of the drone based on
optical flow data. This signal can be used to estimate the
speed of the drone.
<posVIS_data> – Data from the image
processing thread that is running inside the drone, which in
turn is based on the data from the camera on the
Currently, the data from the image processing thread is
not passed to the
signal, so this signal returns zero values.
<usePOSVIS_flag> – A flag that
determines whether the
signal is to be used in the controller logic or not.
always set to false.
HALSensors connects to a Bus Selector block
that derives values from the Hardware Abstraction Layer (HAL) of the
drone. The signal values are obtained from the accelerometer,
gyroscope, pressure sensor, ultrasonic sensor, and battery:
<HAL_acc_SI> – An array
representing the acceleration of the drone (in ㎨) along
x-, y-, and
<HAL_gyro_SI> – An array
representing the angular velocity of the drone (in
radians per second) along x-,
<HAL_pressure_SI> – Atmospheric
pressure (in pascals) measured by the drone.
<HAL_ultrasound_SI> – Altitude
of the drone (in meters) measured using sonar.
<HAL_vbat_SI> – An array
representing the voltage of the battery (in volts) and
the percentage of charge remaining.
SensorCalibration provides calibrated values of
the different sensor values. The calibration is performed over 400
cycles (2 seconds), and you can obtain eight values that include:
calibrated x, y, and z values of acceleration
calibrated x, y, and z values of angular velocity
calibrated atmospheric pressure
The outports in the Code Generation template are:
Motors – This outport is used to send signals to
start the four motors on the drone.
In the Code Generation template, four Pulse Generator blocks are used to send signals to the four motors. The amplitude values in these blocks are set to 400, which spins the motors at the corresponding speed. A phase shift is also provided in the Pulse Generator so that the four motors spin cyclically for 2 seconds each.
When you design your own controller logic, the signals to the motors
can be derived from the output of controller logic. (Use 1-by-4 vector
as the input to the
Flag – This outport is used to set error conditions
that can be used to stop the flight of the drone (stop the motors). A
value of 0 indicates that there are no errors, and any nonzero value
indicates an error. You can model multiple error conditions in the
controller logic that correspond to multiple nonzero values that can be
fed as input to this flag.
For details about setting the hardware and deploying the model, see Setting Up the Hardware and Deploying the Model.