uavMission

Mission data for UAV flight

Description

The uavMission object stores UAV mission data that can be used to generate flight trajectories for use in UAV scenario simulation.

Creation

Syntax

M = uavMission

M = uavMission(PlanFile=file)

M = uavMission(___,Name=Value)

Description

M = uavMission creates an empty mission, M.

M = uavMission(PlanFile=file) creates a mission from the specified mission plan file file.

M = uavMission(___,Name=Value) specifies properties using one or more name-value arguments in addition to any combination of input arguments from previous syntaxes.

Input Arguments

file — Mission plan file path

string scalar | character vector

Mission plan file path, specified as a string scalar or character vector. You must specify either a PX4 Mission JSON file (.plan) or MAVLink waypoints file (.waypoints).

Example: uavMission(PlanFile="documents/matlab/uavwpts.waypoints")

Data Types: char | string

Properties

HomeLocation — Home location

[0 0 0] (default) | three-element row vector

Home location, specified as a three-element row vector of the form [latitude longitude altitude]. The first two elements specify the latitude and longitude, respectively, of the UAV starting location in degrees, and the third specifies the starting altitude of the UAV in meters.

Example: uavMission(HomeLocation=[4 2 10])

InitialYaw — Initial yaw angle

0 (default) | numeric scalar

Initial yaw angle, specified as a numeric scalar. This property specifies the angle between the x-axis of the UAV and north direction in the local NED frame of the mission's home location, in degrees.

Example: uavMission(InitialYaw=45)

Speed — Reference speed of UAV

8 (default) | numeric scalar

Reference speed of the UAV, specified as a numeric scalar in meters per second.

Example: uavMission(Speed=5)

Data Types: double

Frame — Mission waypoint reference frame

"Global" (default) | "GlobalRelativeAlt" | "LocalENU" | "LocalNED"

Mission waypoint reference frame, specified as one of these values:

• "Global" — Global reference frame

• "GlobalRelativeAlt" — Global reference frame with an altitude relative to the home location

• "LocalENU" — Local east-north-up (ENU) reference frame

• "LocalNED" — Local north-east-down (NED) reference frame

Example: uavMission(Frame="Global")

Data Types: char | string

NumMissionItems — Number of mission items

0 (default) | nonnegative integer

Number of mission items stored as a nonnegative integer. NumMissionItems increments each time a mission item is added to the mission.

This property is read-only.

Object Functions

addChangeSpeed	Add change speed mission item
addHover	Add hover mission item
addLand	Add landing mission item
addLoiter	Add loiter mission item
addTakeoff	Add takeoff mission item
addWaypoint	Add waypoint mission item
copy	Copy UAV Mission
removeItem	Remove mission items at specified indices
show	Visualize UAV mission
showdetails	UAV mission data table

Examples

Generate Flight Trajectory for UAV Mission

Create a UAV mission by using the flight plan stored in a .plan file and show the mission.

mission = uavMission(PlanFile="flight.plan");
show(mission);

Create parsers for a multirotor UAV and a fixed-wing UAV.

mrmParser = multirotorMissionParser(TransitionRadius=2,TakeoffSpeed=2);
fwmParser = fixedwingMissionParser(TransitionRadius=15,TakeoffPitch=10);

Generate one flight trajectory using each parser.

mrmTraj = parse(mrmParser,mission);
fwmTraj = parse(fwmParser,mission);

Visualize the mission and the flight trajectories separately.

figure
subplot(1,2,1)
show(mrmTraj);
title("Multirotor Trajectory")
axis square
subplot(1,2,2)
show(fwmTraj);
title("Fixed-Wing Trajectory")
axis square

Plot the mission and flight trajectories overlapping.

figure
show(mission);
hold on
show(mrmTraj);
hold off
title("Mission Using Multirotor Trajectory")
axis square

show(mission);
hold on
show(fwmTraj);
hold off
title("Mission Using Fixed-Wing Trajectory")
axis square

Create UAV Mission Manually

Create a UAV mission object with a home location at the origin of the local ENU coordinate frame and an initial speed of 5 meters per second.

m = uavMission(Frame="LocalENU",HomeLocation=[0 0 0],Speed=5)

m = 
  uavMission with properties:

       HomeLocation: [0 0 0]
         InitialYaw: 0
              Frame: "LocalENU"
              Speed: 5
    NumMissionItems: 0

Add a takeoff mission item to the mission with an altitude of 25 meters, pitch of 15 degrees, and yaw of 0 degrees.

addTakeoff(m,20,Pitch=15,Yaw=0);

Add two waypoint mission items to the mission. Between the two waypoints, increase the speed of the UAV to 20 meters per second. After the second waypoint, reduce the speed of the UAV back to 5 meters per second.

addWaypoint(m,[10 0 30]);
addChangeSpeed(m,20)
addWaypoint(m,[20 0 40]);
addChangeSpeed(m,5)
addWaypoint(m,[30 0 50])

Add loiter and hover mission items to the mission, specifying for the UAV to loiter and hover around the second waypoint at a radius of 50 meters for 20 seconds each.

addLoiter(m,[40 0 60],10,20);
addHover(m,[50 0 70],10,20);

Add a landing mission item to the mission to land the UAV.

addLand(m,[70 0 0],Yaw=0);

Show the mission item data table.

showdetails(m)

Remove the hover action at index 7, and then add another waypoint at index 8 after the hover item moves to index 7. Show the mission details table again to see the changes.

removeItem(m,7);
addWaypoint(m,[65 0 70],InsertAtRow=8);
showdetails(m)

Visualize the mission.

show(m);
axis equal

Version History

Introduced in R2022b