showdetails
Description
Examples
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)
ans=9×17 table
Idx Timestamp MissionType ParameterName1 ParameterValue1 ParameterName2 ParameterValue2 ParameterName3 ParameterValue3 ParameterName4 ParameterValue4 ParameterName5 ParameterValue5 ParameterName6 ParameterValue6 ParameterName7 ParameterValue7
___ _________ _____________ ______________ _______________ ______________ _______________ ______________ _______________ ______________ _______________ __________________ _______________ ______________ _______________ ______________ _______________
1 NaN "Takeoff" "Altitude" 20 "Pitch" 15 "Yaw" 0 "" NaN "" NaN "" NaN "" NaN
2 NaN "Waypoint" "X" 10 "Y" 0 "Z" 30 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
3 NaN "ChangeSpeed" "Speed" 20 "" NaN "" NaN "" NaN "" NaN "" NaN "" NaN
4 NaN "Waypoint" "X" 20 "Y" 0 "Z" 40 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
5 NaN "ChangeSpeed" "Speed" 5 "" NaN "" NaN "" NaN "" NaN "" NaN "" NaN
6 NaN "Waypoint" "X" 30 "Y" 0 "Z" 50 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
7 NaN "Loiter" "X" 40 "Y" 0 "Z" 60 "Radius" 10 "Duration" 20 "" NaN "" NaN
8 NaN "Hover" "X" 50 "Y" 0 "Z" 70 "Radius" 10 "Duration" 20 "" NaN "" NaN
9 NaN "Land" "X" 70 "Y" 0 "Z" 0 "Yaw" 0 "" NaN "" NaN "" NaN
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)
ans=9×17 table
Idx Timestamp MissionType ParameterName1 ParameterValue1 ParameterName2 ParameterValue2 ParameterName3 ParameterValue3 ParameterName4 ParameterValue4 ParameterName5 ParameterValue5 ParameterName6 ParameterValue6 ParameterName7 ParameterValue7
___ _________ _____________ ______________ _______________ ______________ _______________ ______________ _______________ ______________ _______________ __________________ _______________ ______________ _______________ ______________ _______________
1 NaN "Takeoff" "Altitude" 20 "Pitch" 15 "Yaw" 0 "" NaN "" NaN "" NaN "" NaN
2 NaN "Waypoint" "X" 10 "Y" 0 "Z" 30 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
3 NaN "ChangeSpeed" "Speed" 20 "" NaN "" NaN "" NaN "" NaN "" NaN "" NaN
4 NaN "Waypoint" "X" 20 "Y" 0 "Z" 40 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
5 NaN "ChangeSpeed" "Speed" 5 "" NaN "" NaN "" NaN "" NaN "" NaN "" NaN
6 NaN "Waypoint" "X" 30 "Y" 0 "Z" 50 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
7 NaN "Hover" "X" 50 "Y" 0 "Z" 70 "Radius" 10 "Duration" 20 "" NaN "" NaN
8 NaN "Waypoint" "X" 65 "Y" 0 "Z" 70 "Yaw" NaN "AcceptanceRadius" NaN "" NaN "" NaN
9 NaN "Land" "X" 70 "Y" 0 "Z" 0 "Yaw" 0 "" NaN "" NaN "" NaN
Visualize the mission.
show(m);
axis equal
Input Arguments
mission
— UAV mission
uavMission
object
UAV mission, specified as a uavMission
object.
Output Arguments
details
— Mission data table
table
Mission data table, returned as a table.
Data Types: table
Version History
Introduced in R2022b
See Also
Objects
Functions
addChangeSpeed
|addHover
|addLand
|addLoiter
|addTakeoff
|addWaypoint
|removeItem
|show
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