Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

SILT: MATLAB add Simulink instuctions to readme

Browse Source
This commit is contained in:
Iampete1 2020-06-30 16:57:21 +01:00 committed by Andrew Tridgell
parent 019482075d
commit 992d84ac22
1 changed files with 12 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/SITL/examples/JSON/MATLAB/readme.md
View File

@ -1,4 +1,4 @@
This is a tool to allow MATLAB to interface with the SITL JSON backend.
# MATLAB
The SITL_connector function can be used to simplify the connection process. SITL_connector.m uses the TCP/UDP/IP Toolbox 2.0.6 by Peter Rydesäter and is much (10x) faster than the MATLAB functions available with the instrument control toolbox (and free!). However this may require compilation of a mex file, prebuilt mex files are included in most cases they will work without the need to re-compile.
@ -32,4 +32,14 @@ the structure can have also any other felids required for the physics model
The JSON SITL interface is lock-step scheduled. This allows matlab breakpoints to work as normal.
Using the connection it should be possible to achieve > 1500 fps, at this speed MATLAB code efficiency plays a important factor in the max frame rate. For a 400hz physics time step this gives a maximum speedup of 4 to 5 times. For planes and rovers it should be possible to use a much larger physics time step resulting in a larger maximum speed up. Note that large speedups risk the GCS getting left behind.
Using the connection it should be possible to achieve > 1500 fps, at this speed MATLAB code efficiency plays a important factor in the max frame rate. For a 400hz physics time step this gives a maximum speedup of 4 to 5 times, physics time step can be adjusted using the ArduPilot SIM_RATE parameter. For planes and rovers it should be possible to use a much larger physics time step resulting in a larger maximum speed up. Note that large speedups risk the GCS getting left behind.
[![Matlab Connector demo](https://img.youtube.com/vi/sYCU2ch7oFE/0.jpg)](https://www.youtube.com/watch?v=sYCU2ch7oFE)
# Simulink
Simulink input and output blocks are provided in AP_Conector.slx. There is a receive block that receives the PWM inputs from SITL. These are output in a 16 element array. The output block takes the vehicle state as outlighned above. The input block also has a reset signal, this will go high if SITL is restarted. This could be used to reset the Simulink model to its initial conditions. Unlike the Matlab connector the time step used by Simulink cannot be adjusted by ArduPilot, it must eb set in Simulink. Variable size time steps are supported.
[![Simulink Connector demo](https://img.youtube.com/vi/hTFyMrjwQlI/0.jpg)](https://www.youtube.com/watch?v=hTFyMrjwQlI)
Note that the Simulink connector and examples were made using Matlab2020a.