Add drone light show example

Author: robertogl

Examples/drone-show/DOCUMENTATION.md

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+function createFleetBusObjects(N_uav, nSat)
+% createFleetBusObjects - Define bus objects for fleet telemetry
+%
+% Creates bus objects in the base workspace for use by the
+% MultiUAV_DroneShow model.
+%
+% nSat is the number of satellite slots in GNSSObservableBus (default rtk_n_sat's
+% shipped value, 8). It is separate from N_uav because the GNSS interface is a
+% property of the base station, not of the fleet.
+
+if nargin < 2
+    nSat = 8;
+end
+
+%% VehicleStateBus - Per-UAV estimated state
+elems = Simulink.BusElement;
+elems(1).Name = 'Position';
+elems(1).Dimensions = [3 1];
+elems(1).DataType = 'double';
+
+elems(2) = Simulink.BusElement;
+elems(2).Name = 'Velocity';
+elems(2).Dimensions = [3 1];
+elems(2).DataType = 'double';
+
+elems(3) = Simulink.BusElement;
+elems(3).Name = 'Attitude';
+elems(3).Dimensions = [3 1];
+elems(3).DataType = 'double';
+
+elems(4) = Simulink.BusElement;
+elems(4).Name = 'AngularRate';
+elems(4).Dimensions = [3 1];
+elems(4).DataType = 'double';
+
+elems(5) = Simulink.BusElement;
+elems(5).Name = 'PositionAccuracy';
+elems(5).Dimensions = [1 1];
+elems(5).DataType = 'double';
+
+elems(6) = Simulink.BusElement;
+elems(6).Name = 'RTKMode';
+elems(6).Dimensions = [1 1];
+elems(6).DataType = 'double';
+
+VehicleStateBus = Simulink.Bus;
+VehicleStateBus.Elements = elems;
+assignin('base','VehicleStateBus', VehicleStateBus);
+
+%% FleetTelemetryBus - Aggregated fleet state
+elems2 = Simulink.BusElement;
+elems2(1).Name = 'Positions';
+elems2(1).Dimensions = [N_uav 3];
+elems2(1).DataType = 'double';
+
+elems2(2) = Simulink.BusElement;
+elems2(2).Name = 'Velocities';
+elems2(2).Dimensions = [N_uav 3];
+elems2(2).DataType = 'double';
+
+elems2(3) = Simulink.BusElement;
+elems2(3).Name = 'Attitudes';
+elems2(3).Dimensions = [N_uav 3];
+elems2(3).DataType = 'double';
+
+elems2(4) = Simulink.BusElement;
+elems2(4).Name = 'LEDColors';
+elems2(4).Dimensions = [N_uav 3];
+elems2(4).DataType = 'double';
+
+elems2(5) = Simulink.BusElement;
+elems2(5).Name = 'TrackingErrors';
+elems2(5).Dimensions = [N_uav 1];
+elems2(5).DataType = 'double';
+
+elems2(6) = Simulink.BusElement;
+elems2(6).Name = 'MinSeparation';
+elems2(6).Dimensions = [1 1];
+elems2(6).DataType = 'double';
+
+elems2(7) = Simulink.BusElement;
+elems2(7).Name = 'CommStatus';
+elems2(7).Dimensions = [N_uav 1];
+elems2(7).DataType = 'double';
+
+FleetTelemetryBus = Simulink.Bus;
+FleetTelemetryBus.Elements = elems2;
+assignin('base','FleetTelemetryBus', FleetTelemetryBus);
+
+%% MultirotorGuidanceControlBus - Control commands for guidance model (vectorized)
+elems3(1) = Simulink.BusElement;
+elems3(1).Name = 'Roll';
+elems3(1).Dimensions = [1 N_uav];
+elems3(1).DataType = 'double';
+
+elems3(2) = Simulink.BusElement;
+elems3(2).Name = 'Pitch';
+elems3(2).Dimensions = [1 N_uav];
+elems3(2).DataType = 'double';
+
+elems3(3) = Simulink.BusElement;
+elems3(3).Name = 'YawRate';
+elems3(3).Dimensions = [1 N_uav];
+elems3(3).DataType = 'double';
+
+elems3(4) = Simulink.BusElement;
+elems3(4).Name = 'Thrust';
+elems3(4).Dimensions = [1 N_uav];
+elems3(4).DataType = 'double';
+
+MultirotorGuidanceControlBus = Simulink.Bus;
+MultirotorGuidanceControlBus.Elements = elems3;
+assignin('base','MultirotorGuidanceControlBus', MultirotorGuidanceControlBus);
+
+%% MultirotorGuidanceEnvironmentBus - Environment inputs for guidance model (vectorized)
+elems4(1) = Simulink.BusElement;
+elems4(1).Name = 'Gravity';
+elems4(1).Dimensions = [1 N_uav];
+elems4(1).DataType = 'double';
+
+MultirotorGuidanceEnvironmentBus = Simulink.Bus;
+MultirotorGuidanceEnvironmentBus.Elements = elems4;
+assignin('base','MultirotorGuidanceEnvironmentBus', MultirotorGuidanceEnvironmentBus);
+
+%% MultirotorGuidanceStateBus - Output state from guidance model (vectorized)
+elems5(1) = Simulink.BusElement;
+elems5(1).Name = 'WorldPosition';
+elems5(1).Dimensions = [3 N_uav];
+elems5(1).DataType = 'double';
+
+elems5(2) = Simulink.BusElement;
+elems5(2).Name = 'WorldVelocity';
+elems5(2).Dimensions = [3 N_uav];
+elems5(2).DataType = 'double';
+
+elems5(3) = Simulink.BusElement;
+elems5(3).Name = 'EulerZYX';
+elems5(3).Dimensions = [3 N_uav];
+elems5(3).DataType = 'double';
+
+elems5(4) = Simulink.BusElement;
+elems5(4).Name = 'BodyAngularRateRPY';
+elems5(4).Dimensions = [3 N_uav];
+elems5(4).DataType = 'double';
+
+elems5(5) = Simulink.BusElement;
+elems5(5).Name = 'Thrust';
+elems5(5).Dimensions = [1 N_uav];
+elems5(5).DataType = 'double';
+
+MultirotorGuidanceStateBus = Simulink.Bus;
+MultirotorGuidanceStateBus.Elements = elems5;
+assignin('base','MultirotorGuidanceStateBus', MultirotorGuidanceStateBus);
+
+%% GNSSObservableBus - the RTK engine's input contract
+% Defined in gnssObservableBus.m rather than inline, so the definition has one home and any
+% caller can build the same bus into its own model workspace without writing into base.
+% Read that file for the contract: undifferenced, metres, row 1 base and row 2 rover.
+assignin('base', 'GNSSObservableBus', gnssObservableBus(nSat));
+
+end