Is there a way to configure the clock block in SImulink to inherit the sample time?

hey,

I've trying to make the parrot minidrone track some simple trajectory! and from the webina here, I've noticed that the trajectory should be generated inside the Flight Controller Block like shown in the Image below :

I did the same thing like shown in the following image:

I wanted to deploy it to the hardware but before I should test it in simulation and when I do that I got his error:

Plz any help will be appreciated

[KAE]

Beware to anyone considering the Parrot Mambo FPV: it is discontinued, see here.

Answer 1

[Maitreyee Mordekar]

Hello Rayane,

In R2019a release of MATLAB, we have a few updates to the model since there is a specific block for Path Planning and Image Processing. To use the model, you would need to install the Simulink Support for Parrot Minidrones.

Once you install the Simulink Support Package for Parrot Minidrones in R2019a, you can use the following command to open the model:

>> parrotMinidroneHoverStart OR

>> parrotMinidroneCompetitionStart

The third video (Model Description) in the following series may help you get started with the new model:

https://in.mathworks.com/videos/series/mathworks-minidrone-competition.html

I hope this helps!

-Maitreyee

[B.ray]

Thanks a lot for your answer.

I want to make a three minidrones fly and keep a triangle structure like shown in the image below:

I have further questions if you don't mind answering!

• I want to give a specific trajectory for the parrot mambo minidrone. So I just generate a matlab function which output one of the drone's trajectory shown in the image?
• After taking a quick look at the controller. I assume that it considers Hover state. However my path has some agressive manoeuvers. Should I change the controller?

[B.ray]

Itried the model below:

But this what I got :

[B.ray]

Here I have tried a Matlab function but it does not seem to work for me

[Maitreyee Mordekar]

Hello Rayane,

Not certain on why the signal builder does not work for you. I will check the error that you receive.

Alternately, can you try to use Stateflow to plan your drone's path as shown in the following video?

https://in.mathworks.com/videos/mathworks-minidrone-competition-planning-flight-states-1552557511201.html

I hope this helps.

-Maitreyee

Answer 2

[Maitreyee Mordekar]

Hello Rayane,

Seems like the Signal Builder is still taking a sample time on 0 for your simulation as mentioned by the error. The sample time should be set to -1 (inherited) to resolve the error.

You can change the sample time to inherited by:

• Open the Signal Builder.
• Go to File -> Simulation Options
• Set the Sample Time to -1

I hope this helps!

-Maitreyee

[B.ray]

Thank you so much Maitreyee for your answer. Now the code generation when I use signal Builder is successfully completed.

I have never used State flow before. I don't know if it suits what am trying to do. Because I am genertion trajectory for 3 drones (The trajectory is given is a previous picture). The path generation for each drone takes the time as an input. I attached the code here (The code generates 3 trajectories but the output is set for one trajectory since the process of deploying to the hardware is single threaded).

Please If I can do that. Advice me from where to start learning state flow because as I can see I can't generate code when the clock is included!

Thanks

[Maitreyee Mordekar]

Hello Rayane,

Considering what has been explained, I feel you can certainly do this with Stateflow. It may be much easier too. I would suggest you to first go through the Tech Talk on State Machines:

https://www.mathworks.com/videos/tech-talks/state-machines.html

Once this is complete, you can go through the following Stateflow Tutorials:

https://www.mathworks.com/videos/series/stateflow-tutorials-94460.html

The other alternative for you could be using Digital Clock instead of Clock:

https://www.mathworks.com/help/simulink/slref/digitalclock.html

I hope this helps!

-Maitreyee

[B.ray]

Thanks Maitreyee. It is working Now