Attitude Setpoint

R2026b

Reads attitude setpoint

Since R2026a

• 

Attitude Setpoint block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

Libraries:
UAV Toolbox Support Package for ArduPilot Autopilots / Controller Interface Blocks / Copter Blocks

Description

Add-On Required: This feature requires the UAV Toolbox Support Package for ArduPilot Autopilots add-on.

The block outputs the attitude setpoint for the vehicle as set by ArduPilot's position controller.

This block supports only ArduCopter vehicle types.

Ports

Output

Port_1 — Attitude setpoint

vector

Attitude setpoint for the vehicle from the ArduPilot's position controller.

Data Types: single

Parameters

Output as — Output format for the attitude setpoint

Euler(ZYX) (default) | Quaternion(ZYX)

Select the output format for the attitude setpoint. This parameter allows you to choose between representing the attitude as Euler angles or as a Quaternion.

• Euler (ZYX): Select this option to output the attitude setpoint in Euler angles format, using the ZYX convention, which represents the rotation in roll, pitch, and yaw angles.

• Quaternion (WXYZ): Select this option to output the attitude in quaternion format, which consists of a four-part hyper-complex number (W, X, Y, Z).

Sample time — Interval at which the block reads values

-1 (default)

The time interval at which the block reads values from the ArduPilot autopilot.

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"ardupilotCopterlib/Ang Velocity Setpoint"

Example: add_block("ardupilotCopterlib/Ang Velocity Setpoint","myModel/myBlock",MakeNameUnique="on")

Version History

Introduced in R2026a