show

Visualize UAV mission

Since R2022b

Syntax

ax = show(mission)

ax = show(___,Name=Value)

Description

ax = show(mission) visualizes the UAV mission in a figure in the east-north-up (ENU) coordinate system with origin at the UAV mission home location. The function also returns the axes on which the mission is plotted ax.

Note

If the waypoint reference frame of the mission is "Global" or "GlobalRelativeAlt", then the show function converts the waypoint geodetic coordinates to local ENU coordinates by assuming the earth is ellipsoidal using the WGS84 reference ellipsoid.

ax = show(___,Name=Value) sets additional options specified by one or more name-value pair arguments. For example, show(mission,ReferenceLocation=[42.35 -71.05 10]) shows the mission in ENU coordinate system with origin set to the coordinate of 42.35 degrees north, 71.05 degrees west, and at an altitude of 10 meters.

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.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: show(m,ReferenceLocation=[43 32 55])

Parent — Parent axes for plotting

axes object

Parent axes for plotting, specified as an axes object.

Example: show(m,Parent=ax2)

ReferenceLocation — Location of plot origin

mission.HomeLocation (default) | vector of the form [latitude longitude altitude]

Location of plot origin, specified in the form of [latitude longitude altitude]. Specify latitude and longitude in degrees, and altitude as height above the WGS84 reference ellipsoid in meters.

Output Arguments

ax — Axes on which the mission is plotted

axes object

Axes on which the scenario is plotted, returned as an axes object.

Version History

Introduced in R2022b