Kinematic Aerospace Actor

R2026b

Simulate kinematic motion of aerospace and surface vehicle actors

Since R2026b

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  • Kinematic Aerospace Actor block

Libraries:
Aerospace Blockset / Integrated Systems / Actor Models

Description

The Kinematic Aerospace Actor block models the translational and rotational motion of aerospace and surface vehicles using kinematic equations with configurable controller and sensor specifications. The block supports fixed‑wing aircraft agile aerial vehicles and surface vehicles, with multiple navigation frames and unit systems for system‑level, low‑fidelity simulation of vehicle motion, onboard inertial sensing, and basic target tracking without explicit aerodynamics or propulsion modeling.

The block integrates vehicle kinematics, controller response dynamics (first‑ or second‑order, or external), and optional sensor models directly within a single actor representation. This integration simplifies multi‑vehicle simulation workflows by reducing manual wiring and ensuring consistent timing and frame transformations.

Ports

Input

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Reference inputs corresponding to the ideal vehicle trajectory, specified as a nonvirtual bus. The bus elements depend on the Actor type and Actor reference signal configuration.

This table lists the expected bus elements for each actor type and reference signal selection.

Actor TypeReference SelectionBus Elements
Fixed Wing{'SpeedRef', 'FPARef', 'HeadingRef'}Speed, Flight Path Angle, Heading
{'SpeedRef', 'FPARef', 'BankRef'}Speed, Flight Path Angle, Bank Angle
Agile Aerial Vehicle{'SpeedRef', 'LateralAccRef', 'VerticalAccRef'}Speed, Lateral Acceleration, Vertical Acceleration
Surface Vehicle{'SpeedRef', 'HeadingRef'}Speed, Heading Angle

Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals.

Dependencies

This port is available when Controller behavior is set to General GNC.

Control inputs provided by an external controller, specified as a nonvirtual bus. The bus contains the body accelerations and angular rate signals of the vehicle. These signals are analogous to applied forces and moments and are treated as direct control inputs.

This table lists the expected bus elements for each actor type and control input selection.

Actor TypeControl Input SelectionBus Elements
Fixed Wing{'LongitudinalAcc', 'PitchRate', 'TurnRate'}Longitudinal Acceleration, Pitch Rate, Turn Rate
{'LongitudinalAcc', 'PitchRate', 'RollRate'}Longitudinal Acceleration, Pitch Rate, Roll Rate
Agile Aerial Vehicle{'LongitudinalAcc', 'LateralAcc', 'VerticalAcc'}Longitudinal Acceleration, Lateral Acceleration, Vertical Acceleration
Surface Vehicle{'LongitudinalAcc', 'TurnRate'}Longitudinal Acceleration, Turn Rate

Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals.

Dependencies

This port is available when Controller behavior is set to External Controller.

Mount attitude input that enables the user to provide the mount attitude for modelling a gimbal tracker, specified as a nonvirtual bus. The angles represent the attitude of the tracker relative to the vehicle body frame, specified as a [roll, pitch, yaw] vector using Z‑Y‑X intrinsic Euler rotation.

Expected bus elements: Roll, Pitch, Yaw. Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals. Units are configured through the Attitude units parameter.

Dependencies

This port is available when Mount type is set to Gimbal.

Concatenated state signals from other Kinematic Aerospace Actor blocks, specified as an array of nonvirtual buses. Each bus element represents the actor states of one target vehicle and must match the Actor States output bus definition. Each bus element must be a scalar signal of type double.

Note

It is recommended to use a Unit Delay if feeding back multiple actor's states causes an algebraic loop.

Dependencies

This port is available when Detection type is set to Tracker.

Output

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Vehicle position, orientation, and speed expressed in the selected navigation frame, specified as a nonvirtual bus. The bus definition is specified in the Signal Attributes tab and must contain scalar double elements in the defined sequence.

This table lists the expected bus elements for each navigation frame selection.

Navigation FrameBus Elements
Flat EarthX, Y, Z, Roll, Pitch, Heading, Speed
ECEF FrameLatitude, Longitude, Altitude, Roll, Pitch, Heading, Speed
WGS84 EllipsoidX, Y, Z, Roll, Pitch, Heading, Speed

Flat Earth assumes the NED frame for Fixed Wing and Agile Aerial Vehicle and the ENU frame for Surface Vehicle.

Linear accelerations and attitude rates of the actor expressed in the inertial sensor frame, specified as a nonvirtual bus of scalar double signals. Measurements are computed at the specified inertial sensor offset from the center of gravity.

The bus contains these elements:

  • Body-frame acceleration along the X axis

  • Body-frame acceleration along the Y axis

  • Body-frame acceleration along the Z axis

  • Yaw rate

  • Pitch rate

  • Roll rate

Dependencies

This port is available when Output inertial sensor measurements is set to true.

Detection measurements corresponding to each target actor provided at the Target States input, specified as an array of nonvirtual buses of scalar double signals. The number of output buses matches the number of input target state buses, and each bus contains the detection results for one target.

The bus elements depend on the selected Tracker measurement coordinates.

Note

If a target is outside the detectable region (undetectable), the signals in the corresponding bus in tracker measurement will be NaN.

Coordinate SystemBus Elements
Sensor FrameRange, Azimuth, Elevation
Flat EarthX, Y, Z
ECEF FrameX, Y, Z
WGS84 EllipsoidLatitude, Longitude, Altitude

Dependencies

This port is available when Detection type is set to Tracker.

Parameters

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To edit block parameters interactively, use the Property Inspector. From the Simulink® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Main

Input and output ports and parameter units, specified as Metric (MKS), English (velocity in ft/s), or English (velocity in kts).

UnitsLengthVelocityAcceleration
Metric (MKS)

m

m/s

m/s2

English (velocity in ft/s)

ft

ft/s

ft/s2

English (velocity in kts)

ft

kts

ft/s2

Programmatic Use

Block Parameter: units
Type: character vector
Values: Metric (MKS) | English (velocity in ft/s) | English (velocity in kts)
Default: Metric (MKS)

Units used for all angular positions and angular rates except latitude and longitude, specified as Degrees | Radians. Latitude and longitude are always in degrees.

Programmatic Use

Block Parameter: attitudeUnits
Type: character vector
Values: Degrees | Radians
Default: Degrees

Type of vehicle modeled by the block, specified as Fixed Wing, Agile Aerial Vehicle or Surface Vehicle.

Programmatic Use

Block Parameter: actorType
Type: character vector
Values: Fixed Wing | Agile Aerial Vehicle | Surface Vehicle
Default: Fixed Wing

Navigation frame used to express position states, specified as Flat Earth, ECEF Frame or WGS84 Ellipsoid.

Programmatic Use

Block Parameter: actorFrame
Type: character vector
Values: Flat Earth | ECEF Frame | WGS84 Ellipsoid
Default: Flat Earth

Initial States

Initial position of actor vehicle in Cartesian coordinates, specified as a 1-by-2 real vector in meters or feet.

Dependencies

This parameter is available when Navigation frame is set to Flat Earth or ECEF Frame.

Programmatic Use

Block Parameter: actorInitialXY
Type: real vector
Values: [0,0] | real vector
Default: [0,0]

Initial latitude of the actor in polar coordinates, specified as a real scalar in degrees.

Dependencies

This parameter is available when Navigation frame is set to WGS84 Ellipsoid.

Programmatic Use

Block Parameter: actorInitialLatitude
Type: real scalar
Values: 0 | real scalar
Default: 0

Initial longitude of the actor in polar coordinates, specified as a real scalar in degrees.

Dependencies

This parameter is available when Navigation frame is set to WGS84 Ellipsoid.

Programmatic Use

Block Parameter: actorInitialLongitude
Type: real scalar
Values: 0 | real scalar
Default: 0

Initial altitude of the actor, specified as a real scalar in meters or feet.

Dependencies

This parameter is available when Navigation frame is set to WGS84 Ellipsoid or Flat Earth.

Programmatic Use

Block Parameter: actorInitialAltitude
Type: real scalar
Values: 0 | real scalar
Default: 0

Initial position of actor vehicle in Cartesian coordinates, specified as a real scalar in meters or feet.

Dependencies

This parameter is available when Navigation frame is set to ECEF Frame.

Default Values

The default value of this parameter is the approximate Z value at X=0, Y=0 on Earth's surface, obtained using this command:

lla2ecef([90 0 0])

Programmatic Use

Block Parameter: actorInitialZ
Type: real scalar
Values:lla2ecef([90 0 0]) real scalar
Default: lla2ecef([90 0 0])

Initial attitude of the actor specified as a 3-by-1 vector in degrees or radians, representing [roll, pitch, yaw]. The vector corresponds to Z->Y->X intrinsic Euler rotation, transforming from the navigation frame to the vehicle’s body frame.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing or Agile Aerial Vehicle.

Programmatic Use

Block Parameter: actorInitialAttitude
Type: real vector
Values: [0,0, 0] | real vector
Default: [0,0, 0]

Initial heading of the actor as a Z Euler rotation with respect to the navigation frame, specified as a real scalar.

Dependencies

This parameter is available when Actor Type is set to Surface Vehicle. The Kinematic Aerospace Actor assumes that the surface vehicle travels on a surface of constant altitude.

Programmatic Use

Block Parameter: actorInitialHeading
Type: real scalar
Values: 0 | real scalar
Default: 0

Initial speed of the actor, specified as a real non-negative scalar in m/s, ft/s, or kts.

Programmatic Use

Block Parameter: actorInitialSpeed
Type: double
Values: 10 | real scalar
Default: 10

GNC

Select the type of controller for the actor defined in Actor type, specified as General GNC or External Controller. When set to General GNC, the block uses an internal first‑ or second‑order controller to track the reference input signals. When set to External Controller, you can manage the controller outside the block and provide control signals directly through the Control Input port.

Programmatic Use

Block Parameter: controllerBehavior
Type: double
Values: General GNC | External Controller
Default: General GNC

Element combination for the input reference signal, specified as {'SpeedRef', 'FPARef', 'HeadingRef'} or {'SpeedRef', 'FPARef', 'BankRef'}.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing and Controller behavior is set to General GNC.

Note

Only one of the Actor reference signal parameters is visible at a time depending on the value of the Actor type parameter.

Programmatic Use

Block Parameter: fixedWingReferenceInput
Type: character vector
Values: {'SpeedRef', 'FPARef', 'HeadingRef'} | {'SpeedRef', 'FPARef', 'BankRef'}
Default: {'SpeedRef', 'FPARef', 'HeadingRef'}

Element combination for the input reference signal, specified as {'SpeedRef', 'LateralAccRef', 'VerticalAccRef'}.

Dependencies

This parameter is not editable but visible when the Actor Type is set to Agile Aerial Vehicle and Controller behavior is set to General GNC.

Note

Only one of the Actor reference signal parameters is visible at a time depending on the value of the Actor type parameter.

Programmatic Use

Block Parameter: agileAerialVehicleReferenceInput
Type: character vector
Values: {'SpeedRef', 'LateralAccRef', 'VerticalAccRef'}
Default: {'SpeedRef', 'LateralAccRef', 'VerticalAccRef'}

Element combination for the input reference signal, specified as {'SpeedRef', 'HeadingRef'}.

Dependencies

This parameter is not editable but visible when the Actor Type is set to Surface Vehicle and Controller behavior is set to General GNC.

Note

Only one of the Actor reference signal parameters is visible at a time depending on the value of the Actor type parameter.

Programmatic Use

Block Parameter: surfaceVehicleReferenceInput
Type: character vector
Values: {'SpeedRef', 'HeadingRef'}
Default: {'SpeedRef', 'HeadingRef'}

Element combination for input from external controller, specified as {'LongitudinalAcc', 'PitchRate', 'TurnRate'} or {'LongitudinalAcc', 'PitchRate', 'RollRate'}.

Dependencies

This parameter is available when the Actor Type is set to Fixed Wing and Controller behavior is set to External Controller.

Note

Only one of the Actor control input parameters is visible at a time depending on the value of the Actor type parameter. This parameter is disabled for Agile Aerial Vehicle and Surface Vehicle actor types.

Programmatic Use

Block Parameter: fixedWingControlInput
Type: character vector
Values: {'LongitudinalAcc', 'PitchRate', 'TurnRate'} | {'LongitudinalAcc', 'PitchRate', 'RollRate'}
Default: {'LongitudinalAcc', 'PitchRate', 'TurnRate'}

Element combination for input from external controller, specified as {'LongitudinalAcc', 'LateralAcc', 'VerticalAcc'}.

Dependencies

This parameter is not editable but visible when the Actor Type is set to Agile Aerial Vehicle and Controller behavior is set to External Controller.

Note

Only one of the Actor control input parameters is visible at a time depending on the value of the Actor type parameter.

Programmatic Use

Block Parameter: agileAerialVehicleControlInput
Type: character vector
Values: {'LongitudinalAcc', 'LateralAcc', 'VerticalAcc'}
Default: {'LongitudinalAcc', 'LateralAcc', 'VerticalAcc'}

Element combination for input from external controller, specified as {'LongitudinalAcc', 'TurnRate'}.

Dependencies

This parameter is not editable but visible when the Actor Type is set to Surface Vehicle and Controller behavior is set to External Controller.

Note

Only one of the Actor control input parameters is visible at a time depending on the value of the Actor type parameter.

Programmatic Use

Block Parameter: surfaceVehicleControlInput
Type: character vector
Values: {'LongitudinalAcc', 'TurnRate'}
Default: {'LongitudinalAcc', 'TurnRate'}

Speed Response Parameters

Order of the speed controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when Controller behavior is set to General GNC.

Programmatic Use

Block Parameter: speedOrder
Type: character vector
Values: First order | Second order
Default: First order

Speed DC gain for fixed-wing vehicle, specified as a real positive scalar.

Dependencies

This parameter is available when Controller behavior is set to General GNC.

Programmatic Use

Block Parameter: speedDCGain
Type: double
Values: 1 | real positive scalar
Default: 1

Speed time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

This parameter is available when

Programmatic Use

Block Parameter: speedTimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

Speed natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

Programmatic Use

Block Parameter: speedNaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

Speed damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

Programmatic Use

Block Parameter: speedDampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Speed Limits

Minimum speed, specified as a real non-negative scalar.

Note

The value of Speed min must be less than or equal to the value of Speed max.

Dependencies

This parameter is available when Controller behavior is set to General GNC. The unit of speed is m/s, ft/s, or kts based on the value of the Units parameter.

Programmatic Use

Block Parameter: speedMin
Type: double
Values: 0
Default: 0

Maximum speed, specified as a real positive scalar.

Note

The value of Speed max must be greater than or equal to the value of Speed min.

Dependencies

This parameter is available when Controller behavior is set to General GNC. The unit of speed is m/s, ft/s, or kts based on the value of the Units parameter.

Programmatic Use

Block Parameter: speedMax
Type: double
Values: Inf | real positive scalar
Default: Inf

Flight Path Angle Parameters

Order of the FPA controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when

Programmatic Use

Block Parameter: FPAOrder
Type: character vector
Values: First order | Second order
Default: First order

FPA DC gain for fixed-wing vehicle, specified as a real positive scalar.

Dependencies

Programmatic Use

Block Parameter: FPADCGain
Type: double
Values: 1 | real positive scalar
Default: 1

FPA time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • FPA is set to First order.

Programmatic Use

Block Parameter: FPATimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

FPA natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • FPA is set to Second order.

Programmatic Use

Block Parameter: FPANaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

FPA damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • FPA is set to Second order.

Programmatic Use

Block Parameter: FPADampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Flight Path Angle Limits

Minimum FPA, specified as an angle in the range [-π π] rad or [-180 180] deg.

Note

The value of FPA min must be less than or equal to the value of FPA max.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: FPAMin
Type: double
Values: -45 | real scalar
Default: -45

Maximum FPA, specified as an angle in the range [-π π] rad or [-180 180] deg.

Note

The value of FPA min must be less than or equal to the value of FPA max.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: FPAMax
Type: double
Values: 45 | real scalar
Default: 45

Heading Response Parameters

Order of the heading controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when

  • Actor type is set to Fixed Wing or Surface Vehicle.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

Programmatic Use

Block Parameter: headingOrder
Type: character vector
Values: First order | Second order
Default: First order

Heading DC gain for fixed-wing vehicle, specified as a real positive scalar.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

Programmatic Use

Block Parameter: headingDCGain
Type: double
Values: 1 | real positive scalar
Default: 1

Heading time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Controller behavior is set to General GNC.

  • Heading is set to First order.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

Programmatic Use

Block Parameter: headingTimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

Heading natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

  • Heading is set to Second order.

Programmatic Use

Block Parameter: headingNaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

Heading damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

  • Heading is set to Second order.

Programmatic Use

Block Parameter: headingDampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Heading Limits

Minimum heading, specified as a real scalar in the range [-180, 180].

Note

The value of Heading min must be less than or equal to the value of Heading max.

Dependencies

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

Programmatic Use

Block Parameter: headingMin
Type: double
Values: -180 | real scalar
Default: -180

Maximum heading, specified as a real scalar in the range [-180, 180].

Note

The value of Heading min must be less than or equal to the value of Heading max.

Dependencies

  • Actor Type is set to Fixed Wing or Surface Vehicle.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'} when Actor Type is Fixed Wing.

Programmatic Use

Block Parameter: headingMax
Type: double
Values: 180 | real scalar
Default: 180

Bank Response Parameters

Order of the bank controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when

Programmatic Use

Block Parameter: bankOrder
Type: character vector
Values: First order | Second order
Default: First order

Bank DC gain for fixed-wing vehicle, specified as a real positive scalar.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

Programmatic Use

Block Parameter: bankDCGain
Type: double
Values: 1 | real positive scalar
Default: 1

Bank time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • Bank is set to First order.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

Programmatic Use

Block Parameter: bankTimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

Bank natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

  • Bank is set to Second order.

Programmatic Use

Block Parameter: bankNaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

Bank damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Controller behavior is set to General GNC.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

  • Bank is set to Second order.

Programmatic Use

Block Parameter: bankDampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Bank Limits

Minimum bank, specified as a real scalar in the range [-180, 180].

Note

The value of Bank min must be less than or equal to the value of Bank max.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

Programmatic Use

Block Parameter: bankMin
Type: double
Values: -30 | real scalar
Default: -30

Maximum bank, specified as a real scalar in the range [-180, 180].

Note

The value of Bank min must be less than or equal to the value of Bank max.

Dependencies

This parameter is available when:

  • Actor Type is set to Fixed Wing.

  • Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

Programmatic Use

Block Parameter: bankMax
Type: double
Values: 30 | real scalar
Default: 30

Lateral Acceleration Parameters

Order of the lateral acceleration controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when

Programmatic Use

Block Parameter: lateralAccOrder
Type: character vector
Values: First order | Second order
Default: First order

Lateral acceleration DC gain for the vehicle, specified as a real positive scalar.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: lateralAccDCGain
Type: double
Values: 1 | real positive scalar
Default: 1

Lateral acceleration time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: lateralAccTimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

Lateral acceleration natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

This parameter is available when:

  • Actor Type is set to Agile Aerial Vehicle.

  • Controller behavior is set to General GNC.

  • Lateral acceleration is set to Second order.

Programmatic Use

Block Parameter: lateralAccNaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

Lateral acceleration damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

  • Actor Type is set to Agile Aerial Vehicle.

  • Controller behavior is set to General GNC.

  • Lateral acceleration is set to Second order.

Programmatic Use

Block Parameter: lateralAccDampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Lateral Acceleration Limits

Minimum lateral acceleration, specified as a real scalar in the range [-Inf, Inf] m/s2 or ft/s2.

Note

The value of Lateral acceleration min must be less than or equal to the value of Lateral acceleration max.

Dependencies

This parameter is available when Actor Type is set to Agile Aerial Vehicle.

Programmatic Use

Block Parameter: lateralAccMin
Type: double
Values: -Inf | real scalar
Default: -Inf

Maximum lateral acceleration, specified as a real scalar in the range [-Inf, Inf] m/s2 or ft/s2.

Note

The value of Lateral acceleration max must be greater than or equal to the value of Lateral acceleration min.

Dependencies

This parameter is available when Actor Type is set to Agile Aerial Vehicle.

Programmatic Use

Block Parameter: lateralAccMax
Type: double
Values: Inf | real scalar
Default: Inf

Vertical Acceleration Parameters

Order of the vertical acceleration controller subsystem, specified as First order or Second order.

Dependencies

This parameter is available when

Programmatic Use

Block Parameter: verticalAccOrder
Type: character vector
Values: First order | Second order
Default: First order

Vertical acceleration DC gain for the vehicle, specified as a real positive scalar.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: verticalAccDCGain
Type: double
Values: 1 | real positive scalar
Default: 1

Vertical acceleration time constant of the controller subsystem, specified as a real positive scalar in seconds.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: verticalAccTimeConstant
Type: double
Values: 1 | real positive scalar
Default: 1

Vertical acceleration natural frequency of the controller subsystem, specified as a real positive scalar in rad/s.

Dependencies

This parameter is available when:

  • Actor Type is set to Agile Aerial Vehicle.

  • Controller behavior is set to General GNC.

  • Vertical acceleration is set to Second order.

Programmatic Use

Block Parameter: verticalAccNaturalFrequency
Type: double
Values: 1 | real positive scalar
Default: 1

Vertical acceleration damping ratio of the controller subsystem, specified as a real positive scalar (dimensionless).

Dependencies

  • Actor Type is set to Agile Aerial Vehicle.

  • Controller behavior is set to General GNC.

  • Vertical acceleration is set to Second order.

Programmatic Use

Block Parameter: verticalAccDampingRatio
Type: double
Values: 1 | real positive scalar
Default: 1

Vertical Acceleration Limits

Minimum vertical acceleration, specified as a real scalar in the range [-Inf, Inf] m/s2 or ft/s2.

Note

The value of Vertical acceleration min must be less than or equal to the value of Vertical acceleration max.

Dependencies

This parameter is available when Actor Type is set to Agile Aerial Vehicle.

Programmatic Use

Block Parameter: verticalAccMin
Type: double
Values: -Inf | real scalar
Default: -Inf

Maximum vertical acceleration, specified as a real scalar in the range [-Inf, Inf] m/s2 or ft/s2.

Note

The value of Vertical acceleration max must be greater than or equal to the value of Vertical acceleration min.

Dependencies

This parameter is available when Actor Type is set to Agile Aerial Vehicle.

Programmatic Use

Block Parameter: verticalAccMax
Type: double
Values: Inf | real scalar
Default: Inf

Pitch Rate Limits

Minimum pitch rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Pitch rate limits constrain the rate of change of pitch attitude.

Note

The value of Pitch rate min must be less than or equal to the value of Pitch rate max.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing.

Programmatic Use

Block Parameter: pitchRateMin
Type: double
Values: -Inf | real scalar
Default: -Inf

Maximum pitch rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Pitch rate limits constrain the rate of change of pitch attitude produced by the internal controller.

Note

The value of Pitch rate max must be greater than or equal to the value of Pitch rate min.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing.

Programmatic Use

Block Parameter: pitchRateMax
Type: double
Values: Inf | real scalar
Default: Inf

Turn Rate Limits

Minimum turn rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Turn rate limits constrain the rate of change of heading produced by the internal controller when heading is used as the lateral control variable.

Note

The value of Turn rate min must be less than or equal to the value of Turn rate max.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing and:

  • Controller behavior is set to General GNC and Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'}.

  • Controller behavior is set to External Controller and Actor control input is set to {'LongitudinalAcc', 'PitchRate', 'TurnRate'}.

Programmatic Use

Block Parameter: turnRateMin
Type: double
Values: -Inf | real scalar
Default: -Inf

Maximum turn rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Turn rate limits constrain the rate of change of heading produced by the internal controller when heading is used as the lateral control variable.

Note

The value of Turn rate max must be greater than or equal to the value of Turn rate min.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing and:

  • Controller behavior is set to General GNC and Actor reference signal is set to {'SpeedRef', 'FPARef', 'HeadingRef'}.

  • Controller behavior is set to External Controller and Actor control input is set to {'LongitudinalAcc', 'PitchRate', 'TurnRate'}.

Programmatic Use

Block Parameter: turnRateMax
Type: double
Values: Inf | real scalar
Default: Inf

Roll Rate Limits

Minimum roll rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Roll rate limits constrain the rate of change of roll attitude when bank angle is controlled by the internal controller.

Note

The value of Roll rate min must be less than or equal to the value of Roll rate max.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing and:

  • Controller behavior is set to General GNC and Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

  • Controller behavior is set to External Controller and Actor control input is set to {'LongitudinalAcc', 'PitchRate', 'RollRate'}.

Programmatic Use

Block Parameter: rollRateMin
Type: double
Values: -Inf | real scalar
Default: -Inf

Maximum roll rate, specified as a real scalar in degrees in the range [-Inf, Inf]. Roll rate limits constrain the rate of change of roll attitude when bank angle is controlled by the internal controller.

Note

The value of Roll rate max must be greater than or equal to the value of Roll rate min.

Dependencies

This parameter is available when Actor Type is set to Fixed Wing and:

  • Controller behavior is set to General GNC and Actor reference signal is set to {'SpeedRef', 'FPARef', 'BankRef'}.

  • Controller behavior is set to External Controller and Actor control input is set to {'LongitudinalAcc', 'PitchRate', 'RollRate'}.

Programmatic Use

Block Parameter: rollRateMax
Type: double
Values: Inf | real scalar
Default: Inf

Sensor

Inertial sensor measurements for the actor. When enabled, the block outputs ideal linear accelerations and angular rates measured at a specified offset from the actor center of gravity.

Programmatic Use

Block Parameter: inertialSensorFlag
Type: double
Values: off | on
Default: off

Position of the inertial measurement unit (IMU) relative to the actor center of gravity, specified as a 1‑by‑3 vector in the actor Cartesian frame.

Dependencies

This parameter is available when Output inertial sensor measurements is set to on.

Programmatic Use

Block Parameter: inertialCGDistance
Type: double
Values: [0,0,0] | 1-by-3 vector
Default: [0,0,0]

Type of detection sensor modeled by the block, specified as None or Tracker.

Programmatic Use

Block Parameter: detectionType
Type: double
Values: None | Tracker
Default: None

Type of mount used for the tracker, specified as Fixed, Rotary, or Gimbal.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: mountType
Type: double
Values: Fixed | Rotary | Gimbal
Default: Fixed

Coordinate system in which tracker measurements are output, specified as Sensor Frame or Flat Earth.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: trackerCoordinatesFlatEarth
Type: character vector
Values: Sensor Frame | Flat Earth
Default: Sensor Frame

Coordinate system in which tracker measurements are output, specified as Sensor Frame, ECEF Frame, or WGS84 Ellipsoid.

Dependencies

This parameter is available when:

Programmatic Use

Block Parameter: trackerCoordinatesWGSECEF
Type: character vector
Values: Sensor Frame | ECEF Frame | WGS84 Ellipsoid
Default: Sensor Frame

Position of the tracker mount relative to the actor origin, specified as a 1‑by‑3 vector in the actor Cartesian frame.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: mountPosition
Type: double
Values: [0,0,0] | 1-by-3 vector
Default: [0,0,0]

Attitude of the tracker relative to the vehicle body frame, specified as a [roll, pitch, yaw] vector using Z‑Y‑X intrinsic Euler rotation.

Dependencies

This parameter is available when:

  • Detection type is set to Tracker.

  • Mount type is set to Fixed.

Detection type is set to Tracker.

Programmatic Use

Block Parameter: mountAttitude
Type: double
Values: [0,0,0] | 1-by-3 vector
Default: [0,0,0]

Initial attitude of the tracker mount relative to the vehicle body frame, specified as a [roll, pitch, yaw] vector using Z‑Y‑X intrinsic Euler rotation.

Dependencies

This parameter is available when:

  • Detection type is set to Tracker.

  • Mount type is set to Rotary.

Detection type is set to Tracker.

Programmatic Use

Block Parameter: mountInitialAttitude
Type: double
Values: [0,0,0] | 1-by-3 vector
Default: [0,0,0]

Angular velocity of the tracker mount, specified as a 1‑by‑3 vector expressed in the actor Cartesian frame.

Dependencies

This parameter is available when:

  • Detection type is set to Tracker.

  • Mount type is set to Rotary.

Programmatic Use

Block Parameter: mountAngularVelocity
Type: double
Values: [0,0,0] | 1-by-3 vector
Default: [0,0,0]

Range Limits

Minimum detectable range of the tracker, specified as a real finite non-negative scalar in m or ft.

Note

The value of Range min must be less than or equal to the value of Range max.

Dependencies

This parameter is available when:

  • Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionRangeMin
Type: double
Values: 0 | real scalar
Default: 0

Maximum detectable range of the tracker, specified as a real positive scalar in m or ft.

Note

The value of Range max must be greater than or equal to the value of Range min.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionRangeMax
Type: double
Values: Inf | real scalar
Default: Inf

Azimuth Limits

Minimum azimuth angle of the tracker field of view, measured in the tracker frame. Value must be in the range [-180, 180] degrees or [-π, π] radians.

Note

The value of Azimuth min must be less than or equal to the value of Azimuth max.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionAzimuthMin
Type: double
Values: -180 | real scalar
Default: -180

Maximum azimuth angle of the tracker field of view, measured in the tracker frame. Value must be in the range [-180, 180] degrees or [-π, π] radians.

Note

The value of Azimuth max must be greater than or equal to the value of Azimuth min.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionAzimuthMax
Type: double
Values: 180 | real scalar
Default: 180

Elevation Limits

Minimum elevation angle of the tracker field of view, measured in the tracker frame. Value must be in the range [-90, 90] degrees or [-π/2, π/2] radians.

Note

The value of Elevation min must be less than or equal to the value of Elevation max.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionElevationMin
Type: double
Values: -90 | real scalar
Default: -90

Maximum elevation angle of the tracker field of view, measured in the tracker frame. Value must be in the range [-90, 90] degrees or [-π/2, π/2] radians.

Note

The value of Elevation max must be greater than or equal to the value of Elevation min.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: detectionElevationMax
Type: double
Values: 90 | real scalar
Default: 90

Signal Attributes

Bus object used for the Actor States output. The selected bus defines the signal names, data types, and dimensions for the actor state outputs.

Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals.

Programmatic Use

Block Parameter: stateBusStr
Type: stateBusStr
Values: bus object name | bus
Default: bus object name

Bus object used for the Inertial Measurement output. The selected bus defines the signal names, data types, and dimensions for the inertial sensor measurements.

Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals.

Dependencies

This parameter is available when Output inertial sensor measurements is set to on.

Programmatic Use

Block Parameter: inertialMeasurementBusStr
Type: character vector
Values: bus object name | bus
Default: bus object name

Bus object used for the Tracker Measurement output. The selected bus defines the signal names, data types, and dimensions for the tracker detection measurements.

Each bus element must be a scalar signal of type double. You can assign any name to the bus object and signals.

Dependencies

This parameter is available when Detection type is set to Tracker.

Programmatic Use

Block Parameter: trackerMeasurementBusStr
Type: character vector
Values: bus object name | bus
Default: bus object name

Extended Capabilities

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C/C++ Code Generation
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Version History

Introduced in R2026b

See Also

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