exportWaypointsPlan(planner,solninfo,filename)
uses solution information solninfo to export the waypoints and ground
control system information to the file filename. You can use
filename to deploy waypoints to a UAV using QGroundControl, a
mission planner. or any other ground control software.
exportWaypointsPlan(___,ReferenceFrame=frame)
exports the waypoints in the reference frame frame.
This example shows how to plan a coverage path for a region in local coordinates and compares the results of using the exhaustive solver with the results of using the minimum traversal solver.
Because vertices define a concave polygon and the coverage planner requires convex polygons, decompose the polygon into convex polygons. Then create a coverage space with the polygons from decomposition.
Define the takeoff and landing positions at [0 0 0] and [32.25 37.25 0], respectively. Then show the coverage space and plot the takeoff and landing positions.
Create a coverage planner with the exhaustive solver algorithm and another coverage planner with a minimum traversal solver algorithm. Because Polygon 2 is closer to the takeoff position, set the visiting sequence of the solver parameters such that we traverse Polygon 2 first.
Solution plan, specified as a structure containing these fields:
VisitingSequence — N-element row vector
denoting the order of visitation of polygons, where N is the
total number of polygons in the coverage space. For example, [2 1
3] specifies that the UAV should visit polygon 2 first, polygon 1
second, and polygon 3 last.
SweepPattern — N-element row vector of
integers denoting the sweep pattern for each polygon, where N
is the total number of polygons in the coverage space. Each element is an integer
in the range [1, 4] that indicates a sweep pattern:
1 — Forward sweep pattern
2 — Counter-clockwise sweep pattern
3 — Reverse sweep pattern
4 — Reverse counter-clockwise sweep pattern
For example, [3 1 2] specifies that the UAV
should use the reverse sweep pattern for polygon 1, the forward sweep pattern for
polygon 2, and the counter-clockwise sweep pattern for polygon 3.
TransitionCost — Euclidean distance cost for transitioning
between polygons including takeoff and landing distance.
Takeoff — Takeoff location, specified as a three-element
row vector in LLA format.
Landing — Takeoff location, specified as a three-element
row vector in LLA format.
File name to export information to, specified as a character vector or string
scalar. Specify the format of the file by ending the character vector or string scalar
with either ".txt" or ".waypoints". For more
information, see MAVLink File
Formats.
Example: "waypointfile.txt"
Data Types: char | string
Reference frame to export waypoints to, specified as either "ENU"
for east-north-up or "NED" for north-east-down.
Generating code containing the exportWaypointsPlan requires you to enable dynamic memory allocation. For more information about enabling dynamic memory allocation, see Set Dynamic Memory Allocation Threshold (MATLAB Coder).
Deploying to embedded real time (ERT) targets is not supported.
exportWaypointsPlan now supports code generation with dynamic memory allocation enabled. For more information about enabling dynamic memory allocation, see Set Dynamic Memory Allocation Threshold (MATLAB Coder).
Deploying to embedded real time (ERT) targets is not supported.