Multiwii Altitude

Reads the altitude of the aircraft.

Library

Description

The Multiwii Altitude block uses the Multiwii protocol on the input stream to read the altitude of the aircraft. It sends an MSP_ALTITUDE message and receives the reply.

This block is designed to be used with blocking I/O. It is typically used with a stream connected to a serial port. To open the stream a Multiwii Connect block should be used.

The output of the block is the estimated altitude and variometer readings of the aircraft.

A copy of the stream is also output so that the Multiwii blocks may be chained together.

If an error occurs, then the block returns a negative error code at its err output. The Compare to Error block may be used to check for specific error codes. If the stream is not valid because it is not yet connected, the err output will be zero since this condition is expected and the validity of the stream may be checked using the con output of the Multiwii Connect block.

Helpful Hints

Other uses of this block

Although it is intended for use in the main diagram with the other Multiwii blocks, the Multiwii Altitude block may be used with the Advanced stream blocks, even in an asynchronous thread.

Input Ports

stm

A reference to the stream created by the Multiwii Connect block. If a connection has not yet been established, then the err output of the Multiwii Altitude block will be zero.

Output Ports

stm

A reference to the stream. This output is merely a copy of the stm input. Providing this output makes it much easier to establish the execution order of Multiwii blocks in the diagram because Simulink generally executes daisy-chained blocks in sequence.

est

A scalar representing the estimated altitude in metres.

head

A scalar representing the variometer reading in metres per second.

err

An int32 value indicating whether the data was read successfully. This value will be positive if data was read successfully. It will be zero if data could not be read immediately. If an error occurs then this value is a negative error code. See Error Codes for the different error codes and their values. Use the Compare to Error block rather than the error code itself to check for specific error codes. To check for errors in general use the Compare to Zero block to check whether the err output is less than zero.

Parameters and Dialog Box

The Multiwii Altitude block has no parameters.

Targets

See Also

• Multiwii Connect block
• Multiwii Communications

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