Multiwii Select Setting

Select the setting configuration for the auto-pilot.

Library

Description

The Multiwii Select Setting block uses the Multiwii protocol on the input stream to send a command to the aircraft to set the setting selection for the auto-pilot. The Multiwii Select Setting block sends a MSP_SELECT_SETTING message to the auto-pilot.

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 input to the block is the setting number, which is generally 0, 1 or 2.

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 Select Setting 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 Select Setting block will be zero.

set

An integer scalar (uint8) containing the setting number to select. The value should be 0, 1, or 2.

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.

err

An int32 value indicating whether the message was sent successfully. This value will be positive if message was sent successfully. It will be zero if no message was sent. 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

Write only when the input changes

Check this option to have the block only write a new setting selection when the input changes. If this option is not checked then the block will write a new setting selection every time it executes.

This option makes it easier to use the block, since it typically makes a

Targets

See Also

• Multiwii Connect block
• Multiwii Communications

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