Multiwii Status
Gets the status of the auto-pilot.
Library
MATLAB Command Line
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qc_open_library('quarc_library/Communications/Multiwii')Description
The Multiwii Status block uses the Multiwii protocol on the input stream to send a command to the aircraft to
get the status of the auto-pilot. The Multiwii Status block sends a MSP_STATUS 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 outputs of the block are the cycle time, I2C errors count, a bitmask denoting which sensors are available, a flag indicating the active box, and the current configuration setting. The current configuration setting can be changed using the Multiwii Select Setting block.
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 Status
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 Status 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.
cyc
A double scalar representing the cycle time in seconds. Expect values in the millisecond range.
i2c
An integer scalar (uint16) representing the number of errors that have been detected on the I2C lines.
sens
An integer bitmask (uint16) indicating which sensors are available. The bits are currently defined as:
| Bit | Description |
|---|---|
| 1 | Barometer |
| 2 | Magnetometer |
| 3 | GPS |
| 4 | Sonar |
flg
An integer bitmask (uint32) indicating which BOX are active. The bit positions depend on the boxes which are configured.
set
An integer scalar (uint8) representing the current configuration setting. The value should be 0, 1 or 2. The setting can be changed using the Multiwii Select Setting block.
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 Status block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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|
Yes |
Yes |
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|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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