Multiwii Write Boxes
Writes box items to the auto-pilot. Each word in the input array is a bitmask of activation switches.
Library
QUARC Targets/Communications/Multiwii
Description
The Multiwii Write Boxes block uses the Multiwii protocol on the input stream to send a command to the aircraft to
write the box items to the auto-pilot. The Multiwii Write Boxes block sends a MSP_SET_BOX
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 of the block is a fixed or variable-sized vector of uint16 bitmasks indicating the activation switches for each box. The bitmask contains the low, mid and high state of the AUX1, AUX2, AUX3 and AUX4 activation switches according to the following table:
| Bit | Description |
|---|---|
| 0 | AUX1 LOW state |
| 1 | AUX1 MID state |
| 2 | AUX1 HIGH state |
| 3 | AUX2 LOW state |
| 4 | AUX2 MID state |
| 5 | AUX2 HIGH state |
| 6 | AUX3 LOW state |
| 7 | AUX3 MID state |
| 8 | AUX3 HIGH state |
| 9 | AUX4 LOW state |
| 10 | AUX4 MID state |
| 11 | AUX4 HIGH state |
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 Write Boxes
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 Write Boxes block will be zero.
mask
A fixed or variable-sized vector containing uint16 bitmask values. The bits in the mask correspond to the LOW, MID and HIGH states of the AUX1, AUX2, AUX3 and AUX4 activation switches respectively.
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 new box items when the input changes. If this option is not checked then the block will write new box items every time it executes.
This option makes it easier to use the block, since it typically makes a Triggered Subsystem unnecessary when the option is checked.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
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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