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Table of Contents

VAL Read Vehicle State

Beta

This block is currently a beta version. If you are using this block, we would appreciate any feedback at tech@quanser.com.

Reads the vehicle state for the selected vehicle.

Library

QUARC Targets Beta/Vehicles/Basic

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library_beta/Vehicles/Basic')

Description

VAL Read Vehicle State

The VAL Read Vehicle State block reads the state of the specified vehicle and outputs the state and its derivative.

Input Ports

This block has no input ports.

Output Ports

x

A 6-vector containing the states of the vehicle: x, y, z, roll, pitch, yaw.

x_dot

A 6-vector containing the derivative of the states listed above.

Data Type Support

The outputs of this block are of type double.

Parameters and Dialog Box

VAL Read Vehicle State

Go to VAL Initialize block

This button finds the VAL Initialize block associated with this block (by vehicle name) and highlights it.

Vehicle name

This list contains the vehicle names from all VAL Initialize blocks in the model. By selecting a vehicle name from this list, this block will be associated with the corresponding vehicle in the VAL Initialize block.

Sample time

The sample time of the block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time.

A sample time of -1 indicates that the block inherits its sample time. Since this is a source block, it will only inherit the sample time when it is placed in a conditionally executed subsystem, like a Triggered or Enabled Subsystem, or in a referenced model.

The default sample time is set to qc_get_step_size, which is a QUARC function that returns the fundamental sampling time of the model. Hence, the default sample time is a discrete sample time with the same sampling time as the fixed step size of the model.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

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

* Compatible means that the block can be compiled for the target.

See Also

 

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