Attitude Setpoint

Reads attitude setpoint

Since R2025b

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Add-On Required: This feature requires the UAV Toolbox Support Package for ArduPilot^® Autopilots add-on.

Libraries:
UAV Toolbox Support Package for ArduPilot Autopilots / Controller Interface Blocks

Description

This block outputs the vehicle’s attitude setpoint as determined by ArduPilot's position controller.

Limitations

This block is not supported in triggered subsystems.

Ports

Output

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Port_1 — Attitude setpoint
vector

Attitude setpoint for the vehicle from the ArduPilot's position controller.

Data Types: single

Parameters

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Output as — Output format for the attitude setpoint
`Euler(ZYX)` (default) | `Quaternion(ZYX)`

Select the output format for the attitude setpoint. This parameter allows you choose whether to represent the attitude as Euler angles or as a quaternion.

Euler (ZYX): Select this option to output the attitude setpoint in Euler angles format, using the ZYX convention, which represents the rotation in roll, pitch, and yaw angles.
Quaternion (WXYZ): Select this option to output the attitude in quaternion format, which consists of a four-part hyper-complex number (W, X, Y, Z).

Sample time — Interval at which the block reads values
`-1` (default)

The time interval at which the block reads values from the ArduPilot autopilot.

Version History

Introduced in R2025b