Current Attitude

R2026b

Reads current attitude

Since R2026a

• 

Current Attitude block

To add a block to a model, double-click the canvas and start typing the block name. Then, select the block from the list.

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

Description

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

The Current Attitude block outputs the current attitude of the vehicle (roll, pitch, and yaw angles) as determined by ArduPilot's Attitude Heading Reference System (AHRS).

This block supports both ArduCopter and ArduPlane vehicle types.

Ports

Output

Port_1 — Current attitude

vector

Current attitude of the vehicle (roll, pitch, and yaw angles) as determined by ArduPilot's Attitude Heading Reference System (AHRS).

Data Types: single

Parameters

Output as — Output format for the current attitude

Euler(ZYX) (default) | Quaternion(ZYX)

Select the output format for the current attitude. This parameter allows you to choose between representing the current attitude as Euler angles or as a Quaternion.

• Euler (ZYX): Select this option to output the current attitude 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 current attitude in quaternion format, which consists of a four-part hyper-complex number (W, X, Y, Z).

Sample time — Time interval to read data

-1 (default)

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

Programmatic Use: Add Block

To add the block programmatically, use the add_block function with one of these library block paths as the source.

"ardupilotCommonlib/Current Attitude"

Example: add_block("ardupilotCommonlib/Current Attitude","myModel/myBlock",MakeNameUnique="on")

Version History

Introduced in R2026a

R2026b: Added support for ArduPlane vehicles

The Current Ang Velocity block now supports ArduPlane vehicles in addition to ArduCopter vehicles.