Current Attitude

Reads current attitude

Since R2025b

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

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).

Limitations

This block is not supported in triggered subsystems.

Ports

Output

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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

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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.

Version History

Introduced in R2025b