read

Gather latest reading from UAV sensor

Syntax

[isUpdated,t,sensorReadings] = read(sensor)

Description

[isUpdated,t,sensorReadings] = read(sensor) gathers the simulated sensor output sensor readings from the latest update of the UAV platform associated with the specified sensor sensor. The function returns an indicator isUpdated of whether the reading was updated at the simulation step in the scenario with timestamp t.

Input Arguments

sensor — UAV sensor added to platform in scenario

uavSensor object

UAV sensor added to a platform in a scenario, specified as uavSensor objects.

Output Arguments

isUpdated — Sensor reading update indicator

0 or false | 1 or true

Sensor reading update indicator, returned as a logical 0 (false) or 1(true). If the sensor reading updated at the current simulation step, the function returns this argument as true.

Data Types: logical

t — Timestamp of the generated sensor reading

scalar in seconds

Timestamp of the generated sensor reading, returned as a scalar in seconds.

Data Types: double

sensorReadings — Simulated sensor readings

insSensor output | gpsSensor output | uavLidarPointCloudGenerator output | gnssMeasurementGenerator output | output of custom sensor derived from uav.SensorAdaptor class

Simulated sensor readings, which depends on the type of sensor specified in the sensor input argument. See the Usage syntax for the appropriate insSensor, gpsSensor, uavLidarPointCloudGenerator, or gnssMeasurementGenerator (Navigation Toolbox) System object™.

Version History

Introduced in R2020b