Get an error when changing the baseMission waypoint in "Example:UAV Package Delivery"

I tried to change the waypoint in "noQGC/baseMission" block. And I got an error.

I wonder how to fix this. I found that the Storage class of the "baseMission" in "uavPackageDeliveryDataDict.sldd" had changed. Is this the problem?

Thanks.

Answer 1

[Jianxin Sun]

Hi Wenhan,

Can you clarify how you changed the waypoints in "noQGC/baseMission" block? You should be able to update the waypoints by modifying the baseMission struct in the data dictionary.

You can copy the baseMission variable to base workspace, modify it from base workspace and copy it back into data dictionary.

For example, if you need to change the 2nd wayoint, you can do:

baseMission(2).position(:) = newWaypoint; %newWaypoint is a 1x3 vector in [x, y, 0] format

Alternatively, you can consult with the following question to see how to change the waypoint at run time:

https://www.mathworks.com/matlabcentral/answers/824300-how-to-change-waypoints-while-running-the-simulation-model-when-using-uav-toolbox-path-manager

Thanks,

Jianxin

[wenhan yuan]

Thanks! Problem fixed. I modified the value here. And this causes the error.