Positions blocks

Position blocks allow to operate with position variables.

Note

In 1x PDI Builder, position variables are also refered to as Features. These features variables are composed as follows:


Type Name Content Range
Float64 latitude Latitude component scaled as 10-7 degrees (centimeter-level precision on the surface of the Earth) [–90, 90] * 10-7 scaled degrees
Float64 longitude Longitude component scaled as 10-7 degrees (centimeter-level precision on the surface of the Earth) [–180, 180] * 10-7 scaled degrees
Float64 height Height above the WGS84 ellipsoid in millimeters –

Constant Position

Constant Position block defines a position on Earth using Latitude, Longitude and WGS84 Height.

Constant Position block

  • Output

    Pin 0: Output of the configured position.

  • Configuration menu:

    Constant Position block configuration

    The following parameters must be configured to define the desired absolute position:

    • The coordinates can be set in UTM, MGRS (Military Grid Reference System), Decimal Degrees or Degress º ' ".
    • They are indicated through the latitude, longitude and altitude.
    • WGS84: The first time, the altitude must be defined with respect to the ellipsoid, WGS84. After this, MSL and AGL values will be calculated automatically and the user will also be able to define the altitude with respecto to the sea level, MSL.

LLH to position

LLH to position block is used to cast three high-precision (64-bit) variables—longitude, latitude, and WGS84 height—into a single position data structure.

LLH to position block

This block consolidates individual geographic coordinates into a unified position format used by other navigation and guidance components within the autopilot.

  • Inputs

lon: Longitude in radians.

lat: Latitude in radians.

height: WGS84 height in meters.

  • Output

Pin 0: Position.

Move

Move block outputs the position which is the result of moving the input position with the displacement of the input vector.

Move block

  • Inputs

    Pin 0: Input position.

    Pin 1: Input displacement vector in NED frame. It must be a vector of 3 elements, i.e. a 3x1 vector.

  • Output

    Pin 0: Output position.

Position to LLH

Position to LLH block is designed to deconstruct a unified position data structure into its three constituent high-precision (64-bit) variables: longitude, latitude, and WGS84 height.

Position to LLH block
  • Input

Pin 0: Position.

  • Outputs

lon: Longitude in radians.

lat: Latitude in radians.

height: WGS84 height expressed in meters.

Read Feature

Read Feature block reads a position from a FID (feature) variable.

Read Feature block

  • Outputs

    Pin 0: Position to read.

    Pin 1: Enabled/disabled status: true for non operation features, falsa in operation features if they are not set to any value.

  • Configuration menu:

    Read Feature block configuration

    Users must select the feature variable where the position is stored.

Read Mission Point List

Read Mission Point List block functions as a position reader within an operation group. It is designed to return the position from a selected operation feature group that is closest to a given reference point.

Read Mission Point List block
  • Inputs

Origin: Reference position to compute distance.

Default: Default position (optional).

  • Outputs

Pin 0: Closest position to the reference (3D distance).

Pin 1: Validity flag, it is set to false when the output position is not valid, for example when the group is empty or has no valid features if there is no default position connected.

Relative Vector

Relative Vector block calculates the relative vector in NED frame from the two input positions.

Relative Vector block

  • Inputs

    From: First position.

    To: Second position.

  • Output

    Vector: Distance vector from the first position to the second position.

Write Feature

Write Feature block writes a position to a FID variable.

Write Feature block

  • Input

    Pin 0: Position to write.

  • Configuration menu:

    Write Feature block configuration

    Users must select the feature variable where the position is to be stored.

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