Inputs

Inputs are described in the next table:

PIN

Description

Form

Size

Units

1

Static Pressure 1

[pressure_measurement;sensor temperature]

2x1

\(Pa\) ; \(K\)

2

Static Pressure 2

[pressure_measurement;sensor temperature]

2x1

\(Pa\) ; \(K\)

3

Static Pressure 3

[pressure_measurement;sensor temperature]

2x1

\(Pa\) ; \(K\)

4

Dynamic Pressure

[pressure_measurement;sensor temperature]

2x1

\(Pa\) ; \(K\)

5

IMU 1

[acc_x;acc_y;acc_z;gyr_x;gyr_y;gyr_z;sensor temperature]

7x1

\(\frac{m}{s^2}\) ; \(\frac{rad}{s}\) ; \(K\)

6

IMU 2

[acc_x;acc_y;acc_z;gyr_x;gyr_y;gyr_z;sensor temperature]

7x1

\(\frac{m}{s^2}\) ; \(\frac{rad}{s}\) ; \(K\)

7

IMU 3

[acc_x;acc_y;acc_z;gyr_x;gyr_y;gyr_z;sensor temperature]

7x1

\(\frac{m}{s^2}\) ; \(\frac{rad}{s}\) ; \(K\)

8

Magnetometer 1

[mag_x;mag_y;mag_z;sensor temperature]

4x1

\(T\) ; \(K\)

9

Magnetometer 2

[mag_x;mag_y;mag_z;sensor temperature]

4x1

\(T\) ; \(K\)

10

Magnetometer 3

[mag_x;mag_y;mag_z;sensor temperature]

4x1

\(T\) ; \(K\)

11

Magnetometer 4

[mag_x;mag_y;mag_z;sensor temperature]

4x1

\(T\) ; \(K\)

12

GNSS 1

[1;3;lon;lat;alt;hr_accu;vt_accu;v_n;v_e;v_d;v_accu]

11x1

\(deg \cdot 10^7\) ; \(mm\) ; \(\frac{mm}{s}\)

13

GNSS 2

[1;3;lon;lat;alt;hr_accu;vt_accu;v_n;v_e;v_d;v_accu]

11x1

\(deg \cdot 10^7\) ; \(mm\) ; \(\frac{mm}{s}\)

14

Relative Position 1

[1;x_rel;y_rel;z_rel;d_x;d_y;d_z;x_accu;y_accu;z_accu]

10x1

\(cm\) ; \(mm \cdot 10^{-1}\)

15

Relative Position 2

[1;x_rel;y_rel;z_rel;d_x;d_y;d_z;x_accu;y_accu;z_accu]

10x1

\(cm\) ; \(mm \cdot 10^{-1}\)

16

GNSS Time

[week_number;milliseconds_of_week]

2x1

-; \(ms\)

17

Lidar 1

[lidar_measurement]

1x1

\(cm\)

18

Lidar 2

[lidar_measurement]

1x1

\(cm\)

19

Lidar 3

[lidar_measurement]

1x1

\(cm\)

20

Lidar 4

[lidar_measurement]

1x1

\(cm\)

21

Lidar 5

[lidar_measurement]

1x1

\(cm\)

22

IDs Bit Var Out.

[Var_IDs]

Dynamic(2200 max.)x1

-

23

IDs Unsigned Var Out.

[Var_IDs]

Dynamic(2002 max.)x1

-

24

IDs Real Var Out.

[Var_IDs]

Dynamic(4021 max.)x1

-

25

ADCs

[adc(1-17)]

17x1

-

26

SCI-A (4G) Data

[serial_data]

1024x1

-

27

SCI-A (4G) Length

[serial_length]

1x1

-

28

SCI-B (Radio) Data

[serial_data]

1024x1

-

29

SCI-B (Radio) Length

[serial_length]

1x1

-

30

SCI-C (RS-485) Data

[serial_data]

1024x1

-

31

SCI-C (RS-485) Length

[serial_length]

1x1

-

32

SCI-D (RS-232) Data

[serial_data]

1024x1

-

33

SCI-D (RS-232) Length

[serial_length]

1x1

-

34

USB Data

[serial_data]

1024x1

-

35

USB Length

[serial_length]

1x1

-

36

Bit Var In.

[Var0_ID;Var0_value;…;Var80_ID;Var80_value]

160x1

-

37

Unsigned Var In.

[Var0_ID;Var0_value;…;Var80_ID;Var80_value]

160x1

-

38

Real Var In.

[Var0_ID;Var0_value;…;Var80_ID;Var80_value]

160x1

-

Note

In the table above, the size of the inputs “IDs Bit/Unsigned/Real Var Out.” (pins 22, 23 and 24 respectively) have been described as Dynamic because they don’t need to have a fixed size. However, the size has to be continuous throughout the simulation.

Outputs

Outputs are the following:

PIN

Description

Form

Size

Units

1

Control Outputs

[control_outputs(1-20)]

20x1

-

2

Servo Outputs

[servos(1-32)]

32x1

-

3

Position

[lon;lat;alt]

3x1

\(rad\) ; \(m\)

4

Heights

[msl,agl]

2x1

\(m\)

5

Velocities

[longitudinal_v;lateral_v;velocity(module)]

3x1

\(\frac{m}{s}\)

6

IAS, TAS, GS

[ias,tas,gs]

3x1

\(\frac{m}{s}\)

7

MSL

[msl_from_qnh;msl_from_ISA]

2x1

\(m\)

8

Angle of Attack, Sideslip

[angle_of_attack;sideslip]

2x1

\(rad\)

9

Dynamic Pressure

[dynamic_pressure]

3x1

\(Pa\)

10

Raw IAS

[ias_raw]

1x1

\(\frac{m}{s}\)

11

Tangential Acceleration

[tangential_acceleration]

1x1

\(\frac{m}{s^2}\)

12

Body Velocities

[longitudinal_v;lateral_v;vertical_v]

3x1

\(\frac{m}{s}\)

13

Angular Velocities

[roll_rate;pitch_rate;yaw_rate]

3x1

\(\frac{rad}{s}\)

14

Angular Acceleration

[acc_z_axis;acc_y_axis;acc_x_axis]

3x1

\(\frac{rad}{s}\)

15

NED Acceleration

[acc_north;acc_east;acc_down]

3x1

\(\frac{m}{s^2}\)

16

NED Velocities

[v_north;v_east;v_down]

3x1

\(\frac{m}{s}\)

17

Attitude

[Yaw;Pitch;Roll]

3x1

\(rad\)

18

Co-Angles

[co-Yaw;co-Pitch;co-Roll]

3x1

\(rad\)

19

Aerodynamic Angles

[heading,flight_path;bank_angle]

3x1

\(rad\)

20

Body Accelerations

[acc_x,acc_y;acc_z]

3x1

\(\frac{m}{s^2}\)

21

Load factor

[nx;ny;nz]

3x1

-

22

SCI-A (4G) Data

[serial_data]

1024x1

-

23

SCI-A (4G) Length

[serial_length]

1x1

-

24

SCI-B (Radio) Data

[serial_data]

1024x1

-

25

SCI-B (Radio) Length

[serial_length]

1x1

-

26

SCI-C (RS-485) Data

[serial_data]

1024x1

-

27

SCI-C (RS-485) Length

[serial_length]

1x1

-

28

SCI-D (RS-232) Data

[serial_data]

1024x1

-

29

SCI-D (RS-232) Length

[serial_length]

1x1

-

30

USB Data

[serial_data]

1024x1

-

31

USB Length

[serial_length]

1x1

-

32

Bit Var Out.

[Var_values]

Dynamic(2200 max.)x1

-

33

Unsigned Var Out.

[Var_values]

Dynamic(2002 max.)x1

-

34

Real Var Out.

[Var_values]

Dynamic(4021 max.)x1

-

Note

The outputs “Bit/Unsigned/Real Var Out.” (pins 32, 33 and 34 respectively) correspond to the inputs “IDs Bit/Unsigned/Real Var Out.” (pins 22, 23 and 24 respectively), so they will have the same size as defined in the inputs.

In the following sections, the user can have a look at how to implement the sensors and telemetry blocks, as well as general visualisation of a complete simulation.