Inputs and outputs

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	*m/s² ; rad/s ; K*
6	IMU 2	[acc_x;acc_y;acc_z;gyr_x;gyr_y;gyr_z;sensor temperature]	7x1	*m/s² ; rad/s ; K*
7	IMU 3	[acc_x;acc_y;acc_z;gyr_x;gyr_y;gyr_z;sensor temperature]	7x1	*m/s² ; 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 · 10⁷ ; mm ; mm/s*
13	GNSS 2	[1;3;lon;lat;alt;hr_accu;vt_accu;v_n;v_e;v_d;v_accu]	11x1	*deg · 10⁷ ; mm ; 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 · 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 · 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	*m/s*
6	IAS, TAS, GS	[ias,tas,gs]	3x1	*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	*m/s*
11	Tangential Acceleration	[tangential_acceleration]	1x1	*m/s²*
12	Body Velocities	[longitudinal_v;lateral_v;vertical_v]	3x1	*m/s*
13	Angular Velocities	[roll_rate;pitch_rate;yaw_rate]	3x1	*rad/s*
14	Angular Acceleration	[acc_z_axis;acc_y_axis;acc_x_axis]	3x1	*rad/s*
15	NED Acceleration	[acc_north;acc_east;acc_down]	3x1	*m/s²*
16	NED Velocities	[v_north;v_east;v_down]	3x1	*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	*m/s²*
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 sensor and telemetry blocks, as well as general visualisation of a complete simulation.