MATLAB: Is the Quad Copter example not following the GUI trajectory

Aerospace Blocksetasbtrajectorytoolcopterquadwaypoints

I am working with the following quad copter example:
https://www.mathworks.com/help/releases/R2019a/aeroblks/quadcopter-project.html
Upon following the steps from the documentation, I run the simulation and in the visualization, the quad copter simply ascends vertically and then descends to a hover without moving in the x or y direction. In the 'asbTrajectoryTool' GUI, a path appears to be generated. Is the copter supposed to follow this path and if not, what is the purpose of this path?

Best Answer

The trajectory generated from the 'asbTrajectoryTool' is simply a reference and the demo is not configured to automatically follow a trajectory defined as a set of waypoints.
The Trajectory Tool uses an implementation of Dubin's path:
https://en.wikipedia.org/wiki/Dubins_path
to generate a vehicle trajectory that connects specified waypoints via the shortest possible curve given a radius of curvature, heading, and turn direction. The trajectory path can be visualized in the 2-D pane and 3-D animation window. This can be useful in basic UAV mission design/flight planning.
The flight controller that is included as part of the Quadcopter example is intended only to be used in the context of the simulation behavior included with the example. You will need to redesign the flight control system implementation in order to accommodate waypoint inputs and demonstrate the desired system response. For more information about the contents of the quadcopter example and how to get started designing a UAV flight controller, you can refer to the following webinar: Programming Drones with Simulink.
https://www.mathworks.com/videos/programming-drones-with-simulink-1513024653640.html
Related Question