AEROSIM BLOCKSET

Version 1.01
User’s Guide
Unmanned Dynamics, LLC
No.8 Fourth St.
Hood River, OR 97031
(541) 308-0894
http://www.u-dynamics.com
[email protected]

Contents 2 Aircraft Model Demos 6

2.1 Open-loop Flight . . . . . . . . . . . . . . . . . . 7
1 Introduction 1 2.2 Lateral Control . . . . . . . . . . . . . . . . . . . 8
1.1 Software Changes from Version 1.0 to 1.01 . . . . 1 2.3 Airspeed Control . . . . . . . . . . . . . . . . . . 9
1.2 New Features for Version 1.01 . . . . . . . . . . . 1
2.4 Wind Effects . . . . . . . . . . . . . . . . . . . . 12
1.3 Keeping up-to-date with the AeroSim Blockset:
2.5 Inertial Navigation . . . . . . . . . . . . . . . . . 14
The AeroSim Mailing List . . . . . . . . . . . . . 2
1.4 System Requirements . . . . . . . . . . . . . . . . 2 2.6 Joystick Control . . . . . . . . . . . . . . . . . . . 15
1.5 Contents of the installation CD . . . . . . . . . . . 2 2.7 Interfacing to FlightGear Flight Simulator . . . . . 16
1.6 Install the AeroSim Blockset . . . . . . . . . . . . 3 2.8 Interfacing to Microsoft Flight Simulator . . . . . . 18
1.7 Uninstall the AeroSim Blockset . . . . . . . . . . 3 2.9 FlightGear Aircraft Demos . . . . . . . . . . . . . 20
1.8 Library Description . . . . . . . . . . . . . . . . . 3 2.10 Aircraft Model Trim and Linearization . . . . . . . 21
AeroSim Blockset User’s Guide CONTENTS

3 Setting-up and Running an Aircraft Model 26 4.2.9 Roll Moment Coefficient . . . . . . . . . . 60

3.1 Aircraft Model Examples . . . . . . . . . . . . . . 27 4.2.10 Yaw Moment Coefficient . . . . . . . . . . 61
3.2 Building an aircraft configuration . . . . . . . . . . 28 4.3 Atmosphere . . . . . . . . . . . . . . . . . . . . . 62
3.2.1 Conventions . . . . . . . . . . . . . . . . 28 4.3.1 Standard Atmosphere . . . . . . . . . . . . 63
3.2.2 Section 1: Aerodynamics . . . . . . . . . . 28 4.3.2 Background Wind . . . . . . . . . . . . . 64
3.2.3 Section 2: Propeller . . . . . . . . . . . . 29 4.3.3 Turbulence . . . . . . . . . . . . . . . . . 65
3.2.4 Section 3: Engine . . . . . . . . . . . . . . 30 4.3.4 Wind Shear . . . . . . . . . . . . . . . . . 66
3.2.5 Section 4: Inertia . . . . . . . . . . . . . . 31 4.3.5 Wind Force . . . . . . . . . . . . . . . . . 67
3.2.6 Section 5: Other parameters . . . . . . . . 31 4.3.6 Wind Moment . . . . . . . . . . . . . . . 68
3.3 The pre-built Aircraft Models . . . . . . . . . . . . 32 4.4 Complete Aircraft . . . . . . . . . . . . . . . . . . 69
3.4 Using FlightGear Aircraft Configuration Files . . . 35 4.4.1 6-DOF Aircraft Model - body-frame EOM 70
3.4.1 The JSBSim XML Configuration File . . . 35 4.4.2 6-DOF Aircraft Model - geodetic-frame EOM 73
3.4.2 The xmlAircraft Parser . . . . . . . . . . . 36 4.4.3 6-DOF Aircraft Model - geodetic-frame EOM,
3.4.3 The Matlab Aircraft Structure . . . . . . . 37 no magnetic field . . . . . . . . . . . . . . 76
3.5 Additional Matlab Utilities . . . . . . . . . . . . . 40 4.4.4 Simple Aircraft Model . . . . . . . . . . . 79
4.4.5 Glider Model . . . . . . . . . . . . . . . . 81
4 Block Reference 41 4.4.6 Inertial Navigation System . . . . . . . . . 83
4.1 Actuators . . . . . . . . . . . . . . . . . . . . . . 42 4.5 Earth . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.1.1 Simple Actuator (1st-order dynamics) . . . 43 4.5.1 WGS-84 . . . . . . . . . . . . . . . . . . 85
4.1.2 Simple Actuator (2nd-order dynamics) . . 45 4.5.2 EGM-96 . . . . . . . . . . . . . . . . . . 86
4.1.3 D/A Converter . . . . . . . . . . . . . . . 46 4.5.3 Ground Detection . . . . . . . . . . . . . . 87
4.2 Aerodynamics . . . . . . . . . . . . . . . . . . . . 47 4.5.4 WMM-2000 . . . . . . . . . . . . . . . . 88
4.2.1 Aerodynamic Force . . . . . . . . . . . . . 48 4.6 Equations of Motion . . . . . . . . . . . . . . . . 89
4.2.2 Aerodynamic Moment . . . . . . . . . . . 49 4.6.1 Total Acceleration . . . . . . . . . . . . . 90
4.2.3 Wind-axes Velocities . . . . . . . . . . . . 50 4.6.2 Total Moment . . . . . . . . . . . . . . . . 91
4.2.4 Dynamic Pressure . . . . . . . . . . . . . 52 4.6.3 Body-frame EOM: Forces . . . . . . . . . 92
4.2.5 Lift Coefficient . . . . . . . . . . . . . . . 53 4.6.4 Body-frame EOM: Moments . . . . . . . . 93
4.2.6 Drag Coefficient . . . . . . . . . . . . . . 55 4.6.5 Body-frame EOM: Kinematics (Quaternions) 94
4.2.7 Side Force coefficient . . . . . . . . . . . . 57 4.6.6 Body-frame EOM: Kinematics (Euler An-
4.2.8 Pitch Moment Coefficient . . . . . . . . . 58 gles) . . . . . . . . . . . . . . . . . . . . . 95

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CONTENTS AeroSim Blockset User’s Guide

4.6.7 Body-frame EOM: Navigation . . . . . . . 96 4.11.3 Simple Sensor - 1st-order dynamics . . . . 135
4.6.8 Geodetic-frame EOM: Position . . . . . . 98 4.11.4 Simple Sensor - 2nd-order dynamics . . . . 136
4.6.9 Geodetic-frame EOM: Velocity . . . . . . 100 4.11.5 Analog Sensor . . . . . . . . . . . . . . . 137
4.6.10 Geodetic-frame EOM: Attitude (Quaternions)102 4.11.6 A/D Converter . . . . . . . . . . . . . . . 138
4.6.11 Geodetic-frame EOM: Attitude (Euler An- 4.11.7 Single GPS Measurement . . . . . . . . . 139
gles) . . . . . . . . . . . . . . . . . . . . . 103 4.11.8 GPS PV . . . . . . . . . . . . . . . . . . . 140
4.6.12 Geodetic-frame EOM: Angular Rate . . . . 104 4.12 Transformations . . . . . . . . . . . . . . . . . . . 141
4.7 Inertia . . . . . . . . . . . . . . . . . . . . . . . . 106 4.12.1 Body-Inertial DCM From Quaternions . . . 142
4.7.1 Aircraft Inertia . . . . . . . . . . . . . . . 107 4.12.2 Body-Inertial DCM From Euler Angles . . 143
4.7.2 Inertia Coefficients . . . . . . . . . . . . . 109 4.12.3 Body-Wind DCM . . . . . . . . . . . . . . 144
4.8 Math . . . . . . . . . . . . . . . . . . . . . . . . . 110 4.12.4 Euler Angles From Quaternions . . . . . . 145
4.8.1 Cross Product . . . . . . . . . . . . . . . . 111 4.12.5 Euler Angles from DCM . . . . . . . . . . 146
4.8.2 Normalization . . . . . . . . . . . . . . . 112 4.12.6 Quaternions From Euler Angles . . . . . . 147
4.8.3 Vector Norm . . . . . . . . . . . . . . . . 113 4.12.7 ECEF Position . . . . . . . . . . . . . . . 148
4.8.4 Non-zero Sign . . . . . . . . . . . . . . . 114 4.13 Unit Conversion . . . . . . . . . . . . . . . . . . . 149
4.8.5 Zero Offset . . . . . . . . . . . . . . . . . 115 4.13.1 Angular position: Deg 2 rad and Rad 2 deg 150
4.8.6 pi Bound . . . . . . . . . . . . . . . . . . 116 4.13.2 Angular velocity: Rad/s 2 RPM and RPM
4.8.7 2pi Bound . . . . . . . . . . . . . . . . . . 117 2 rad/s . . . . . . . . . . . . . . . . . . . . 151
4.9 Pilot Interface . . . . . . . . . . . . . . . . . . . . 118 4.13.3 Distance: ft 2 m and m 2 ft . . . . . . . . . 152
4.9.1 FS Interface . . . . . . . . . . . . . . . . . 119 4.13.4 Distance: m 2 nm and nm to m . . . . . . . 153
4.9.2 FlightGear Interface . . . . . . . . . . . . 121 4.13.5 Velocity: m/s 2 km/h and km/h 2 m/s . . . 154
4.9.3 Joystick Interface . . . . . . . . . . . . . . 123 4.13.6 Velocity: m/s 2 mph and mph 2 m/s . . . . 155
4.9.4 CH F-16 Combat Stick . . . . . . . . . . . 124 4.13.7 Velocity: m/s 2 kts and kts 2 m/s . . . . . . 156
4.10 Propulsion . . . . . . . . . . . . . . . . . . . . . . 126 4.13.8 Force: lbf 2 N and N 2 lbf . . . . . . . . . 157
4.10.1 Fixed-Pitch Propeller . . . . . . . . . . . . 127 4.13.9 Mass: lb 2 kg and kg 2 lb . . . . . . . . . . 158
4.10.2 Piston Engine . . . . . . . . . . . . . . . . 128 4.13.10 Mass: slug 2 kg and kg 2 slug . . . . . . . 159
4.10.3 GA Propulsion System . . . . . . . . . . . 130 4.13.11 Volume: gal 2 l and l 2 gal . . . . . . . . . 160
4.11 Sensors . . . . . . . . . . . . . . . . . . . . . . . 132 4.13.12 Pressure: Pa 2 in.Hg. and in.Hg. 2 Pa . . . 161
4.11.1 Noise Correlation: Random Walk . . . . . 133 4.13.13 Temperature: K 2 F and F 2 K . . . . . . . 162
4.11.2 Noise Correlation: Gauss-Markov Process . 134 4.14 FlightGear-Compatible . . . . . . . . . . . . . . . 163
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4.14.1 Inertia: Empty Aircraft . . . . . . . . . . . 164
4.14.2 Inertia: Point Mass . . . . . . . . . . . . . 165
4.14.3 Propulsion: FG Piston Engine + Fixed-
Pitch Prop . . . . . . . . . . . . . . . . . . 166
4.14.4 Propulsion: FG Piston Engine + Variable-
Pitch Prop . . . . . . . . . . . . . . . . . . 168
4.14.5 Piston Engine: Intake Model . . . . . . . . 170
4.14.6 Piston Engine: AirFlow Model . . . . . . . 171
4.14.7 Piston Engine: FuelFlow Model . . . . . . 172
4.14.8 Piston Engine: Power Model . . . . . . . . 173
4.14.9 Piston Engine: FG Piston Engine . . . . . 174
4.14.10 Propeller Thruster: FG Fixed-Pitch Propeller175
4.14.11 Propeller Thruster: FG Variable-Pitch Pro-
peller . . . . . . . . . . . . . . . . . . . . 176
4.14.12 Tank: Fuel Tank . . . . . . . . . . . . . . 177
4.14.13 Aerodynamics: Value . . . . . . . . . . . . 178
4.14.14 Aerodynamics: Vector . . . . . . . . . . . 179
4.14.15 Aerodynamics: Table . . . . . . . . . . . . 180
4.14.16 Aerodynamics: Coefficient . . . . . . . . . 181
4.14.17 Complete Aircraft: Cessna-172 . . . . . . 182
4.14.18 Complete Aircraft: Cessna-182 . . . . . . 184
4.14.19 Complete Aircraft: Cessna-310 . . . . . . 186
1 INTRODUCTION AeroSim Blockset User’s Guide

1 Introduction • In the Complete Aircraft folder, all of the aircraft mod-

els were internally updated to reflect the changes described
The AeroSim aeronautical simulation blockset provides a com- above. If you have any Simulink models that contain any of
plete set of tools for the rapid development of nonlinear 6-degree- these aircraft as library links, no modification are required
of-freedom aircraft dynamic models. In addition to the basic air- on your Simulink diagrams. If you developed aircraft mod-
craft dynamics blocks, the library also includes complete aircraft els independently using AeroSim components, you will need
models which can be customized through parameter files. to update the links for the blocks described above.
Since the AeroSim blockset components are built using only
basic Simulink blocks and portable C/C++ code, you can use The changes presented above were performed to allow devel-
Real-Time Workshop to automatically generate source code from opment of equivalent attitude descriptions using Euler angles in-
your aircraft models. stead of quaternions.
Aircraft model examples include the Aerosonde UAV and the
Navion general-aviation airplane. 1.2 New Features for Version 1.01
The library allows importation of XML FlightGear aircraft con-
figuration files (JSBSim format). Sample blocks for the Cessna The following new features were added to the AeroSim Blockset
172, 182, and 310 based on JSBSim models can be found in the in this release:
FlightGear-Compatible section of the AeroSim library. • Ability to import and use FlightGear aircraft dynamic mod-
els. FlightGear supports XML-based flight dynamic mod-
1.1 Software Changes from Version 1.0 to 1.01 els in several formats. Currently, only the most popular
format - JSBSim can be imported by the AeroSim Block-
The following changes were done to existing library features: set. The FlightGear compatibility is provided through an
xmlAircraft() parser script and through additional Simulink
• In the Transformations library folder, the block Body-Inertial blocks provided in a new AeroSim library folder. The same
DCM has been renamed to Body-Inertial DCM From Quater- folder contains 3 examples of aircraft models based on JSB-
nions. Sim configuration files - the Cessna 172, 182 and 310.

• In the Body-Frame EOM folder, the block Kinematics has • Aircraft model trim and linearization script. The Matlab
been renamed to Kinematics (Quaternions). Similarly, in program trims an AeroSim aircraft model for a user-provided
the Geodetic-Frame EOM, the block Attitude has been re- flight condition and extracts the linear model at that flight
named to Attitude (Quaternions). condition.
1
AeroSim Blockset User’s Guide 1 INTRODUCTION

• The addition of attitude representation by Euler angles. For 1.5 Contents of the installation CD
this the following blocks were added to the library: in the
The installation CD includes the following:
Transformations section - Body-Inertial DCM From Eu-
ler Angles, Quaternions From Euler Angles, in the Body- 1. The AeroSim installer, in the directory aerosim-setup.
Frame EOM section - Kinematics (Euler Angles), and in
the Geodetic-Frame EOM - Attitude (Euler Angles). 2. The FlightGear Flight Simulator - an open-source flight sim-
ulator application, in the directory flightgear. The latest ver-
sion of the software can also be downloaded from:
1.3 Keeping up-to-date with the AeroSim Block- http://www.flightgear.org.
set: The AeroSim Mailing List
3. Utilities for Microsoft Flight Simulator, in the directory fsu-
The AeroSim Blockset is evolving steadily. An AeroSim mailing til. These are the following:
list was created at Yahoo Groups for new release announcements
• Flight Simulator Update 2b, for Flight Simulator 2000
as well as for technical discussions regarding the AeroSim Block-
only. This is required for using the other utility pro-
set. The mailing list can be found at:
grams with Microsoft Flight Simulator 2000.
http://groups.yahoo.com/group/aerosim/
We encourage our users to subscribe to this list, by sending a • FSUIPC, an utility which allows inter-process com-
blank email to: munication with Microsoft Flight Simulator 2000 and
[email protected]. 2002 (by Peter L. Dowson). The latest version of this
application can be downloaded from
http://www.flightsim.com.
1.4 System Requirements • WIDEFS, an utility which extends FSUIPC functional-
The minimum software requirements for the AeroSim blockset ity by allowing inter-process communication with Flight
are Matlab version 6 and Simulink version 4. The blockset will Simulator over the local network (by Peter L. Dow-
not operate properly with earlier versions of Matlab (such as 5.x) son). Also, the latest version of the program can be
since AeroSim makes use of matrix signals and matrix operations downloaded at
which are not available in the earlier versions of Simulink. http://www.flightsim.com.
The Flight Simulator and FlightGear interface blocks which • Flight Simulator aircraft. Visual models for the Aerosonde
can be used for visual output require Microsoft Flight Simulator UAV and for the Navion, the two aircraft examples fea-
2000 or later, respectively FlightGear version 0.8. tured in the AeroSim blockset demos can be found
2
1 INTRODUCTION AeroSim Blockset User’s Guide

on the installation disk, in the /fsutil/aircraft/ direc- The entries that will be added to the path listing are $AEROSIM-
tory. There are three versions of each aircraft model ROOT, $AEROSIMROOT/samples, $AEROSIMROOT/trim,
in standard FS5 format, in Flight Simulator 2000 for- $AEROSIMROOT/util, and $AEROSIMROOT/fgutil. If for
mat, and in Flight Simulator 2002 format. The stan- some reason the path file cannot be edited by the installer (cur-
dard FS5 models can be used with any Flight Simu- rent user does not have write permission, or file does not exist) the
lator version from 5.0 up to 98, by making use of the installation program will display a warning message.
Aircraft Converter included with your Flight Simu- After completing the AeroSim blockset installation, start Mat-
lator software. The FS2000 and FS2002 aircraft can lab and open the Simulink browser window. The AeroSim block-
be installed by directly copying the airplane directories set will be available for use, and the library tree will look similar
as provided on the AeroSim disk to your /$FLIGHT- to Fig. 1.
SIM/aircraft/ directory.

The software available on the installation CD can also be down- 1.7 Uninstall the AeroSim Blockset
loaded directly from the AeroSim product page at: To remove the AeroSim Blockset from your machine, choose UnIn-
http://www.u-dynamics.com/aerosim/. stall AeroSim from the Windows Start Menu, or uninstall the
program from the Windows Control Panel. The uninstaller will
1.6 Install the AeroSim Blockset remove all files in the AeroSim directory, and the Start Menu
entries. However, the uninstaller is unable to undo the changes
To install the AeroSim blockset, run the setup.exe executable which made to the Matlab path file. You must manually replace your
is located in the aerosim-setup directory of the installation CD. current pathdef.m file with the original file which was saved as
By default, the installer will place the AeroSim files in the pathdef.old, otherwise Matlab will display a warning during start-
C:/Program Files/AeroSim directory. A dialog box will give the up.
user the option to choose a different directory for installation. The
setup program will also create a new Start Menu entry, in which it
1.8 Library Description
will place a link to a PDF copy of this User Guide.
After the installer finishes copying all the files it will update The AeroSim library folders, presented in Fig. 2, provide more
the Matlab path file by adding entries for the AeroSim blockset. than one-hundred blocks commonly used in the development of
The path file that will be modified is aircraft dynamic models. These include nonlinear equations of
$MATLABROOT/toolbox/local/pathdef.m. Before making any motion, linear aerodynamics, piston-engine propulsion, aircraft in-
changes, a back-up copy of the original file will be saved as pathdef.old.
ertia parameters, atmosphere models, Earth models, sensors and
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AeroSim Blockset User’s Guide 1 INTRODUCTION

actuators, frame transformations, and pilot interfaces such as joy-

stick input and 3-D visual output.

Figure 2: AeroSim Library

The library also provides complete aircraft models built using

AeroSim blocks, and which can be customized to particular air-
craft by editing an aircraft parameter file.
Figure 1: Simulink Library Browser
4
1 INTRODUCTION AeroSim Blockset User’s Guide

In addition to the block library, a set of Simulink demos can

be found in the samples directory of the AeroSim blockset. These
provide dynamic models of actual aircraft such as the Aerosonde
Unmanned Air Vehicle and the Navion general-aviation airplane.
The demo models are presented in detail in the next section.
Aircraft model trim and linearization functions as well as trim
examples for Aerosonde and Navion can be found in the trim
directory.
The fgutil directory contains XML parser scripts that can load
JSBSim aircraft configuration files in Matlab aircraft structures.
The util directory contains several useful engineering math
functions including Euler and Quaternion attitude representations,
and eigenvalue analysis.
The src directory provides the C/C++ source code for the S-
functions that are implemented as C-MEX files. This allows you
to use Real-Time Workshop with any aircraft models developed
with AeroSim blocks and be able to build the resulting source code
for other hardware platforms.

5
AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2 Aircraft Model Demos

The following Simulink models can be found in the samples di-
rectory of the AeroSim library. They illustrate the functionality of
the AeroSim blockset. The models presented next are using the
Aerosonde for aircraft dynamics, but similar models exist for the
Navion airplane as well.

6
2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

2.1 Open-loop Flight Both files are located in the sub-directory samples of the main
AeroSim directory.
The first demo, with the Simulink model shown in Fig. 3, repre- The unbalanced roll moment caused by the propulsion system
sents a simulation of the aircraft in open-loop flight. That is, all air- excites the spiral mode and the aircraft settles in a constant bank
craft control inputs are set to fixed values, independent of the air- angle turn, as shown in Fig. 4.
craft states. The Simulink model can be opened by typing its name

Figure 4: Bank angle output

Figure 3: Aerosonde open-loop flight demo

at the Matlab commmand prompt: aerosonde demo1. The aircaft

model used for Aerosonde is the 6-DOF Aircraft Model (with
Body-frame EOM) from the AeroSim blockset. The aircraft pa-
rameter file used by the Aerosonde model is aerosondecfg.mat
and it was generated using the Matlab script aerosondeconfig.m.

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.2 Lateral Control

To open the second demo, type aerosonde demo2 at the Matlab
command prompt. The Simulink diagram is shown in Fig. 5. In

Figure 6: Bank angle is now stabilized

Figure 5: Aerosonde lateral control demo

this example, we stabilize the lateral dynamics of the aircraft by

adding a wing leveler. This is implemented using proportional and
integral feedback from bank angle to ailerons. We can see in Fig.
6 that the bank angle now settles to zero (wings level attitude).

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

2.3 Airspeed Control same time, the airspeed settles to a value which depends on the
elevator setting. The model aerosonde demo4 adds an airspeed
To open the third demo, type aerosonde demo3 at the Matlab control loop using PID (proportional, integral, derivative) control
command prompt. The Simulink diagram is shown in Fig. 7. With laws - see Fig. 9. The airspeed command is set to a constant value
of 25 m/s. By running the simulation, you should see a plot of
the airspeed and pitch angle similar to Fig. 10. The airspeed does
indeed settle to the commanded value, while the phugoid oscilla-
tions are virtually eliminated and the pitch angle settles to a value
of approximately 1.7 degrees.

Figure 7: Aerosonde open-loop flight demo

the lateral dynamics of the aircraft now under control, we take a

quick look at the longitudinal dynamics. In Fig. 8 we can see
the time history of airspeed and pitch angle. The initial phugoid
oscillations take approximately 60 seconds to damp out. At the
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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

Figure 8: Airspeed and pitch angle outputs Figure 9: Aerosonde longitudinal control demo

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

Figure 10: Airspeed and pitch angle are now stabilized

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.4 Wind Effects First, we notice that compared to the results of previous sim-
ulations, the airspeed and pitch plots are noisy - the effect of the
To open the fifth demo, type aerosonde demo5 at the Matlab com- von Karman turbulence models - see Fig. 12.
mand prompt. The Simulink diagram is shown in Fig. 11. This ex- We also plot the orientation of the aircraft airspeed vector, ver-
sus the orientation of the aircraft groundspeed vector. When there
is no wind the two vectors are overlapped, and their magnitudes
are identical. In the presence of background wind, this will cause
a difference in the orientation and the magnitude of the airspeed
and groundspeed vectors. We can see that in our case, there is a
difference of approximately 30 degrees (airspeed heading is 25,
while the groundspeed heading is 355).

Figure 11: Aerosonde wind demo

ample illustrates the effects of wind. The background wind veloc-

ity components chosen for this simulation are 25 m/s from South
and 10 m/s from East - resulting in a wind speed greater than the
aircraft speed (regulated at 25 m/s by the airspeed control loop).
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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

Figure 12: Airspeed and pitch angle in the presence of atmospheric

turbulence

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.5 Inertial Navigation

To open the sixth demo, type aerosonde demo6 at the Matlab
command prompt. The Simulink diagram is shown in Fig. 13.
This example is using the Inertial Navigation System block from

Figure 13: INS demo

the AeroSim library to integrate the inertial sensor measurements

provided by the aircraft model. The inertial measurements are in-
tegrated to obtain estimates of the aircraft states (position, velocity,
and attitude). These are plotted against the aircraft states provided
by the aircraft model - Fig. 14. We can see that the INS estimates
diverge from the real states slowly in time. Although the model
assumes perfect sensors, small errors such as those induced by the
Figure 14: Aircraft position vs. INS position estimate
fixed-step integration scheme accumulate during the INS integra-
tion process causing this divergent behavior. PVA estimates can
be improved by adding a navigation Kalman filter.

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

2.6 Joystick Control states. Any joystick inputs given by the user will be displayed in
real-time.
The joystick demo, with the Simulink model joystick demo1 re-
quires the presence of a properly calibrated joystick on the system.
The model is shown in Fig. 15. While the simulation is running,

Figure 15: Joystick demo

the display blocks will show the current values for the joystick po-
sition on the 6 axes, as well as the buttons and POV hat switch
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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.7 Interfacing to FlightGear Flight Simulator

This demo illustrates the FlightGear interface functionality. First,
open the Simulink model aerosonde demo fgfs. The Simulink
model, shown in Fig. 16, can be executed, regardless of whether
FlightGear is installed or not on the computer. The demo model
will dump aircraft state data over the local network connection us-
ing the UDP protocol. Double-click on the FlightGear Interface
block. This will open the parameter dialog, as shown in Fig. 17.
In the upper edit box, type the name of the computer on which
FlightGear is installed. The parameter should be a string (single
quotation marks). If it is the same computer as the one running
the Matlab/Simulink environment, then just leave the name as ’lo-
calhost’. However, for good performance we recommend keeping
the Matlab and the FlightGear applications on separate machines,
since both applications put a significant load on the CPU. The
lower edit box allows the user to specify the sample time at which
aircraft state data will be sent to FlightGear. Due to Simulink con-
straints, this should be a multiple of the base model sample time.
For this demo it is probably best to leave this setting unchanged.
First start FlightGear Flight Simulator, by using the external
flight model option. This can be done with a batch file, or directly
from the command prompt by typing the following command from
the main FlightGear directory:
bin\fgfs --native-fdm=socket,in,30,,5500,udp --fdm=external

With these parameters, FlightGear will disable its internal flight Figure 16: FGFS interface demo
dynamics, and it will accept aircraft states from the local network,
as a UDP stream, on port 5500.
Now run the Simulink model aerosonde demo fgfs. The Flight-
Gear screen should display a view from the aircraft in straight and

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

level flight, see Fig. 18. While the simulation is running, change
the value in the Bank angle Command block from 0 to 30 de-
grees. The FlightGear screen will show the aircraft banking right,
as it settles at the new bank angle command - see Fig. 19.

Figure 17: FGFS interface parameters

Figure 19: FGFS shows aircraft in 30-deg. bank angle turn

Figure 18: FGFS shows aircraft in straight and level flight

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.8 Interfacing to Microsoft Flight Simulator

This demo will present the methodology for interfacing an aircraft
dynamic model running in Simulink to a computer running Mi-
crosoft Flight Simulator.

1. If using Flight Simulator 2000, install the latest patch (up-

date 2b).

2. Unzip fsuipc.zip in a temporary directory and follow the

installation instructions.

3. Unzip widefs.zip in a temporary directory and follow the

installation instructions. Figure 20: FSUIPC in the Modules pull-down menu

4. Check to make sure FSUIPC is installed by starting Flight 9. Start the Simulink model. The Flight Simulator screen will
Simulator and looking for FSUIPC in the Modules pull- display the current position and attitude of the aircraft. Give
down menu, as in Fig. 20. the autopilot a new bank angle command, by updating the
Bank angle Command block. You should be able to see the
5. Check if the WideFS server is running by looking at the
change in aircraft attitude in Flight Simulator immediately.
Flight Simulator window title-bar - see Fig. 20.
Particular aircraft visual models can be loaded in Microsoft
6. On the Matlab machine, copy the WideFS client files (Wide- Flight Simulator before starting the simulation. The FS
Client.exe and WideClient.ini). Edit the client initialization models provided on the AeroSim installation CD include
file to specify the address of the computer running the Flight the Aerosonde - Fig. 22 and the Navion - Fig. 23.
Simulator with WideServer.

7. Launch the WideFS client program. If properly configured,

the client should connect in a couple of seconds to the server.

8. On the Matlab machine, open the Simulink demo aerosonde demo msfs.mdl.
The demo model is shown in Fig. 21

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

Figure 22: MSFS visual model of Aerosonde

Figure 21: Flight Simulator Demo Model

Figure 23: MSFS visual model of Navion

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

2.9 FlightGear Aircraft Demos

The complete models for several aircraft that use JSBSim configu-
ration files can be found in the AeroSim library. Several ready-to-
run demos are also provided in the samples directory. These are:
c172fg demo.mdl, c182fg demo.mdl, and c310fg demo.mdl for
the Cessna-172, 182, and 310 respectively.
Before running any of these Simulink models, make sure to
set the correct FlightGear path string in the aircraft model block
parameters, by double-clicking on the aircraft block and editing
the parameter FlightGear path.

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

2.10 Aircraft Model Trim and Linearization

Two aircraft trim and linearization examples can be found in the
trim directory - for the Aerosonde UAV and for the Navion air-
plane. Each of the examples includes a Simulink model of the
aircraft and a Matlab script which performs the trim and the lin-
earization of the aircraft dynamics.
For the Aerosonde UAV, the Simulink model is aerosonde trim.mdl
and the trim program is trim aerosonde.m. The Simulink model
is shown in Fig. 24.
The attitude equations in the aircraft model are implemented
using the Euler angle representation which provides more intuitive
trim results. Several aircraft control inputs - the flap, the mixture
and the ignition are assumed constant through-out the trim proce-
dure. The values for these constants, as well as the aircraft model
block parameters are read from a Matlab structure created by the
trim program (TrimParam).
The aircraft trim parameter structure has the following ele-
ments:

• SampleTime = the sample time at which the Simulink model

will run during the trim process.

• FinalTime = the final time for the Simulink mode during the
trim process.

• SimModel = a string with the name of the Simulink model

to be trimmed (in our case ’aerosonde trim’).
Figure 24: Simulink Model for Trim and Linearization
• VelocitiesIni = the initial value for the aircraft velocity inte-
grators (Force Equations).

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AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

• RatesIni = the initial value for the aircraft angular rate inte- • Mixture = the air/fuel mixture at which the aircraft will be
grators (Moment Equations). trimmed.

• AttitudeIni = the initial value for the Euler angle integrators • Ignition = choose whether this is a power-on or power-off
(Kinematic Equations). trim condition.

• PositionIni = the initial value for the geographic position • Winds = the background wind vector for which the aircraft
integrators (Navigation Equations). will be trimmed.

• FuelIni = the initial value for the fuel mass integrator. • StateIdx = the state order index maps the order of states in
the Simulink diagram to a desired order of states. Often
• EngineSpeedIni = the initial value for the engine rotation the order in which Matlab considers the states in a Simulink
speed. block diagram is different that the order we intend to use.
In this case, the desired order is [Velocities Rates Attitude
• Airspeed = the airspeed at which the aircraft will be trimmed.
Position Fuel EngineSpeed].
• Altitude = the altitude at which the aircraft will be trimmed.
• Options = the Matlab structure which defines the optimiza-
• BankAngle = the bank (roll) angle at which the aircraft will tion function options.
be trimmed.
• SimOptions = the Matlab structure which defines the simu-
• Elevator = the initial guess for the elevator position at trim lation function options.
condition.
• NAircraftStates = the size of the desired aircraft state vector.
• Aileron = the initial guess for the aileron position at trim
• NSimulinkStates = the size of the Simulink model state vec-
condition.
tor (could be larger since it could include states for other
• Rudder = the initial guess for the rudder position at trim dynamics which are of no interest for trim (such as the tur-
condition. bulence filter states)

• Throttle = the initial guess for the throttle position at trim The trim and linearization script will create the trim parameters
condition. structure with values provided by the user and with default values
for several parameters.
• Flap = the flap setting at which the aircraft will be trimmed. The script performs several steps, as presented below:

22
2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

• Set the initial parameters. These include the Simulink model the nonlinear aircraft model is linearized about the trim con-
name and sample time settings as well as default values for dition, using the Matlab function linmod. The resulting lin-
aircraft control inputs. ear model is then decoupled into longitudinal and lateral-
directional plants; this procedure is valid only if the aircraft
• Identify the order of the aircraft states. The identification is trimmed for straight and level flight. At the end of the
is done by running the Simulink model for a single sample linearization procedure, a simple eigenvalue analysis of the
time with some default initial guesses and reading back the longitudinal and lateral-directional dynamics is performed.
Simulink model state vector to identify the indices for each
of the states of interest. To illustrate the process, we will trim the Aerosonde model for
a typical flight condition (Va = 23m/s, h = 200m, φ = 0). By run-
• Initial guess for the aircraft controls. The procedure first ning the trim program trim aerosonde.m we obtain the following
requires user input regarding the flight condition at which output:
the aircraft is to be trimmed. Once the flight condition is
completely defined, the Simulink model is run for a limited Setting initial trim parameters...
amount of time, in an iterative process, and the aircraft con-
The Simulink modelaerosonde_trim.mdl will be trimmed.
trol inputs are adjusted each time by proportional feedback
from selected model outputs (for example, elevator feed- Identifying the order of the Simulink model states...done.

back is provided by airspeed error, throttle feedback - by Choose flight condition:

altitude error, and aileron feedback - by bank angle error). --------------------------
Trim airspeed [m/s]: 23
The method provides a better initial guess for the next step -
Trim altitude [m]: 200
the optimization, but the feedback gains are aircraft-specific,
therefore the trim script requires some adjustments for each Trim bank angle[rad]: 0
new aircraft. Fuel mass [kg]: 2

• Perform the aircraft trim. Once a reasonable initial guess for Flap setting [frac]: 0

the aircraft control inputs is obtained, the program will run Computing the initial estimates for the trim inputs...
the optimization which will accurately trim the aircraft for
Iteration # 1, Airsp err = 3.86 m/s, Alt err = -23.96 m, phi
the selected flight-condition. The Matlab function used by err = -15.80 deg.
this procedure is trim.
Iteration # 2, Airsp err = 0.88 m/s, Alt err = 12.95 m, phi err
= -24.39 deg.
• Extract the linear model. Knowing the trim inputs and states,
23
AeroSim Blockset User’s Guide 2 AIRCRAFT MODEL DEMOS

Iteration # 3, Airsp err = 0.27 m/s, Alt err = 2.89 m, phi err = 343 0.00221129 0.125 Hessian modified twice
10.67 deg. 363 0.000299534 1 Hessian modified twice
364 0.00029908 1 Hessian modified twice
Iteration # 4, Airsp err = 0.04 m/s, Alt err = 2.14 m, phi err Optimization Converged Successfully Active Constraints:
= 1.04 deg. 1
2
Iteration # 5, Airsp err = 0.05 m/s, Alt err = 0.85 m, phi err = 3
1.07 deg. 4
5
Iteration # 6, Airsp err = 0.04 m/s, Alt err = 0.35 m, phi err = 6
0.46 deg. 7
8
Iteration # 7, Airsp err = 0.03 m/s, Alt err = 0.16 m, phi err = 9
0.19 deg. 10
11
Iteration # 8, Airsp err = 0.02 m/s, Alt err = 0.10 m, phi err 19
= 0.07 deg. 28
30
Done.

Initial guesses for trim inputs are: Finished. The trim results are:
Elevator = -0.1034 INPUTS:
Aileron = -0.0093 Elevator = -0.1088
Rudder = 0.0000 Aileron = -0.0084
Throttle = 0.4925 Rudder = -0.0010
Throttle = 0.4846
Performing the aircraft trim... STATES:
u = 22.95 m/s
f-COUNT MAX{g} STEP Procedures v = 0.01 m/s
20 0.567619 1 w = 1.51 m/s
40 0.0781559 1 p = -0.00 deg/s
60 0.0581701 1 Hessian modified twice q = -0.00 deg/s
80 0.521641 1 Hessian modified r = -0.00 deg/s
100 0.0379462 1 Hessian modified phi = -0.02 deg
120 0.130393 1 Hessian modified twice theta = 3.77 deg
140 0.000300865 1 Hessian modified psi = 0.02 deg
160 0.000299109 1 Hessian modified twice Alt = 200.00 m
180 0.000299108 1 Hessian modified twice Fuel = 2.00 kg
200 0.000299153 1 Hessian modified Engine = 4812 rot/min
220 0.000299106 1 Hessian modified twice OUTPUTS:
240 0.000299116 1 Hessian modified twice Airspeed = 23.00 m/s
260 0.000299417 1 Hessian modified twice Sideslip = 0.02 deg
280 0.000299103 1 Hessian modified twice AOA = 3.77 deg
300 0.000299113 1 Hessian modified twice Bank = -0.02 deg
320 0.00203574 1 Hessian modified twice Pitch = 3.77 deg

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2 AIRCRAFT MODEL DEMOS AeroSim Blockset User’s Guide

Heading = 0.02 deg

Altitude = 200.00 m Lateral-directional Dynamics
------------------------------
Extracting aircraft linear model... State vector: x = [v p r phi psi]
Input vector: u = [aileron rudder]
Output vector: y = [beta p r phi psi]
Longitudinal Dynamics State matrix: A =
----------------------- -0.6373 1.5135 -22.9498 9.7967 0
State vector: x = [u w q theta h Omega] -4.1919 -20.6283 9.9282 0 0
Input vector: u = [elevator throttle] 0.6798 -2.6757 -1.0377 0 0
Output vector: y = [Va alpha q theta h] 0 1.0000 0.0659 -0.0000 0
State matrix: A = 0 0 1.0022 -0.0000 0
-0.2197 0.6002 -1.4882 -9.7967 -0.0001 0.0108
-0.5820 -4.1204 22.4024 -0.6461 0.0009 0
0.4823 -4.5284 -4.7512 0 0.0000 -0.0084 Control matrix: B =
0 0 1.0000 0 0 0 -1.2510 3.1931
0.0658 -0.9978 0 22.9997 0 0 -109.8373 1.9763
32.1012 2.1170 0 0 -0.0295 -2.7813 -4.3307 -20.1754
0 0
0 0
Control matrix: B =
0.3246 0
-2.1520 0 Observation matrix: C =
-29.8216 0 0.0435 0 0 0 0
0 0 0 1.0000 0 0 0
0 0 0 0 1.0000 0 0
0 448.5357 0 0 0 1.0000 0
0 0 0 0 1.0000

Observation matrix: C =
0.9978 0.0658 0 0 0 0 Eigenvalue: -19.7263
-0.0029 0.0434 0 0 0 0 Time constant = 0.0507 s
0 0 1.0000 0 0 0 Eigenvalue: -1.3190 +/- 5.5958 i
0 0 0 1.0000 0 0 Damping = 0.2294, natural frequency = 5.7492 rad/s, period = 1.1228 s
0 0 0 0 1.0000 0 Eigenvalue: 0.0611
Time constant = -16.3757 s

Eigenvalue: -4.4337 +/- 10.1009 i

Damping = 0.4019, natural frequency = 11.0311 rad/s, period = 0.6220 s
Eigenvalue: -2.8950
Time constant = 0.3454 s
Eigenvalue: -0.0549 +/- 0.5690 i
Damping = 0.0961, natural frequency = 0.5716 rad/s, period = 11.0431 s
Eigenvalue: -0.0005
Time constant = 1931.1123 s

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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

3 Setting-up and Running an Aircraft Model

This chapter outlines the pre-built aircraft models that are provided
in the AeroSim blockset. These can be customized by setting the
aircraft aerodynamic, propulsion, and inertia properties in an air-
craft parameter file. The general architecture of the complete air-
craft model blocks is also presented. Finally, special issues such
as interfacing the Simulink models with Flight Simulator are dis-
cussed.

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3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

3.1 Aircraft Model Examples • Navion - a high-performance general-aviation airplane - Fig.

26 The Navion block can be found in the demo models navion demo1
The following aircraft examples are included in the AeroSim block-
set:

• Aerosonde UAV - a small autonomous airplane designed for

weather-reconnaissance and remote-sensing missions - Fig.
25. The Aerosonde block can be found in the demo models

Figure 26: Navion

through 5. It is also using the 6-DOF Aircraft Model (with

body-axes EOM) block from the AeroSim library. The air-
craft parameter file is navioncfg.mat which was generated
by the navionconfig.m script.

Figure 25: Aerosonde UAV

aerosonde demo1 through 6. It is using the 6-DOF Air-

craft Model (with body-axes EOM) block from the AeroSim
library. The aircraft parameter file is aerosondecfg.mat which
was generated by the aerosondeconfig.m script.
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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

3.2 Building an aircraft configuration

A new aircraft parameter file can be generated from a custom Mat-
lab script. To create this script, you would need to open the tem-
plate aircraft configuration script config template.m which can be
found in the samples directory, and specify the aircraft aerody-
namic, propulsion and inertia parameters.
By running this script at the Matlab command prompt, a new
aircraft parameter file of the form filename.mat will be created.
The file name can then be used in any of the complete aircraft
blocks available in the AeroSim library.
The first variable that should be specified is the name of the air-
craft parameter file that will be generated. Type the chosen name
of your aircraft parameter file, as a string, without the .mat exten- Figure 27: Airframe reference points
sion:
% Insert the name of the MAT-file that will be generated the Simulink model, by using the unit conversion blocks provided
% (without .mat extension)
cfgmatfile = ’myairplanecfg’;
with the AeroSim library.

3.2.1 Conventions 3.2.2 Section 1: Aerodynamics

Fig. 27 shows the various reference points required throughout Section 1 of the aircraft configuration script specifies the aerody-
the aircraft configuration script. The locations of these points will namic parameters of the aircraft. These are explained next:
have to be specified with respect to the arbitrarily-chosen origin • Reference point = specify the location, with respect to the
of the body-frame. These reference points include the CG loca- body-frame origin, of the aerodynamic forces application
tions for zero-fuel and for full-tank, the application points for the point. This should be a 1x3 row vector with the x, y, and
aerodynamic and propulsion forces. z coordinates. All the aerodynamic coefficients (force and
The orientation of the body axes should be chosen as in the moment coefficients) should be given referenced to this point.
Fig. 27 - X should point forward, Y toward the right wing tip, and
Z down. • Aerodynamic parameter bounds = the limits that the aircraft
For consistency, we recommend that all parameters be given in model will impose on the airspeed, sideslip, and angle-of-
metric (SI) units. Conversion to English units can be performed in attack, given as 1x2 vector of min and max values. The pur-
28
3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

pose of using these limits is to keep the outputs of the aero- • Pitch moment coefficient terms. The pitch moment coeffi-
dynamic model within the linear region. The component cient is computed using the expression (4).
build-up method implemented by the aerodynamic model
δ
in the AeroSim library uses first order terms, therefore the Cm = Cm 0 +Cmα · α +Cmf · δ f +Cmδe · δe +
aerodynamic model will provide acceptable results only in (4)
+ 2Vc a Cmα̇ · α̇ +Cm · q +CmM · M
q

the linear aerodynamics conditions (small angles).
• Aerodynamic reference parameters = the reference param-
• Roll moment coefficient terms. The roll moment coefficient
eters for which the aerodynamic coefficients were normal-
is computed using the expression (5).
ized. These include the reference wing chord, the wing span,
and the reference wing area. β
Cl = Cl · β +Clδa · δa +Clδr · δr +
• Lift coefficient terms. The lift coefficient is computed using (5)
p
+ 2Vba Cl · p +Clr · r


the expression (1).
δ
CL = CL0 +CLα · α +CL f · δ f +CLδe · δe + • Yaw moment coefficient terms. The yaw moment coefficient
(1)
is computed using the expression (6).
+ 2Vc a CLα̇ · α̇ +CL · q +CLM · M
q

β
• Drag coefficient terms. The drag coefficient is computed Cn = Cn · β +Cnδa · δa +Cnδr · δr +
(6)
using the expression (2). p
+ 2Vba Cn · p +Cnr · r

δ
+CDf · δ f +CDδe · δe +
−CL0 ) 2
CD = CD0 + (CLπeAR
(2) 3.2.3 Section 2: Propeller
+CDδa · δa +CDδr · δr +CLM · M
The second section of the aircraft configuration script specifies the
• Side force coefficient terms. The side force coefficient is geometry and aerodynamic performance of the propeller.
computed using the expression (3).
• Propeller hub location = the position of the propulsion force
β
CY = CY · β +CYδa · δa +CYδr · δr + and moment application point, given with respect to the body-
(3) frame origin. The location is specified as a 1x3 row vector
p
+ 2Vba CY · p +CYr · r


of x, y, and z coordinates.
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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

• Advance ratio. The aerodynamic performance of the pro- effects. For a normally-aspirated general aviation piston engine,
peller should be given as a look-up table of propeller coef- this includes the following parameters:
ficients (CP and CT) as functions of the propeller advance
ratio. This variable specifies the advance ratio vector which • RPM = the vector of engine speeds for which the engine data
corresponds to the look-up table. is given, in rotations-per-minute. All engine parameters are
specified as 2-D look-up tables (functions of engine speed
• Coefficient of thrust. The vector of coefficients of thrust for and intake manifold pressure).
the advance ratios given above (the vector should have the
same size). • MAP = the vector of manifold pressures for which the en-
gine data is given, in kilo-pascals.
• Coefficient of power. The vector of coefficients of power for
the advance ratios given above (the vector should have the • Fuel flow = the sea-level fuel flow as a function of RPM
same size). and MAP. The number of rows in the matrix should match
the size of the RPM vector, the number of columns should
• Propeller radius = the radius of the propeller is used by the match the size of the MAP vector.
propulsion model to compute the force and torque from the
normalized coefficients. These loads are computed as fol- • Power = the engine power at sea-level, as a function of RPM
lows: and MAP. The number of rows in the matrix should match
4 the size of the RPM vector, the number of columns should
Fp = 2 ρR4 Ω2CT (7)
π match the size of the MAP vector.
4
M p = − 3 ρR5 Ω2CP (8) • Sea-level atmospheric conditions = the sea-level atmospheric
π
conditions, including pressure in Pascals and temperature in
• Propeller inertia = the propeller moment of inertia is used degrees Kelvin, for which the engine data above is given.
by the propulsion equation of motion (dynamics) to solve
for the current rotation speed. • Engine shaft inertia = the moment of inertia of the rotating
parts of the engine. This is added to the propeller inertia
and used in the propulsion equation of motion to compute
3.2.4 Section 3: Engine
the current engine speed. Generally, the engine shaft inertia
The third section of the aircraft configuration scripts allows the is significantly lower than that of the propeller, and it can be
user to specify the engine characteristics. All engine data is given neglected without any major effects over the aircraft dynam-
at sea-level. The engine model will correct the data for altitude ics.

30
3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

3.2.5 Section 4: Inertia able that can be edited is the calendar date used by the World Mag-
netic Model to compute the magnetic field at aircraft location. The
The fourth section of the aircraft configuration script specifies the
date is specified as a 1x3 vector of day, month, and year.
inertia parameters of the aircraft: mass, CG location, and moments
of inertia.
• Empty aircraft mass = the mass of the aircraft without fuel.
• Gross aircraft mass = the mass of the aircraft with the fuel
tank full.
• CG empty = the position of the center of gravity for the air-
craft without fuel. This is provided as a 1x3 vector of x, y, z
coordinates with respect to the origin.
• CG gross = the position of the center of gravity for the air-
craft with full fuel tank. This is provided as a 1x3 vector of
x, y, z coordinates with respect to the origin.
• Empty moments of inertia = the moments of inertia of the
aircraft without fuel. These are provided as a 1x4 vector of
moment of inertia about body axes - Jx , Jy , Jz , and Jxz . For
most aircraft the inertia cross-products Jxy and Jyz can be
neglected because of the symmetry about the x-z plane.
• Gross moments of inertia = the moments of inertia of the air-
craft with full fuel tank. These are provided as a 1x4 vector
of moment of inertia about body axes - Jx , Jy , Jz , and Jxz .

3.2.6 Section 5: Other parameters

In the last section of the aircraft configuration script, the user can
set other, less important parameters. At this point, the only vari-
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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

3.3 The pre-built Aircraft Models

Once the editing of the aircraft configuration script is completed, it
should be saved with a unique name, for example myairplanecon-
fig.m.
By executing the script myairplaneconfig.m at the Matlab com-
mand prompt, an aircraft configuration file - myairplanecfg.mat
will be created in the present working directory.
We can then start a new Simulink model, and add one of the
complete aircraft blocks from the AeroSim library, such as the one
shown in Fig. 28.
Next we double-click the block to open the block parameters
dialog. Here we will specify the aircraft parameter file, myair-
plane.mat, the initial conditions (position, velocity, attitude, an-
gular rates, fuel, engine speed), the ground altitude with respect to
the sea-level, and the simulation sample time.
Finally, go to the Simulink model pull-down menu, under Sim-
ulation and open the Simulation parameters. Set the solver type
to Fixed-step, the integration scheme to ode4 or ode5, and set the
fixed step size to match the aircraft model sample time.
Before starting the simulation, we can also add a constant source
for the Controls input to the aircraft model. This will provide the
model with a set of constant actuator commands. If we decide to
leave the Controls unconnected, the aircraft will fly with the en-
gine off and control surfaces at neutral positions.
The internal layout of the complete aircraft model is shown
in Fig. 29. All sub-systems were designed using the AeroSim Figure 28: Complete aircraft block and options dialog
blocks.
A simplified diagram is presented in Fig. 30. The aerody-
namics, propulsion, and inertia models compute the airframe loads
32
3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

Figure 30: Simplified internal structure diagram

Figure 29: Internal structure of the complete aircraft model

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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

(forces and moments) as functions of control inputs and environ-

ment (atmosphere and Earth) effects. The resulting accelerations
are then integrated by the Equations of Motion to obtain the air-
craft states (position, velocity, attitude, angular velocities). The
aircraft states then will affect the output of the environment blocks
at the next iteration (for example altitude changes result in atmo-
spheric pressure changes, latitude and longitude variations result
in gravity variations). Also, the aircraft states are used in the com-
putation of sensor outputs (GPS, inertial measurements, etc.).

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3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

3.4 Using FlightGear Aircraft Configuration Files community is well known and poses problems since most aircraft
development projects involve several contractors and these would
FlightGear is an open-source multi-platform cooperative flight sim- have to exchange flight dynamic models on a regular basis. The
ulator project. Source code for the entire project is available and open-source community, and JSBSim in particular, have taken the
licensed under the GNU General Public License. The goal of first steps in establishing an XML-based standard for aircraft mod-
the FlightGear project is to create a sophisticated flight simula- els.
tor framework for use in research or academic environments, for A detailed and evolving document that describes the JSBSim
the development and pursuit of other interesting flight simulation configuration or definition files can be found on the main JSBSim
ideas, and as an end-user application. For more information please website. A brief presentation of these files is done next.
visit the main FlightGear website, at There are three types of JSBSim definition files:
http://www.flightgear.org.
Initially, the FlightGear project used the LaRCSim flight dy- 1. Aircraft Definition File, which describes the airframe ge-
namics code for the simulation of aircraft dynamics. However, ometry and inertia parameters, the aerodynamics, the flight
the LaRCSim software was inflexible in defining the aircraft pa- control system, and which types of engine(s) and thruster(s)
rameters (any change to the default aircraft - Navion - parameters the aircraft has.
required manual editing of the LaRCSim source code). Due to this
fact, several new flight dynamic codes for FlightGear were created 2. Engine Definition File, which describes the properties of a
and are in various stages of development. Of these, the best known specific engine. At this time JSBSim supports piston and
project is JSBSim, an open-source flight dynamics model which rocket engines, but turbine engine models are under devel-
can be used either from FlightGear or independent of the visual opment.
interface. For more information about the JSBSim project, visit
3. Thruster Definition File, which describes the properties of a
the main JSBSim website, at
specific thruster. At this time JSBSim provides models for
http://jsbsim.sourceforge.net.
propellers and nozzles.

3.4.1 The JSBSim XML Configuration File This layout permits development of aircraft models in a struc-
tured fashion in which the same aircraft can be easily fitted with a
The main strength of JSBSim is that it provides flexibility to the different engine or propeller. The engine and thruster components
flight dynamics developer by accepting aircraft configurations as can be reused for new aircraft configurations.
XML files which are structured and easy to read. The lack of The Aircraft Definition File is structured in the following sub-
standards for exchange of aircraft models in the flight simulation sections, defined as xml tags:

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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

• METRICS, which describes the aircraft geometry and inertia • xmlThruster, which can parse a thruster definition file into a
parameters Matlab thruster structure.

• UNDERCARRIAGE, which describes the landing gear and • xmlSearchForTag, which searches an XML tree for specific
ground contact points, tags and returns their UIDs.
• xmlParameter, which searches a character string for spe-
• PROPULSION, which specifies which engine(s) and thruster(s)
cific parameter strings and returns their corresponding data
are used, what is their location in the aircraft coordinates. It
(scalar or vector).
also specifies the fuel/oxydizer tanks.
• xmlMetrics, which parses the METRICS tag of an aircraft
• FLIGHT CONTROL, which specifies the aircraft flight con- XML tree into a Matlab metrics structure.
trol laws.
• xmlTank, which parses a propellant tank tag into a Matlab
• AERODYNAMICS, which includes all of the aerodynamic tank structure.
coefficients and scaling parameters required for computing
the aerodynamic forces and moments. • xmlPropulsion, which parses the PROPULSION tag of an
aircraft XML tree into a Matlab propulsion structure.
• OUTPUT, which specifies what parameters of the flight dy-
• xmlAeroCoeff, which parses an aerodynamic coefficient tag
namics model the program will output.
of an aircraft XML tree into a Matlab coefficient structure.

3.4.2 The xmlAircraft Parser • xmlAeroFactor, which parses an aerodynamic factor tag of
on aircraft XML tree into a Matlab factor structure.
The XML aircraft parsing utilities are located in the fgutil direc-
tory. The system is based on the xml parser, a generic XML parser • xmlAeroGroup, which parses an aerodynamic factor group
utility for Matlab, written by Guillaume Flandin. The generic tag into a Matlab factor group structure.
XML parser is used to load any xml file into a Matlab xml tree • xmlAeroAxis, which parses an aerodynamic axis tag into a
structure. The AeroSim Blockset adds the following aircraft-specific Matlab aerodynamic axis structure.
parsing scripts:
• xmlAerodynamics, which parses the AERODYNAMICS tag
• xmlEngine, which can parse an engine definition file into a of an aircraft XML tree into a Matlab aerodynamics struc-
Matlab engine structure. ture.
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3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

• xmlAircraft, which is the main aircraft definition file parser. >> c172.Metrics
The function reads an aircraft definition file along with its ans =
engine and thruster definition files and parses the complete
WingArea: 174
aircraft model into a Matlab aircraft structure. The aircraft WingSpan: 35.8000
structure is documented in the next subsection. WingChord: 4.9000
HTailArea: 21.9000
HTailArm: 15.7000
• AircraftUnitConv, which is an unit conversion function that VTailArea: 16.5000
processes a Matlab aircraft structure returned by xmlAircraft VTailArm: 15.7000
InertiaX: 948
(JSBSim uses English units) and converts all parameters to InertiaY: 1346
metric units. InertiaZ: 1967
InertiaXZ: 0
EmptyWeight: 1500
ACLoc: [3x1 double]
3.4.3 The Matlab Aircraft Structure CGLoc: [3x1 double]
PointMass: {[4x1 double]}
To parse an aircraft, we will use the xmlAircraft utility. For exam- PilotLoc: [3x1 double]
ple, if the path to FlightGear is c:flightgear-0.8 then we would use
the following Matlab command: Individual aircraft parameters can be retrieved in a similar fash-
c172 = xmlAircraft(’c172’, ’c:\flightgear-0.8’)
ion. For example, if we want to see the aircraft CG location, we
could type c172.Metrics.CGLoc to get:
The newly created Matlab aircraft structure is c172 and this
>> c172.Metrics.CGLoc
contains:
ans =
c172 =
41.0000
Name: ’c172’ 0
Version: ’1.58’ 36.5000
Metrics: [1x1 struct]
Propulsion: [1x1 struct]
Aerodynamics: [1x1 struct] The PointMass variable can contain more than one point mass
(for example pilot + passengers), so it is saved as a structure of
Besides the aircraft name and version strings, the aircraft struc-
arrays. To see the data for one of the point-masses, we can refer to
ture contains other structures such as Metrics, Propulsion, and
the structure index - for example, we can type c172.Metrics.PointMass{1}
Aerodynamics.
to get:
We can now list the metrics structure by typing c172.Metrics
at the Matlab prompt, to get: >> c172.Metrics.PointMass{1}

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AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

>> c172.Propulsion.Engine{1}.Param
ans =
ans =
180
36 MAPLim: [6.5000 28.5000]
-14 Displacement: 360
24 MaxPower: 160
NCycles: 2
IdleRPM: 900
which represents the mass and the location in aircraft coordi- ThrottleLim: [0.2000 1]
nates of the first point-mass.
Similarly, the data for the thruster and fuel tank can be ac-
To take a quick look at the propulsion model data, type c172.Propulsion.
The output is shown below: cessed.
If we take a look at the aerodynamics sub-structure we find:
>> c172.Propulsion
>> c172.Aerodynamics
ans =
ans =
Engine: {[1x1 struct]}
Thruster: {[1x1 struct]} AlphaLim: [2x1 double]
Tank: {[1x1 struct] [1x1 struct]} HystLim: [2x1 double]
Lift: [1x1 struct]
Since the aircraft can have one or more engines, thrusters, re- Drag: [1x1 struct]
Side: [1x1 struct]
spectively propellant tanks, they are loaded as structures. To get Roll: [1x1 struct]
the structure of one of the engines we could again use the index, Pitch: [1x1 struct]
Yaw: [1x1 struct]
by typing c172.Propulsion.Engine{1} to get:
>> c172.Propulsion.Engine{1}
Each of the 6 aerodynamic axes (lift, drag, side, roll, pitch,
yaw) contains aerodynamic groups and coefficients. For example,
ans =
the lift axis contains one factor group (Basic lift) and 3 additional
Name: ’IO360C’ coefficients:
Type: ’PISTON’
Param: [1x1 struct] >> c172.Aerodynamics.Lift
Loc: [-19.7000 0 26.6000]
Pitch: 0 ans =
Yaw: 0
Feed: [0 1] Name: ’LIFT’
Basic: [1x1 struct]
CLDe: [1x1 struct]
We can get one more level deeper by taking a look at the spe- CLadot: [1x1 struct]
cific engine parameters: CLq: [1x1 struct]

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3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL AeroSim Blockset User’s Guide

Inside the basic lift group we will find the group factor which >> c172.Aerodynamics.Lift.Basic.CLwbh.Data
augments all of the group coefficients for ground effect, and the 2 ans =
main lift coefficients - the AOA dependence and the flap deflection
-0.2200 -0.2200
effect. 0.2500 0.2500
0.7300 0.7300
>> c172.Aerodynamics.Lift.Basic
0.8300 0.7800
0.9200 0.7900
ans =
1.0200 0.8100
1.0800 0.8200
Name: ’CLb’
1.1300 0.8300
Description: ’Basic_lift’
1.1900 0.8500
kCLge: [1x1 struct]
1.2500 0.8600
CLwbh: [1x1 struct]
1.3500 0.8800
CLDf: [1x1 struct]
1.4400 0.9000
1.4700 0.9200
If we go one level deeper to take a closer look at the lift coef- 1.4300 0.9500
ficient due to angle-of-attack we have: 1.3800 0.9900
1.3000 1.0500
>> c172.Aerodynamics.Lift.Basic.CLwbh 1.1500 1.1500

ans =

Name: ’CLwbh’
Type: ’TABLE’
Description: ’Lift_due_to_alpha’
RowIndex: ’FG_ALPHA’
ColIndex: ’FG_HYSTPARM’
ColArg: [2x1 double]
RowArg: [17x1 double]
Data: [17x2 double]

We can easily see that this coefficient is a table. Recall that

aerodynamic coefficients in JSBSim can be defined as either Val-
ues, Vectors, or Tables.
The row argument RowArg is the angle of attack alpha while
the column argument ColArg is the hysteresis parameter (the lift
coefficient hysteresis appears when recovering the aircraft from a
stall).
The actual data for this coefficient can be retrieved:
39
AeroSim Blockset User’s Guide 3 SETTING-UP AND RUNNING AN AIRCRAFT MODEL

3.5 Additional Matlab Utilities

The directory util contains two small Matlab functions.

• eigparam computes the damping, period, natural and damped

frequencies of a complex eigenvalue. The function is used
by the aircraft trim and linearization scripts to display the
characteristics of the linear aircraft models.

• euler2quat computes the quaternion vector corresponding to

the Euler angle representation. The function can be used
to compute the initial quaternions required for an aircraft
model based on the initial aircraft attitude expressed in Euler
angles.

40
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4 Block Reference
The AeroSim library includes all of the blocks needed for build-
ing a nonlinear six-degree-of-freedom aircraft model. This section
provides a detailed description for each block that can be found in
the library. In addition to the information in the User’s Guide, each
block is provided with online help for quick reference. To access
it, right-click on any block and select Help from the pop-up menu.
The main library folder, shown in Fig. 31 includes sub-folders
for various parts of the aircraft dynamic model. The sub-sections
of the Block Reference section correspond to these library sub-
folders. The AeroSim library contains a total of 103 blocks. Al-
most all of them are implemented using basic Simulink blocks,
with the exception of a few such as the WMM-2000 Earth mag-
netic model, and the pilot interface blocks which use operating
system calls unavailable in Simulink - these are implemented us-
ing C/C++ as C-MEX S-functions. The source code for these S-
function is provided with the AeroSim library.

Figure 31: AeroSim Library

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.1 Actuators
The Actuators folder contains generic models of electro-mechanical
actuators used in flight control systems. Although a fully-functional
aircraft dynamic model can be created without making use of these
blocks, the actuator models are very useful for testing the stability
and performance of airplane-autopilot closed-loop systems.

42
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.1.1 Simple Actuator (1st-order dynamics) transfer function (9).

The block provides a simple actuator model featuring signal scal- 1
Ga (s) = (9)
ing, 1-st order dynamics (time lag), saturation and rate limits. The τa s + 1
block representation is shown in Fig. 32.
2. Inputs:

• Input = the input signal (command), expressed in input

signal units.

3. Outputs:

• Output = the output signal (deflection), expressed in

Figure 32: Simple Actuator Block output signal units.

Block characteristics: 4. Details: As an example, consider a simple actuator such as

an R/C model airplane PWM servo connected to elevator.
1. Parameters: The servo receives its pulse-width command from a digital
flight control system as an integer count, where 0 counts will
• Max actuation rate = the maximum speed at which the
position the elevator to a minimum deflection of −30◦ and
actuator can move, in any direction. The speed must
1024 counts will send the elevator to the maximum deflec-
be expressed in actuator output units per unit time.
tion of +30◦ . Assume that the maximum actuation rate is
• Input signal range = a 2×1 row vector that contains the 45◦ /s, based on servo performance and servo-elevator gear
minimum and the maximum values of the input signal, ratio. This actuator can be easily modelled using this block,
expressed in input signal units. by choosing the actuator rate as 45◦ /s, the input signal range
• Actuator range = a 2 × 1 row vector that contains the as [ 0 1024 ], the actuator range as [ −30 30 ] and a 25 ms
minimum and the maximum values of the actuator out- lag. The input to this signal will be provided in counts and
put (deflection), expressed in output signal (deflection) the output will consist of an elevator deflection in degrees.
units. 5. Usage: The actuator block gets its input from the user (pi-
• Actuator lag = the time constant τa of the actuator lin- lot), or from an automatic flight control system. The actua-
ear dynamics which are implemented as a first-order tor output signal should be connected to aerodynamic and/or
43
AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

propulsion blocks that compute the forces and moments ap-

plied to the airframe due to the actuator deflection.

44
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.1.2 Simple Actuator (2nd-order dynamics) function is implemented as in (10).

The block provides a simple actuator model featuring signal scal- ω2n
ing, 2-nd order dynamics, saturation and rate limits. The block Ga (s) = (10)
s2 + 2ζωn s + ω2n
representation is shown in Fig. 33.
−g
where ωn = 2πb and ζ = 12 10 20 .

2. Inputs:

• Input = the input signal (command), expressed in input

signal units.

Figure 33: Simple Actuator Block 3. Outputs:

• Output = the output signal (deflection), expressed in

Block characteristics:
output signal units.
1. Parameters: 4. Details: The functionality of this block is similar to that
of the Simple Actuator with 1st-order dynamics (previous
• Max actuation rate = the maximum speed at which the
subsection).
actuator can move, in any direction. The speed must
be expressed in actuator output units per unit time. 5. Usage: The actuator block gets its input from the user (pi-
• Input signal range = a 2×1 row vector that contains the lot), or from an automatic flight control system. The actua-
minimum and the maximum values of the input signal, tor output signal should be connected to aerodynamic and/or
expressed in input signal units. propulsion blocks that compute the forces and moments ap-
plied to the airframe due to the actuator deflection.
• Actuator range = a 2 × 1 row vector that contains the
minimum and the maximum values of the actuator out-
put (deflection), expressed in output signal (deflection)
units.
• Bandwidth = the actuator bandwidth b at a gain g =
−3dB and phase φ = −90◦ . The 2-nd order transfer
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.1.3 D/A Converter • Analog = the analog input signal, in volts.

The D/A Converter block converts the digital signal with a spec- 4. Details: The block includes scale-factor conversion from
ified resolution to an analog voltage within a specified voltage counts to volts, saturation limits on the output signal.
range. The block is pictured in Fig. 34.
5. Usage: The block can be used to convert actuator commands
provided by a digital flight control system to analog actuator
deflections.

Figure 34: D/A Converter Block

Block characteristics:

1. Parameters:

• Voltage range = a 1 × 2 vector containing the minimum

and maximum values of the output voltage.
• Resolution = the number of bits of resolution, which
determine the number of counts available on the speci-
fied voltage range. For example, a 10-bit converter will
provide 210 = 1024 counts.
• Sample time = the time interval at which the digital
signal is provided.

2. Inputs:

• Digital = the digital signal, in counts.

3. Outputs:
46
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2 Aerodynamics
The Aerodynamics library folder contains all the blocks required
to develop a simple aerodynamic model of the aircraft. The ap-
proach taken in the AeroSim library involves linear aerodynamics
in which the aerodynamic force and moment coefficients are com-
puted using linear combinations of aerodynamic derivatives.

47
AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.2.1 Aerodynamic Force 3. Outputs:

The aerodynamic force block, shown in Fig. 35, computes the • Faero = the 3 × 1 vector of aerodynamic forces in body
aerodynamic force that acts on the airframe, based on the current axes.
aerodynamic force coefficients and dynamic pressure.
4. Details: The block implements the standard expressions for
aerodynamic forces in wind-axes, as shown in (11), (12),
and (13).
1
D = ρVa2 SCD (11)
2
1
Y = ρVa2 SCY (12)
2
1
L = ρVa2 SCL (13)
2
Figure 35: Aerodynamic Force Block
The forces are then expressed into body-axes using the Body-
Block characteristics: Wind DCM block, provided in AeroSim library as well (see
1. Parameters: The only parameter required is the wing refer- subsection Transformations).
ence area with respect to which the aerodynamic force coef- 5. Usage: The block should get its inputs from the other aero-
ficients were computed. dynamic blocks, that compute aerodynamic coefficients, dy-
2. Inputs: namic pressure, and wind-axes velocities. The output from
the Aerodynamic Force block should go to the Total Accel-
• CD = the drag coefficient. eration and Total Moment blocks to be summed-up with the
• CY = the side force coefficient. other forces applied to the airframe.
• CL = the lift coefficient.
• pdyn = the dynamic pressure q = 12 ρVa2 .
• WindAxesVel = a 3 × 1 vector containing the airspeed
Va , the angle-of-attack α in radians and the sideslip an-
gle β in radians.
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2.2 Aerodynamic Moment • Cl = the current roll moment coefficient with respect
to a reference point, such as the aerodynamic center of
The aerodynamic moment block, shown in Fig. 36, computes the the wing.
aerodynamic moment that acts on the airframe, based on the cur-
• Cm = the current pitch moment coefficient with respect
rent aerodynamic moment coefficients and dynamic pressure.
to a reference point, such as the aerodynamic center of
the wing.
• Cn = the current yaw moment coefficient with respect
to a reference point, such as the aerodynamic center of
the wing.
• pdyn = the dynamic pressure q = 12 ρVa2 .
3. Outputs:

Figure 36: Aerodynamic Moment Block • Maero = the 3 × 1 vector of aerodynamic moments
with respect to a reference point, such as the aerody-
namic center of the wing.
Block characteristics:
4. Details: The block implements the standard expressions for
1. Parameters: aerodynamic moments, as shown in (14), (15), and (16).
1
• Mean aerodynamic chord = the reference chord with L = ρVa2 SbCl (14)
2
respect to which the pitch moment coefficient was com- 1
puted. M = ρVa2 ScCm (15)
2
• Wing span = the reference wing span with respect to 1
N = ρVa2 SbCn (16)
which the roll and yaw moment coefficients were com- 2
puted. 5. Usage: The block should get its inputs from the other aero-
• Wing reference area = the reference area with respect dynamic blocks, that compute aerodynamic coefficients and
to which the moment coefficients were computed. dynamic pressure. The output from the Aerodynamic Mo-
ment block should go to the Total Moment block to be summed-
2. Inputs: up with the other moments applied to the airframe.
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.2.3 Wind-axes Velocities • Vbody = a 3 × 1 vector containing the current ground-

speed in body axes.
The block computes the wind-axes velocities based on ground-
speed and wind speed. The name of ”wind-axes velocities” is • Wbody = a 3 × 1 vector containing the current wind
slightly misleading since the returned vector includes only one ve- speed in body axes.
locity - the airspeed - and two angles - angle-of-attack and sideslip. • SoundSpd = the speed of sound at current altitude.
The block is represented in Fig. 37.
3. Outputs:
• WindAxesVel = a 3 × 1 vector of wind-axes velocities.
The angle-of-attack and the sideslip are given in radi-
ans.
• AlphaBetaDot = a 2 × 1 vector of angle-of-attack and
sideslip time derivatives, in radians per second.
Figure 37: Wind-axes Velocity Block • Mach = the current Mach number.
4. Details: The Wind-axes Velocity block computes first the
Block characteristics:
airspeed in body axes [ u v w ] by subtracting wind speed
1. Parameters: from groundspeed. The the airspeed magnitude Va is com-
puted using the Vector Norm block provided by AeroSim li-
• Airspeed bounds = a 2 × 1 row vector containing the brary. The angle-of-attack and sideslip are computed using
minimum and maximum allowed values for airspeed the expressions (17) and (18).
output. w
• Sideslip angle bounds = a 2 × 1 row vector contain- α = atan (17)
u
ing the minimum and maximum allowed values for  
v
sideslip angle. β = asin (18)
Va
• Angle-of-attack bounds = a 2 × 1 row vector contain-
ing the minimum and maximum allowed values for the Finally, the Mach number is computed as M = Vaa .
angle-of-attack.
5. Usage: The bounds specified in block parameters are chosen
2. Inputs: based on the envelope in which the aerodynamic coefficients
50
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

are expected to provide reasonably accurate aerodynamic

behavior. For example, if the aerodynamic coefficients will
be computed using the linear aerodynamic models provided
in AeroSim library, then for a typical General Aviation air-
plane we would bound the angle-of attack to, let’s say, −3◦
to 10◦ , and the side-slip angle to ±5◦ . If the aerodynamic
coefficients are provided as look-up tables, then we would
bound the airflow angles such that table limits are not ex-
ceeded. The airspeed should be bounded according to the
aircraft’s flight envelope.
The groundspeed components in body axes are provided by
the Forces block in Equations of Motion. The wind speed
components are provided by the Background Wind and Tur-
bulence blocks in Atmosphere. The speed of sound is pro-
vided by the Standard Atmosphere block in Atmosphere. The
wind-axes velocities, the time derivatives of airflow angles,
and the Mach number are used by many other Aerodynamics
and Propulsion blocks.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.2.4 Dynamic Pressure 5. Usage: The Dynamic Pressure block gets its inputs from
the Wind-Axes Velocities and Standard Atmosphere blocks.
The block computes the current dynamic pressure and it is repre- The dynamic pressure output is required in the computation
sented in Fig. 38. of aerodynamic forces and moments. It can also be used as
an aircraft model output since most aircraft are measuring it
directly using the Pitot probe.

Figure 38: Dynamic Pressure Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• WindAxesVel = the 3 × 1 vector of wind-axes veloci-

ties (airspeed, angle-of-attack, and sideslip angle).
• rho = air density at current altitude.

3. Outputs:

• pdyn = current dynamic pressure.

4. Details: The Dynamic Pressure block has a fairly simple

implementation, as shown in (19).

1
q = ρVa2 (19)
2

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2.5 Lift Coefficient • Pitch rate derivative = the variation of CL with the pitch
q
rate - CL .
The block computes the airplane non-dimensional lift coefficient
(CL ) as a linear combination of individual contributions of various • Mach number derivative = the variation of CL with the
flight parameters. The block is represented in Fig. 39. Mach number - CLM .
• Mean aerodynamic chord = the wing reference chord.

2. Inputs:

• WindAxesVel = the 3 × 1 vector of wind-axes veloci-

ties [Va α β ].
• Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
control (elevator), roll control (aileron), and yaw con-
Figure 39: Lift Coefficient Block trol (rudder) [ δ f δe δa δr ].
• AlphaBetaDot = the 2 × 1 vector of time derivatives of
Block characteristics: airflow angles [ α̇ β̇ ].
1. Parameters: • AngularRates = the 3 × 1 vector of body angular rates
[ p q r ].
• Zero-alpha lift = the lift coefficient at zero angle-of-
attack - CL0 . • Mach = the current Mach number.
• alpha derivative = the variation (first-order derivative) 3. Outputs:
of CL with respect to the angle-of-attack - CLα .
• CL = the current airplane lift coefficient.
• Lift control derivative = the variation of CL with lift
δ
control surface deflection (flap) - CL f . 4. Details: The lift coefficient is computed using the expres-
sion (20).
• Pitch control derivative = the variation of CL with pitch
control surface deflection (elevator) - CLδe . δ
CL = CL0 +CLα · α +CL f · δ f +CLδe · δe +
• alpha dot derivative = the variation of CL with the time (20)
+ 2Vc a CLα̇ · α̇ +CL · q +CLM · M
q

derivative of the angle-of-attack - CLα̇ .
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

5. Usage: The inputs should be provided by Wind-axes Veloci-

ties block in Aerodynamics, Moments block in Equations of
Motion. Control input is provided by manual or automatic
pilot. Block output is used by Aerodynamic Force block.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2.6 Drag Coefficient • Yaw control derivative = the variation of CD with yaw
control surface deflection (rudder) - CDδr .
The block computes the airplane non-dimensional drag coefficient
(CD ) as a linear combination of individual contributions of various • Mach number derivative = the variation of CD with the
flight parameters. The block is represented in Fig. 40. Mach number - CDM .
• Oswald’s coefficient = the wing efficiency factor e, used
for the parabolic approximation of the induced drag
CL2
CDi = πeAR .
• Wing span = the reference wing span b.
• Wing reference area = the wing reference area S which,
together with the wing span, are used to compute the
2
Figure 40: Drag Coefficient Block wing aspect ratio AR = bS .

Block characteristics: 2. Inputs:

1. Parameters: • WindAxesVel = the 3 × 1 vector of wind-axes veloci-

ties [Va α β ].
• Lift at minimum drag = the lift coefficient at minimum
drag - CL0 . • Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
• Minimum drag = the minimum drag coefficient of the control (elevator), roll control (aileron), and yaw con-
airplane CD0 . trol (rudder) [ δ f δe δa δr ].
• Lift control derivative = the variation of CD with lift • CL = the lift coefficient.
δ
control surface deflection (flap) - CDf .
• Mach = the current Mach number.
• Pitch control derivative = the variation of CD with pitch
control surface deflection (elevator) - CDδe . 3. Outputs:
• Roll control derivative = the variation of CD with roll
control surface deflection (aileron) - CDδa . • CD = the current airplane drag coefficient.

55
AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4. Details: The drag coefficient is computed using the expres-

sion (21).
δ
+CDf · δ f +CDδe · δe +
−CL0 )2
CD = CD0 + (CLπeAR
(21)
+CDδa · δa +CDδr · δr +CLM · M

5. Usage: The inputs should be provided by Wind-axes Veloc-

ities and Lift Coefficient blocks in Aerodynamics. Control
input is provided by manual or automatic pilot. Block out-
put is used by Aerodynamic Force block.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2.7 Side Force coefficient 2. Inputs:

The block computes the airplane non-dimensional side force coef- • WindAxesVel = the 3 × 1 vector of wind-axes veloci-
ficient (CY ) as a linear combination of individual contributions of ties [Va α β ].
various flight parameters. The block is represented in Fig. 41.
• Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
control (elevator), roll control (aileron), and yaw con-
trol (rudder) [ δ f δe δa δr ].
• AngularRates = the 3 × 1 vector of body angular rates
[ p q r ].

3. Outputs:
Figure 41: Side Force Coefficient Block
• CY = the current airplane side force coefficient.
Block characteristics:
4. Details: The side force coefficient is computed using the
1. Parameters: expression (22).
β
• Sideslip derivative = the variation (first-order deriva- CY = CY · β +CYδa · δa +CYδr · δr +
β (22)
tive) of CY with respect to the sideslip angle - CY . p
+ 2Vba CY · p +CYr · r


• Roll control derivative = the variation of CY with roll
control surface deflection (aileron) - CYδa .
5. Usage: The inputs should be provided by Wind-axes Veloci-
• Yaw control derivative = the variation of CY with yaw ties block in Aerodynamics, Moments block in Equations of
control surface deflection (rudder) - CYδr . Motion. Control input is provided by manual or automatic
• Roll rate derivative = the variation of CY with the roll pilot. Block output is used by Aerodynamic Force block.
p
rate - CY .
• Yaw rate derivative = the variation of CY with the yaw
rate - CYr .
• Wing span = the reference wing span b.
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.2.8 Pitch Moment Coefficient • Pitch rate derivative = the variation of Cm with the pitch
q
rate - Cm .
The block computes the airplane non-dimensional pitch moment
coefficient (Cm ) as a linear combination of individual contributions • Mach number derivative = the variation of Cm with the
of various flight parameters. The block is represented in Fig. 42. Mach number - CmM .
• Mean aerodynamic chord = the wing reference chord.

2. Inputs:

• WindAxesVel = the 3 × 1 vector of wind-axes veloci-

ties [Va α β ].
• Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
control (elevator), roll control (aileron), and yaw con-
trol (rudder) [ δ f δe δa δr ].
Figure 42: Pitch Moment Coefficient Block
• AlphaBetaDot = the 2 × 1 vector of time derivatives of
Block characteristics: airflow angles [ α̇ β̇ ].
1. Parameters: • AngularRates = the 3 × 1 vector of body angular rates
[ p q r ].
• Zero-alpha pitch = the pitch moment at zero angle-of- • Mach = the current Mach number.
attack - Cm 0 .
• alpha derivative = the variation (first-order derivative) 3. Outputs:
of Cm with respect to the angle-of-attack - Cmα .
• Cm = the current airplane pitch moment coefficient.
• Lift control derivative = the variation of Cm with lift
δ 4. Details: The pitch moment coefficient is computed using
control surface deflection (flap) - Cmf .
the expression (23).
• Pitch control derivative = the variation of Cm with pitch
control surface deflection (elevator) - Cmδe . δ
Cm = Cm 0 +Cmα · α +Cmf · δ f +Cmδe · δe +
• alpha dot derivative = the variation of Cm with the time (23)
+ 2Vc a Cmα̇ · α̇ +Cm · q +CmM · M
q

derivative of the angle-of-attack - Cmα̇ .

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

5. Usage: The inputs should be provided by Wind-axes Veloci-

ties block in Aerodynamics, Moments block in Equations of
Motion. Control input is provided by manual or automatic
pilot. Block output is used by Aerodynamic Force block.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.2.9 Roll Moment Coefficient • Wing span = the reference wing span b.
The block computes the airplane non-dimensional roll moment co- 2. Inputs:
efficient (Cl ) as a linear combination of individual contributions of
various flight parameters. The block is represented in Fig. 43. • WindAxesVel = the 3 × 1 vector of wind-axes veloci-
ties [Va α β ].
• Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
control (elevator), roll control (aileron), and yaw con-
trol (rudder) [ δ f δe δa δr ].
• AngularRates = the 3 × 1 vector of body angular rates
[ p q r ].

Figure 43: Roll Moment Coefficient Block 3. Outputs:

• Cl = the current airplane roll moment coefficient.

Block characteristics:
4. Details: The roll moment coefficient is computed using the
1. Parameters:
expression (24).
• Sideslip derivative = the variation (first-order deriva- β
β
tive) of Cl with respect to the sideslip angle - Cl . Cl = Cl · β +Clδa · δa +Clδr · δr +
(24)
p
+ 2Vba Cl · p +Clr · r


• Roll control derivative = the variation of Cl with roll
control surface deflection (aileron) - Clδa .
• Yaw control derivative = the variation of Cl with yaw 5. Usage: The inputs should be provided by Wind-axes Veloci-
control surface deflection (rudder) - Clδr .
ties block in Aerodynamics, Moments block in Equations of
Motion. Control input is provided by manual or automatic
• Roll rate derivative = the variation of Cl with the roll pilot. Block output is used by Aerodynamic Force block.
p
rate - Cl .
• Yaw rate derivative = the variation of Cl with the yaw
rate - Clr .
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.2.10 Yaw Moment Coefficient • Wing span = the reference wing span b.
The block computes the airplane non-dimensional yaw moment 2. Inputs:
coefficient (Cn ) as a linear combination of individual contributions
of various flight parameters. The block is represented in Fig. 44. • WindAxesVel = the 3 × 1 vector of wind-axes veloci-
ties [Va α β ].
• Control = the 4 ×1 vector of aerodynamic controls (ac-
tuators) in the following order: lift control (flap), pitch
control (elevator), roll control (aileron), and yaw con-
trol (rudder) [ δ f δe δa δr ].
• AngularRates = the 3 × 1 vector of body angular rates
[ p q r ].

Figure 44: Yaw Moment Coefficient Block 3. Outputs:

Block characteristics: • Cn = the current airplane yaw moment coefficient.

4. Details: The yaw moment coefficient is computed using the

1. Parameters:
expression (25).
• Sideslip derivative = the variation (first-order deriva- β
β Cn = Cn · β +Cnδa · δa +Cnδr · δr +
tive) of Cn with respect to the sideslip angle - Cn . (25)
p
+ 2Vba Cn · p +Cnr · r


• Roll control derivative = the variation of Cn with roll
control surface deflection (aileron) - Cnδa .
• Yaw control derivative = the variation of Cn with yaw 5. Usage: The inputs should be provided by Wind-axes Veloci-
control surface deflection (rudder) - Cnδr . ties block in Aerodynamics, Moments block in Equations of
Motion. Control input is provided by manual or automatic
• Roll rate derivative = the variation of Cn with the roll pilot. Block output is used by Aerodynamic Force block.
p
rate - Cn .
• Yaw rate derivative = the variation of Cn with the yaw
rate - Cnr .
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.3 Atmosphere
The Atmosphere library folder includes blocks to estimate the air
parameters and the wind effects.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.3.1 Standard Atmosphere 5. Usage: The block input can be provided by the EGM-96
block in Earth Model section of the AeroSim library.
The standard atmosphere block provides the air parameters at the
current altitude. The block is presented in Fig. 45.

Figure 45: Standard Atmosphere Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• MSLAlt = the current altitude above Mean-Sea Level,
in [m].
3. Outputs:
• p = static pressure, in [Pa].
• T = Outside-Air Temperature, in [K].
• rho = air density, in [kg/m3 ].
• a = speed of sound, in [m/s].
4. Details: The standard atmosphere block is using interpola-
tion through look-up tables which provide air data for an
altitude range of 0 to 86000 meters.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.3.2 Background Wind 4. Details: The block is applying a frame transformation from
inertial (geographic) to body frame, using the rotation ma-
The block computes the background wind velocity components in trix provided. The numerical time derivative of the resulting
body axes. It is represented in Fig. 46. velocity vector is then computed. This captures the effect of
time-varying background wind which can be encountered in
some weather conditions (wind shear, thermals, cyclones).

5. Usage: The input to this block can be provided as a con-

stant, or from a weather model. The outputs of this block is
used by the Wind Force, Turbulence, Wind Shear blocks in
Atmosphere model, and by Wind-axes Velocities in Aerody-
Figure 46: Background Wind Block namics.

Block characteristics:

1. Parameters: none.

2. Inputs:

• WindsNED = the [3×1] background wind velocity com-

ponents in inertial frame (North-East-Down).
• DCM = the [3 × 3] direction cosine matrix for inertial-
to-body transformation.

3. Outputs:

• WindVel = the [3 × 1] wind velocity components in

body axes.
• WindAcc = the [3 × 1] wind acceleration components
in body axes.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.3.3 Turbulence • TurbAcc = the 3 × 1 vector of turbulence accelerations,

in body axes, in [m/s2 ].
The block provides a von Karman turbulence model. It is shown
in Fig. 47. 4. Details: The block is applying von Karman turbulence shap-
ing filters for longitudinal, lateral, and vertical components
to 3 white-noise sources. The filter parameters depend on
background wind magnitude and current aircraft altitude.

5. Usage: The block gets its input from Wind-axes Velocities in

Aerodynamics, Ground Detection in Earth model, and Back-
ground Wind in Atmosphere model. The outputs of the Tur-
Figure 47: Turbulence Block bulence block should go to Wind Shear, Wind Force blocks
in Atmosphere.
Block characteristics:
1. Parameters:

• Sample time = the sample time for the white-noise sources.

2. Inputs:

• VelW = the 3×1 vector of wind-axes velocities [Va α β]

(airspeed is in [m/s]).
• AGLAlt = the current altitude Above Ground Level, in
[m].
• WindVel = the 3 × 1 vector of background wind veloc-
ity in body axes, in [m/s].

3. Outputs:

• TurbVel = the 3 × 1 vector of turbulence velocities, in

body axes, in [m/s].
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.3.4 Wind Shear • WindAngAcc = the 3 × 1 vector of body angular accel-

erations caused by the wind components.
The block computes the angular rate effects caused by the variation
in time/space of the background wind and turbulence velocities. It 4. Details: The wind shear effects considered are the angular
is represented in Fig. 48. velocities and accelerations for pitch and yaw. The pitch rate
due to wind is computed as shown in equation (26). The yaw
rate due to wind is computed as shown in equation (27). The
pitch and yaw accelerations are computed by taking numer-
ical time derivatives of the angular rates.
1 dwwind
qwind = · (26)
uaircra f t dt
Figure 48: Wind Shear Block 1 dvwind
rwind = · (27)
uaircra f t dt
Block characteristics:
5. Usage: The inputs to this block are provided by the Back-
1. Parameters: none. ground Wind and Turbulence blocks in Atmosphere and Forces
block in Equations of Motion. The outputs of this block are
2. Inputs: used by the Wind Moment block.
• WindAcc = the 3 × 1 vector of background wind accel-
erations.
• TurbAcc = the 3 × 1 vector of turbulence accelerations.
• Velocities = the 3 × 1 vector of aircraft velocities in
body axes.

3. Outputs:

• WindAngRates = the 3×1 vector of body angular rates

caused by wind components.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.3.5 Wind Force • Rates = the 3 × 1 vector of body angular rates.

The Wind Force block computes the forces that the background 3. Outputs:
wind and turbulence apply to the airframe. The block is repre-
sented in Fig. 49. • Fwind = the 3 × 1 vector of wind forces.

4. Details: The equations implemented by this block are shown

in (28).

Fx wind = −maircra f t · (u̇wind + qwwind − rvwind )

Fy wind = −maircra f t · (v̇wind − pwwind + ruwind ) (28)
Fz wind = −maircra f t · (ẇwind + pvwind − quwind )

5. Usage: Inputs for the Wind Force block are provided by

Figure 49: Wind Force Block Background Wind, Turbulence blocks in Atmosphere, the
Aircraft Inertia block in Inertia model, and by the Moments
Block characteristics: block in the Equations of Motion. The output of this block is
used by the Total Acceleration block in Inertia model which
1. Parameters: none.
sums-up all the forces applied to the airframe.
2. Inputs:

• WindVel = the 3 × 1 vector of background wind veloc-

ities.
• WindAcc = the 3 × 1 vector of background wind accel-
erations.
• TurbVel = the 3 × 1 vector of turbulence velocities.
• TurbAcc = the 3 × 1 vector of turbulence accelerations.
• Mass = the current aircraft mass.
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.3.6 Wind Moment 4. Details: The block Inertia Coefficients from Inertia model
is being nested inside this block to compute the inertia coef-
The Wind Moment block computes the moments that the back- ficients c1 − c9 as described in [3]. The equations for com-
ground wind and turbulence apply to the airframe. The picture of puting the three moments are presented in (29).
this block can be found in Fig. 50.
1
Mx wind = c24 −c3 c9
· (c9 A − c4C)

My wind = − c17 · B (29)

1
Mz wind = c24 −c3 c9
· (−c4 A + c3C)

where the expressions A, B, and C are defined as:

Figure 50: Wind Moment Block
A = ṗwind − (c1 rwind + c2 pwind )qwind
Block characteristics:
B = q̇wind − c5 pwind rwind + c6 (p2wind − rwind
2 ) (30)
1. Parameters: none. C = ṙwind − (c8 pwind − c2 rwind )qwind

2. Inputs:
5. Usage: The inputs to this block are provided by the Wind
• WindAngRates = the 3×1 vector of body angular rates Shear block in Atmosphere and by the Aircraft Inertia block
caused by wind components. in the Inertia model. The output of the Wind Moment block
is used by the Total Moment block in the Inertia model.
• WindAngAcc = the 3 × 1 vector of body angular accel-
erations caused by the wind components.
• Inertia = the 4×1 vector of moments of inertia [Jx Jy Jz Jxz ].

3. Outputs:

• Mwind = the 3 × 1 vector of wind moments, with re-

spect to the current CG location.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.4 Complete Aircraft

The Complete Aircraft folder provides complete aircraft mod-
els built using AeroSim library blocks. These models are con-
figurable via parameter files which should be in ”mat” format. A
template and sample Matlab scripts that can be used to generate
this type of aircraft parameter files can be found in the samples
directory, under the main AeroSim library directory.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.4.1 6-DOF Aircraft Model - body-frame EOM • Aircraft configuration file = the path and name of the
aircraft parameter mat-file, provided as a string. For
The block implements a nonlinear 6-degree-of-freedom aircraft
example, if the mat-file is someairplane.mat, and it is
dynamic model, using blocks provided in the AeroSim library.
in the current directory, then we would use ’someair-
The equations of motion are implemented in body-axes. The model
plane.mat’.
parameters are read from a user-configurable mat-file. The block
is shown in Fig. 51. • Initial velocities = the 3 × 1 vector of initial aircraft ve-
locity components (groundspeed in body axes) [ u v w ]T .
• Initial angular rates = the 3 × 1 vector of initial aircraft
angular rates (in body axes)[ p q r ]T .
• Initial attitude = the 4 × 1 vector of initial aircraft atti-
tude provided as Euler-Rodrigues quaterions [ e0 ex
ey ez ]T .
• Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Initial fuel mass = the initial mass of the fuel quantity
available on-board the aircraft, in kg.
• Initial engine speed = the initial engine shaft rotation
speed, in rad/s.
• Ground altitude = the altitude of the terrain relative to
mean-sea-level, at aircraft location, in meters.
• WMM coefficient file = the complete path to the mag-
netic model coefficient file, as a string - for example,
0 c : \udynamics\pro jects\AeroSim\wmm.co f 0 .

Figure 51: 6-DOF Aircraft Model Block • Simulation date = the 3 × 1 vector of the calendar date
in the format [Day Month Year].
Block characteristics: • Sample time = the sample time at which the aircraft
1. Parameters: model will run.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

2. Inputs: • EngCoeff = the 5×1 vector of engine coefficients [ MAP

ṁair ṁ f uel BSFC P ]T given in [kPa kg/s kg/s g/(W*hr)
• Controls = the 7 × 1 vector of aircraft controls [ f lap W].
elevator aileron rudder throttle mixture ignition ]T
in [rad rad rad rad frac ratio bool]. • Mass = the current aircraft mass, in kg.
• Winds = the 3 × 1 vector of background wind veloci- • ECEF = the 3 × 1 vector of aircraft position in the
ties, in navigation frame [WN WE WD ]T , in m/s. Earth-centered, Earth-fixed frame [ X Y Z ]T .
• RST = the integrator reset flag (can take values of 0 or • MSL = the aircraft altitude above mean-sea-level, in
1, all integrators reset on rising-edge). m.
• AGL = the aircraft altitude above ground, in m.
3. Outputs:
• REarth = the Earth equivalent radius, at current aircraft
• States = the 15×1 vector of aircraft states [ u v w p location, in m.
q r e0 ex ey ez Lat Lon Alt m f uel Ωeng ]T .
• AConGnd = the aircraft-on-the-ground flag (0 if air-
• Sensors = the 18×1 vector of sensor data [ Lat Lon Alt craft above ground, 1 if aircraft is on the ground).
VN VE VD ax ay az p q r pstat pdyn
OAT Hx Hy Hz ]T . 4. Details: Most of the AeroSim blocks are used in this com-
plete aircraft model. The blocks not included are the sensor
• VelW = the 3 × 1 vector of aircraft velocity in wind
models, actuator models, and pilot interface blocks (joystick
axes [Va β α ]T in [m/s rad rad].
input and graphical output).
• Mach = the current aircraft Mach number.
The model reads the aircraft parameters at the start of sim-
• Angular Acc = the 3 × 1 vector of body angular accel- ulation from the specified mat-file. The mat-file is gen-
erations [ ṗ q̇ ṙ ]T . erated by the user for a particular aircraft model, by cus-
• Euler = the 3 × 1 vector of the attitude of the aircraft tomizing and running an aircraft configuration script (Mat-
given in Euler angles [ φ θ ψ ]T , in radians. lab program). An aircraft configuration script template as
• AeroCoeff = the 6 × 1 vector of aerodynamic coeffi- well as sample aircraft configuration scripts can be found in
cients [CD CY CL Cl Cm Cn ]T , in rad −1 . the Samples directory under the AeroSim tree.

• PropCoeff = the 3 × 1 vector of propeller coefficients 5. Usage: The complete aircraft model can be used for mod-
[ J CT CP ]T . eling and simulating the dynamics of a conventional aircraft
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

with single piston engine and fixed pitch propeller. Specific

aircraft parameters are set from a user-generated configura-
tion script. Control inputs can be provided from a joystick
for manual flight, or from an autopilot block for autonomous
flight. Simulation output can be visualized using the Flight
Simulator or FlightGear interface blocks.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.4.2 6-DOF Aircraft Model - geodetic-frame EOM • Aircraft configuration file = the path and name of the
aircraft parameter mat-file, provided as a string. For
The block implements a nonlinear 6-degree-of-freedom aircraft
example, if the mat-file is someairplane.mat, and it is
dynamic model, using blocks provided in the AeroSim library.
in the current directory, then we would use ’someair-
The equations of motion are implemented in geodetic-frame. The
plane.mat’.
model parameters are read from a user-configurable mat-file. The
block is shown in Fig. 52. • Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Initial velocities = the 3 × 1 vector of initial aircraft ve-
locity components in geodetic-frame [VN VE VD ]T .
• Initial attitude = the 4 × 1 vector of initial aircraft atti-
tude provided as Euler-Rodrigues quaterions [ e0 ex
ey ez ]T .
• Initial angular rates = the 3 × 1 vector of initial aircraft
angular rates (in body axes)[ p q r ]T .
• Initial fuel mass = the initial mass of the fuel quantity
available on-board the aircraft, in kg.
• Initial engine speed = the initial engine shaft rotation
speed, in rad/s.
• Ground altitude = the altitude of the terrain relative to
mean-sea-level, at aircraft location, in meters.
• WMM coefficient file = the complete path to the mag-
netic model coefficient file, as a string - for example,
0 c : \udynamics\pro jects\AeroSim\wmm.co f 0 .

Figure 52: 6-DOF Aircraft Model Block • Simulation date = the 3 × 1 vector of the calendar date
in the format [Day Month Year].
Block characteristics: • Sample time = the sample time at which the aircraft
1. Parameters: model will run.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

2. Inputs: • EngCoeff = the 5×1 vector of engine coefficients [ MAP

ṁair ṁ f uel BSFC P ]T given in [kPa kg/s kg/s g/(W*hr)
• Controls = the 7 × 1 vector of aircraft controls [ f lap W].
elevator aileron rudder throttle mixture ignition ]T
in [rad rad rad rad frac ratio bool]. • Mass = the current aircraft mass, in kg.
• Winds = the 3 × 1 vector of background wind veloci- • ECEF = the 3 × 1 vector of aircraft position in the
ties, in navigation frame [WN WE WD ]T , in m/s. Earth-centered, Earth-fixed frame [ X Y Z ]T .
• RST = the integrator reset flag (can take values of 0 or • MSL = the aircraft altitude above mean-sea-level, in
1, all integrators reset on rising-edge). m.
• AGL = the aircraft altitude above ground, in m.
3. Outputs:
• REarth = the Earth equivalent radius, at current aircraft
• States = the 15×1 vector of aircraft states [VN VE VD p location, in m.
q r e0 ex ey ez Lat Lon Alt m f uel Ωeng ]T .
• AConGnd = the aircraft-on-the-ground flag (0 if air-
• Sensors = the 18×1 vector of sensor data [ Lat Lon Alt craft above ground, 1 if aircraft is on the ground).
VN VE VD ax ay az p q r pstat pdyn
OAT Hx Hy Hz ]T . 4. Details: Most of the AeroSim blocks are used in this com-
plete aircraft model. The blocks not included are the sensor
• VelW = the 3 × 1 vector of aircraft velocity in wind
models, actuator models, and pilot interface blocks (joystick
axes [Va β α ]T in [m/s rad rad].
input and graphical output).
• Mach = the current aircraft Mach number.
The model reads the aircraft parameters at the start of sim-
• Angular Acc = the 3 × 1 vector of body angular accel- ulation from the specified mat-file. The mat-file is gen-
erations [ ṗ q̇ ṙ ]T . erated by the user for a particular aircraft model, by cus-
• Euler = the 3 × 1 vector of the attitude of the aircraft tomizing and running an aircraft configuration script (Mat-
given in Euler angles [ φ θ ψ ]T , in radians. lab program). An aircraft configuration script template as
• AeroCoeff = the 6 × 1 vector of aerodynamic coeffi- well as sample aircraft configuration scripts can be found in
cients [CD CY CL Cl Cm Cn ]T , in rad −1 . the Samples directory under the AeroSim tree.

• PropCoeff = the 3 × 1 vector of propeller coefficients 5. Usage: The complete aircraft model can be used for mod-
[ J CT CP ]T . eling and simulating the dynamics of a conventional aircraft
74
4 BLOCK REFERENCE AeroSim Blockset User’s Guide

with single piston engine and fixed pitch propeller. Specific

aircraft parameters are set from a user-generated configura-
tion script. Control inputs can be provided from a joystick
for manual flight, or from an autopilot block for autonomous
flight. Simulation output can be visualized using the Flight
Simulator or FlightGear interface blocks.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.4.3 6-DOF Aircraft Model - geodetic-frame EOM, no mag- Block characteristics:

netic field
1. Parameters:
The block implements a nonlinear 6-degree-of-freedom aircraft
dynamic model, using blocks provided in the AeroSim library. • Aircraft configuration file = the path and name of the
The equations of motion are implemented in geodetic-frame. The aircraft parameter mat-file, provided as a string. For
model parameters are read from a user-configurable mat-file. The example, if the mat-file is someairplane.mat, and it is
block is shown in Fig. 53. in the current directory, then we would use ’someair-
plane.mat’.
• Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Initial velocities = the 3 × 1 vector of initial aircraft ve-
locity components in geodetic-frame [VN VE VD ]T .
• Initial attitude = the 4 × 1 vector of initial aircraft atti-
tude provided as Euler-Rodrigues quaterions [ e0 ex
ey ez ]T .
• Initial angular rates = the 3 × 1 vector of initial aircraft
angular rates (in body axes)[ p q r ]T .
• Initial fuel mass = the initial mass of the fuel quantity
available on-board the aircraft, in kg.
• Initial engine speed = the initial engine shaft rotation
speed, in rad/s.
• Ground altitude = the altitude of the terrain relative to
mean-sea-level, at aircraft location, in meters.
• Sample time = the sample time at which the aircraft
model will run.
Figure 53: 6-DOF Aircraft Model Block 2. Inputs:
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

• Controls = the 7 × 1 vector of aircraft controls [ f lap • Mass = the current aircraft mass, in kg.
elevator aileron rudder throttle mixture ignition ]T • ECEF = the 3 × 1 vector of aircraft position in the
in [rad rad rad rad frac ratio bool]. Earth-centered, Earth-fixed frame [ X Y Z ]T .
• Winds = the 3 × 1 vector of background wind veloci- • MSL = the aircraft altitude above mean-sea-level, in
ties, in navigation frame [WN WE WD ]T , in m/s. m.
• RST = the integrator reset flag (can take values of 0 or • AGL = the aircraft altitude above ground, in m.
1, all integrators reset on rising-edge).
• REarth = the Earth equivalent radius, at current aircraft
3. Outputs: location, in m.
• States = the 15×1 vector of aircraft states [VN VE VD p • AConGnd = the aircraft-on-the-ground flag (0 if air-
q r e0 ex ey ez Lat Lon Alt m f uel Ωeng ]T . craft above ground, 1 if aircraft is on the ground).
• Sensors = the 15×1 vector of sensor data [ Lat Lon Alt 4. Details: Most of the AeroSim blocks are used in this com-
T
VN VE VD ax ay az p q r pstat pdyn OAT ] . plete aircraft model. The blocks not included are the sensor
• VelW = the 3 × 1 vector of aircraft velocity in wind models, actuator models, and pilot interface blocks (joystick
axes [Va β α ] in [m/s rad rad].
T input and graphical output).
• Mach = the current aircraft Mach number. The model reads the aircraft parameters at the start of sim-
ulation from the specified mat-file. The mat-file is gen-
• Angular Acc = the 3 × 1 vector of body angular accel-
erated by the user for a particular aircraft model, by cus-
erations [ ṗ q̇ ṙ ]T .
tomizing and running an aircraft configuration script (Mat-
• Euler = the 3 × 1 vector of the attitude of the aircraft lab program). An aircraft configuration script template as
given in Euler angles [ φ θ ψ ]T , in radians. well as sample aircraft configuration scripts can be found in
• AeroCoeff = the 6 × 1 vector of aerodynamic coeffi- the Samples directory under the AeroSim tree.
cients [CD CY CL Cl Cm Cn ]T , in rad −1 .
5. Usage: The complete aircraft model can be used for mod-
• PropCoeff = the 3 × 1 vector of propeller coefficients eling and simulating the dynamics of a conventional aircraft
[ J CT CP ]T . with single piston engine and fixed pitch propeller. Specific
• EngCoeff = the 5×1 vector of engine coefficients [ MAP aircraft parameters are set from a user-generated configura-
ṁair ṁ f uel BSFC P ]T given in [kPa kg/s kg/s g/(W*hr) tion script. Control inputs can be provided from a joystick
W]. for manual flight, or from an autopilot block for autonomous
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

flight. Simulation output can be visualized using the Flight

Simulator or FlightGear interface blocks.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.4.4 Simple Aircraft Model in the current directory, then we would use ’someair-
plane.mat’.
The block implements a nonlinear 6-degree-of-freedom aircraft
dynamic model, using blocks provided in the AeroSim library. • Initial velocities = the 3 × 1 vector of initial aircraft ve-
The equations of motion are implemented in body-axes. The model locity components (groundspeed in body axes) [ u v w ]T .
parameters are read from a user-configurable mat-file. The model • Initial angular rates = the 3 × 1 vector of initial aircraft
does not include wind effects. Earth is assumed spherical (constant angular rates (in body axes)[ p q r ]T .
radius, constant gravity). The block is shown in Fig. 54.
• Initial attitude = the 4 × 1 vector of initial aircraft atti-
tude provided as Euler-Rodrigues quaterions [ e0 ex
ey ez ]T .
• Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Initial fuel mass = the initial mass of the fuel quantity
available on-board the aircraft, in kg.
• Initial engine speed = the initial engine shaft rotation
speed, in rad/s.
• Sample time = the sample time at which the aircraft
model will run.

2. Inputs:
Figure 54: Simple Aircraft Model Block
• Controls = the 7 × 1 vector of aircraft controls [ f lap
Block characteristics: elevator aileron rudder throttle mixture ignition ]T
in [rad rad rad rad frac ratio bool].
1. Parameters:
3. Outputs:
• Aircraft configuration file = the path and name of the
aircraft parameter mat-file, provided as a string. For • States = the 15×1 vector of aircraft states [ u v w p
example, if the mat-file is someairplane.mat, and it is q r e0 ex ey ez Lat Lon Alt m f uel Ωeng ]T .
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

• Sensors = the 15×1 vector of sensor data [ Lat Lon Alt tomizing and running an aircraft configuration script (Mat-
VN VE VD ax ay az p q r pstat lab program). An aircraft configuration script template as
pdyn OAT ]T . well as sample aircraft configuration scripts can be found in
• VelW = the 3 × 1 vector of aircraft velocity in wind the Samples directory under the AeroSim tree.
axes [Va β α ]T in [m/s rad rad]. 5. Usage: The simple aircraft model can be used for modeling
• Mach = the current aircraft Mach number. and simulating the dynamics of a conventional aircraft with
single piston engine and fixed pitch propeller. Specific air-
• Angular Acc = the 3 × 1 vector of body angular accel-
craft parameters are set from a user-generated configuration
erations [ ṗ q̇ ṙ ]T .
script. Control inputs can be provided from a joystick for
• Euler = the 3 × 1 vector of the attitude of the aircraft manual flight, or from an autopilot block for autonomous
given in Euler angles [ φ θ ψ ]T , in radians. flight. Simulation output can be visualized using the Flight
• AeroCoeff = the 6 × 1 vector of aerodynamic coeffi- Simulator or FlightGear interface blocks.
cients [CD CY CL Cl Cm Cn ]T , in rad −1 .
• PropCoeff = the 3 × 1 vector of propeller coefficients
[ J CT CP ]T .
• EngCoeff = the 5×1 vector of engine coefficients [ MAP
ṁair ṁ f uel BSFC P ]T given in [kPa kg/s kg/s g/(W*hr)
W].
• Mass = the current aircraft mass, in kg.

4. Details: The most important blocks of the AeroSim library

are used in this simplified aircraft model. The blocks not
included are the wind effects, the Earth models, the sensor
models, actuator models, and pilot interface blocks (joystick
input and graphical output).
The model reads the aircraft parameters at the start of sim-
ulation from the specified mat-file. The mat-file is gen-
erated by the user for a particular aircraft model, by cus-
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.4.5 Glider Model • Initial velocities = the 3 × 1 vector of initial aircraft ve-
locity components (groundspeed in body axes) [ u v w ]T .
The block implements a basic un-powered nonlinear 6-degree-of-
freedom aircraft model, using blocks provided in the AeroSim li- • Initial angular rates = the 3 × 1 vector of initial aircraft
brary. The equations of motion are implemented in body-axes. angular rates (in body axes)[ p q r ]T .
The model parameters are read from a user-configurable mat-file. • Initial attitude = the 4 × 1 vector of initial aircraft atti-
The model does not include propulsion nor wind effects. Earth is tude provided as Euler-Rodrigues quaterions [ e0 ex
assumed spherical (constant radius, constant gravity). The block ey ez ]T .
is shown in Fig. 55. • Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Sample time = the sample time at which the aircraft
model will run.
2. Inputs:
• Controls = the 4 × 1 vector of aerodynamic controls
[ f lap elevator aileron rudder ]T in radians.
3. Outputs:

Figure 55: Glider Model Block • States = the 13×1 vector of aircraft states [ u v w p
q r e0 ex ey ez Lat Lon Alt ]T .
Block characteristics: • Sensors = the 15×1 vector of sensor data [ Lat Lon Alt
VN VE VD ax ay az p q r pstat
1. Parameters: pdyn OAT ]T .
• VelW = the 3 × 1 vector of aircraft velocity in wind
• Aircraft configuration file = the path and name of the axes [Va β α ]T in [m/s rad rad].
aircraft parameter mat-file, provided as a string. For
example, if the mat-file is someairplane.mat, and it is • Mach = the current aircraft Mach number.
in the current directory, then we would use ’someair- • Angular Acc = the 3 × 1 vector of body angular accel-
plane.mat’. erations [ ṗ q̇ ṙ ]T .

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

• Euler = the 3 × 1 vector of the attitude of the aircraft

given in Euler angles [ φ θ ψ ]T , in radians.
• AeroCoeff = the 6 × 1 vector of aerodynamic coeffi-
cients [CD CY CL Cl Cm Cn ]T , in rad −1 .

4. Details: The most basic blocks of the AeroSim library are

used in this simplified aircraft model. The blocks not in-
cluded are the propulsion model, the wind effects, the Earth
models, the sensor models, actuator models, and pilot inter-
face blocks (joystick input and graphical output).
Since there is no propulsion nor fuel tank on-board, the air-
craft inertia properties are assumed constant through-out the
flight.
The model reads the aircraft parameters at the start of sim-
ulation from the specified mat-file. The mat-file is gen-
erated by the user for a particular aircraft model, by cus-
tomizing and running an aircraft configuration script (Mat-
lab program). An aircraft configuration script template as
well as sample aircraft configuration scripts can be found in
the Samples directory under the AeroSim tree.

5. Usage: The simple aircraft model can be used for modeling

and simulating the dynamics of a conventional aircraft with
single piston engine and fixed pitch propeller. Specific air-
craft parameters are set from a user-generated configuration
script. Control inputs can be provided from a joystick for
manual flight, or from an autopilot block for autonomous
flight. Simulation output can be visualized using the Flight
Simulator or FlightGear interface blocks.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.4.6 Inertial Navigation System • IMU = the 6 × 1 vector of inertial measurements (3 ac-
celerations + 3 angular rates) in body axes [ ax ay az
The block implements the nonlinear 6-DOF INS (inertial naviga-
p q r ]T .
tion system) equations which integrate inertial measurements pro-
vided by an IMU (inertial measurement unit) to return the PVA • RST = the INS integrator reset flag (reset on rising-
(position velocity attitude) solution. The block is shown in Fig. edge).
56.
3. Outputs:

• PVA = the INS states [ Lat Lon Alt

VN VE VD e0 ex ey ez ]T .

4. Details: The block implements the nonlinear 6-DOF equa-

tions of motion in geodetic-frame. It also includes a WGS-
84 Earth geoid model.
Figure 56: INS Block
5. Usage: The INS block can be used not in aircraft simula-
Block characteristics: tion, but it navigation systems, for GPS/INS integration, in
conjunction with a navigation Kalman filter.
1. Parameters:
• Initial position = the 3 × 1 vector of initial aircraft lo-
cation [ Lat Lon Alt ]T , in [rad rad m].
• Initial velocities = the 3 × 1 vector of initial aircraft ve-
locity components in geodetic-frame [VN VE VD ]T .
• Initial attitude = the 4 × 1 vector of initial aircraft atti-
tude provided as Euler-Rodrigues quaterions [ e0 ex
ey ez ]T .
• Sample time = the sample time at which the INS will
run.
2. Inputs:
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.5 Earth
The Earth library folder includes blocks that model the Earth’s
shape, gravity, and magnetic field.

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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.5.1 WGS-84 4. Details: The WGS-84 coefficients and equations used by

this block were obtained from [4], and they are provided
The block computes the local Earth radius and gravity at current below:
aircraft location using the WGS-84 Earth model coefficients. The re (1 − ε2 )
block is shown in Fig. 57. Rmeridian = 3 (31)
(1 − ε2 sin2 φ) 2
re
Rnormal = 1 (32)
(1 − ε2 sin2 φ) 2
p
Requiv = Rmeridian Rnormal (33)
1 + gW GS1 sin2 φ
g = gW GS0 1 (34)
(1 − ε2 sin2 φ) 2
were the WGS-84 coefficients are:
Figure 57: WGS-84 Block
Equatorial radius re = 6378137 m
Block characteristics: First eccentricity ε = 0.0818191908426

1. Parameters: none. Gravity at equator gW GS0 = 9.7803267714 m/s2

Gravity formula constant gW GS1 = 0.00193185138639
2. Inputs:
and φ is the latitude at current aircraft location.
• Position = the 3 × 1 vector of geographic position [Lat
Another WGS-84 reference can be found in [1].
Lon Alt], measured in [rad rad m].
5. Usage: The WGS-84 block gets its input from the Naviga-
3. Outputs: tion block in Equations of Motion. The block outputs are
• Rmeridian = the meridian radius, in meters. used in the same Navigation block and in the Total Acceler-
ation block in the Inertia model.
• Rnormal = the normal radius, in meters.
• Re = the equivalent radius, in meters.
• Gravity = the local gravitational acceleration, in m/s2 .

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.5.2 EGM-96 look-up table with a resolution of 1 degree in both direc-

tions. The geoid undulation is then added to a −0.53 m
The block computes the sea-level altitude with respect to the WGS-
WGS-84 correction and to the WGS-84 altitude computed
84 ellipsoid, using the EGM-96 geoid undulation model. The
by the aircraft equations of motion, to obtain the altitude
block is shown in Fig. 58.
of the aircraft above sea-level. More information about the
EGM-96 model can be found at:
http://cddisa.gsfc.nasa.gov/926/egm96/egm96.html.

5. Usage: The EGM-96 block gets its input from the Naviga-
tion block in Equations of Motion. The block output is used
in Standard Atmosphere block in the Atmosphere model, and
Figure 58: EGM-96 Block in the Ground Detection block in the Earth model.

Block characteristics:

1. Parameters: none.

2. Inputs:

• Position = the 3 × 1 vector of geographic position [Lat

Lon Alt], measured in [rad rad m].

3. Outputs:

• MSLAlt = the altitude of the aircraft above Mean Sea

Level, given in meters.

4. Details: The EGM-96 block computes the altitude differ-

ence between the theoretical ellipsoid shape and the actual
mean sea level (geoid undulation). This is caused by the
non-uniformity of Earth’s gravitational potential. The cor-
rection is performed using a 2-dimensional Latitude-Longitude
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.5.3 Ground Detection both cases it should be measured with respect to the MSL
and the unit of measure must match that of the MSL altitude.
The Ground Detection block computes the aircraft altitude Above
Ground Level and sets a flag if it is zero. The block is shown in The ”Aircraft on the Ground” flag can be used to stop the
Fig. 59. simulation when the aircraft has landed.

5. Usage: The Ground Detection block gets its inputs from the
EGM-96 block in the Earth model, and from the user. The
outputs of this block are used by the Turbulence block in
Atmosphere and by the Navigation block in the Equations of
Motion.
Figure 59: Ground Detection Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• MSLAlt = the altitude of the aircraft above Mean Sea

Level.
• GndAlt = the ground altitude with respect to MSL at
current location.

3. Outputs:

• AConGnd = the ”Aircraft on the Ground” flag (0 or 1).

• AGLAlt = the aircraft AGL altitude.

4. Details: The ground altitude should be supplied by the user

as a constant or a look-up table of terrain elevation data. In
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.5.4 WMM-2000 • MagField = the 3 × 1 vector of magnetic field compo-

nents in body axes, given in nT (nanoTesla).
The WMM-2000 block computes the Earth magnetic field compo-
nents at current location using the Department of Defense World 4. Details: The block is using a hand-written S-function whose
Magnetic Model 2000. The block is shown in Fig. 60. source code is provided (see /aerosim/src/sfunwmm.c). The
code is based on the program geomag.c by JOHN M. QUINN
and it is reading the interpolation coefficients from the text
file wmm.cof. Due to the time variation of the Earth geo-
magnetic field, the data is reliable only for 5 years from the
epoch date of the model, which is Jan. 1st, 2000. After that,
an updated wmm.cof file will be required. Detailed infor-
Figure 60: WMM-2000 Block mation and the current wmm.cof file can be found on the
NIMA website, at:
Block characteristics: http://164.214.2.59/GandG/ngdc-wmm2000.html.
1. Parameters: Please note that this model does not account for local spatial
and temporal magnetic anomalies due to ground composi-
• WMM coefficient file = the complete path to the mag- tion, solar activity, or electro-magnetic interference.
netic model coefficient file, as a string - for example,
0 c : \udynamics\pro jects\AeroSim\wmm.co f 0 . 5. Usage: The WMM-2000 block gets its inputs from the Navi-
gation block in the Equations of Motion and from the Body-
• Simulation date = the 3 × 1 vector of the calendar date Inertial DCM block in Transformations. The block out-
in the format [Day Month Year]. put can be provided to flight control systems as a simulated
2. Inputs: strap-down 3-axis magnetometer.

• Position = the 3 × 1 vector of geographic position [Lat

Lon Alt], measured in [rad rad m].
• DCM = the 3 × 3 Direction Cosine Matrix for inertial-
to-body transformation.

3. Outputs:
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.6 Equations of Motion

The Equations of Motion library folder includes blocks for all
of the differential equations that describe the dynamics of the air-
craft. These equations form the centerpiece of an aircraft dynamic
model. There are two formulations for the equations of motion
that are commonly used, and they are provided in two separate
sub-folders within the AeroSim library. These are: the EOM with
velocities in body axes (XYZ), and the EOM with aircraft veloc-
ities in geodetic frame (NED). From I/O point-of-view, both for-
mulations provide the same inputs and outputs (for example, both
will output velocities in body frame AND in geodetic frame) such
that the designer can easily switch to a different EOM formulation
after the aircraft model has already been built.

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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.6.1 Total Acceleration • Acc = the 3 × 1 vector of total acceleration in body-

axes [ ax ay az ]T .
The block adds all accelerations applied to the airframe due to
aerodynamics, propulsion and wind, and returns the sum as body- 4. Details: The ”total acceleration” include everything except
axes components. The block is shown in Fig. 61. the gravity. Potential forces like gravity cannot be sensed
by accelerometers since they affect all of the accelerometer
sub-components in the same way. The total accelerations
are computed simply as:
        
ax Fx Fx Fx
1
 ay  = ·  Fy  +  Fy  +  Fy  
Maircra f t
az applied Fz aero Fz prop Fz wind
(35)
Figure 61: Total Acceleration Block
5. Usage: The block inputs are provided by the Aerodynamic
Force block in Aerodynamics, the Propulsion Force block
Block characteristics:
in Propulsion, the Wind Force block in Atmosphere and the
1. Parameters: none. Aircraft Inertia block. The total acceleration output is used
by the Forces block in the Equations of Motion and it can
2. Inputs: also be provided as aircraft model output in order to simulate
a 3-axis accelerometer system.
• Faero = the 3 × 1 vector of aerodynamic forces in body
axes [ Fx aero Fy aero Fz aero ]T .
• Fprop = the 3 × 1 vector of propulsion forces in body
 T
axes Fx prop Fy prop Fz prop .
• Fwind = the 3 × 1 vector of wind forces in body axes
[ Fx wind Fy wind Fz wind ]T .
• Mass = the current aircraft mass.

3. Outputs:

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4.6.2 Total Moment • Maero = the 3 × 1 vector of aerodynamic moments in

body axes Maero = [ Mx aero My aero Mz aero ]T .
The block computes the total moment applied to the airframe by
the aerodynamics, propulsion, and winds. The moment is com- • Fprop = the 3 × 1 vector of propulsion forces in body
 T
puted about the current aircraft CG location. The block is shown axes Fprop = Fx prop Fy prop Fz prop .
in Fig. 62. • Mprop = the 3 × 1 vector of propulsion moments in
 T
body axes M prop = Mx prop My prop Mz prop .
• Mwind = the 3 × 1 vector of wind moments in body
axes Mwind = [ Mx wind My wind Mz wind ]T .
• CGpos = the 3 × 1 vector of current CG position in
body axes rCG = [ XCG YCG ZCG ]T .
3. Outputs:
• Mcg = the 3 × 1 vector of total moment about the CG
MCG = [ Mx My Mz ]T .
Figure 62: Total Moment Block
4. Details: Wind force is not required since wind moment is al-
Block characteristics: ready provided with respect to the CG, thus a transformation
1. Parameters: is not necessary. The total moment is computed as shown
below:
• Aerodynamic force application point = the coordinates MCG = (raero − rCG ) × Faero + Maero + (r prop − rCG ) × Fprop +
of the point at which the aerodynamic forces and mo-
ments are given, in body axes raero = [ Xaero Yaero Zaero ]T . +M prop + Mwind
• Propulsion force application point = the coordinates of (36)
the point at which the propulsion forces and moments 5. Usage: The block inputs are provided by Aerodynamic Force
are given, in body axes r prop = [ X prop Yprop Z prop ]T . and Aerodynamic Moment in Aerodynamics, by Propulsion
Force and Propulsion Moment in Propulsion, by Wind Mo-
2. Inputs:
ment in Atmosphere and by Aircraft Inertia block in the In-
• Faero = the 3 × 1 vector of aerodynamic forces in body ertia model. The block output is used by the Moments block
T
axes Faero = [ Fx aero Fy aero Fz aero ] . in the Equations of Motion.
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.6.3 Body-frame EOM: Forces 3. Outputs:

The block implements the rigid-body 6 degree-of-freedom force • Velocities = the 3×1 vector of body velocities [ u v w ]T .
equations that describe the time variation of the aircraft velocities.
The block is shown in Fig. 63. 4. Details: The force equations implemented can be found in
[3] and they are presented below:
u̇ = rv − qw + gx + ax
v̇ = −ru + pw + gy + ay (37)
ẇ = qu − pv + gz + az
where:    
gx 0
 gy  = Rn2p ·  0  (38)
Figure 63: Forces Block gz g
The initial condition for the integration of velocities is taken
Block characteristics:
from the block parameters. If the reset flag changes from
1. Parameters: 0 to 1 during the simulation the integrator is reset back to
the initial condition. The accelerations ax , ay , and az must
• Initial velocities = the 3 × 1 vector of initial body ve- include all the airframe loads (aerodynamics, propulsion,
locities [ u0 v0 w0 ]T . winds). Please note that the body velocities include the wind
effects; in other words, they represent the ground speed of
2. Inputs:
the airplane expressed in body axes.
• Rates = the 3×1 vector of body angular rates [ p q r ]T .
5. Usage: The block takes its inputs from the Moments block
• Accel = the 3×1 vector of body accelerations [ ax ay az ]T . in Equations of Motion, from Total Acceleration block in
• Gravity = the gravitational acceleration as a scalar. the Inertia model, and from the WGS-84 Earth geoid model.
The reset flag can be handled by the user. The block output
• DCM = the 3 × 3 frame transformation matrix (from
is part of the aircraft state vector and it is used extensively
navigation (geodetic) to platform (body) frame.
throughout the aircraft model.
• RST = the integrator reset flag, which can be 0 or 1.
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4 BLOCK REFERENCE AeroSim Blockset User’s Guide

4.6.4 Body-frame EOM: Moments • Angular Rates = the 3 × 1 vector of body angular rates
[ p q r ]T .
The block integrates the rigid-body 6 degree-of-freedom moment
equations to obtain the instantaneous body angular rates. The • Angular Acc = the 3 × 1 vector of body angular accel-
block is presented in Fig. 64. erations [ ṗ q̇ ṙ ]T .

4. Details: The moment equations are implemented as shown

in [3]. A summary of the equations is given below:

ṗ = (c1 r + c2 p) q + c3 L + c4 N
q̇ = c5 pr − c6 p2 − r2 + c7 M


(39)
ṙ = (c8 p − c2 r) q + c4 L + c9 N
Figure 64: Moments Block where the inertia coefficients c1 - c9 are computed using the
Inertia Coefficients block available in the Inertia section of
Block characteristics: the AeroSim library. The moments should include all avail-
able loads (i.e. aerodynamics, propulsion, winds) and they
1. Parameters:
should be given with respect to the current location of air-
• Initial angular rates = the 3 × 1 vector of initial body craft CG. The initial condition for the integration is taken
angular rates [ p0 q0 r0 ]T . from the block parameters. If the reset flag changes from 0
to 1 during the simulation the integrator is reset back to the
2. Inputs: initial condition.

• Inertia = the 4 × 1 vector of current moments of inertia 5. Usage: The block gets its inputs from the Aircraft Inertia
[ Jx Jy Jz Jxz ]T . and Total Moment blocks in the Inertia model. The reset
flag can be handled by the user. The block output is part of
• Moments = the 3 × 1 vector of airframe moments with
the aircraft state vector and it is used extensively throughout
respect to the CG [ L M N ]T .
the aircraft model.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

4.6.5 Body-frame EOM: Kinematics (Quaternions) 4. Details: The kinematic equations are using the Euler-Rodrigues
quaternions. This type of implementation is considered su-
The Kinematics (Quaternions) block integrates the angular rates to perior to the simple Euler angle equations, since quaternion
obtain the aircraft attitude as quaternion representation. The block equations are linear and the solution does not exhibit gimbal
is presented in Fig. 65. lock singularity. The equations, which are presented below,
are described in more detail in [2].
     
ė0 0 −p −q −r e0
 ėx  1  p 0 r −q   ex 
 
 = 
 ėy  2  q −r ·  (40)
0 p   ey 
ėz r q −p 0 ez

The initial condition for the integration is taken from the

Figure 65: Kinematics (Quaternions) Block block parameters. If the reset flag changes from 0 to 1 dur-
ing the simulation the integrator is reset back to the initial
Block characteristics: condition.

1. Parameters: 5. Usage: The block gets its input from the Moments block in
the Equations of Motion. The reset flag can be handled by
• Initial quaternions = the 4 × 1 vector of initial values the user. The block output is part of the aircraft state vector
for the quaternions [ e0 0 ex 0 ey 0 ez 0 ]T . and it serves as an input to the Body-Inertial DCM From
Quaternions block in Transformations, whose output - the
2. Inputs: Direction Cosine Matrix is used extensively throughout the
aircraft model.
• Rates = the 3×1 vector of body angular rates [ p q r ]T ,
given in rad/s.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Quaternions = the 4×1 vector of quaternions [ e0 ex ey ez ]T .

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4.6.6 Body-frame EOM: Kinematics (Euler Angles) 4. Details: The kinematic equations are using the classic Euler
angle representation.
The Kinematics (Euler Angles) block integrates the angular rates
to obtain the aircraft attitude as Euler angle representation. The φ̇ = p + tanθ(qsinφ + rcosφ) (41)
block is presented in Fig. 66.
θ̇ = qcosφ − rsinφ (42)
qsinφ + rcosφ
ψ̇ = (43)
cosθ
The initial condition for the integration is taken from the
block parameters. If the reset flag changes from 0 to 1 dur-
ing the simulation the integrator is reset back to the initial
condition.
Figure 66: Kinematics (Euler Angles) Block
5. Usage: The block gets its input from the Moments block in
Block characteristics: the Equations of Motion. The reset flag can be handled by
the user. The block output is part of the aircraft state vector
1. Parameters: and it serves as an input to the Body-Inertial DCM From
Euler Angles block in Transformations, whose output - the
• Initial Euler angles = the 3 × 1 vector of initial values Direction Cosine Matrix is used extensively throughout the
for the Euler angles [ φ0 θ0 ψ0 ]T . aircraft model.

2. Inputs:

• Rates = the 3×1 vector of body angular rates [ p q r ]T ,

given in rad/s.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T .

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4.6.7 Body-frame EOM: Navigation • Rmeridian = the meridian radius, in meters.

The block integrates the navigation equations to obtain the current • Rnormal = the normal radius, in meters.
aircraft position. It is represented in Fig. 67. • AConGnd = the ”Aircraft on the Ground” flag (0 or 1).
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Position = the 3×1 position vector [ Lat Lon Alt ]T .

Latitude and longitude are provided in radians.
• Gndspd = the 3 × 1 ground speed vector components
in geographic frame [VNorth VEast VDown ]T .

4. Details: The navigation equations implemented by the block

are presented below. They are based on the navigation equa-
tions in [2].
Figure 67: Navigation Block
   
VNorth u
Block characteristics:  VEast  = DCM T ·  v  (44)
VDown w
1. Parameters:
and geographic position is obtained from groundspeed as
• Initial position = the 3 × 1 vector of initial geographic
presented in [4]:
position [ Lat0 Lon0 Alt0 ]T , where latitude and lon-
gitude are given in radians. ˙ = VNorth
Lat (45)
Rmeridian + Alt
2. Inputs:
˙ = VEast
• Velocities = the 3 × 1 vector of body-axes velocities Lon (46)
(Rnormal + Alt) cos Lat
[ u v w ]T .
−VDown , AConGnd = 0
(
• DCM = the 3 × 3 direction cosine matrix for inertial- ˙ =
Alt (47)
to-body transformation. 0, AConGnd = 1
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The altitude integration depends on the status of the ”Air-

craft on the Ground” flag.

5. Usage: The Navigation block gets its inputs from the Forces
block in Equations of Motion, Body-Inertial DCM block in
Transformations, WGS-84 and Ground Detection blocks in
the Earth model. The reset flag can be handled by the user.
The position output is part of the aircraft state vector and it
is used in the WGS-84, EGM-96, WMM-2000 blocks in the
Earth model, in the ECEF Position block in Transforma-
tions, and by the FS Interface block in Pilot Interface. The
groundspeed vector components are not used in the model
but they can be output as simulated GPS velocity measure-
ments.

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4.6.8 Geodetic-frame EOM: Position • RST = the integrator reset flag, which can be 0 or 1.
The block integrates the aircraft inertial velocities to obtain the 3. Outputs:
current aircraft position. It is represented in Fig. 68.
• Position = the 3×1 position vector [ Lat Lon Alt ]T .
Latitude and longitude are provided in radians.
• dPosdt = the 3×1 vector of aircraft position derivatives
˙
[ Lat ˙
Lon ˙ ]T .
Alt

4. Details: The position equations implemented by the block

are presented below. They are based on the inertial naviga-
tion equations in [1].

˙ = VNorth
Figure 68: Position Block Lat (48)
Rmeridian + Alt
Block characteristics: VEast
˙ =
Lon (49)
1. Parameters: (Rnormal + Alt) cos Lat
−VDown , AConGnd = 0
(
• Initial position = the 3 × 1 vector of initial geographic ˙ =
Alt (50)
position [ Lat0 Lon0 Alt0 ]T , where latitude and lon- 0, AConGnd = 1
gitude are given in radians.
The altitude integration depends on the status of the ”Air-
2. Inputs: craft on the Ground” flag.

• Vel NED = the 3 × 1 vector of inertial geodetic-frame 5. Usage: The Position block gets its inputs from the Velocity
velocities [VN VE VD ]T . block in Equations of Motion, WGS-84 and Ground Detec-
• Rmeridian = the meridian radius, in meters. tion blocks in the Earth model. The reset flag can be handled
by the user. The position output is part of the aircraft state
• Rnormal = the normal radius, in meters. vector and it is used in the WGS-84, EGM-96, WMM-2000
• AConGnd = the ”Aircraft on the Ground” flag (0 or 1). blocks in the Earth model, in the ECEF Position block in
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Transformations, and by the FS Interface block in Pilot In-

terface. The position derivatives are used by the Velocity and
the Angular Rate blocks in the Equations of Motion.

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4.6.9 Geodetic-frame EOM: Velocity • Gravity = the gravitational acceleration as a scalar.

The block integrates the accelerations applied to the airframe to • RST = the integrator reset flag, which can be 0 or 1.
obtain the inertial velocities of the aircraft in geodetic-frame. The
3. Outputs:
block is shown in Fig. 69.
• Velocity NED = the 3 × 1 vector of geodetic-frame ve-
locities [VN VE VD ]T .

4. Details: The velocity equations implemented can be found

in [1] and they are presented below:

V˙N = −(Lon
˙ + 2ωie )sin(Lat)VE + LatV
˙ D + fN

V˙E = (Lon
˙ + 2ωie )sin(Lat)VN + (Lon
˙ + 2ωie )cos(Lat)VD + fE

V˙D = −LatV
˙ N − (Lon
˙ + 2ωie )cos(Lat)VE + fD + g
Figure 69: Velocity Block (51)
where:
Block characteristics:
   
fN ax
 fE  = R p2n ·  ay  (52)
1. Parameters:
fD az
• Initial velocities = the 3 × 1 vector of initial geodetic- The initial condition for the integration of velocities is taken
frame velocities [VN 0 VE 0 VD0 ]T . from the block parameters. If the reset flag changes from
2. Inputs: 0 to 1 during the simulation the integrator is reset back to
the initial condition. The accelerations ax , ay , and az must
• Position = the 3×1 position vector [ Lat Lon Alt ]T . include all the airframe loads (aerodynamics, propulsion,
• dPosdt = the 3×1 vector of aircraft position derivatives winds).
˙
[ Lat ˙
Lon ˙ ]T .
Alt
5. Usage: The block takes its inputs from the Position block
• Accel = the 3×1 vector of body accelerations [ ax ay az ]T . in Equations of Motion, from Total Acceleration block in
• DCM = the 3 × 3 frame transformation matrix (from the Inertia model, and from the WGS-84 Earth geoid model.
navigation (geodetic) to platform (body) frame. The reset flag can be handled by the user. The block output

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is part of the aircraft state vector and it is used extensively

throughout the aircraft model.

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4.6.10 Geodetic-frame EOM: Attitude (Quaternions) 4. Details: The kinematic equations are using the Euler-Rodrigues
quaternions. This type of implementation is considered su-
The Attitude (Quaternions) block is identical to the Kinematics perior to the simple Euler angle equations, since quaternion
(Quaternions) block and it integrates the angular rates to obtain equations are linear and the solution does not exhibit gimbal
the aircraft attitude. The block is presented in Fig. 70. lock singularity. The equations, which are presented below,
are described in more detail in [2].
     
ė0 0 −p −q −r e0
 ėx  1  p 0 r −q   ex 
 
 = 
 ėy  2  q −r ·  (53)
0 p   ey 
ėz r q −p 0 ez

The initial condition for the integration is taken from the

Figure 70: Attitude (Quaternions) Block block parameters. If the reset flag changes from 0 to 1 dur-
ing the simulation the integrator is reset back to the initial
Block characteristics: condition.

1. Parameters: 5. Usage: The block gets its input from the Angular Rate block
in the Equations of Motion. The reset flag can be handled by
• Initial quaternions = the 4 × 1 vector of initial values the user. The block output is part of the aircraft state vector
for the quaternions [ e0 0 ex 0 ey 0 ez 0 ]T . and it serves as an input to the Body-Inertial DCM From
Quaternions block in Transformations, whose output - the
2. Inputs: Direction Cosine Matrix is used extensively throughout the
aircraft model.
• Rates = the 3×1 vector of body angular rates [ p q r ]T ,
given in rad/s.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Quaternions = the 4×1 vector of quaternions [ e0 ex ey ez ]T .

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4.6.11 Geodetic-frame EOM: Attitude (Euler Angles) 4. Details: The kinematic equations are using the classic Euler
angle representation.
The Attitude (Euler Angles) block is identical to the Kinematics
(Euler Angles) block and it integrates the angular rates to obtain φ̇ = p + tanθ(qsinφ + rcosφ) (54)
the aircraft attitude. The block is presented in Fig. 71.
θ̇ = qcosφ − rsinφ (55)
qsinφ + rcosφ
ψ̇ = (56)
cosθ
The initial condition for the integration is taken from the
block parameters. If the reset flag changes from 0 to 1 dur-
ing the simulation the integrator is reset back to the initial
condition.
Figure 71: Attitude (Euler Angles) Block
5. Usage: The block gets its input from the Moments block in
the Equations of Motion. The reset flag can be handled by
Block characteristics:
the user. The block output is part of the aircraft state vector
1. Parameters: and it serves as an input to the Body-Inertial DCM From
Euler Angles block in Transformations, whose output - the
• Initial Euler angles = the 3 × 1 vector of initial values Direction Cosine Matrix is used extensively throughout the
for the Euler angles [ φ0 θ0 ψ0 ]T . aircraft model.

2. Inputs:

• Rates = the 3×1 vector of body angular rates [ p q r ]T ,

given in rad/s.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T .

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4.6.12 Geodetic-frame EOM: Angular Rate • dPosdt = the 3×1 vector of aircraft position derivatives
˙
[ Lat ˙
Lon ˙ ]T .
Alt
The block integrates the rigid-body 6 degree-of-freedom moment
equations to obtain the instantaneous body angular rates. The • DCM = the 3 × 3 frame transformation matrix (from
block is presented in Fig. 72. navigation (geodetic) to platform (body) frame.
• RST = the integrator reset flag, which can be 0 or 1.

3. Outputs:

• Angular Rates = the 3 × 1 vector of body angular rates

[ p q r ]T .
• Angular Acc = the 3 × 1 vector of body angular accel-
erations [ ṗ q̇ ṙ ]T .

Figure 72: Angular Rate Block 4. Details: The moment equations are implemented as shown
in [3]. A summary of the equations is given below:
Block characteristics: p
ṗ = (c1 r + c2 p) q + c3 L + c4 N − (ωin )x
1. Parameters: p
q̇ = c5 pr − c6 p2 − r2 + c7 M − (ωin )y


(57)
• Initial angular rates = the 3 × 1 vector of initial body p
ṙ = (c8 p − c2 r) q + c4 L + c9 N − (ωin )z
angular rates [ p0 q0 r0 ]T .
where the inertia coefficients c1 - c9 are computed using the
2. Inputs:
Inertia Coefficients block available in the Inertia section of
• Inertia = the 4 × 1 vector of current moments of inertia the AeroSim library. The moments should include all avail-
[ Jx Jy Jz Jxz ]T . able loads (i.e. aerodynamics, propulsion, winds) and they
should be given with respect to the current location of air-
• Moments = the 3 × 1 vector of airframe moments with craft CG. The initial condition for the integration is taken
respect to the CG [ L M N ]T . from the block parameters. If the reset flag changes from 0
• Position = the 3×1 position vector [ Lat Lon Alt ]T . to 1 during the simulation the integrator is reset back to the
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p
initial condition. The ωin vector represents the Earth rota-
tion rate in body-axes and it can be computed as follows:
˙ + ωie )cos(Lat)
 
(Lon
p
ωin = Rn2p  ˙
−Lat  (58)
−(Lon + ωie )sin(Lat)
˙

5. Usage: The block gets its inputs from the Aircraft Inertia
and Total Moment blocks in the Inertia model, and from the
Position block in Equations of Motion. The reset flag can be
handled by the user. The block output is part of the aircraft
state vector and it is used extensively throughout the aircraft
model.

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4.7 Inertia
The Inertia library folder includes blocks that model the evolution
of the aircraft inertia parameters, including mass, CG position, and
moments of inertia. Also, the same folder includes the blocks that
sum-up all the forces and moments provided by the aerodynamic,
propulsion, and atmospheric models to obtain a single force and a
single moment that can be used in the equations of motion.

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4.7.1 Aircraft Inertia • Gross moments of inertia = the 1 × 4 vector of the

moments of inertia for the aircraft with full fuel tank
The block integrates the instantaneous fuel consumption to obtain
[ Jx Jy Jz Jxz ], with respect to the gross CG loca-
the current aircraft inertia parameters: mass, CG location, and mo-
tion.
ments of inertia. The block is shown in Fig. 73.
2. Inputs:
• FuelCon = the instantaneous fuel consumption rate.
• RST = the integrator reset flag, which can be 0 or 1.
3. Outputs:
Figure 73: Aircraft Inertia Block • Mass = the current aircraft mass.
• CGpos = the 3 × 1 CG position vector [ X Y Z ], in
Block characteristics:
body axes.
1. Parameters: • Inertia = the 4×1 moments of inertia vector [ Jx Jy Jz Jxz ]
with respect to the current CG location.
• Initial fuel mass = the initial value for the fuel quantity
available on board the aircraft. • OutofFuel = the ”Out of Fuel” flag, which can be 0 or
1.
• Empty mass = the aircraft mass without fuel.
• Gross mass = the aircraft mass with full fuel tank. 4. Details: The initial condition for the integration is taken
from the block parameters. If the reset flag changes from 0
• Empty CG location = the 1 × 3 vector of the CG loca-
to 1 during the simulation the integrator is reset back to the
tion for the aircraft without fuel [ X Y Z ], in body
initial condition. The inertia parameters are computed using
axes.
linear interpolation between the empty and the gross aircraft
• Gross CG location = the 1×3 vector of the CG location inertia parameters, based on the current aircraft mass. When
for the aircraft with full fuel tank [ X Y Z ], in body the fuel quantity obtained from integration of fuel consump-
axes. tion rate reaches zero the fuel integrator saturates to prevent
• Empty moments of inertia = the 1 × 4 vector of the mo- it from dropping to negative values, and the ”Out of Fuel”
ments of inertia for the aircraft without fuel [ Jx Jy Jz Jxz ], flag gets set to 1. The flag can then be used to command
with respect to the empty CG location. engine shut-down.

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5. Usage: The block input should be provided by the engine

model. The reset flag can be handled by the user. The mass
output is used by the Total acceleration block in the Iner-
tia model and by the Wind Force block in the Atmosphere
model. The CG position output is used by the Total moment
block in the Inertia model. The Inertia output is used by the
Moments equations in the Equations of Motion and by the
Wind Moment block in the Atmosphere model.

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4.7.2 Inertia Coefficients and Jyz are not zero. The inertia coefficients expressions are
presented below:
The block computes the inertia coefficients c1 - c9 that are used in
the Moments equations. The block is presented in Fig. 74. 2
(Jy − Jz )Jz − Jxz
c1 = Γ
(Jx − Jy + Jz )Jxz
c2 = Γ
Jz
c3 = Γ
Figure 74: Inertia Coefficients Block Jxz
c4 = Γ
Jz − Jx
Block characteristics: c5 = Jy (59)

1. Parameters: none. J
c6 = Jxz
y
2. Inputs:
c7 = J1
y
• Inertia = the 4×1 moments of inertia vector [ Jx Jy Jz Jxz ] 2
with respect to the current CG location. Jx (Jx − Jy ) + Jxz
c8 = Γ
3. Outputs: c9 = JΓx
• Coeff = the 9 × 1 vector of inertia coefficients. where
Γ = Jx Jz − Jxz
2
(60)
4. Details: The inertia coefficients are presented in [3] as a
convenient way of bypassing the matrix inversion that would 5. Usage: The block is referenced in two places - in the Mo-
normally be required for solving the Moment Equations. ments block in the Equations of Motion and in the Wind Mo-
The method is valid for most aircraft due to the symmetry ment block in the Atmosphere model.
about the mid plane, but it will not work for asymmetric
configurations such as Burt Rutan’s Boomerang since for
these type of airplanes the coupling moments of inertia Jxy

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4.8 Math
This library folder includes all of the math functions that are ref-
erenced by blocks in the AeroSim library.

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4.8.1 Cross Product

The block computes the cross product of two 3 × 1 vectors, and it
is presented in Fig. 75.

Figure 75: Cross Product Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• Vec1 = the first 3 × 1 vector.

• Vec2 = the second 3 × 1 vector.

3. Outputs:

• ProdVec = the 3 × 1 cross product result.

4. Details: The block computes the product:

~P = ~V1 × ~V2 (61)

5. Usage: The block is referenced in Total Moment block in

the Inertia model.

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4.8.2 Normalization
The block normalizes a vector of arbitrary dimension by dividing
each vector element by the vector norm (magnitude). It is shown
in Fig. 76.

Figure 76: Normalization Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• VecIn = the input column vector of dimension n × 1.
3. Outputs:
• VecOut = the output normal vector of the same dimen-
sion n × 1.
4. Details: The block implementation is simply:
~
~Vout = Vin (62)
k~Vin k

5. Usage: The block is referenced in Kinematics in the Equa-

tions of Motion in order to normalize the quaternion vector
after it has been computed.

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4.8.3 Vector Norm

The block computes the 2-norm or magnitude of a vector of arbi-
trary dimension. It is presented in Fig. 77.

Figure 77: Vector Norm Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• Vec = the input column vector, of dimension n × 1.

3. Outputs:

• Mag = the magnitude (scalar).

4. Details: The magnitude is computed simply using the rela-

tionship: p
kV k = ~V T ~V
~ (63)

5. Usage: The block is referenced by the Normalization block

in Math, and by the Wind-axes Velocities in Aerodynamics.

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4.8.4 Non-zero Sign

The block implements the sign function with strictly-positive out-
put for zero input.

Figure 78: Non-zero Sign Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = a real number.

3. Outputs:

• Out = the non-zero sign of the input number (-1 or 1).

4. Details: The block implements the following branched func-

tion: 
 1, f or x ≥ 0
f (x) = (64)
 −1, f or x < 0

5. Usage: The block is referenced by the Zero Offset block in

Math.

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4.8.5 Zero Offset 5. Usage: The block is referenced from Wind Shear block in
Atmosphere to prevent division-by-zero.
The block prevents division-by-zero errors by outputting a small
non-zero value equal to the specified tolerance if the block input
value falls below this tolerance threshold. If the input is outside
the sphere specified by this tolerance, then the output will match
the input exactly. The block is presented in Fig. 79.

Figure 79: Zero Offset Block

Block characteristics:
1. Parameters:
• Tolerance = the tolerance about origin for which the
block will hold output.
2. Inputs:
• In = a real number.
3. Outputs:
• Out = a non-zero real number.
4. Details: The block is implementing the following function:

 x, f or kxk ≥ tol
f (x) = (65)
 tol, f or kxk < tol

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4.8.6 pi Bound
The pi Bound block clamps an angle input to the interval [−π, π].
The block is shown in Fig. 80.

Figure 80: pi Bound Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• Input = an angle in radians.
3. Outputs:
• Output = an angle in radians, inside the interval [−π, π].
4. Details: When the input angle crosses a multiple of π, the
output angle wraps back to −π. Similarly, then the input
angle crosses the lower bound, the output wraps back to π.
This is accomplished using the mod function, as shown be-
low:
Out put = mod(Input + π, 2π) − π (66)
5. Usage: The block is referenced in Euler Angles block in
Transformations to limit the roll and the pitch angle to the
[−π, π] interval.

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4.8.7 2pi Bound

The 2pi Bound block clamps an angle input to the interval [0, 2π].
The block is shown in Fig. 81.

Figure 81: 2pi Bound Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• Input = an angle in radians.
3. Outputs:
• Output = an angle in radians, inside the interval [0, 2π].
4. Details: When the input angle crosses a multiple of 2π, the
output angle wraps back to 0. Similarly, then the input angle
crosses the lower bound, the output wraps back to 2π. This
is accomplished using the mod function, as shown below:
Out put = mod(Input, 2π) (67)

5. Usage: The block is referenced in Euler Angles block in

Transformations to limit the heading angle to the [0, 2π] in-
terval.

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4.9 Pilot Interface

The Pilot Interface library folder includes input and output drivers
for devices outside the Matlab/Simulink environment, through
which the user can interact with the aircraft model.

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4.9.1 FS Interface 4. Details: The block is implemented using the CMEX S-function
sfunflightsim.dll. The mechanism through which MSFS
The block provides an interface to Microsoft Flight Simulator
state variables are accessed and written is by using Inter-
for a real-time visual display of the aircraft. The block is shown in
Process Communication provided by FSUIPC utility by Pe-
Fig. 82.
ter L. Dowson. The module fsuipc.dll has to be installed
in Microsoft Flight Simulator. The MSFS state variables
are then accessed using the functions available in the library
IPCuser.c. Memory addresses of these state variables are
defined in FSUIPC User.h.
The S-function provided with the FS Interface block is over-
writing the aircraft position, attitude, and airspeed variables
Figure 82: FS Interface Block in Microsoft Flight Simulator to provide a visual display
of the aircraft behavior. To prevent interference with MSFS’
Block characteristics:
own aircraft dynamics, MSFS should be run in SLEW mode.
1. Parameters: When starting the simulation, the FS Interface block will
enable the SLEW mode automatically. The disadvantage is
• Sample time = the sample time at which position and that some instruments in the aircraft cockpit panel displayed
attitude data will be sent to Microsoft Flight Simula- in MSFS are not updated in this mode. However, the main
tor. objective - displaying an outside view of the aircraft - is ac-
complished, see Fig. 83.
2. Inputs:
Both Matlab/Simulink and Microsoft Flight Simulator are
• Position = the 3 × 1 vector of geographic position [Lat computationally-intensive applications. Although it is pos-
Lon Alt] in [rad rad m]. sible to run both on the same computer, we recommend ex-
• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T ecuting them on separate machines. The way this can be
in radians. done is by making use of the WideFS utility by Peter L.
• Airspeed = the current aircraft airspeed, in m/s. Dowson. This Client/Server application allows remote ac-
cess to MSFS state variables using FSUIPC. This requires
3. Outputs: no output signals to Simulink, only visual output the installation of wideserver.dll in addition to fsuipc.dll on
in Microsoft Flight Simulator. the MSFS machine, and the execution of wideclient.exe on
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AeroSim Blockset User’s Guide 4 BLOCK REFERENCE

the Matlab/Simulink machine.

Latest versions of FSUIPC and WIDEFS can be down-
loaded at:
http://www.flightsim.com.

5. Usage: The FS Interface block gets its inputs from the Nav-
igation block in Equations of Motion, from Euler Angles
block in Transformations and from Wind-axes Velocities block
in Aerodynamics. The only block output is visual and it re-
quires the presence of Microsoft Flight Simulator on the
local machine or on a secondary machine on the local net-
work.

Figure 83: Aerosonde in a simulated weather recon flight

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4.9.2 FlightGear Interface • Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T

in radians.
The block provides an interface to FlightGear Flight Simulator
for a real-time visual display of the aircraft. The block is shown in • Airspeed = the current aircraft airspeed, in m/s.
Fig. 84.
3. Outputs: no output signals to Simulink, only visual output
in FlightGear Flight Simulator.

4. Details: The block is implemented using the CMEX S-function

sfunflightgear.dll. Data is being sent to FlightGear using
the UDP network protocol, on port 5500. To set-up Flight-
Gear for accepting external aircraft model over the UDP
connection, you must run its executable with the following
Figure 84: FlightGear Interface Block command line arguments:

Block characteristics: %FG_ROOT%\BIN\FGFS.EXE --disable-splash-screen

--native-fdm=socket,in,30,,5500,udp --fdm=external
1. Parameters:
• Host name = the name or IP address of the machine on
A screen capture of the visual output is shown in Fig. 85.
which FlightGear is running, provided as a string. For
example, if we want to run both Matlab and FlightGear Both Matlab/Simulink and FlightGear Flight Simulator
on the same computer (not recommended performance- are computationally-intensive applications. Although it is
wise) we would use ’localhost’.Otherwise, we can type possible to run both on the same computer, we recommend
a ’hostname’ or an IP address ’192.168.0.247’. executing them on separate machines. The version of Flight-
• Sample time = the sample time at which position and Gear Flight Simulator supported by this S-function is 0.8.
attitude data will be sent to FlightGear Flight Simu- Other FlightGear Flight Simulator releases can be used,
lator. but in this case the S-function sfunflightgear.dll will have
to be recompiled using the net fdm.hxx from the Flight-
2. Inputs: Gear Flight Simulator source tree. Latest version can be
downloaded at:
• Position = the 3 × 1 vector of geographic position [Lat
Lon Alt] in [rad rad m]. http://www.flightgear.org.
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5. Usage: The FlightGear Interface block gets its inputs from

the Navigation block in Equations of Motion, from Euler
Angles block in Transformations and from Wind-axes Veloc-
ities block in Aerodynamics. The only block output is visual
and it requires the presence of FlightGear Flight Simulator
on a machine on the local network.

Figure 85: FlightGear output from the AeroSim FlightGear Inter-

face block

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4.9.3 Joystick Interface • POV = the position of the point-of-view hat switch.
The output is an unsigned integer from 0 to 65535.
The Joystick Interface block provides access to joystick position
and buttons using the standard Microsoft Windows joystick class. 4. Details: The block is using the CMEX S-function sfun-
The block is presented in Fig. 86. joy.dll. If there is more than one joystick installed the func-
tion will use the first one (JOYSTICKID1). A different joy-
stick can be used if the joystick ID is changed in the source
file sfunjoy.cpp and a new S-function is re-generated from
the updated source file.

5. Usage: The joystick block can be used to provide user inputs

for control surfaces deflections, throttle setting and other air-
Figure 86: Joystick Interface Block craft commands.

Block characteristics:

1. Parameters:

• Sample time = the time interval at which joystick in-

formation is sampled.

2. Inputs: no input signals from Simulink, the inputs are pro-

vided by the operating system.

3. Outputs:

• Axes = the 6 × 1 vector of joystick position for all 6

axes. On each axis the position is provided as an un-
signed integer from 0 to 65535.
• Buttons = the 32 × 1 vector of button flags. For each
button the flag is 0 if the button is not pressed, and 1 if
the button is pressed.
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4.9.4 CH F-16 Combat Stick

The CH F-16 Combat Stick is a custom joystick interface for the
F-16 Combat Stick by CH Products (Fig. 87), based on the
generic Joystick Interface block provided in the AeroSim library.
The block is shown in Fig. 88.

Figure 87: CH F-16 Combat Stick

Figure 88: CH F-16 Combat Stick Block
Block characteristics:

1. Parameters:

• Sample time = the time interval at which joystick in-

formation is sampled.

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2. Inputs: no input signals from Simulink, the inputs are pro-

vided by the operating system.

3. Outputs:

• Horiz axis = the joystick position on the horizontal axis

(0 to 65535).
• Vert axis = the joystick position on the vertical axis (0
to 65535).
• Throttle axis = the throttle wheel position (0 to 65535).
• POV = the POV hat position (0=center, 1=up, -1=down,
2=right, -2=left).
• Button 1 through 9 = the joystick button states (0=re-
leased, 1=pressed).

4. Details: The block is using the same CMEX S-function as

the generic Joystick Interface block, sfunjoy.dll, but it is
customizing the outputs and providing only those axes and
buttons that are physically available with the F-16 Combat
Stick device.

5. Usage: The block can be used to provide user inputs for

control surfaces deflections, throttle setting and other air-
craft commands.

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4.10 Propulsion
This library folder includes blocks that model various types of
aircraft propulsion systems. Although propulsion models can be
extremely complex, the implementations in the AeroSim library
were kept relatively simple and generic, allowing the designer to
quickly develop and test a fully-functional aircraft model.

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4.10.1 Fixed-Pitch Propeller 3. Outputs:

The block provides a look-up table fixed-pitch propeller model. It • Fprop = the propeller thrust force.
is shown in Fig. 89.
• Mprop = the propeller torque.
• PropCoeff = the 3 × 1 vector of propeller coefficients
[ J CT CP ]T .

4. Details: The block performs linear 1-D interpolations us-

ing < J,CT > and < J,CP > look-up tables. The current
advance ratio is computed as:
Figure 89: Fixed-Pitch Propeller Block πVa
J= (68)
ΩR
Block characteristics:
where R represents the propeller radius.
1. Parameters: Knowing the thrust and power coefficients we can compute
• Advance ratio = the advance ratio J vector n × 1. the thrust force and propeller moment:

• Coefficient of thrust = the coefficient of thrust CT vec- 4 4 2

Fp = ρR Ω CT (69)
tor corresponding to the advance ratios above n × 1. π2
• Coefficient of power = the coefficient of power CP vec- 4 5 2
tor corresponding to the advance ratios above n × 1. Mp = − ρR Ω CP (70)
π3
• Radius = the propeller radius. 5. Usage: The block gets its airspeed input from Wind-axes Ve-
2. Inputs: locities in Aerodynamics, the air density from Standard At-
mosphere in the Atmosphere model, and the rotation speed
• Airspeed = the current airspeed. from the Piston Engine model in Propulsion. The block
• rho = the air density at current altitude. outputs are used by Propulsion Force, and Propulsion Dy-
namics blocks in Propulsion. The Fixed-pitch Propeller
• Omega = the propeller rotation speed (engine shaft ro- block is used in the GA Propulsion System block.
tation speed × gear ratio), in rad/s.

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4.10.2 Piston Engine • Power look-up table = the engine power at sea level, as
a NRPM × NMAP matrix, given in Watts.
The Piston Engine block provides a simple internal combustion
engine model based on look-up tables of engine parameters. The • Sea-level pressure = the ambient pressure at which the
tables needed include 2-dimensional matrix tables for fuel flow above engine data was collected, in Pa.
and engine power at sea-level, as functions of RPM and manifold • Sea-level temperature = the temperature at which the
pressure (MAP), as well as the RPM and MAP vectors containing above engine data was collected, in K.
the data points for which the above-mentioned tables are given.
The block is shown in Fig. 90. 2. Inputs:

• Thr = the throttle fraction (engine control), from 0 to

1.
• Mix = the air-to-fuel ratio, or mixture.
• Omega = the current engine shaft rotation speed, in
rad/s.
• p = the atmospheric pressure at current altitude, in Pa.
• T = the atmospheric temperature at current altitude, in
K.
Figure 90: Piston Engine Block
3. Outputs:
Block characteristics:
• MAP = the manifold air pressure for current throttle
1. Parameters: setting and altitude, in kPa.
• RPM vector = the engine speed data points as a NRPM × • Airflow = the instantaneous mass air flow, in kg/s.
1 vector, given in rotations per minute. • Fuelflow = the instantaneous mass fuel flow, in kg/s.
• MAP vector = the manifold pressure data points as a • BSFC = the brake specific fuel consumption, in g/(W*hr).
NMAP × 1 vector, given in kPa.
• Power = the current engine power, in W.
• Fuel flow look-up table = the mass fuel flow data as a
NRPM × NMAP matrix, given in grams per hour. • Torque = the torque generated at engine shaft, in N*m.

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4. Details: The throttle input to this Piston Engine block repre-

sents the fraction between the manifold pressure and atmo-
spheric pressure. For normally-aspirated engines, the man-
ifold pressure will always be less than or equal to the at-
mospheric pressure at current altitude, therefore the pres-
sure fraction can take only values from 0 to 1. Practically,
the engine runs in a stable manner only for manifold pres-
sures of 50-60 kPa and higher. To be able to provide throttle
command as a throttle actuator position, a look-up table that
maps pressure ratio to area fraction should be placed ahead
of the Piston Engine block - this mapping is nonlinear and it
depends on the geometry of the intake system.

5. Usage: The Piston Engine subsystem is used by the GA

Propulsion System block.

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4.10.3 GA Propulsion System • Fuel flow look-up table = the mass fuel flow data as a
NRPM × NMAP matrix, given in grams per hour.
The general-aviation propulsion system includes a fixed-pitch pro-
peller, a piston engine, and the differential equation which is solved • Power look-up table = the engine power at sea level, as
for the engine shaft rotation speed. The block is shown in Fig. 91. a NRPM × NMAP matrix, given in Watts.
• Sea-level pressure = the ambient pressure at which the
above engine data was collected, in Pa.
• Sea-level temperature = the temperature at which the
above engine data was collected, in K.
• Advance ratio = the advance ratio J vector n × 1.
• Coefficient of thrust = the coefficient of thrust CT vec-
tor corresponding to the advance ratios above n × 1.
• Coefficient of power = the coefficient of power CP vec-
tor corresponding to the advance ratios above n × 1.
• Radius = the propeller radius.
• Propeller moment of inertia = the moment of inertia of
Figure 91: GA Propulsion System Block the propeller.
• Engine moment of inertia = the moment of inertia of
Block characteristics: the rotating part of the engine (shaft) - generally it is
significantly smaller than the propeller moment inertia.
1. Parameters:

• Initial engine speed = the initial condition for the en- 2. Inputs:
gine rotation speed integrator, in rad/s. • Control = the 3 × 1 vector of engine control inputs,
• RPM vector = the engine speed data points as a NRPM × which are throttle, mixture, and ignition. The ignition
1 vector, given in rotations per minute. can be 1 or 0 to turn the engine on, respectively off.
• MAP vector = the manifold pressure data points as a • OutofFuel = the ”out-of-fuel” has a similar functional-
NMAP × 1 vector, given in kPa. ity to the ignition switch.
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• p = the atmospheric pressure at current altitude, in Pa. This equation is integrated forward in time to compute the
• T = the atmospheric temperature at current altitude, in engine speed Ω at the next time step.
K.
5. Usage: The GA Propulsion System is used in the nonlin-
• rho = the air density at current altitude. ear aircraft model to compute the propulsion forces and mo-
• WindAxesVel = the 3×1 vector of wind axes velocities ments that are applied to the vehicle. These will depend on
(airspeed, sideslip angle, angle-of-attack). the engine control inputs, atmospheric conditions, altitude,
• RST = the engine speed integrator reset flag. and airspeed.

3. Outputs:
• Fprop = the 3 × 1 vector of propulsion forces (the pro-
peller thrust force is on X axis).
• Mprop = the 3 × 1 vector of propulsion moments (the
torque at engine mount is on X axis).
• Omega = the engine shaft rotation speed, in rad/s.
• Fuelflow = the instantaneous mass fuel flow, in kg/s.
• EngCoeff = the 5×1 vector of engine coefficients, which
include MAP, air flow, fuel flow, BSFC, and power.
• PropCoeff = the 3 × 1 vector of propeller coefficients
[ J CT CP ]T .
4. Details: The GA Propulsion System includes a Piston En-
gine and a Fixed-pitch Propeller. These blocks return the
torque provide by the engine, respectively the torque re-
quired by the propeller, at current engine shaft rotation speed,
current atmospheric conditions, and airspeed. Then the dif-
ferential equation that describes the dynamics of the propul-
sion system is:
(Ieng + I prop )Ω̇ = Meng + M prop (71)
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4.11 Sensors
The Sensors library folder includes generic, analog and digital
sensor models. These can be placed between the aircraft model
and the real or simulated flight control system in order to increase
the realism of the hardware or software in the loop simulation. The
Sensors library is divided into 4 sub-folders: noise correlations,
generic sensors, analog sensors, and digital sensors.

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4.11.1 Noise Correlation: Random Walk 4. Details: The random walk process is implemented by inte-
grating the output ”w” of a white-noise source:
The block implements a ”Random-Walk” process, by integrating
the output of a white-noise source. The block is pictured in Fig. ẋ = w (72)
92.
5. Usage: The random-walk process is used to simulate the
noise for sensors whose time correlation characteristic is not
known (the random-walk basically assumes infinite correla-
tion time).

Figure 92: Random Walk Block

Block characteristics:

1. Parameters:

• White-noise seed = the starting sequence of the white-

noise source, for example [23341]. Refer to Math-
works documentation on the Simulink block ”White-
Noise” for more information about the noise seed.
• Variance = the variance (rms) of the white-noise source.
• Sample time = the sample time of the white-noise source.

2. Inputs:

• None

3. Outputs:

• Output = a random walk noise signal.

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4.11.2 Noise Correlation: Gauss-Markov Process • Output = a noise signal with exponentially-decreasing
autocorrelation.
The block implements a Gauss-Markov process with exponentially-
decaying correlation. The block is pictured in Fig. 93. 4. Details: The Gauss-Markov process is one which has an
exponentially-decreasing autocorrelation function. In prac-
tical terms, this amounts to the assumption that the process
exhibits little correlation between values which are suffi-
ciently well separated in time. If the correlation time is τ
and the white-noise input is w then the process dynamics
are:
Figure 93: Gauss-Markov Process Block 1
ẋ = − x + w (73)
τ
Block characteristics: 5. Usage: The Gauss-Markov process can be used to simulate
sensors for which we have an idea about their correlation
1. Parameters: time. For example, it is reasonable to model GPS output as
a Gauss-Markov process with a correlation time of the order
• Time constant = the Gauss-Markov time constant, or
of 102 seconds.
correlation time.
• White-noise seed = the starting sequence of the white-
noise source, for example [23341]. Refer to Math-
works documentation on the Simulink block ”White-
Noise” for more information about the noise seed.
• Variance = the variance (rms) of the white-noise source.
• Sample time = the sample time of the white-noise source.

2. Inputs:

• None

3. Outputs:
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4.11.3 Simple Sensor - 1st-order dynamics • Noise variance = the variance (rms) of the white-noise
source.
The block implements a simple sensor that includes saturation lim-
its, time lag (1st-order dynamics) and random walk. The block is • Noise sample time = the sample time of the white-
shown in Fig. 94. noise source.

2. Inputs:

• Input = the measured signal (scalar).

3. Outputs:

• Output = the sensor output signal.

Figure 94: Simple Sensor Block
4. Details: None.
Block characteristics:
5. Usage: The simple sensor block is used as a basis for cre-
1. Parameters: ating more detailed sensor models, but it can also be used
• Max value = the upper limit for the saturation block stand-alone when the sensor characteristics are not known
(max sensed value). in detail.
• Min value = the lower limit for the saturation block
(min sensed value).
• Output lag = the time constant τs for the sensor dy-
namics, which are implemented as a transfer function
of the form (74).
1
Gs (s) = (74)
τs s + 1
• Noise seed = the starting sequence of the white-noise
source, for example [23341]. Refer to Mathworks doc-
umentation on the Simulink block ”White-Noise” for
more information about the noise seed.
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4.11.4 Simple Sensor - 2nd-order dynamics • Noise seed = the starting sequence of the white-noise
source, for example [23341]. Refer to Mathworks doc-
The block implements a simple sensor that includes saturation lim- umentation on the Simulink block ”White-Noise” for
its, 2nd-order dynamics, and random walk. The block is shown in more information about the noise seed.
Fig. 95.
• Noise variance = the variance (rms) of the white-noise
source.
• Noise sample time = the sample time of the white-
noise source.

2. Inputs:
Figure 95: Simple Sensor Block • Input = the measured signal (scalar).

3. Outputs:
Block characteristics:
• Output = the sensor output signal.
1. Parameters:
4. Details: None.
• Max value = the upper limit for the saturation block
(max sensed value). 5. Usage: The simple sensor block is used as a basis for cre-
ating more detailed sensor models, but it can also be used
• Min value = the lower limit for the saturation block stand-alone when the sensor characteristics are not known
(min sensed value). in detail.
• Bandwidth = the sensor bandwidth b at a gain g =
−3dB and phase φ = −90◦ . The 2-nd order transfer
function is implemented as in (75).

ω2n
Gs (s) = (75)
s2 + 2ζωn s + ω2n
−g
where ωn = 2πb and ζ = 12 10 20 .
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4.11.5 Analog Sensor function is implemented as in (76).

The block implements a generic analog sensor model that takes ω2n
Gs (s) = (76)
a ”measured” variable as input (it would normally come from the s2 + 2ζωn s + ω2n
aircraft dynamic model) and outputs an analog voltage signal which −g
can be provided to an autopilot system. The block is shown in Fig. where ωn = 2πb and ζ = 12 10 20 .
96. • Noise seed = the starting sequence of the white-noise
source, for example [23341]. Refer to Mathworks doc-
umentation on the Simulink block ”White-Noise” for
more information about the noise seed.
• Noise variance = the variance (rms) of the white-noise
source.
Figure 96: Analog Sensor Block • Noise sample time = the sample time of the white-
noise source.
Block characteristics:
2. Inputs:
1. Parameters: • Input = the measured signal (scalar).
• Range = a 1 × 2 vector with the minimum and maxi- 3. Outputs:
mum values that can be measured by the sensor.
• Output = the analog sensor output, in volts.
• Bias point = the zero for the measured signal (0 for
most sensors). 4. Details: The analog sensor model contains bias, scale-factor
• Bias voltage = the voltage that the sensor will output conversion, and a Simple Sensor block with 2nd-order dy-
for the bias point specified above. namics.

• Scale factor = the conversion factor (gain) from mea- 5. Usage: The block input is taken from the aircraft dynamic
sured signal to voltage. model. The output can be provided to an A/D converter
block for discretization and then to a flight control system
• Bandwidth = the sensor bandwidth b at a gain g = model.
−3dB and phase φ = −90◦ . The 2-nd order transfer
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4.11.6 A/D Converter • Digital = the digital signal, in counts.

The A/D Converter block can discretize an analog input signal 4. Details: The block includes scale-factor conversion from
given in volts and output a digital signal in discrete counts. The volts to counts, saturation limits on the input signal, round-
block is pictured in Fig. 97. ing to the nearest count value, and zero-order hold on the
digital output.

5. Usage: The block can be used to digitize analog sensor sig-

nals provided by Analog Sensor block in Sensors. It can also
be used individually to model digital sensors (GPS receiver,
for example).
Figure 97: A/D Converter Block

Block characteristics:

1. Parameters:

• Voltage range = a 1 × 2 vector containing the minimum

and maximum values of the input voltage.
• Resolution = the number of bits of resolution, which
determine the number of counts available on the speci-
fied voltage range. For example, a 10-bit converter will
provide 210 = 1024 counts.
• Sample time = the time interval at which the analog
signal is sampled.

2. Inputs:

• Analog = the analog input signal, in volts.

3. Outputs:
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4.11.7 Single GPS Measurement 4. Details: The block includes a Gauss-Markov noise correla-
tion block and a transport delay block.
The block models a single GPS measurement with a Gauss-Markov
process and a transport delay. The block is shown in Fig. 98. 5. Usage: The block is used by the GPS PV model.

Figure 98: Single GPS Measurement Block

Block characteristics:
1. Parameters:
• Initial value = the initial value for the block output.
• Output lag = the transport delay time.
• Noise correlation time = the Gauss-Markov time con-
stant.
• Noise seed = the white-noise source starting seed.
• Noise variance = the white-noise variance.
• Noise sample time = the white noise sample time.
2. Inputs:
• In = a single GPS measurement (position or velocity).
3. Outputs:
• Out = the GPS measurement output (position or veloc-
ity).

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4.11.8 GPS PV • Vertical velocity variance = the white-noise variance

for vertical velocity, in m/s.
The GPS PV (position and velocity) block adds Gauss-Markov
processes and transport delay on position and velocity channels. • Noise correlation time = the Gauss-Markov time core-
The block is shown in Fig. 99. lation of the GPS outputs.
• Noise sample time = the sample time of the white-
noise sources.

2. Inputs:

• PVIn = the 6x1 vector of GPS measurements (position

Figure 99: GPS PV Block and velocity).

Block characteristics: 3. Outputs:

1. Parameters: • PVOut = the 6x1 vector of GPS measurements (posi-

tion and velocity).
• Initial position = the 3x1 vector of initial position out-
put, in [rad rad m] 4. Details: The block is using 6 ”Single GPS measurement”
• Initial velocity = the 3x1 vector of initial groundspeed, block for the 3 position and 3 velocity components.
in m/s. 5. Usage: Position and velocity inputs to this block should be
• Position lag = the position transport delay, in seconds. connected to the sensor output of the aircraft model. The
• Velocity lag = the groundspeed transport delay, in sec- block output can be used for an autopilot or an integrated
onds. GPS/INS navigation algorithm.
• Horizontal position variance = the white-noise vari-
ance for latitude and longitude, in meters.
• Vertical position variance = the white-noise variance
for altitude, in meters.
• Horizontal velocity variance = the white-noise vari-
ance for horizontal groundspeed components, in m/s.
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4.12 Transformations
The Transformations library folder includes parameter and refer-
ence frame transformations that are required in the aircraft model
equations or in autopilot design.

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4.12.1 Body-Inertial DCM From Quaternions 5. Usage: The block input is taken from Kinematics (Quater-
nions) in the Equations of Motion. The block output is used
The block computes the direction cosine matrix required for trans-
extensively throughout the aircraft model, to transfer vectors
formation from inertial to body frame. It is pictured in Fig. 100.
from body to inertial frame and vice-versa.

Figure 100: Body-Inertial DCM From Quaternions Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• Quaternions = the 4×1 vector of quaternions [ e0 ex ey ez ]T .
3. Outputs:
• DCM = the 3 × 3 direction cosine matrix.
4. Details: The equation for the direction cosine matrix is straight-
forward (from [2]):
 2
ex + e20 − e2y − e2z 2(ex ez − ey e0 )

2(ex ey + ez e0 )
DCM =  2(ex ey − ez e0 ) e2y + e20 − e2x − e2z 2(ey ez + ex e0 ) 
2(ex ez + ey e0 ) 2(ey ez − ex e0 ) e2z + e20 − e2x − e2y
(77)
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4.12.2 Body-Inertial DCM From Euler Angles 5. Usage: The block input is taken from Kinematics (Euler
Angles) in the Equations of Motion. The block output is
The block computes the direction cosine matrix required for trans-
used extensively throughout the aircraft model, to transfer
formation from inertial to body frame. It is pictured in Fig. 101.
vectors from body to inertial frame and vice-versa.

Figure 101: Body-Inertial DCM From Euler Angles Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T .

3. Outputs:

• DCM = the 3 × 3 direction cosine matrix.

4. Details: The equation for the direction cosine matrix is:

 
CθCψ Cθ Sψ −Sθ
DCM =  Sφ SθCψ −Cφ Sψ Sφ Sθ Sψ +CθCψ SφCθ 
Cφ SθCψ + Sφ Sψ Cφ Sθ Sψ − SφCψ CφCθ
(78)
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4.12.3 Body-Wind DCM 4. Details: The equation for the body-to-wind frame transfor-
mation is shown in [3] to be:
The Body-Wind DCM block computes the direction cosine matrix
cos α cos β sin β sin α cos β
 
for transformation from body to wind frame. The rotation angles
for this transformation are the sideslip β and the angle-of-attack α. DCM =  − cos α sin β cos β − sin α sin β  (79)
The block is shown in Fig. 102. − sin α 0 cos α

5. Usage: The block is referenced in Aerodynamic Force block

in the Aerodynamics where the aerodynamic forces are trans-
ferred from wind axes [Drag Sideforce Lift] to body axes
[Fx Fy Fz].

Figure 102: Body-Wind DCM Block

Block characteristics:

1. Parameters: none.

2. Inputs:

• WindAxesVel = the 3 × 1 vector of wind-axes velocity

components [Va β α ]T , where the angles are pro-
vided in radians.

3. Outputs:

• DCM = the 3 × 3 direction cosine matrix.

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4.12.4 Euler Angles From Quaternions 5. Usage: The block gets its inputs from the Kinematics (Quater-
nions) block in Equations of Motion. The resulting Euler
The block computes the Euler angles from Euler-Rodrigues quater-
angles are only used by the FS Interface block in the Pilot
nions. It is shown in Fig. 103.
Interface.

Figure 103: Euler Angles From Quaternions Block

Block characteristics:
1. Parameters: none.

2. Inputs:

• Quaternions = the 4×1 vector of quaternions [ e0 ex ey ez ]T .

3. Outputs:

• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T ,

in radians.

4. Details: As shown in [2], the equations for computing the

Euler angles are:

φ atan2 2(e0 ex + ey ez ), (e20 + e2z − e2x − e2y )

    
θ= asin [2(e0 ey − ex ez )] 
ψ 2 2 2 2
 
atan2 2(e0 ez + ex ey ), (e0 + ex − ey − ez )
(80)
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4.12.5 Euler Angles from DCM is:

 
The block computes the Euler angles from the direction cosine CθCψ Cθ Sψ −Sθ
matrix. It is shown in Fig. 104. DCM =  Sφ SθCψ −Cφ Sψ Sφ Sθ Sψ +CφCψ SφCθ  =
Cφ SθCψ + S p hiSψ Cφ Sθ Sψ − S p hiCψ CφCθ
 
C11 C12 C13
=  C21 C22 C23 
C31 C32 C33
(81)
Then the Euler angles can be extracted as:

Figure 104: Euler Angles from DCM Block θ = asin (−C13 ) (82)
 
C23
φ = asin (83)
Block characteristics: Cθ
 
C12
ψ = asin (84)
1. Parameters: none. Cθ
5. Usage: The block is not used anywhere in the aircraft dy-
2. Inputs: namic models built using AeroSim library, since the Euler
angles can be computed directly from quaternions, using
• DCM = the 3 × 3 direction cosine matrix. the Euler Angles block provided in Transformations. The
block was provided for completeness and the only situation
in which it could be required is in the design of an Integrated
3. Outputs:
Navigation System algorithm.

• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T ,

in radians.

4. Details: The direction cosine matrix in terms of Euler angles

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4.12.6 Quaternions From Euler Angles 5. Usage: The block gets its inputs from the Kinematics (Euler
Angles) block in Equations of Motion.
The block computes the Euler-Rodrigues quaternions from the Eu-
ler angles. It is shown in Fig. 105.

Figure 105: Quaternions From Euler Angles Block

Block characteristics:
1. Parameters: none.
2. Inputs:
• Euler = the 3 × 1 vector of Euler angles [ φ θ ψ ]T ,
in radians.
3. Outputs:
• Quaternions = the 4×1 vector of quaternions [ e0 ex ey ez ]T .
4. Details: As shown in [2], the equations for computing the
quaternions from Euler angles are:
   
e0 Cφ/2Cθ/2Cψ/2 + Sφ/2 Sθ/2 Sψ/2
  = ±  Sφ/2Cθ/2Cψ/2 −Cφ/2 Sθ/2 Sψ/2 
 ex   
 ey   Cφ/2 Sθ/2Cψ/2 + Sφ/2Cθ/2 Sψ/2  (85)
ez Cφ/2Cθ/2 Sψ/2 − Sφ/2 Sθ/2Cψ/2

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4.12.7 ECEF Position 4. Details: The equations to compute the ECEF position, as
presented in [4], are:
The block computes the aircraft coordinates in the Earth-Centered
Earth-Fixed frame, given the position of the aircraft in the geo-
!
re
graphic frame. The block is shown in Fig. 106. XECEF = p + Alt cos Lat cos Lon (86)
1 − ε2 sin2 Lat
!
re
YECEF = p + Alt cos Lat sin Lon (87)
1 − ε2 sin2 Lat
!
re (1 − ε2 )
ZECEF = p + Alt sin Lat (88)
1 − ε2 sin2 Lat
Figure 106: ECEF Position Block
5. Usage: Although the block is not required in aircraft mod-
els built using AeroSim library, it can be used in autopilot
Block characteristics:
blocks that implement Great Circle navigation algorithms.
1. Parameters: none. The block can get its position input from a GPS receiver or
from the Navigation block in the Equations of Motion. The
2. Inputs: Earth radii can be obtained using the WGS-84 block in the
Earth model.
• LLA = the 3×1 vector of geographic position [Lat Lon
Alt] given in [rad rad m].
• Rmeridian = the Earth meridian radius at current loca-
tion, given in meters.
• Rnormal = the Earth normal radius at current location,
given in meters.

3. Outputs:

• ECEF = the 3 × 1 vector of position in ECEF frame [X

Y Z], in meters.

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4.13 Unit Conversion

For consistency with various look-up table models provided in the
AeroSim library we recommend the use of radians for angular po-
sitions, velocities, and accelerations, and the use of metric units
for everything else. The Unit Conversion blocks were provided
for cases when degrees for angles and/or English units for other
parameters are required in the aircraft model. In this cases we rec-
ommend placing the unit conversion blocks on the inputs and out-
puts of the aircraft model, such that, internally, the aircraft model
still operates in metric units but the model inputs and outputs are
provided in the units of choice.

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4.13.1 Angular position: Deg 2 rad and Rad 2 deg

The blocks convert angle inputs from degrees to radians and vice-
versa. They are shown in Fig. 107.

Figure 107: Deg 2 rad and Rad 2 deg Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = angle in degrees, respectively radians.

3. Outputs:

• Out = angle in radians, respectively degrees.

4. Details: The conversion factor from degrees to radians is

π/180.

5. Usage: All angle inputs for the AeroSim library blocks

should be given in radians. The blocks can be used by the
designer to provide aircraft model inputs/outputs in degrees.

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4.13.2 Angular velocity: Rad/s 2 RPM and RPM 2 rad/s

The blocks convert angular velocity inputs from radians-per-second
to rotations-per-minute and vice-versa. The blocks are represented
in Fig. 108.

Figure 108: Rad/s 2 RPM and RPM 2 rad/s Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = angular velocity in rad/s, respectively rpm.

3. Outputs:

• Out = angular velocity in rpm, respectively rad/s.

4. Details: The conversion factor from rad/s to rpm is 30/π.

5. Usage: All angular velocities for the AeroSim library blocks

should be given in radians-per-second. The blocks can be
used by the designer to provide engine/propeller rotation
speed in rotations-per-minute.

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4.13.3 Distance: ft 2 m and m 2 ft

The blocks convert distances from meters to feet and vice-versa.
They are presented in Fig. 109.

Figure 109: Ft 2 m and m 2 ft Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = distance in meters, respectively feet.

3. Outputs:

• Out = distance in feet, respectively meters.

4. Details: The conversion factor from ft to m is 0.3048.

5. Usage: Although most blocks in the AeroSim library are

not influenced by the choice of distance units, there are a
few blocks that require metric units. For consistency we rec-
ommend use of metric units throughout the aircraft model.
Conversion to and from English units can be performed for
the model I/O.

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4.13.4 Distance: m 2 nm and nm to m

The blocks convert distances from meters to nautic miles and vice-
versa. They are presented in Fig. 110.

Figure 110: m 2 nm and nm 2 m Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = distance in meters, respectively nautic miles.

3. Outputs:

• Out = distance in nautic miles, respectively meters.

4. Details: The conversion factor from nm to m is 1853.24496.

5. Usage: Although most blocks in the AeroSim library are

not influenced by the choice of distance units, there are a
few blocks that require metric units. For consistency we rec-
ommend use of metric units throughout the aircraft model.
Conversion to and from English units can be performed for
the model I/O.

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4.13.5 Velocity: m/s 2 km/h and km/h 2 m/s

The blocks convert velocities from meters-per-second to kilometers-
per-hour and vice-versa. They are presented in Fig. 111.

Figure 111: m/s 2 km/h and km/h 2 m/s Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = velocity in m/s, respectively km/h.

3. Outputs:

• Out = velocity in km/h, respectively m/s.

4. Details: The conversion factor from m/s to km/h is 3.6.

5. Usage: Because velocities are integrated with respect to

simulation time (given in seconds), units such as km/h can-
not be used for block inputs. For consistency with the dis-
tance units, we recommend use of m/s for velocities. The
conversion block should be used only for aircraft model I/O.

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4.13.6 Velocity: m/s 2 mph and mph 2 m/s

The blocks convert velocities from meters-per-second to miles-
per-hour and vice-versa. They are presented in Fig. 112.

Figure 112: m/s 2 mph and mph 2 m/s Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = velocity in m/s, respectively mph.

3. Outputs:

• Out = velocity in mph, respectively m/s.

4. Details: The conversion factor from m/s to mph is 2.2369362921.

5. Usage: Because velocities are integrated with respect to

simulation time (given in seconds), units such as mph cannot
be used for block inputs. For consistency with the distance
units, we recommend use of m/s for velocities. The conver-
sion block should be used only for aircraft model I/O.

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4.13.7 Velocity: m/s 2 kts and kts 2 m/s

The blocks convert velocities from meters-per-second to knots and
vice-versa. They are presented in Fig. 113.

Figure 113: m/s to kts and kts to m/s Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = velocity in m/s, respectively kts.

3. Outputs:

• Out = velocity in kts, respectively m/s.

4. Details: The conversion factor from m/s to kts is 1.9425386701.

5. Usage: Because velocities are integrated with respect to

simulation time (given in seconds), units such as mph cannot
be used for block inputs. For consistency with the distance
units, we recommend use of m/s for velocities. The conver-
sion block should be used only for aircraft model I/O.

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4.13.8 Force: lbf 2 N and N 2 lbf

The block converts a force given in Newtons to pounds of force
and vice-versa. It is shown in Fig. 114.

Figure 114: N 2 lbf and lbf 2 N Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = force in N, force in lb respectively.

3. Outputs:

• Out = force in lb, respectively force in N.

4. Details: The conversion is: lb = N · 4.44820070.

5. Usage: User applications.

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4.13.9 Mass: lb 2 kg and kg 2 lb

The block converts a mass given in kilograms to pounds of weight
and vice-versa. It is shown in Fig. 115.

Figure 115: kg 2 lb and lb 2 kg Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = mass in kg, weight in lb respectively.

• Gravity = the gravitational acceleration at current loca-
tion, in m/s2 .

3. Outputs:

• Out = weight in lb, respectively mass in kg.

4. Details: The conversion is: lb = kg · g · 0.22481.

5. Usage: The fuel and aircraft masses should be computed in

kilograms. Conversion to pounds can be performed for the
aircraft model I/O.

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4.13.10 Mass: slug 2 kg and kg 2 slug

The block converts a mass given in kilograms to slugs and vice-
versa. It is shown in Fig. 116.

Figure 116: kg 2 slug and slug 2 kg Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = mass in kg, mass in slugs respectively.

3. Outputs:

• Out = mass in slugs, respectively mass in kg.

4. Details: The conversion is: slug = kg · 14.59406605.

5. Usage: The fuel and aircraft masses should be computed

in kilograms. Conversion to slugs can be performed for the
aircraft model I/O.

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4.13.11 Volume: gal 2 l and l 2 gal

The block converts a volume of liquid given in liters to gallons and
vice-versa. It is shown in Fig. 117.

Figure 117: l 2 gal and gal 2 l Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = volume in liters, volume in gallons respectively.

3. Outputs:

• Out = volume in gallons, respectively in liters.

4. Details: The conversion is: gal = l · 3.785412.

5. Usage: Can be used to output current aircraft fuel quantity

in English units.

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4.13.12 Pressure: Pa 2 in.Hg. and in.Hg. 2 Pa

The blocks convert pressure given in Pascals to inches Hg. and
vice-versa. They are shown in Fig. 118.

Figure 118: Pa 2 in.Hg. and in.Hg. 2 Pa Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = pressure in Pascals, respectively in in. Hg.

3. Outputs:

• Out = pressure in in.Hg., respectively in Pascals.

4. Details: The conversion is: pHg = pPa · 0.00029529.

5. Usage: Can be used for atmospheric pressure conversion.

The block is used by the FlightGear-compatible piston-engine
model.

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4.13.13 Temperature: K 2 F and F 2 K

The blocks convert temperature given in degrees Kelvin to degrees
Fahrenheit and vice-versa. They are shown in Fig. 119.

Figure 119: K 2 F and F 2 K Blocks

Block characteristics:

1. Parameters: none.

2. Inputs:

• In = temperature in degrees Kelvin, respectively Fahren-

heit.

3. Outputs:

• Out = temperature in degrees Fahrenheit, respectively

Kelvin.

4. Details: The conversion is: TF = TK · 1.8 − 459.67.

5. Usage: The block is used by the piston-engine model in the

FlightGear-Compatible library.

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4.14 FlightGear-Compatible
AeroSim’s FlightGear-compatibility layer includes XML parsers
that can load aircraft, engine, and thruster parameters into Mat-
lab structures, as well as the necessary aircraft-dynamics blocks
that use such Matlab structures. These aircraft dynamics blocks
as well as several complete aircraft models can be found in the
FlightGear-Compatible library folder and they are presented in
detail in this subsection.

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4.14.1 Inertia: Empty Aircraft 4. Details: The block simply converts the inertia parameters
from the Matlab aircraft structure to Simulink signals.
The Empty Aircraft block returns the aircraft mass, CG location
and moments of inertia when there is no fuel in the fuel tank(s). 5. Usage: The inertia parameters provided by the Empty Air-
The block is shown in Fig. 120. craft block are summed with inertia parameters of pilot, pay-
loads, and fuel tanks to obtain the gross aircraft inertia.

Figure 120: Empty Aircraft Block

Block characteristics:

1. Parameters:

• Aircraft metrics structure = the Matlab structure which

contains the parameters provided by the METRICS struc-
ture of the JSBSim XML aircraft configuration file.

2. Inputs:

• none.

3. Outputs:

• Mass = the empty aircraft mass (empty weight).

• CG = the aircraft CG location [ xCG yCG zCG ].
• Inertia = the aircraft moments of inertia [ Jx Jy Jz Jxz ].

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4.14.2 Inertia: Point Mass 4. Details: A consequence of the point-mass assumption is that
moments of inertia are zero about its location. Therefore,
The Point Mass provides a convenient way for including additional the only moments of inertia are those created by the compo-
small components to the total aircraft inertia. The block is shown nent mass with respect to the aircraft reference point. Since
in Fig. 121. moments Jxy and Jyz are not taken into account, the moment
of inertia contribution is only valid if the point-mass com-
ponents are distributed symmetrically to the aircraft’s XZ
plane.

5. Usage: The inertia parameters provided by the Point Mass

blocks are summed with inertia parameters of empty air-
frame and fuel tanks to obtain the gross aircraft inertia.
Figure 121: Point Mass Block

Block characteristics:

1. Parameters:

• Point mass structure = a Matlab structure that contains

data for a point-mass component (typically it is a sub-
structure of the METRICS structure.

2. Inputs:

• none.

3. Outputs:

• Mass = the component mass.

• CG = the component CG location [ xCG yCG zCG ].
• Inertia = the component moments of inertia [ Jx Jy Jz Jxz ].

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4.14.3 Propulsion: FG Piston Engine + Fixed-Pitch Prop • Sea-level pressure = the sea-level pressure, in Pa.
The FG Piston Engine + Fixed-Pitch Prop block provides a simple • Sea-level temperature = the sea-level temperature, in
but complete propulsion solution for low-speed aircraft models. K.
The block is shown in Fig. 122. • Initial engine speed = the initial value for the engine
speed integrator, in rad/s.

2. Inputs:

• Control = the 3×1 vector of propulsion controls (Throt-

tle, Mixture, Ignition).
• p = the current atmospheric pressure.
• T = the current outside air temperature.
• rho = the current air density.
• WindAxesVel = the 3 × 1 vector of wind-axes veloci-
ties [Va β α ]T .
• CGpos = the current aircraft CG location.
Figure 122: FG Piston Engine + Fixed-Pitch Prop Block • RST = the integrator reset flag.

Block characteristics: 3. Outputs:

1. Parameters: • Fprop = the propulsion force vector.

• Mprop = the propulsion moment vector, with respect
• Piston engine structure = a Matlab structure which con- to the current aircraft CG location.
tains the engine data from the JSBSim configuration
files. • Omega = the current engine rotation speed.

• Fixed-pitch prop structure = a Matlab structure which • FuelFlow = the fuel flow rate.
contains the propeller data from the JSBSim configu- • EngCoeff = the engine coefficients (MAP, air flow, fuel
ration files. flow, BSFC, and power).

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• PropCoeff = the propeller coefficients (advance ratio,

thrust coefficient, and power coefficient).

4. Details: The block includes links to the FG Piston Engine

and to the FG Fixed-Pitch Propeller blocks which can be
found in the AeroSim library. The block integrates the an-
gular acceleration obtained from the difference between the
available engine torque and the required propeller torque,
by dividing it by the moment of inertia of the rotating com-
ponents. Typically the moment of the inertia of the engine
shaft is small compared to the propeller moment of inertia,
so it can be ignored.

5. Usage: The block is used to model a single propulsion unit

and its resulting forces and moments. Multi-engine aircraft
will use multiple blocks of this type.

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4.14.4 Propulsion: FG Piston Engine + Variable-Pitch Prop • Sea-level temperature = the sea-level temperature, in
K.
The FG Piston Engine + Variable-Pitch Prop block provides a
more complex propulsion solution for low-speed aircraft models. • Initial engine speed = the initial value for the engine
The block is shown in Fig. 123. speed integrator, in rad/s.
2. Inputs:
• Control = the 4×1 vector of propulsion controls (Throt-
tle, Mixture, Ignition, Prop pitch angle).
• p = the current atmospheric pressure.
• T = the current outside air temperature.
• rho = the current air density.
• WindAxesVel = the 3 × 1 vector of wind-axes veloci-
ties [Va β α ]T .
• CGpos = the current aircraft CG location.
• RST = the integrator reset flag.
Figure 123: FG Piston Engine + Variable-Pitch Prop
3. Outputs:
Block characteristics: • Fprop = the propulsion force vector.
1. Parameters: • Mprop = the propulsion moment vector, with respect
to the current aircraft CG location.
• Piston engine structure = a Matlab structure which con-
tains the engine data from the JSBSim configuration • Omega = the current engine rotation speed.
files. • FuelFlow = the fuel flow rate.
• Fixed-pitch prop structure = a Matlab structure which • EngCoeff = the engine coefficients (MAP, air flow, fuel
contains the propeller data from the JSBSim configu- flow, BSFC, and power).
ration files. • PropCoeff = the propeller coefficients (advance ratio,
• Sea-level pressure = the sea-level pressure, in Pa. thrust coefficient, and power coefficient).
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4. Details: The block includes links to the FG Piston Engine

and to the FG Variable-Pitch Propeller blocks which can be
found in the AeroSim library. The block integrates the an-
gular acceleration obtained from the difference between the
available engine torque and the required propeller torque,
by dividing it by the moment of inertia of the rotating com-
ponents. Typically the moment of the inertia of the engine
shaft is small compared to the propeller moment of inertia,
so it can be ignored.

5. Usage: The block is used to model a single propulsion unit

and its resulting forces and moments. Multi-engine aircraft
will use multiple blocks of this type.

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4.14.5 Piston Engine: Intake Model 4. Details: The block performs a linear interpolation of MAP
as a function of throttle fraction. The result is then corrected
The Intake Model computes the manifold presure (MAP) for the for altitude by multiplying with the ratio of atmospheric
current throttle setting and atmospheric pressure. The block is pressures at current altitude and at sea-level.
shown in Fig. 124.
5. Usage: The block should be a part of the Piston Engine
model and it should provide MAP to the AirFlow, FuelFlow
and Power models.

Figure 124: Intake Model Block

Block characteristics:

1. Parameters:

• MAP limits = the min and max values of the MAP.

• Sea-level ambient pressure = atmospheric pressure at
sea-level.

2. Inputs:

• Thr = the current throttle fraction.

• p = the current atmospheric pressure.

3. Outputs:

• MAP = the current manifold pressure.

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4.14.6 Piston Engine: AirFlow Model 3. Outputs:

The Airflow Model block computes the air flow rate to the engine • AirFlow = the mass air flow.
as a function of MAP, current atmospheric conditions, and engine
displacement. The block is shown in Fig. 125. 4. Details: The AirFlow block implements the same equations
used by the JSBSim piston engine model.

5. Usage: The block should be a part of the Piston Engine

model and it should provide AirFlow to the FuelFlow model.

Figure 125: AirFlow Model Block

Block characteristics:
1. Parameters:

• Volumetric efficiency = the volumetric efficiency of the

engine (typical value - approximately 0.8).
• Engine displacement = the displacement of the engine,
as specified in the XML engine configuration file.

2. Inputs:

• MAP = the manifold pressure.

• RPM = the engine rotation speed.
• rho = the current air density.
• p = the current atmospheric pressure.

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4.14.7 Piston Engine: FuelFlow Model 4. Details: The FuelFlow block implements the same equa-
tions used by the JSBSim piston engine model.
The FuelFlow Model block computes the mass fuel flow to the
engine as a function of airflow and current mixture setting. The 5. Usage: The block outputs are required by the other engine
block is shown in Fig. 126. sub-models such as the computation of engine power and
BSFC. The output is also integrated by the Fuel Tank model
to obtain the current fuel quantity available on-board the air-
craft.

Figure 126: FuelFlow Model Block

Block characteristics:

1. Parameters:

• Sea-level ambient pressure.

2. Inputs:

• Mix = the mixture setting.

• p = the current atmospheric pressure.
• AirFlow = the current mass air flow to the engine.

3. Outputs:

• EquivRatio = the equivalence ratio.

• FuelFlow = the mass fuel flow to the engine.

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4.14.8 Piston Engine: Power Model • RPM = the current engine rpm
The Power Model block computes the power released by the en- • T = the current outside-air temperature
gine through the shaft, as a function of manifold pressure and en- • EquivRatio = the equivalence ratio as computed by the
gine shaft rotation speed. The block is shown in Fig. 127. fuel-flow model.

3. Outputs:

• Power = the current engine power output.

4. Details: For a more complete explanation of the piston en-

gine model, consult the JSBSim manual.

5. Usage: The block is used in the Piston Engine model. The

Figure 127: Power Model Block power output is used to compute the engine shaft torque
which is transferred to the propeller. At the same time, the
Block characteristics: engine torque with changed sign is transferred to the air-
frame through the engine mount and it represents the mo-
1. Parameters: ment created by the propulsion system.
• Sea-level ambient temperature = the OAT at sea-level,
in degrees K.
• Maximum power = the maximum engine power at sea-
level conditions.
• Mixture vector = the input argument for the next pa-
rameter, which is a look-up table.
• Power-mixture correlation = the power coefficient look-
up table, which is a function of the mixture vector above.
2. Inputs:
• MAP = the current manifold pressure
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4.14.9 Piston Engine: FG Piston Engine • Omega = the current engine rotation speed
The FG Piston Engine combines all of the engine models pre- • p = the atmospheric pressure
sented previously in a single component. The block is shown in • T = the outside air temperature
Fig. 128.
• rho = the outside air density

3. Outputs:

• MAP = the current manifold pressure

• AirFlow = the current mass air flow
• FuelFlow = the current mass fuel flow
• BSFC = the brake-specific fuel consumption
• Power = the current power output
• Torque = the current torque output
Figure 128: FG Piston Engine Block
4. Details: For a more complete explanation of the piston en-
Block characteristics: gine model, consult the JSBSim manual.

1. Parameters: 5. Usage: The FG Piston Engine model along with a propeller

form a general-aviation propulsion system. The block is ref-
• Engine structure = a Matlab structure which describes erenced in FG Piston Engine + Fixed-Pitch Prop and in FG
the engine parameters Piston Engine + Variable-Pitch Prop.
• Sea-level pressure
• Sea-level temperature

2. Inputs:

• Thr = the current throttle fraction setting

• Mix = the current mixture setting

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4.14.10 Propeller Thruster: FG Fixed-Pitch Propeller • PropCoeff = the propeller coefficient vector [ J CT CP ]
The FG Fixed-Pitch Propeller provides a simple propeller model 4. Details: Consult the AeroSim Fixed-pitch Propeller block
with look-up tables for coefficients of power and thrust as func- reference for more details regarding the propeller model equa-
tions of advance ratio. The block is shown in Fig. 129. tions.

5. Usage: The block is used in the FG Piston Engine + Fixed-

Pitch Prop general-aviation propulsion system model.

Figure 129: FG Fixed-Pitch Propeller Block

Block characteristics:

1. Parameters:

• Thruster structure = a Matlab structure which contains

the propeller parameters.

2. Inputs:

• Airspeed = the current true-airspeed

• rho = the current atmospheric density
• Omega = the current propeller rotation speed.

3. Outputs:

• Fprop = the propeller thrust force

• Mprop = the propeller resisting torque
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4.14.11 Propeller Thruster: FG Variable-Pitch Propeller • Fprop = the propeller thrust force.
The FG Variable-Pitch Propeller provides a simple propeller model • Mprop = the propeller resisting torque.
with look-up tables for coefficients of power and thrust as func- • PropCoeff = the propeller coefficient vector. [ J CT CP ].
tions of advance ratio and blade pitch angle. The block is shown
in Fig. 130. 4. Details: The model is a more general formulation for the
propeller model presented previously. The look-up tables
CT = CT (J) and CP = CP (J) are now bi-dimensional, the
second input argument being the blade pitch angle.

5. Usage: The block is used in the FG Piston Engine + Variable-

Pitch Prop general-aviation propulsion system model.

Figure 130: FG Variable-Pitch Propeller

Block characteristics:

1. Parameters:

• Thruster structure = a Matlab structure which contains

the propeller parameters.

2. Inputs:

• Airspeed = the current true-airspeed.

• rho = the current atmospheric density.
• Omega = the current propeller rotation speed.
• Pitch = the current propeller pitch setting.

3. Outputs:
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4.14.12 Tank: Fuel Tank • Mass = the current mass of the fuel in the tank.
The Fuel Tank model integrates the mass fuel flow to obtain the • Inertia = the current moments of inertia of the fuel
fuel tank inertia parameters at each time step. The block is shown tank, in aircraft coordinates.
in Fig. 131.
4. Details: The fuel tank model assumes a spherical shape for
computing the moments of inertia.

5. Usage: The block is used in the aircraft inertia model to

provide the time-varying inertia characteristics due to fuel
consumption.

Figure 131: Fuel Tank Block

Block characteristics:

1. Parameters:

• Initial mass = the initial value for the fuel flow integra-
tor.
• Tank structure = a Matlab structure which contains the
tank parameters read from the JSBSim configuration
file.

2. Inputs:

• MassFlow = the mass fuel flow out of the tank (use

negative input if the fuel flows into the tank).
• RST = the integrator reset flag (reset performed on ris-
ing edge).

3. Outputs:
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4.14.13 Aerodynamics: Value

The Value block models an aerodynamic coefficient as a scalar
gain. The block is shown in Fig. 132.

Figure 132: Value Block

Block characteristics:
1. Parameters:
• Coefficient = the scalar coefficient
2. Inputs:
• RowParam = the scalar input parameter
3. Outputs:
• Coeff = the scalar aerodynamic coefficient
4. Details: The block provides a method for computing aero-
dynamic coefficients which depend on only a single param-
eter.
5. Usage: The block can be used to model aerodynamic coeffi-
cient build-up using linear parameters (stability derivatives).
For example, to account for the roll moment due to yaw rate
we can use the value block to compute the roll moment con-
tribution Clr · r.

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4.14.14 Aerodynamics: Vector

The Vector block returns an aerodynamic coefficient by perform-
ing a table look-up on a given flight parameter. The block is shown
in Fig. 133.

Figure 133: Vector Block

Block characteristics:
1. Parameters:
• Coefficient = the 1-D look-up table for the aerody-
namic coefficient
2. Inputs:
• RowParam = the scalar input parameter
3. Outputs:
• Coeff = the scalar aerodynamic coefficient
4. Details: The block performs an interpolation on a 1-D look-
up table.
5. Usage: The block can be used to model aerodynamic coef-
ficients that depend on a single parameter. For example, the
induced drag can be modeled as CDi = CDi (CL ) using the
Vector block.

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4.14.15 Aerodynamics: Table 5. Usage: The block can be used to model aerodynamic coef-
ficients that depend on more than one parameter. For exam-
The Table block computes an aerodynamic coefficient by interpo-
ple, the block can be used to model the lift coefficient which
lation through a 2-D look-up table, as function of two flight pa-
depends on angle-of-attack and flap setting CL = CL (α, δ f ).
rameters. The block is shown in Fig. 134.

Figure 134: Table Block

Block characteristics:
1. Parameters:
• Coefficient = the 2-D look-up table for the aerody-
namic coefficient
2. Inputs:
• RowParam = the input parameter corresponding to the
row of the look-up table.
• ColParam = the input parameter corresponding to the
column of the look-up table.
3. Outputs:
• Coeff = the aerodynamic coefficient
4. Details: The block performs an interpolation on a 2-D look-
up table.
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4.14.16 Aerodynamics: Coefficient • Coeff = the aerodynamic coefficient.

The Coefficient represents a configurable subsystem that allows 4. Details: The block can be configured as one of the aerody-
the user to choose one of the following types: Value, Vector, or namic coefficients presented previously.
Table. The block is shown in Fig. 135.
5. Usage: The block is used in the aerodynamic coefficient
build-up.

Figure 135: Coefficient Block

Block characteristics:

1. Parameters:

• Coefficient = the aerodynamic coefficient structure, cor-

responding to an aerodynamic coefficient from the JS-
BSim configuration file. It can be a scalar value, a 1-D
or a 2-D look-up table.

2. Inputs:

• RowParam = the first input parameter, it is the only

input in the case of a Value or a Vector coefficient; it is
the row argument for a Table.
• ColParam = the second input parameter is required only
of the coefficient block is configured as a Table, in
which case it represents the column argument.

3. Outputs:
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4.14.17 Complete Aircraft: Cessna-172 • FlightGear path = the main path for the FlightGear in-
stallation (used for locating the aircraft configuration
The block contains a pre-built model of the single-engine C-172
file).
with aircraft parameters provided by the JSBSim c172.xml con-
figuration file. The block is shown in Fig. 136. • Initial velocities = the initial ground speed components,
in geodetic frame [VN VE VD ]T .
• Initial angular rates = the initial aircraft angular rates
[ p q r ]T .
• Initial quaternions = the initial aircraft attitude, as a
quaternion representation [ e0 ex ey ez ]T .
• Initial position = the initial location of the aircraft, in
geographic coordinates [ Lat Lon h ]T .
• Initial engine speed = the initial engine rotation speed,
in rad/s.
• Initial fuel = a row vector with the initial fuel mass in
the left and right fuel tanks.
• Ground altitude = the ground altitude above sea-level,
at current location.
• Sample time = the simulation sample time, in seconds.
2. Inputs:

Figure 136: Cessna-172 Block • Control = the aircraft control vector, which includes
flap, elevator, aileron, rudder, throttle, mixture, and ig-
Block characteristics: nition.
• Wind = the background wind velocity components in
1. Parameters:
geodetic frame [WN WE WD ].
• Aircraft name = a string which contains the name of • RST = the integrator reset flag. All integrators reset on
the JSBSim aircraft model (in this case it is c172). the rising edge.
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3. Outputs:

• TAS = the true airspeed, in m/s.

• AOA = the angle-of-attack, in rad.
• Position = the aircraft position in geographic frame.
Latitude and longitude are given in rad, altitude in m.
• Attitude = the aircraft attitude given in Euler angles, in
rad.
• Rates = the angular rates in body axes, in rad/s.
• Aero = the aerodynamic coefficients.
• Prop = the propeller coefficients.
• Eng = the piston engine coefficients.
• RPM = the engine rotation speed in rot/min.

4. Details: The Simulink model is built using components from

the FlightGear-Compatible library folder. The model matches
the aircraft configuration specified in the JSBSim XML con-
figuration file c172.xml. This includes a single engine with
fixed-pitch prop, and two wing-mounted fuel tanks. The
model does not include ground roll/contact dynamics.

5. Usage: The complete aircraft model can be used for model-

ing and simulating the dynamics of a Cessna-172. Control
inputs can be provided from a joystick for manual flight,
or from an autopilot block for autonomous flight. Simula-
tion output can be visualized using the Flight Simulator or
FlightGear interface blocks.

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4.14.18 Complete Aircraft: Cessna-182 • FlightGear path = the main path for the FlightGear in-
stallation (used for locating the aircraft configuration
The block contains a pre-built model of the single-engine C-182
file).
with aircraft parameters provided by the JSBSim c182.xml con-
figuration file. The block is shown in Fig. 137. • Initial velocities = the initial ground speed components,
in geodetic frame [VN VE VD ]T .
• Initial angular rates = the initial aircraft angular rates
[ p q r ]T .
• Initial quaternions = the initial aircraft attitude, as a
quaternion representation [ e0 ex ey ez ]T .
• Initial position = the initial location of the aircraft, in
geographic coordinates [ Lat Lon h ]T .
• Initial engine speed = the initial engine rotation speed,
in rad/s.
• Initial fuel = a row vector with the initial fuel mass in
the left and right fuel tanks.
• Ground altitude = the ground altitude above sea-level,
at current location.
• Sample time = the simulation sample time, in seconds.
2. Inputs:

Figure 137: Cessna-182 Block • Control = the aircraft control vector, which includes
flap, elevator, aileron, rudder, throttle, mixture, igni-
Block characteristics: tion, and prop blade pitch angle.
• Wind = the background wind velocity components in
1. Parameters:
geodetic frame [WN WE WD ].
• Aircraft name = a string which contains the name of • RST = the integrator reset flag. All integrators reset on
the JSBSim aircraft model (in this case it is c172). the rising edge.

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3. Outputs:

• TAS = the true airspeed, in m/s.

• AOA = the angle-of-attack, in rad.
• Position = the aircraft position in geographic frame.
Latitude and longitude are given in rad, altitude in m.
• Attitude = the aircraft attitude given in Euler angles, in
rad.
• Rates = the angular rates in body axes, in rad/s.
• Aero = the aerodynamic coefficients.
• Prop = the propeller coefficients.
• Eng = the piston engine coefficients.
• RPM = the engine rotation speed in rot/min.

4. Details: The Simulink model is built using components from

the FlightGear-Compatible library folder. The model matches
the aircraft configuration specified in the JSBSim XML con-
figuration file c182.xml. This includes a single engine with
variable-pitch prop, and two wing-mounted fuel tanks. The
model does not include ground roll/contact dynamics.

5. Usage: The complete aircraft model can be used for model-

ing and simulating the dynamics of a Cessna-182. Control
inputs can be provided from a joystick for manual flight,
or from an autopilot block for autonomous flight. Simula-
tion output can be visualized using the Flight Simulator or
FlightGear interface blocks.

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4.14.19 Complete Aircraft: Cessna-310 • Aircraft name = a string which contains the name of
the JSBSim aircraft model (in this case it is c172).
The block contains a pre-built model of the twin-engine C-310
with aircraft parameters provided by the JSBSim c310.xml con- • FlightGear path = the main path for the FlightGear in-
figuration file. The block is shown in Fig. 138. stallation (used for locating the aircraft configuration
file).
• Initial velocities = the initial ground speed components,
in geodetic frame [VN VE VD ]T .
• Initial angular rates = the initial aircraft angular rates
[ p q r ]T .
• Initial quaternions = the initial aircraft attitude, as a
quaternion representation [ e0 ex ey ez ]T .
• Initial position = the initial location of the aircraft, in
geographic coordinates [ Lat Lon h ]T .
• Initial engine speed = the initial engine rotation speed,
in rad/s.
• Initial fuel = a row vector with the initial fuel mass in
the left and right fuel tanks (4 tanks).
• Ground altitude = the ground altitude above sea-level,
at current location.
• Sample time = the simulation sample time, in seconds.

Figure 138: Cessna-310 Block 2. Inputs:

• Control = the aircraft control vector, which includes

Block characteristics: flap, elevator, aileron, rudder, left engine controls (throt-
tle, mixture, ignition, and prop blade pitch angle) and
1. Parameters: right engine controls (similar).

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• Gear = the retractable landing gear position, used for the aircraft configuration specified in the JSBSim XML con-
computing aerodynamic coefficients (1 = gear down, 0 figuration file c310.xml. This includes two engines with
= gear up). variable-pitch props, and four wing-mounted fuel tanks. The
• Wind = the background wind velocity components in model does not include ground roll/contact dynamics.
geodetic frame [WN WE WD ]. 5. Usage: The complete aircraft model can be used for model-
• RST = the integrator reset flag. All integrators reset on ing and simulating the dynamics of a Cessna-310. Control
the rising edge. inputs can be provided from a joystick for manual flight,
or from an autopilot block for autonomous flight. Simula-
3. Outputs: tion output can be visualized using the Flight Simulator or
• TAS = the true airspeed, in m/s. FlightGear interface blocks.
• AOA = the angle-of-attack, in rad.
• Position = the aircraft position in geographic frame.
Latitude and longitude are given in rad, altitude in m.
• Attitude = the aircraft attitude given in Euler angles, in
rad.
• Rates = the angular rates in body axes, in rad/s.
• Aero = the aerodynamic coefficients.
• PropL = the left propeller coefficients.
• EngL = the left piston engine coefficients.
• RPML = the left engine rotation speed in rot/min.
• PropR = the right propeller coefficients.
• EngR = the right piston engine coefficients.
• RPMR = the right engine rotation speed in rot/min.

4. Details: The Simulink model is built using components from

the FlightGear-Compatible library folder. The model matches
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References
[1] Farrell J. A. and Barth M. The Global Positioning System &
Inertial Navigation. McGraw Hill, 1999. ISBN 0-07-022045-
X.

[2] Phillips W. F. Hailey C. E. and Gebert G. A. Review of At-

titude Representations Used for Aircraft Kinematics. Journal
of Aircraft, 38:718–737, 2001.

[3] Stevens B. L. and Lewis F. L. Aircraft Control and Simulation.

John Wiley & Sons, Inc., 1992. ISBN 0-471-61397-5.

[4] Rogers R. M. Applied Mathematics in Integrated Navigation

Systems. American Institute of Aeronautics and Astronautics,
Inc., 2000. ISBN 1-56347-397-6.

[5] Smetana F. O. Evaluation of Stability Derivatives.

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