%% Generate Heading and Yaw Commands for Orbit Following in Simulink®
% This example shows how to use the UAV Orbit Follower block to generate heading and yaw commands for orbiting a location of interest with a UAV.
% NOTE: This example requires you to install the UAV Library for Robotics System Toolbox®. Call roboticsAddons to open the Add-ons Explorer and install the library.
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% Open the model. Click Open Live Script to get a copy of the Simulink® model.
% This model illustrates the inputs and the outputs of the block. You must specify the current UAV pose as an [x;y;z;heading]. Also, give the orbit center location, orbit radius, turn direction, and lookahead distance on the path. The lookahead distance is important for tuning the path tracking.

open_system("uav_orbit_follower_ex1.slx")

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% Run the model to get the desired heading and yaw for following the orbit. These outputs can be used to generate commands for a UAV.
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% Copyright 2018 The MathWorks, Inc.
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