Compare revisions

660b0ff8 · 660b0ff8 · 660b0ff8 · 660b0ff8 · 660b0ff8 · 660b0ff8
--- a/controls/dataCollection/Moment of Inertia 10-25-16.xlsx
+++ b/controls/dataCollection/Moment of Inertia 10-25-16.xlsx
--- a/controls/dataCollection/No Load Friction Current.xlsx
+++ b/controls/dataCollection/No Load Friction Current.xlsx
--- a/controls/dataCollection/Thrust and Drag Constant Data.xlsx
+++ b/controls/dataCollection/Thrust and Drag Constant Data.xlsx
--- a/controls/dataCollection/imu.csv
+++ b/controls/dataCollection/imu.csv
--- a/controls/model/3D_Animation/eigenaxis_ucart.m
+++ b/controls/model/3D_Animation/eigenaxis_ucart.m
+%**************************************************************************
+% Project   : Autonomous Helicopter
+% Group     : 05gr835 
+% Created   : 2005-04-28
+% Edited    : 2005-05-25
+% -------------------------------------------------------------------------
+% The non-linear model contains the following files:
+% 
+% thrusten.m        : Main rotor thrust equations
+% rigid.m           : Rigid body equations
+% parameters.m      : Helicopter parameters
+% mrflap.m          : Main rotor flapping equations
+% force_torque.m    : Force and torque equations
+% eigenaxis.m       : Eigen axis rotation for use in VR toolbox
+
+%**************************************************************************
+
+% eigenaxis.m       : This file contains the eigen axis rotation
+%algorithm. This file is created by group 05gr830.
+
+function y = eigenaxis(u)
+
+
+if abs(u(1))< 0.0001
+    u(1) = 0.0001;
+end
+
+if abs(u(2))< 0.0001
+    u(2) = 0.0001;
+end
+
+if abs(u(3))< 0.0001
+    u(3) = 0.0001;
+end
+
+u = [ -u(1); -u(2); u(3) ];% [Pitch, Yaw, Roll] 
+
+C11 = cos(u(2))*cos(u(3));
+C12 = cos(u(2))*sin(u(3));
+C13 = -sin(u(2));
+C21 = sin(u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));
+C22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));
+C23 = sin(u(1))*cos(u(2));
+C31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));
+C32 = cos(u(1))*sin(u(2))*sin(u(3))-sin(u(1))*cos(u(3));
+C33 = cos(u(1))*cos(u(2));
+    
+theta = acos(0.5*(C11+C22+C33-1));
+
+e = [C23-C32; C31-C13; C12-C21]/(2*sin(theta));
+    
+y = [e; theta];
--- a/controls/model/3D_Animation/license.txt
+++ b/controls/model/3D_Animation/license.txt
+Copyright (c) 2009, The MathWorks, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without 
+modification, are permitted provided that the following conditions are 
+met:
+
+    * Redistributions of source code must retain the above copyright 
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright 
+      notice, this list of conditions and the following disclaimer in 
+      the documentation and/or other materials provided with the distribution
+    * Neither the name of the The MathWorks, Inc. nor the names 
+      of its contributors may be used to endorse or promote products derived 
+      from this software without specific prior written permission.
+      
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
+POSSIBILITY OF SUCH DAMAGE.
--- a/controls/model/3D_Animation/quadrotor_world_ucart.wrl
+++ b/controls/model/3D_Animation/quadrotor_world_ucart.wrl
+#VRML V2.0 utf8
+
+#Created with V-Realm Builder v2.0
+#Integrated Data Systems Inc.
+#www.ids-net.com
+
+
+PointLight {
+	location	-0.8 1 1
+}
+PointLight {
+	location	1.1 1.1 0
+}
+DEF Viewport_heli Viewpoint {
+	fieldOfView	0.785398
+	orientation	1 0 0  0.188496
+	position	0.024 -0.191 11.9975
+}
+DEF Helicopter Transform {
+	translation	0 0 0
+	scale	0.108 0.108 0.108
+	children [ 
+	    DEF Rotor_1 Transform {
+		    translation	10 0 10
+		    scale	1.00001 1.00001 1.00001
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
+					    ambientIntensity	0.9551
+					    diffuseColor	0.6163 0.6163 0.6163
+					    shininess	0.3
+					    specularColor	0.3 0.3 0.3
+				    }
+
+			    }
+
+			    geometry	IndexedFaceSet {
+				    color	NULL
+				    coord	DEF _v2%0 Coordinate {
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+							      -2.79173 -0.122 5.20272,
+							      -2.79173 -0.183 5.20272 ]
+				    }
+
+				    creaseAngle	1
+				    coordIndex	[ 78, 171, 172, 63, -1, 74, 163, 164,
+						      67, -1, 62, 175, 63, 172, 64, 170,
+						      193, 65, 168, 66, 166, 67, 164, 68,
+						      162, 69, 70, 173, -1, 165, 74, 67,
+						      166, -1, 173, 70, 71, 174, -1, 175,
+						      62, 79, 176, -1, 167, 75, 66, 168,
+						      -1, 175, 176, 78, 63, -1, 73, 161,
+						      162, 68, -1, 77, 169, 170, 64, -1,
+						      62, 173, 174, 79, -1, 75, 165, 166,
+						      66, -1, 174, 71, 72, 161, 73, 163,
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+						      -1 ]
+				    colorIndex	[  ]
+			    }
+
+		    }
+	    }
+
+	    DEF Rotor_2 Transform {
+		    translation	10 0 -10
+		    scale	0.999617 0.999617 0.999617
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
+					    ambientIntensity	0.9551
+					    diffuseColor	0.6163 0.6163 0.6163
+					    shininess	0.3
+					    specularColor	0.3 0.3 0.3
+				    }
+
+			    }
+
+			    geometry	IndexedFaceSet {
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+							      -2.79173 -0.183 5.20272 ]
+				    }
+
+				    creaseAngle	1
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+			    }
+
+		    }
+	    }
+
+	    DEF Rotor_3 Transform {
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+		    scale	0.999617 0.999617 0.999617
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
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+					    specularColor	0.3 0.3 0.3
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+
+			    }
+
+			    geometry	IndexedFaceSet {
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+				    }
+
+				    creaseAngle	1
+				    coordIndex	[ 78, 171, 172, 63, -1, 74, 163, 164,
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+			    }
+
+		    }
+	    }
+
+	    DEF Center Transform {
+		    translation	0 -1 0
+		    scale	1.11653 1.11653 1.11653
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
+				    }
+
+			    }
+
+			    geometry	Box {
+				    size	5 1.5 5
+			    }
+
+		    }
+	    }
+
+	    DEF Rotor_4 Transform {
+		    translation	-10 0 10
+		    scale	0.999617 0.999617 0.999617
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
+					    ambientIntensity	0.9551
+					    diffuseColor	0.6163 0.6163 0.6163
+					    shininess	0.3
+					    specularColor	0.3 0.3 0.3
+				    }
+
+			    }
+
+			    geometry	IndexedFaceSet {
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+							      0.467418 -2.912 2.42289,
+							      0.219418 -2.912 2.42288,
+							      0.591406 -2.912 2.6379,
+							      0.219418 -3.166 2.42288,
+							      0.467418 -3.166 2.42289,
+							      0.434395 -3.132 2.85389,
+							      0.252395 -3.132 2.85388,
+							      0.252395 -2.946 2.85388,
+							      0.434395 -2.946 2.85389,
+							      0.269336 -3.076 3.96788,
+							      0.417336 -3.129 3.96789,
+							      0.417336 -3.076 3.96789,
+							      0.269336 -3.129 3.96788,
+							      0.269395 -3.012 2.85388,
+							      0.269395 -3.066 2.85388,
+							      0.367395 -2.962 2.85389,
+							      0.319395 -2.962 2.85388,
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+							      0.319336 -3.179 3.96789,
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+							      0.367395 -3.116 2.85389,
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+							      0.367336 -3.026 3.96789,
+							      6.61556 0.193 -0.215784,
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+							      1.43223 -0.234 5.94594,
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+							      -4.46123 0.531 -4.23737,
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+							      -4.46066 -0.025 3.80563,
+							      1.43223 -0.173 5.94594,
+							      5.14735 -0.025 3.80614,
+							      6.61556 0.253 -0.215784,
+							      0.614972 0.679 -8.1101,
+							      0.614936 0.106 -7.4281,
+							      0.614936 -1.196 -7.4281,
+							      0.614972 -1.767 -8.1101,
+							      0.615018 -1.768 -9.0011,
+							      0.615054 -1.196 -9.6831,
+							      0.615062 -0.319 -9.8381,
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+							      0.529972 0.679 -8.1101,
+							      0.255231 -2.14915 -7.3791,
+							      0.758162 -2.59984 3.36791,
+							      0.594847 -2.54881 3.72511,
+							      -0.062854 -2.59984 3.36787,
+							      0.594839 -1.93645 3.87253,
+							      0.100415 -1.93645 3.8725,
+							      0.75818 -1.70965 3.02771,
+							      -0.062836 -1.70965 3.02767,
+							      0.758223 -1.02925 2.19989,
+							      -0.062793 -1.02925 2.19985,
+							      0.758299 -0.830803 0.75404,
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+							      0.758301 -0.314833 0.72002,
+							      -0.062715 -0.314833 0.719977,
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+							      -0.0626 -0.415926 -1.46475,
+							      -0.062585 -0.937566 -1.74258,
+							      0.477454 -1.87132 -6.6023,
+							      0.214366 -1.87132 -6.60231,
+							      0.441263 -0.495408 -8.43416,
+							      0.250751 -0.495408 -8.43417,
+							      0.414074 -0.461388 -8.95013,
+							      0.277994 -0.461388 -8.95014,
+							      0.436671 -2.14915 -7.37909,
+							      0.4548 -2.34193 -7.08992,
+							      0.241608 -2.34193 -7.08993,
+							      0.758426 -3.16939 -1.65658,
+							      -0.06259 -3.16939 -1.65662,
+							      0.758217 -3.03428 2.31419,
+							      -0.062799 -3.03428 2.31415,
+							      -0.062716 -1.54522 0.742657,
+							      -0.062569 -1.57261 -2.04875,
+							      0.7583 -1.54522 0.7427,
+							      0.758431 -0.937566 -1.74253,
+							      0.758447 -1.57261 -2.04871,
+							      0.100423 -2.54881 3.72509,
+							      -0.476109 -1.54522 0.742637,
+							      -0.47611 -0.830803 0.753977,
+							      -0.063333 -1.54522 0.742658,
+							      -0.063334 -0.830803 0.753998,
+							      -0.475978 -0.937566 -1.74259,
+							      -0.063202 -0.937566 -1.74257,
+							      1.17046 -0.830803 0.754063,
+							      0.757682 -0.830803 0.754041,
+							      1.17064 -1.59392 -2.71303,
+							      1.17046 -1.54522 0.742723,
+							      0.757683 -1.54522 0.742701,
+							      0.75783 -1.57261 -2.04871,
+							      1.17059 -0.937566 -1.74251,
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+							      -0.475962 -1.57261 -2.04878,
+							      -0.063153 -0.955725 -2.674,
+							      -0.475929 -0.955725 -2.67402,
+							      -0.063186 -1.57261 -2.04875,
+							      -0.063152 -1.57816 -2.70772,
+							      1.17061 -1.57261 -2.04869,
+							      1.17064 -0.971488 -2.67932,
+							      0.757865 -1.59392 -2.71305,
+							      0.757814 -0.937566 -1.74253,
+							      0.757863 -0.971488 -2.67934,
+							      1.43188 0.68 -6.37806,
+							      1.43188 0.619 -6.37806,
+							      -2.79216 0.628 -5.63428,
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+							      -5.55033 0.401 -2.35642,
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+							      -5.54956 0.105 1.92358,
+							      -5.54956 0.044 1.92358,
+							      -0.744768 -0.173 5.94583,
+							      -0.744768 -0.234 5.94583,
+							      3.47927 -0.122 5.20305,
+							      3.47927 -0.183 5.20305,
+							      6.23667 0.341 -2.3568,
+							      6.23667 0.402 -2.3568,
+							      6.23644 0.044 1.9242,
+							      6.23644 0.105 1.9242,
+							      0.530062 -0.771 -9.83811,
+							      0.615062 -0.771 -9.8381,
+							      0.530039 -1.542 -9.3921,
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+							      0.529995 -1.846 -8.5551,
+							      0.614995 -1.846 -8.5551,
+							      0.529951 -1.542 -7.7181,
+							      0.614951 -1.542 -7.7181,
+							      0.529928 -0.771 -7.2731,
+							      0.614928 -0.771 -7.2731,
+							      0.614928 -0.319 -7.2731,
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+							      0.614951 0.453 -7.7181,
+							      0.614995 0.757 -8.5551,
+							      0.529995 0.757 -8.5551,
+							      -2.79173 -0.122 5.20272,
+							      -2.79173 -0.183 5.20272 ]
+				    }
+
+				    creaseAngle	1
+				    coordIndex	[ 78, 171, 172, 63, -1, 74, 163, 164,
+						      67, -1, 62, 175, 63, 172, 64, 170,
+						      193, 65, 168, 66, 166, 67, 164, 68,
+						      162, 69, 70, 173, -1, 165, 74, 67,
+						      166, -1, 173, 70, 71, 174, -1, 175,
+						      62, 79, 176, -1, 167, 75, 66, 168,
+						      -1, 175, 176, 78, 63, -1, 73, 161,
+						      162, 68, -1, 77, 169, 170, 64, -1,
+						      62, 173, 174, 79, -1, 75, 165, 166,
+						      66, -1, 174, 71, 72, 161, 73, 163,
+						      74, 165, 75, 167, 76, 192, 169, 77,
+						      171, 78, 176, 79, -1, 163, 73, 68,
+						      164, -1, 171, 77, 64, 172, -1, 192,
+						      76, 65, 193, -1, 169, 192, 193, 170,
+						      -1, 161, 72, 69, 162, -1, 72, 71,
+						      70, 69, -1, 76, 167, 168, 65, -1,
+						      -1 ]
+			    }
+
+		    }
+	    }
+	]
+}
+Background {
+	groundAngle	[ 0.9, 1.5, 1.57 ]
+	groundColor	[ 0 0.8 0,
+			  0.174249 0.82 0.187362,
+			  0.467223 0.82 0.445801,
+			  0.621997 0.67 0.600279 ]
+	skyAngle	[ 0.1, 1.2, 1.57 ]
+	skyColor	[ 0.76238 0.8 0.1427,
+			  0.277798 0.219779 0.7,
+			  0.222549 0.390234 0.7,
+			  0.60094 0.662637 0.69 ]
+}
+DEF sqare_platform Transform {
+	translation	0 -0.432 0
+	scale	2 0.04 2
+	children [ 
+	    Shape {
+		    appearance	Appearance {
+			    material	Material {
+				    ambientIntensity	0.2
+				    diffuseColor	0.8 0.407144 0.297047
+			    }
+
+		    }
+
+		    geometry	Box {
+		    }
+
+	    }
+
+	    Transform {
+		    translation	0 0.031 0
+		    scale	0.5 1 0.5
+		    children Shape {
+			    appearance	Appearance {
+				    material	Material {
+					    diffuseColor	0.8 0.613697 0.365273
+				    }
+
+			    }
+
+			    geometry	Cylinder {
+			    }
+
+		    }
+	    }
+	]
+}
--- a/controls/model/3D_Animation/sfun_time.c
+++ b/controls/model/3D_Animation/sfun_time.c
+#define S_FUNCTION_LEVEL 2
+#define S_FUNCTION_NAME  sfun_time
+
+#define TIME_SCALE_FACTOR(S) ssGetSFcnParam(S,0)
+
+/*
+ * Need to include simstruc.h for the definition of the SimStruct and
+ * its associated macro definitions.
+ */
+#include "simstruc.h"
+
+/*
+ *  Include the standard ANSI C header for handling time functions:
+ *  ---------------------------------------------------------------
+ */
+#include <time.h>
+
+static void mdlInitializeSizes(SimStruct *S)
+{
+
+   ssSetNumSFcnParams(S, 1);  /* Number of expected parameters */
+
+   if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
+
+    ssSetNumContStates(S, 0);
+    ssSetNumDiscStates(S, 0);
+
+   if (!ssSetNumInputPorts(S, 0)) return;
+
+   if (!ssSetNumOutputPorts(S, 0)) return;
+   
+   ssSetNumSampleTimes(S, 1);
+   ssSetNumRWork(S, 1);
+   ssSetNumIWork(S, 0);
+   ssSetNumPWork(S, 0);
+   ssSetNumModes(S, 0);
+   ssSetNumNonsampledZCs(S, 0);
+   ssSetOptions(S, 0);
+}
+
+#define MDL_INITIALIZE_SAMPLE_TIMES
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+   ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
+   ssSetOffsetTime(S, 0, 0.0);
+}
+
+#define MDL_START
+static void mdlStart(SimStruct *S)
+{
+    ssSetRWorkValue(S,0,ssGetTStart(S));
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+   real_T             t_previousSimTime = ssGetRWorkValue(S,0);
+   const real_T      *scaleFactor = mxGetPr(TIME_SCALE_FACTOR(S));
+   time_T             t_SimTime = ssGetT(S);
+   real_T             t_diff = 0.0;
+   real_T             dt;
+   real_T             t_current;
+   real_T             t_0;
+   real_T             t_previous;
+   real_T             t_elapsed;
+   
+   /* Desired Delta time */
+   dt = (t_SimTime - t_previousSimTime) * (scaleFactor[0]);
+   /* Get clock time at the beginning of this step*/   
+   t_previous = (real_T)clock()/CLOCKS_PER_SEC;
+   t_0 = (real_T)clock()/CLOCKS_PER_SEC;
+
+   /* Wait to reach the desired time */
+   while (t_diff<dt){
+        t_current = (real_T) clock()/CLOCKS_PER_SEC;
+        /* Look for wrapup */
+        if (t_current<t_previous){
+            t_elapsed = t_previous - t_0;
+            t_0 = (real_T) clock()/CLOCKS_PER_SEC - t_elapsed;
+        }
+        t_diff = t_current - t_0;
+        t_previous = t_current;
+   }
+   
+   /* Store current time to be used in next time step*/
+   ssSetRWorkValue(S, 0, t_SimTime);
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+    UNUSED_ARG(S); /* unused input argument */
+}
+
+/*
+ *  Required S-function trailer:
+ *  ----------------------------
+ */
+#ifdef  MATLAB_MEX_FILE    /* Is this file being compiled as a MEX-file? */
+#include "simulink.c"      /* MEX-file interface mechanism */
+#else
+#include "cg_sfun.h"       /* Code generation registration function */
+#endif
--- a/controls/model/3D_Animation/sfun_time.mexw32
+++ b/controls/model/3D_Animation/sfun_time.mexw32
--- a/controls/model/3D_Animation/sfun_time.mexw64
+++ b/controls/model/3D_Animation/sfun_time.mexw64
--- a/controls/model/3D_Animation/ucart_graphical_animation.mdl
+++ b/controls/model/3D_Animation/ucart_graphical_animation.mdl
+Model {
+  Name			  "ucart_graphical_animation"
+  Version		  8.5
+  MdlSubVersion		  0
+  SavedCharacterEncoding  "windows-1252"
+  GraphicalInterface {
+    NumRootInports	    0
+    NumRootOutports	    0
+    ParameterArgumentNames  ""
+    ComputedModelVersion    "1.2"
+    NumModelReferences	    0
+    NumTestPointedSignals   0
+  }
+  ScopeRefreshTime	  0.035000
+  OverrideScopeRefreshTime on
+  DisableAllScopes	  on
+  DataTypeOverride	  "UseLocalSettings"
+  DataTypeOverrideAppliesTo "AllNumericTypes"
+  MinMaxOverflowLogging	  "UseLocalSettings"
+  MinMaxOverflowArchiveMode "Overwrite"
+  FPTRunName		  "Run 1"
+  MaxMDLFileLineLength	  120
+  Object {
+    $PropName		    "BdWindowsInfo"
+    $ObjectID		    1
+    $ClassName		    "Simulink.BDWindowsInfo"
+    Object {
+      $PropName		      "WindowsInfo"
+      $ObjectID		      2
+      $ClassName	      "Simulink.WindowInfo"
+      IsActive		      [1]
+      Location		      [371.0, 86.0, 1171.0, 547.0]
+      Object {
+	$PropName		"ModelBrowserInfo"
+	$ObjectID		3
+	$ClassName		"Simulink.ModelBrowserInfo"
+	Visible			[0]
+	DockPosition		"Left"
+	Width			[50]
+	Height			[50]
+	Filter			[8]
+      }
+      Object {
+	$PropName		"ExplorerBarInfo"
+	$ObjectID		4
+	$ClassName		"Simulink.ExplorerBarInfo"
+	Visible			[1]
+      }
+      Object {
+	$PropName		"EditorsInfo"
+	$ObjectID		5
+	$ClassName		"Simulink.EditorInfo"
+	IsActive		[1]
+	ViewObjType		"SimulinkTopLevel"
+	LoadSaveID		"0"
+	Extents			[1119.0, 345.0]
+	ZoomFactor		[1.0]
+	Offset			[0.0, 0.0]
+      }
+    }
+  }
+  Created		  "Thu Dec 01 14:57:20 2016"
+  Creator		  "m87rich"
+  UpdateHistory		  "UpdateHistoryNever"
+  ModifiedByFormat	  "%<Auto>"
+  LastModifiedBy	  "m87rich"
+  ModifiedDateFormat	  "%<Auto>"
+  LastModifiedDate	  "Thu Dec 01 15:14:58 2016"
+  RTWModifiedTimeStamp	  402506046
+  ModelVersionFormat	  "1.%<AutoIncrement:2>"
+  ConfigurationManager	  "none"
+  SampleTimeColors	  off
+  SampleTimeAnnotations	  off
+  LibraryLinkDisplay	  "disabled"
+  WideLines		  off
+  ShowLineDimensions	  off
+  ShowPortDataTypes	  off
+  ShowDesignRanges	  off
+  ShowLoopsOnError	  on
+  IgnoreBidirectionalLines off
+  ShowStorageClass	  off
+  ShowTestPointIcons	  on
+  ShowSignalResolutionIcons on
+  ShowViewerIcons	  on
+  SortedOrder		  off
+  ExecutionContextIcon	  off
+  ShowLinearizationAnnotations on
+  ShowMarkup		  on
+  BlockNameDataTip	  off
+  BlockParametersDataTip  off
+  BlockDescriptionStringDataTip	off
+  ToolBar		  on
+  StatusBar		  on
+  BrowserShowLibraryLinks off
+  BrowserLookUnderMasks	  off
+  SimulationMode	  "normal"
+  PauseTimes		  "5"
+  NumberOfSteps		  1
+  SnapshotBufferSize	  10
+  SnapshotInterval	  10
+  NumberOfLastSnapshots	  0
+  LinearizationMsg	  "none"
+  Profile		  off
+  ParamWorkspaceSource	  "MATLABWorkspace"
+  AccelSystemTargetFile	  "accel.tlc"
+  AccelTemplateMakefile	  "accel_default_tmf"
+  AccelMakeCommand	  "make_rtw"
+  TryForcingSFcnDF	  off
+  Object {
+    $PropName		    "DataLoggingOverride"
+    $ObjectID		    6
+    $ClassName		    "Simulink.SimulationData.ModelLoggingInfo"
+    model_		    "ucart_graphical_animation"
+    overrideMode_	    [0U]
+    Array {
+      Type		      "Cell"
+      Dimension		      1
+      Cell		      "ucart_graphical_animation"
+      PropName		      "logAsSpecifiedByModels_"
+    }
+    Array {
+      Type		      "Cell"
+      Dimension		      1
+      Cell		      []
+      PropName		      "logAsSpecifiedByModelsSSIDs_"
+    }
+  }
+  RecordCoverage	  off
+  CovPath		  "/"
+  CovSaveName		  "covdata"
+  CovMetricSettings	  "dw"
+  CovNameIncrementing	  off
+  CovHtmlReporting	  on
+  CovForceBlockReductionOff on
+  CovEnableCumulative	  on
+  covSaveCumulativeToWorkspaceVar on
+  CovSaveSingleToWorkspaceVar on
+  CovCumulativeVarName	  "covCumulativeData"
+  CovCumulativeReport	  off
+  CovReportOnPause	  on
+  CovModelRefEnable	  "Off"
+  CovExternalEMLEnable	  off
+  CovSFcnEnable		  on
+  CovBoundaryAbsTol	  0.000010
+  CovBoundaryRelTol	  0.010000
+  CovUseTimeInterval	  off
+  CovStartTime		  0
+  CovStopTime		  0
+  ExtModeBatchMode	  off
+  ExtModeEnableFloating	  on
+  ExtModeTrigType	  "manual"
+  ExtModeTrigMode	  "normal"
+  ExtModeTrigPort	  "1"
+  ExtModeTrigElement	  "any"
+  ExtModeTrigDuration	  1000
+  ExtModeTrigDurationFloating "auto"
+  ExtModeTrigHoldOff	  0
+  ExtModeTrigDelay	  0
+  ExtModeTrigDirection	  "rising"
+  ExtModeTrigLevel	  0
+  ExtModeArchiveMode	  "off"
+  ExtModeAutoIncOneShot	  off
+  ExtModeIncDirWhenArm	  off
+  ExtModeAddSuffixToVar	  off
+  ExtModeWriteAllDataToWs off
+  ExtModeArmWhenConnect	  on
+  ExtModeSkipDownloadWhenConnect off
+  ExtModeLogAll		  on
+  ExtModeAutoUpdateStatusClock on
+  ShowModelReferenceBlockVersion off
+  ShowModelReferenceBlockIO off
+  Array {
+    Type		    "Handle"
+    Dimension		    1
+    Simulink.ConfigSet {
+      $ObjectID		      7
+      Version		      "1.15.0"
+      Array {
+	Type			"Handle"
+	Dimension		8
+	Simulink.SolverCC {
+	  $ObjectID		  8
+	  Version		  "1.15.0"
+	  StartTime		  "0.0"
+	  StopTime		  "10.0"
+	  AbsTol		  "auto"
+	  FixedStep		  "auto"
+	  InitialStep		  "auto"
+	  MaxNumMinSteps	  "-1"
+	  MaxOrder		  5
+	  ZcThreshold		  "auto"
+	  ConsecutiveZCsStepRelTol "10*128*eps"
+	  MaxConsecutiveZCs	  "1000"
+	  ExtrapolationOrder	  4
+	  NumberNewtonIterations  1
+	  MaxStep		  "auto"
+	  MinStep		  "auto"
+	  MaxConsecutiveMinStep	  "1"
+	  RelTol		  "1e-3"
+	  SolverMode		  "Auto"
+	  EnableConcurrentExecution off
+	  ConcurrentTasks	  off
+	  Solver		  "ode45"
+	  SolverName		  "ode45"
+	  SolverJacobianMethodControl "auto"
+	  ShapePreserveControl	  "DisableAll"
+	  ZeroCrossControl	  "UseLocalSettings"
+	  ZeroCrossAlgorithm	  "Nonadaptive"
+	  AlgebraicLoopSolver	  "TrustRegion"
+	  SolverResetMethod	  "Fast"
+	  PositivePriorityOrder	  off
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+      PortCounts	      "[]"
+      SFunctionDeploymentMode off
+      EnableBusSupport	      off
+    }
+    Block {
+      BlockType		      SubSystem
+      ShowPortLabels	      "FromPortIcon"
+      Permissions	      "ReadWrite"
+      PermitHierarchicalResolution "All"
+      TreatAsAtomicUnit	      off
+      MinAlgLoopOccurrences   off
+      PropExecContextOutsideSubsystem off
+      CheckFcnCallInpInsideContextMsg off
+      SystemSampleTime	      "-1"
+      RTWSystemCode	      "Auto"
+      RTWFcnNameOpts	      "Auto"
+      RTWFileNameOpts	      "Auto"
+      FunctionInterfaceSpec   "void_void"
+      FunctionWithSeparateData off
+      RTWMemSecFuncInitTerm   "Inherit from model"
+      RTWMemSecFuncExecute    "Inherit from model"
+      RTWMemSecDataConstants  "Inherit from model"
+      RTWMemSecDataInternal   "Inherit from model"
+      RTWMemSecDataParameters "Inherit from model"
+      SimViewingDevice	      off
+      DataTypeOverride	      "UseLocalSettings"
+      DataTypeOverrideAppliesTo	"AllNumericTypes"
+      MinMaxOverflowLogging   "UseLocalSettings"
+      Opaque		      off
+      MaskHideContents	      off
+      SFBlockType	      "NONE"
+      Variant		      off
+      GeneratePreprocessorConditionals off
+      ContentPreviewEnabled   off
+      IsWebBlock	      off
+    }
+  }
+  System {
+    Name		    "ucart_graphical_animation"
+    Location		    [371, 86, 1542, 633]
+    Open		    on
+    ModelBrowserVisibility  off
+    ModelBrowserWidth	    200
+    ScreenColor		    "white"
+    PaperOrientation	    "landscape"
+    PaperPositionMode	    "auto"
+    PaperType		    "usletter"
+    PaperUnits		    "inches"
+    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+    TiledPageScale	    1
+    ShowPageBoundaries	    off
+    ZoomFactor		    "100"
+    ReportName		    "simulink-default.rpt"
+    SIDHighWatermark	    "19"
+    Block {
+      BlockType		      SubSystem
+      Name		      "3D Graphical Simulation"
+      SID		      "1"
+      Ports		      [2]
+      Position		      [435, 80, 585, 140]
+      ZOrder		      1
+      RequestExecContextInheritance off
+      Object {
+	$PropName		"MaskObject"
+	$ObjectID		19
+	$ClassName		"Simulink.Mask"
+	Display			"port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
+      }
+      System {
+	Name			"3D Graphical Simulation"
+	Location		[371, 86, 1542, 633]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"100"
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+	  Name			  "Displacement"
+	  SID			  "2"
+	  Position		  [110, 218, 140, 232]
+	  ZOrder		  -1
+	  IconDisplay		  "Port number"
+	}
+	Block {
+	  BlockType		  Inport
+	  Name			  "Euler Angles"
+	  SID			  "3"
+	  Position		  [125, 108, 155, 122]
+	  ZOrder		  -2
+	  Port			  "2"
+	  IconDisplay		  "Port number"
+	}
+	Block {
+	  BlockType		  BusCreator
+	  Name			  "Bus\nCreator"
+	  SID			  "4"
+	  Ports			  [3, 1]
+	  Position		  [600, 76, 610, 154]
+	  ZOrder		  -3
+	  ShowName		  off
+	  Inputs		  "3"
+	  DisplayOption		  "bar"
+	}
+	Block {
+	  BlockType		  BusCreator
+	  Name			  "Bus\nCreator1"
+	  SID			  "5"
+	  Ports			  [3, 1]
+	  Position		  [630, 191, 640, 269]
+	  ZOrder		  -4
+	  ShowName		  off
+	  Inputs		  "3"
+	  DisplayOption		  "bar"
+	}
+	Block {
+	  BlockType		  BusCreator
+	  Name			  "Bus\nCreator2"
+	  SID			  "6"
+	  Ports			  [3, 1]
+	  Position		  [385, 75, 390, 155]
+	  ZOrder		  -5
+	  ShowName		  off
+	  Inputs		  "3"
+	  DisplayOption		  "bar"
+	}
+	Block {
+	  BlockType		  BusSelector
+	  Name			  "Bus\nSelector"
+	  SID			  "7"
+	  Ports			  [1, 3]
+	  Position		  [500, 77, 505, 153]
+	  ZOrder		  -6
+	  ShowName		  off
+	  OutputSignals		  "phi,theta,psi"
+	  Port {
+	    PortNumber		    1
+	    Name		    "<phi>"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	  Port {
+	    PortNumber		    2
+	    Name		    "<theta>"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	  Port {
+	    PortNumber		    3
+	    Name		    "<psi>"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	}
+	Block {
+	  BlockType		  Demux
+	  Name			  "Demux"
+	  SID			  "8"
+	  Ports			  [1, 3]
+	  Position		  [440, 183, 450, 267]
+	  ZOrder		  -7
+	  BackgroundColor	  "black"
+	  ShowName		  off
+	  Outputs		  "3"
+	  DisplayOption		  "bar"
+	}
+	Block {
+	  BlockType		  Demux
+	  Name			  "Demux1"
+	  SID			  "9"
+	  Ports			  [1, 3]
+	  Position		  [290, 75, 295, 155]
+	  ZOrder		  -8
+	  ShowName		  off
+	  Outputs		  "3"
+	  DisplayOption		  "bar"
+	  Port {
+	    PortNumber		    1
+	    Name		    "phi"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	  Port {
+	    PortNumber		    2
+	    Name		    "theta"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	  Port {
+	    PortNumber		    3
+	    Name		    "psi"
+	    RTWStorageClass	    "Auto"
+	    DataLoggingNameMode	    "SignalName"
+	  }
+	}
+	Block {
+	  BlockType		  MATLABFcn
+	  Name			  "Eigenaxis Rotation"
+	  SID			  "10"
+	  Ports			  [1, 1]
+	  Position		  [645, 100, 705, 130]
+	  ZOrder		  -9
+	  MATLABFcn		  "eigenaxis_ucart"
+	  Output1D		  off
+	}
+	Block {
+	  BlockType		  Gain
+	  Name			  "Gain"
+	  SID			  "11"
+	  Position		  [550, 240, 580, 270]
+	  ZOrder		  -10
+	  Gain			  "-1"
+	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+	  SaturateOnIntegerOverflow off
+	}
+	Block {
+	  BlockType		  Gain
+	  Name			  "Gain1"
+	  SID			  "12"
+	  Position		  [670, 208, 710, 252]
+	  ZOrder		  -11
+	  Gain			  "eye(3)*1"
+	  Multiplication	  "Matrix(K*u)"
+	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+	  SaturateOnIntegerOverflow off
+	}
+	Block {
+	  BlockType		  Gain
+	  Name			  "Gain2"
+	  SID			  "13"
+	  Position		  [550, 190, 580, 220]
+	  ZOrder		  -12
+	  Gain			  "-1"
+	  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+	  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+	  SaturateOnIntegerOverflow off
+	}
+	Block {
+	  BlockType		  RateTransition
+	  Name			  "Rate Transition"
+	  SID			  "14"
+	  Position		  [735, 94, 775, 136]
+	  ZOrder		  -13
+	  NamePlacement		  "alternate"
+	  OutPortSampleTime	  "0.06"
+	}
+	Block {
+	  BlockType		  RateTransition
+	  Name			  "Rate Transition1"
+	  SID			  "15"
+	  Position		  [735, 210, 770, 250]
+	  ZOrder		  -14
+	  OutPortSampleTime	  "0.06"
+	}
+	Block {
+	  BlockType		  Reference
+	  Name			  "VR Sink"
+	  SID			  "16"
+	  Ports			  [2]
+	  Position		  [865, 76, 1055, 234]
+	  ZOrder		  -15
+	  LibraryVersion	  "1.34"
+	  SourceBlock		  "vrlib/VR Sink"
+	  SourceType		  "Virtual Reality Sink"
+	  InstantiateOnLoad	  on
+	  SampleTime		  "-1"
+	  ViewEnable		  on
+	  RemoteChange		  off
+	  RemoteView		  off
+	  FieldsWritten		  "Helicopter.rotation.4.1.1.double#Helicopter.translation.3.1.1.double"
+	  WorldFileName		  "quadrotor_world_ucart.wrl"
+	  AutoView		  on
+	  VideoDimensions	  "[]"
+	  AllowVariableSize	  off
+	}
+	Line {
+	  ZOrder		  1
+	  SrcBlock		  "Euler Angles"
+	  SrcPort		  1
+	  DstBlock		  "Demux1"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  2
+	  SrcBlock		  "Displacement"
+	  SrcPort		  1
+	  DstBlock		  "Demux"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  3
+	  SrcBlock		  "Bus\nCreator2"
+	  SrcPort		  1
+	  DstBlock		  "Bus\nSelector"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  4
+	  SrcBlock		  "Demux"
+	  SrcPort		  1
+	  Points		  [40, 0; 0, 40; 120, 0]
+	  DstBlock		  "Bus\nCreator1"
+	  DstPort		  3
+	}
+	Line {
+	  ZOrder		  5
+	  SrcBlock		  "Gain"
+	  SrcPort		  1
+	  Points		  [5, 0; 0, -25]
+	  DstBlock		  "Bus\nCreator1"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  6
+	  SrcBlock		  "Gain2"
+	  SrcPort		  1
+	  DstBlock		  "Bus\nCreator1"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  7
+	  SrcBlock		  "Rate Transition1"
+	  SrcPort		  1
+	  Points		  [35, 0; 0, -35]
+	  DstBlock		  "VR Sink"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  8
+	  SrcBlock		  "Rate Transition"
+	  SrcPort		  1
+	  DstBlock		  "VR Sink"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  9
+	  SrcBlock		  "Demux"
+	  SrcPort		  3
+	  DstBlock		  "Gain"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  10
+	  SrcBlock		  "Demux"
+	  SrcPort		  2
+	  Points		  [80, 0]
+	  DstBlock		  "Gain2"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  11
+	  SrcBlock		  "Bus\nCreator1"
+	  SrcPort		  1
+	  DstBlock		  "Gain1"
+	  DstPort		  1
+	}
+	Line {
+	  Name			  "<phi>"
+	  ZOrder		  12
+	  Labels		  [0, 0]
+	  SrcBlock		  "Bus\nSelector"
+	  SrcPort		  1
+	  Points		  [0, -10; 45, 0; 0, 60]
+	  DstBlock		  "Bus\nCreator"
+	  DstPort		  3
+	}
+	Line {
+	  Name			  "<psi>"
+	  ZOrder		  13
+	  Labels		  [0, 0]
+	  SrcBlock		  "Bus\nSelector"
+	  SrcPort		  3
+	  Points		  [0, -10; 75, 0]
+	  DstBlock		  "Bus\nCreator"
+	  DstPort		  2
+	}
+	Line {
+	  Name			  "<theta>"
+	  ZOrder		  14
+	  Labels		  [0, 0]
+	  SrcBlock		  "Bus\nSelector"
+	  SrcPort		  2
+	  Points		  [30, 0; 0, -25]
+	  DstBlock		  "Bus\nCreator"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  15
+	  SrcBlock		  "Bus\nCreator"
+	  SrcPort		  1
+	  DstBlock		  "Eigenaxis Rotation"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  16
+	  SrcBlock		  "Gain1"
+	  SrcPort		  1
+	  DstBlock		  "Rate Transition1"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  17
+	  SrcBlock		  "Eigenaxis Rotation"
+	  SrcPort		  1
+	  DstBlock		  "Rate Transition"
+	  DstPort		  1
+	}
+	Line {
+	  Name			  "psi"
+	  ZOrder		  18
+	  Labels		  [0, 0]
+	  SrcBlock		  "Demux1"
+	  SrcPort		  3
+	  DstBlock		  "Bus\nCreator2"
+	  DstPort		  3
+	}
+	Line {
+	  Name			  "theta"
+	  ZOrder		  19
+	  Labels		  [0, 0]
+	  SrcBlock		  "Demux1"
+	  SrcPort		  2
+	  DstBlock		  "Bus\nCreator2"
+	  DstPort		  2
+	}
+	Line {
+	  Name			  "phi"
+	  ZOrder		  20
+	  Labels		  [0, 0]
+	  SrcBlock		  "Demux1"
+	  SrcPort		  1
+	  DstBlock		  "Bus\nCreator2"
+	  DstPort		  1
+	}
+      }
+    }
+    Block {
+      BlockType		      Constant
+      Name		      "Constant"
+      SID		      "18"
+      Position		      [145, 145, 175, 175]
+      ZOrder		      3
+      Value		      "[0;0;0]"
+    }
+    Block {
+      BlockType		      Reference
+      Name		      "Ramp"
+      SID		      "17"
+      Ports		      [0, 1]
+      Position		      [145, 80, 175, 110]
+      ZOrder		      2
+      LibraryVersion	      "1.356"
+      SourceBlock	      "simulink/Sources/Ramp"
+      SourceType	      "Ramp"
+      ContentPreviewEnabled   off
+      slope		      "[ 1 ; 0 ; 0 ]"
+      start		      "0"
+      X0		      "0"
+      VectorParams1D	      on
+    }
+    Block {
+      BlockType		      S-Function
+      Name		      "Soft Real Time"
+      SID		      "19"
+      Ports		      []
+      Position		      [438, 15, 525, 46]
+      ZOrder		      4
+      ShowName		      off
+      FunctionName	      "sfun_time"
+      Parameters	      "x"
+      Object {
+	$PropName		"MaskObject"
+	$ObjectID		20
+	$ClassName		"Simulink.Mask"
+	Display			"color('red')\ndisp('Soft Real Time')\n"
+	Object {
+	  $PropName		  "Parameters"
+	  $ObjectID		  21
+	  $ClassName		  "Simulink.MaskParameter"
+	  Type			  "edit"
+	  Name			  "x"
+	  Prompt		  "Time Scaling Factor"
+	  Value			  "1"
+	}
+      }
+    }
+    Line {
+      ZOrder		      3
+      SrcBlock		      "Constant"
+      SrcPort		      1
+      Points		      [125, 0; 0, -65]
+      DstBlock		      "3D Graphical Simulation"
+      DstPort		      1
+    }
+    Line {
+      ZOrder		      4
+      SrcBlock		      "Ramp"
+      SrcPort		      1
+      Points		      [60, 0; 0, 30]
+      DstBlock		      "3D Graphical Simulation"
+      DstPort		      2
+    }
+  }
+}
--- a/controls/model/IMU_prototype.mdl
+++ b/controls/model/IMU_prototype.mdl
+Model {
+  Name			  "IMU_prototype"
+  Version		  8.8
+  SavedCharacterEncoding  "windows-1252"
+  GraphicalInterface {
+    NumRootInports	    0
+    NumRootOutports	    0
+    ParameterArgumentNames  ""
+    ComputedModelVersion    "1.9"
+    NumModelReferences	    0
+    NumTestPointedSignals   0
+    NumProvidedFunctions    0
+    NumRequiredFunctions    0
+    NumResetEvents	    0
+    HasInitializeEvent	    0
+    HasTerminateEvent	    0
+    IsExportFunctionModel   0
+  }
+  LogicAnalyzerGraphicalSettings ""
+  LogicAnalyzerPlugin	  "on"
+  LogicAnalyzerSignalOrdering ""
+  DiagnosticSuppressor	  "on"
+  SuppressorTable	  "22 serialization::archive 11 0 3 0 0 0 8 0"
+  ScopeRefreshTime	  0.035000
+  OverrideScopeRefreshTime on
+  DisableAllScopes	  on
+  DataTypeOverride	  "UseLocalSettings"
+  DataTypeOverrideAppliesTo "AllNumericTypes"
+  MinMaxOverflowLogging	  "UseLocalSettings"
+  MinMaxOverflowArchiveMode "Overwrite"
+  FPTRunName		  "Run 1"
+  MaxMDLFileLineLength	  120
+  LastSavedArchitecture	  "win64"
+  Object {
+    $PropName		    "BdWindowsInfo"
+    $ObjectID		    1
+    $ClassName		    "Simulink.BDWindowsInfo"
+    Object {
+      $PropName		      "WindowsInfo"
+      $ObjectID		      2
+      $ClassName	      "Simulink.WindowInfo"
+      IsActive		      [1]
+      Location		      [-8.0, -8.0, 1936.0, 1056.0]
+      Object {
+	$PropName		"ModelBrowserInfo"
+	$ObjectID		3
+	$ClassName		"Simulink.ModelBrowserInfo"
+	Visible			[0]
+	DockPosition		"Left"
+	Width			[50]
+	Height			[50]
+	Filter			[9]
+      }
+      Object {
+	$PropName		"ExplorerBarInfo"
+	$ObjectID		4
+	$ClassName		"Simulink.ExplorerBarInfo"
+	Visible			[1]
+      }
+      Object {
+	$PropName		"EditorsInfo"
+	$ObjectID		5
+	$ClassName		"Simulink.EditorInfo"
+	IsActive		[1]
+	ViewObjType		"SimulinkSubsys"
+	LoadSaveID		"20"
+	Extents			[1755.0, 876.0]
+	ZoomFactor		[1.5]
+	Offset			[-45.247619047619196, -6.2261904761904816]
+      }
+      Object {
+	$PropName		"DockComponentsInfo"
+	$ObjectID		6
+	$ClassName		"Simulink.DockComponentInfo"
+	Type			"GLUE2:PropertyInspector"
+	ID			"Property Inspector"
+	Visible			[0]
+	CreateCallback		""
+	UserData		""
+	Floating		[0]
+	DockPosition		"Right"
+	Width			[640]
+	Height			[480]
+      }
+      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
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+      "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABfAP///wAAAAEAAAAAAAAAAPwCA"
+      "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
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+      "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
+      "////wEAAAB5/////wAAAAAAAAAA/////wEAAADa/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFT/////wAAAAAAAAAA/"
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+      "////wEAAANa/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
+    }
+  }
+  Created		  "Wed Nov 16 14:00:52 2016"
+  Creator		  "m87rich"
+  UpdateHistory		  "UpdateHistoryNever"
+  ModifiedByFormat	  "%<Auto>"
+  LastModifiedBy	  "Andy"
+  ModifiedDateFormat	  "%<Auto>"
+  LastModifiedDate	  "Fri Nov 18 17:01:30 2016"
+  RTWModifiedTimeStamp	  401389289
+  ModelVersionFormat	  "1.%<AutoIncrement:9>"
+  ConfigurationManager	  "none"
+  SampleTimeColors	  off
+  SampleTimeAnnotations	  off
+  LibraryLinkDisplay	  "disabled"
+  WideLines		  off
+  ShowLineDimensions	  off
+  ShowPortDataTypes	  off
+  ShowEditTimeErrors	  on
+  ShowEditTimeWarnings	  on
+  ShowEditTimeAdvisorChecks off
+  ShowPortUnits		  off
+  ShowDesignRanges	  off
+  ShowLoopsOnError	  on
+  IgnoreBidirectionalLines off
+  ShowStorageClass	  off
+  ShowTestPointIcons	  on
+  ShowSignalResolutionIcons on
+  ShowViewerIcons	  on
+  SortedOrder		  off
+  VariantCondition	  off
+  ExecutionContextIcon	  off
+  ShowLinearizationAnnotations on
+  ShowVisualizeInsertedRTB on
+  ShowMarkup		  on
+  BlockNameDataTip	  off
+  BlockParametersDataTip  off
+  BlockDescriptionStringDataTip	off
+  ToolBar		  on
+  StatusBar		  on
+  BrowserShowLibraryLinks off
+  FunctionConnectors	  off
+  BrowserLookUnderMasks	  off
+  SimulationMode	  "normal"
+  PauseTimes		  "5"
+  NumberOfSteps		  1
+  SnapshotBufferSize	  10
+  SnapshotInterval	  10
+  NumberOfLastSnapshots	  0
+  LinearizationMsg	  "none"
+  Profile		  off
+  ParamWorkspaceSource	  "MATLABWorkspace"
+  AccelSystemTargetFile	  "accel.tlc"
+  AccelTemplateMakefile	  "accel_default_tmf"
+  AccelMakeCommand	  "make_rtw"
+  TryForcingSFcnDF	  off
+  Object {
+    $PropName		    "DataLoggingOverride"
+    $ObjectID		    7
+    $ClassName		    "Simulink.SimulationData.ModelLoggingInfo"
+    model_		    "IMU_prototype"
+    overrideMode_	    [0.0]
+    Array {
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+	  Port			  "2"
+	  IconDisplay		  "Port number"
+	}
+	Line {
+	  ZOrder		  51
+	  SrcBlock		  "gyroscope_qunatizer"
+	  SrcPort		  1
+	  DstBlock		  "gyroscope"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  61
+	  SrcBlock		  "accelerometer_quantizer"
+	  SrcPort		  1
+	  DstBlock		  "accelerometer"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  1
+	  SrcBlock		  "accelerometer_noise"
+	  SrcPort		  1
+	  Points		  [35, 0]
+	  DstBlock		  "Sum1"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  22
+	  SrcBlock		  "Sum"
+	  SrcPort		  1
+	  DstBlock		  "gyroscope_qunatizer"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  24
+	  SrcBlock		  "Sum2"
+	  SrcPort		  1
+	  DstBlock		  "Sum"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  25
+	  SrcBlock		  "Sum3"
+	  SrcPort		  1
+	  DstBlock		  "Sum1"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  23
+	  SrcBlock		  "MATLAB Function"
+	  SrcPort		  2
+	  DstBlock		  "gyroscope_sampling"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  18
+	  SrcBlock		  "gyroscope_noise"
+	  SrcPort		  1
+	  Points		  [35, 0]
+	  DstBlock		  "Sum"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  26
+	  SrcBlock		  "MATLAB Function"
+	  SrcPort		  1
+	  DstBlock		  "accelerometer_sampling"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  21
+	  SrcBlock		  "Sum1"
+	  SrcPort		  1
+	  DstBlock		  "accelerometer_quantizer"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  31
+	  SrcBlock		  "gyroscope_sampling"
+	  SrcPort		  1
+	  DstBlock		  "Sum2"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  30
+	  SrcBlock		  "accelerometer_sampling"
+	  SrcPort		  1
+	  DstBlock		  "Sum3"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  52
+	  SrcBlock		  "Ground"
+	  SrcPort		  1
+	  Points		  [55, 0]
+	  DstBlock		  "Sum2"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  53
+	  SrcBlock		  "Ground1"
+	  SrcPort		  1
+	  Points		  [55, 0]
+	  DstBlock		  "Sum3"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  56
+	  SrcBlock		  "B_vo_dot"
+	  SrcPort		  1
+	  DstBlock		  "MATLAB Function"
+	  DstPort		  1
+	}
+	Line {
+	  ZOrder		  57
+	  SrcBlock		  "B_vo"
+	  SrcPort		  1
+	  DstBlock		  "MATLAB Function"
+	  DstPort		  2
+	}
+	Line {
+	  ZOrder		  58
+	  SrcBlock		  "B_Omega"
+	  SrcPort		  1
+	  DstBlock		  "MATLAB Function"
+	  DstPort		  3
+	}
+	Line {
+	  ZOrder		  59
+	  SrcBlock		  "B_Fg"
+	  SrcPort		  1
+	  DstBlock		  "MATLAB Function"
+	  DstPort		  4
+	}
+	Line {
+	  ZOrder		  60
+	  SrcBlock		  "r_oc"
+	  SrcPort		  1
+	  DstBlock		  "MATLAB Function"
+	  DstPort		  5
+	}
+      }
+    }
+    Block {
+      BlockType		      Scope
+      Name		      "Scope"
+      SID		      "3"
+      Ports		      [1]
+      Position		      [635, 134, 665, 166]
+      ZOrder		      3
+      ScopeSpecificationString "C++SS(StrPVP('Location','[1, 55, 1921, 1029]'),StrPVP('Open','off'),MxPVP('AxesTitles'"
+      ",24,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',28,'struct(''FigureColor'',''[0.5 0.5 0.5]'','"
+      "'AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]'',"
+      "''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerStyles'',''none|none|none|no"
+      "ne|none|none'')'),StrPVP('LimitDataPoints','on'),StrPVP('DataFormat','Array'),StrPVP('Decimation','1'),StrPVP('B"
+      "lockParamSampleInput','off'))"
+      NumInputPorts	      "1"
+    }
+    Block {
+      BlockType		      Scope
+      Name		      "Scope1"
+      SID		      "13"
+      Ports		      [1]
+      Position		      [590, 89, 620, 121]
+      ZOrder		      13
+      ScopeSpecificationString "C++SS(StrPVP('Location','[188, 365, 512, 604]'),StrPVP('Open','off'),MxPVP('AxesTitles"
+      "',24,'struct(''axes1'',''%<SignalLabel>'')'),MxPVP('ScopeGraphics',28,'struct(''FigureColor'',''[0.5 0.5 0.5]'',"
+      "''AxesColor'',''[0 0 0]'',''AxesTickColor'',''[1 1 1]'',''LineColors'',''[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]''"
+      ",''LineStyles'',''-|-|-|-|-|-'',''LineWidths'',''[0.5 0.5 0.5 0.5 0.5 0.5]'',''MarkerStyles'',''none|none|none|n"
+      "one|none|none'')'),StrPVP('SaveName','ScopeData1'),StrPVP('LimitDataPoints','on'),StrPVP('DataFormat','Array'),S"
+      "trPVP('Decimation','1'),StrPVP('BlockParamSampleInput','off'))"
+      NumInputPorts	      "1"
+    }
+    Line {
+      ZOrder		      55
+      SrcBlock		      "IMU"
+      SrcPort		      1
+      DstBlock		      "Scope1"
+      DstPort		      1
+    }
+    Line {
+      ZOrder		      47
+      SrcBlock		      "Constant"
+      SrcPort		      1
+      Points		      [261, 0]
+      Branch {
+	ZOrder			50
+	Points			[0, 25; 1, 0]
+	Branch {
+	  ZOrder		  52
+	  Points		  [0, 25; 3, 0]
+	  Branch {
+	    ZOrder		    54
+	    Points		    [0, 25]
+	    DstBlock		    "IMU"
+	    DstPort		    4
+	  }
+	  Branch {
+	    ZOrder		    53
+	    DstBlock		    "IMU"
+	    DstPort		    3
+	  }
+	}
+	Branch {
+	  ZOrder		  51
+	  DstBlock		  "IMU"
+	  DstPort		  2
+	}
+      }
+      Branch {
+	ZOrder			49
+	DstBlock		"IMU"
+	DstPort			1
+      }
+    }
+    Line {
+      ZOrder		      56
+      SrcBlock		      "IMU"
+      SrcPort		      2
+      DstBlock		      "Scope"
+      DstPort		      1
+    }
+  }
+}
+#Finite State Machines
+#
+#   Stateflow 80000010
+#
+#
+Stateflow {
+  machine {
+    id			    1
+    name		    "IMU_prototype"
+    created		    "16-Nov-2016 14:11:28"
+    isLibrary		    0
+    sfVersion		    80000010
+    firstTarget		    14
+  }
+  chart {
+    id			    2
+    machine		    1
+    name		    "IMU/MATLAB Function"
+    windowPosition	    [422 539.941 189 413]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3600 1200 1.180555555555556]
+    treeNode		    [0 3 0 0]
+    viewObj		    2
+    visible		    1
+    subviewS {
+    }
+    ssIdHighWaterMark	    10
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    2
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    4
+    firstTransition	    12
+    firstJunction	    11
+  }
+  state {
+    id			    3
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    2
+    treeNode		    [2 0 0 0]
+    superState		    SUBCHART
+    subviewer		    2
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function [accel_reading,gyro_reading] = fcn(B_vo_dot, B_vo, B_Omega, B_Fg, r_oc)\n%#codegen\n\na "
+      "= B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccel_reading = a - B_Fg ; % accelerometer read"
+      "ing (ideal)\n\ngyro_reading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    4
+    ssIdNumber		    4
+    name		    "B_vo_dot"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 0 5]
+  }
+  data {
+    id			    5
+    ssIdNumber		    9
+    name		    "B_vo"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 4 6]
+  }
+  data {
+    id			    6
+    ssIdNumber		    5
+    name		    "accel_reading"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 5 7]
+  }
+  data {
+    id			    7
+    ssIdNumber		    6
+    name		    "B_Omega"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 6 8]
+  }
+  data {
+    id			    8
+    ssIdNumber		    7
+    name		    "B_Fg"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 7 9]
+  }
+  data {
+    id			    9
+    ssIdNumber		    8
+    name		    "gyro_reading"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 8 10]
+  }
+  data {
+    id			    10
+    ssIdNumber		    10
+    name		    "r_oc"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 9 0]
+  }
+  junction {
+    id			    11
+    position		    [23.5747 49.5747 7]
+    chart		    2
+    subviewer		    2
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [2 0 0]
+  }
+  transition {
+    id			    12
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [28.125 13.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      11
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    2
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    2
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [2 0 0]
+  }
+  instance {
+    id			    13
+    machine		    1
+    name		    "IMU/MATLAB Function"
+    chart		    2
+  }
+  target {
+    id			    14
+    machine		    1
+    name		    "sfun"
+    description		    "Default Simulink S-Function Target."
+    linkNode		    [1 0 0]
+  }
+}
--- a/controls/model/Quadcopter_Model_R2016_A.slx
+++ b/controls/model/Quadcopter_Model_R2016_A.slx
--- a/controls/model/Quadcopter_Model_R2016_B.slx
+++ b/controls/model/Quadcopter_Model_R2016_B.slx
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
+    % Model Parameters
+    m = 1.19;            % Quadrotor + battery mass
+    g = 9.81;            % Acceleration of gravity
+    Jxx = 0.0218;        % Quadrotor and battery motor of inertia around bx (pitch)
+    Jyy = 0.0277;        % Quadrotor and battery motor of inertia around by (roll)
+    Jzz = 0.0332;        % Quadrotor and battery motor of inertia around bz (yaw)
+    Jreq = 4.2012e-05;   % Rotor and motor moment of inertia around axis of rotation
+    Kt = 8.1558*10^-6;   % Rotor thrust constant
+    Kh = 0;              % Rotor in-plane drag constant
+    Kd = 1.8087e-07;     % Rotor drag constant
+    rhx = 0.016;         % X-axis distance from center of mass to a rotor hub
+    rhy = 0.016;         % Y-axis distance from center of mass to a rotor hub
+    rhz = 0.003;         % Z-axis distance from center of mass to a rotor hub
+    Rm = 0.2308;         % Motor resistance
+    Kq = 96.3422;        % Motor torque constant
+    Kv = 96.3422;        % Motor back emf constant
+    If = 0.511;          % Motor internal friction current
+    Pmin = 0.40;         % Minimum zybo output duty cycle command
+    Pmax = 0.80;         % Maximum zybo output duty cycle command
+    Tc = 0.01;           % Camera system sampling period
+    tau_c = 0;           % Camera system total latency
+    Vb = 11.1;           % Nominal battery voltage (V)
\ No newline at end of file
--- a/controls/parameterIdentification/ModelingParameters.docx
+++ b/controls/parameterIdentification/ModelingParameters.docx
--- a/controls/related_documents/AN3461.pdf
+++ b/controls/related_documents/AN3461.pdf
--- a/groundStation/.gitignore
+++ b/groundStation/.gitignore
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+
+
+# vrpn/build files
+src/vrpn/build*
+src/vrpn/pc_linux64/*
+
+#Exacutables
+logs
+BackEnd
+obj
+Cli
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
+# Declaration of variables
+
+# Generic Variables
+GCC=gcc
+GXX=g++
+CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno-unused-variable -Wno-unused-function -Wno-unused-but-set-variable
+CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
+INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
+INCDIR=inc src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR)
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat 
+OBJDIR=obj
+
+# Backend Specific Variables
+BEBINARY=BackEnd
+BESRCDIR=src/backend
+BECSOURCES := $(wildcard $(BESRCDIR)/*.c )
+BECOBJECTS = $(BECSOURCES:$(BESRCDIR)/%.c=$(OBJDIR)/%.o)
+BECPPSOURCES := $(wildcard $(BESRCDIR)/*.cpp )
+BECPPOBJECTS = $(BECPPSOURCES:$(BESRCDIR)/%.cpp=$(OBJDIR)/%.o)
+
+# CLI Specific Variables
+CLIBINARY=Cli
+CLISRCDIR=src/cli
+CLISOURCES := $(wildcard $(CLISRCDIR)/*.c)
+CLIOBJECTS = $(CLISOURCES:$(CLISRCDIR)/%.c=$(OBJDIR)/%.o)
+SYMLINKS=monitor setpid
+
+# Frontend-common stuff
+FESRCDIR=src/frontend
+FECSOURCES := $(wildcard $(FESRCDIR)/*.c )
+FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
+
+
+OBJECTS= $(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
+
+# Default target
+all: logs objdir backend cli $(SYMLINKS)
+
+$(SYMLINKS): $(CLIBINARY)
+	$(foreach symlink, $(SYMLINKS), ln -s $(CLIBINARY) $(symlink);)
+
+vrpn: vrpn/build
+
+cli:  $(CLIOBJECTS) $(FECOBJECTS)
+	$(GCC) $(CFLAGS) $^ -o $(CLIBINARY) $(INCLUDES) $(LIBS)
+
+$(CLIOBJECTS) : $(OBJDIR)/%.o : $(CLISRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+
+backend: $(BECPPOBJECTS) $(BECOBJECTS)
+	$(GXX) $(CXXFLAGS) $^ -o $(BEBINARY) $(INCLUDES) $(LIBS)
+
+$(FECOBJECTS) : $(OBJDIR)/%.o : $(FESRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+$(BECOBJECTS) : $(OBJDIR)/%.o : $(BESRCDIR)/%.c
+	$(GCC)  $(CFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+$(BECPPOBJECTS) : $(OBJDIR)/%.o : $(BESRCDIR)/%.cpp
+	$(GXX)  $(CXXFLAGS) -c $^ -o $@ $(INCLUDES) $(LIBS)
+
+vrpn/build:
+	mkdir -p src/vrpn/build
+	cd src/vrpn/build && cmake .. && make
+
+logs:
+	mkdir -p logs
+
+objdir:
+	mkdir -p obj
+
+clean_logs:
+	rm -f logs/*
+
+clean:
+	rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY)
+
+debug:
+	@echo $(OBJECTS)
--- a/groundStation/README.md
+++ b/groundStation/README.md
+# groundStation
+
+## Make Process
+
+First, if submodules were not recursevly added through git. Run this command if you have made any attempt to make vrpn manually. 
+run
+	'git submodule update --init --recursive'
+
+Now that you have all of the files necissary.
+
+cd into the groundstation folder.
+	cd groundStation
+	make vrpn
+	make
+
+run the program with sudo privledges
+	sudo -E ./BackEnd
+
+If you wish to change the way the backend communicates to the quad and vice versa, look at src/config.h. 
+	This provides a list of environment variables which you can set and use for your computer or time of use.
+	Because the backend must be ran with sudo privledges, you will need to preserve the env. vars. with sudo rights.
+	Hence the "-E" flag.
+
+## Modifying
+See MODIFYING for the software architecture/organization and how to add new functionality.
+
+## Using
+First, the backend daemon must be running. Run the backend with ./BackEnd. Note
+the environment variables in config.h, especially the backend socket path. The backend
+requires root for bluetooth, but can run as a normal user with TCP, as long as the
+socket path is writable by the user.
+
+Once the backend is running, various CLI tools can be used to view the state of the
+quad and send commands. Each of these tools is given as the first argument
+to the CLI program, for example, to monitor the quad, use `cli monitor`. Note that
+the backend socket environment variable must be set to the same value as it
+was for the backend. The CLI program also supports busybox-style symbolic links.
+For example, if there is a symlink named `monitor` that points to the `cli` binary,
+running the `monitor` program will effectively run `cli monitor`.
+
+The names of the binaries is subject to change.
+
+### Example
+In one terminal or screen, run the backend:
+
+`UCART_SOCKET=./ucart.socket ./BackEnd`
+
+This will activate the quad and the backend, and the backend will be available for
+connections from the frontend tools. One useful tool is the monitor. In another
+terminal window, run the monitor forever:
+
+`UCART_SOCKET=./ucart.socket ./cli monitor -f`
+
+This will begin a periodic monitoring that updates 10 times per second.
+
+Finally, in a third window, export the socket path:
+
+`export UCART_SOCKET=./ucart.socket`
+
+and then run any other tools to modify the quad, for example modifying PID constants:
+
+`./cli setpid --pitch -p 1.000`
+
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