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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
}
}
}