diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 13bc283c77c88eead0b0297c5069e468205ce552..b10138c39575da2ca1ae9f16cbe95f1f56e4c3e2 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,10 +1,19 @@
-build:
+image: ruby:2.3
+
+before_script:
+ - apt-get update -qq && apt-get install -y -qq libbluetooth-dev cmake
+
+stages:
+ - build
+ - test
+
+build_job:
stage: build
script:
- bash ci-build.sh
# run tests using the binary built before
-test:
+test_job:
stage: test
script:
- bash ci-test.sh
diff --git a/Readme.md b/Readme.md
index 2180f34478f1ff3b4eed8cc54932d586fcde29eb..c45a5060c8a0260f0ba1e5ec09634c5bebeef253 100644
--- a/Readme.md
+++ b/Readme.md
@@ -1,3 +1,36 @@
[](https://git.ece.iastate.edu/danc/MicroCART_17-18/commits/master)
-Repository for 2016-2017 MicroCART project.
+# MicroCART
+_Microprocessor Controlled Aerial Robotics Team_
+
+**Project Statement**: "To create a modular platform for research in controls and embedded systems."
+
+Since 1998, MicroCART has been building aerial robots. Currently, we are
+building a quadcopter that can fly autonomously.
+
+MicroCART has 3 areas of development:
+- The quadcopter itself
+ - The quadcopter has been built from the ground up, incorporating a
+ Zybo board that provides the processor and a FPGA, an IMU sensor, motors,
+ props, a LiPo battery, a receiver for manual remote control, and a frame
+ that holds it all together.
+- The ground station
+ - The ground station is responsible for issuing important data to the quad
+ (like position data from the camera system) and issuing commands to the quad
+ for things like configuration and path following directives.
+- The Controls Model
+ - The quadcopter processor is programmed to implement a PID controller. We use
+ a Simulink model to streamline the PID tuning process and to facilitate
+ effective characterization of the quad.
+
+## Sections
+[Quadcopter](quad/README.md)
+[Ground Station](groundStation/README.md)
+[Controls](controls/README.md)
+
+## Documentation
+[How to demo the quadcopter](documentation/how_to_demo.md)
+[How to charge the LiPo batteries](documentation/how_to_charge_lipo.md)
+
+# Stable Releases
+To browse stable releases from previous teams, view the [Tags](/../tags).
\ No newline at end of file
diff --git a/ci-build.sh b/ci-build.sh
index 5b1ebeb80b37ddb5a1bb4c0db8818ead562cd0dc..36b584f4ad5f6e7e876ba7f0c8b41e68ebbc2c7e 100644
--- a/ci-build.sh
+++ b/ci-build.sh
@@ -4,4 +4,7 @@ set -e
# Quad Libraries and Boot image
(cd quad && make deep-clean && make)
-#(cd groundStation && make)
+
+# Ground station
+git submodule update --init --recursive
+(cd groundStation && make vrpn && make)
diff --git a/ci-test.sh b/ci-test.sh
index 2b8060ce46483f7f59862936c1f69ff30e6c68bc..67e6ed1c6afc9968d791978dbdf4cfca8f9711eb 100644
--- a/ci-test.sh
+++ b/ci-test.sh
@@ -1,7 +1,6 @@
#!/bin/bash
set -e
-export PATH=/usr/local/bin:$PATH
# Quad
-(cd quad && make deep-clean && make && make test)
+(cd quad && make test)
diff --git a/controls/README.md b/controls/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..456ed8fa19fc7eadf759c1bcef4e33d3bffdbb7b
--- /dev/null
+++ b/controls/README.md
@@ -0,0 +1,3 @@
+# Controls
+
+_TODO_
\ No newline at end of file
diff --git a/controls/dataCollection/IMU_standstill/analyzeIMU_data.m b/controls/dataCollection/IMU_standstill/analyzeIMU_data.m
new file mode 100644
index 0000000000000000000000000000000000000000..9d4429866238289dbb2836e3913552c819c82b0d
--- /dev/null
+++ b/controls/dataCollection/IMU_standstill/analyzeIMU_data.m
@@ -0,0 +1,273 @@
+function analyzeIMU_data( fileName )
+%UNTITLED2 Summary of this function goes here
+% Detailed explanation goes here
+
+
+ IMU_dataDirectory = 'C:\Users\Tara\Desktop\Project Documents\Current Project Documents\EE 492\Data\IMU Data';
+ IMU_dataFile = [IMU_dataDirectory , '\' , fileName];
+
+ IMU_data = readtable(IMU_dataFile);
+
+ g = 9.8; %meters per second squared
+
+ %Set the column values of the table
+ timeCol = 1;
+ accelXCol = 2;
+ accelYCol = 3;
+ accelZCol = 4;
+ gyroXCol = 5;
+ gyroYCol = 6;
+ gyroZCol = 7;
+
+ %Pull the data columns into arrays
+ timeArray = IMU_data{:, timeCol};
+ accelXArray = IMU_data{:, accelXCol};
+ accelYArray = IMU_data{:, accelYCol};
+ accelZArray = IMU_data{:, accelZCol};
+ gyroXArray = IMU_data{:, gyroXCol};
+ gyroYArray = IMU_data{:, gyroYCol};
+ gyroZArray = IMU_data{:, gyroZCol};
+
+ %Get the mean and standard deviation of the accelerometer data and multiply
+ %by the g constant to get this value in meters per second
+ accelX_mean = mean(accelXArray) * g;
+ accelY_mean = mean(accelYArray) * g;
+ accelZ_mean = mean(accelZArray) * g
+ accelX_dev = std(accelXArray) * g;
+ accelY_dev = std(accelYArray) * g;
+ accelZ_dev = std(accelZArray) * g;
+
+ %Get mean and standard deviation of gyroscope data, which is in rad / sec
+ gyroX_mean = mean(gyroXArray);
+ gyroY_mean = mean(gyroYArray);
+ gyroZ_mean = mean(gyroZArray);
+ gyroX_dev = std(gyroXArray);
+ gyroY_dev = std(gyroYArray);
+ gyroZ_dev = std(gyroZArray);
+
+ %Calculate the variances from the standard deviations
+ accelX_var = accelX_dev ^ 2;
+ accelY_var = accelY_dev ^ 2;
+ accelZ_var = accelZ_dev ^ 2;
+ gyroX_var = gyroX_dev ^ 2;
+ gyroY_var = gyroY_dev ^ 2;
+ gyroZ_var = gyroZ_dev ^ 2;
+
+ %Print received data from accelerometer nicely to command prompt
+ disp( ' ' );
+ disp('Accelerometer data: ');
+ disp( [ 'X acceleration mean ( m / s^2 ): ' , num2str(accelX_mean) ] );
+ disp( [ 'Y acceleration mean ( m / s^2 ): ' , num2str(accelY_mean) ] );
+ disp( [ 'Z acceleration mean ( m / s^2 ): ' , num2str(accelZ_mean) ] );
+ disp( [ 'X acceleration standard deviation ( m / s^2 ): ' , num2str(accelX_dev) ] );
+ disp( [ 'Y acceleration standard deviation ( m / s^2 ): ' , num2str(accelY_dev) ] );
+ disp( [ 'Z acceleration standard deviation ( m / s^2 ): ' , num2str(accelZ_dev) ] );
+ disp( [ 'X acceleration variance ( (m/s^2) ^ 2 ): ', num2str(accelX_var) ] );
+ disp( [ 'Y acceleration variance ( (m/s^2) ^ 2 ): ', num2str(accelY_var) ] );
+ disp( [ 'Z acceleration variance ( (m/s^2) ^ 2 ): ', num2str(accelZ_var) ] );
+ disp( ' ' );
+
+
+ %Print received data from gyroscope nicely to command prompt
+ disp('Gyroscope data: ');
+ disp( [ 'Angular velocity about X mean ( rad / s ): ' , num2str(gyroX_mean) ] );
+ disp( [ 'Angular velocity about Y mean ( rad / s ): ' , num2str(gyroY_mean) ] );
+ disp( [ 'Angular velocity about Z mean ( rad / s ): ' , num2str(gyroZ_mean) ] );
+ disp( [ 'Angular velocity about X standard deviation ( rad / s ): ' , num2str(gyroX_dev) ] );
+ disp( [ 'Angular velocity about Y standard deviation ( rad / s ): ' , num2str(gyroY_dev) ] );
+ disp( [ 'Angular velocity about Z standard deviation ( rad / s ): ' , num2str(gyroZ_dev) ] );
+ disp( [ 'Angular velocity about X variance ( (rad/s) ^ 2 ): ', num2str(gyroX_var) ] );
+ disp( [ 'Angular velocity about Y variance ( (rad/s) ^ 2 ): ', num2str(gyroY_var) ] );
+ disp( [ 'Angular velocity about Z variance ( (rad/s) ^ 2 ): ', num2str(gyroZ_var) ] );
+ disp( ' ' );
+
+% %Graph plots:
+% figure();
+% plot(timeArray, accelXArray * g);
+% title('X Acceleration Data ( m / s^2 )');
+% xlabel('Time (s)');
+%
+% figure();
+% plot(timeArray, accelYArray * g);
+% title('Y Acceleration Data ( m / s^2 )');
+% xlabel('Time (s)');
+%
+% figure();
+% plot(timeArray, accelZArray * g);
+% title('Z Acceleration Data ( m / s^2 )');
+% xlabel('Time (s)');
+%
+% figure();
+% plot(timeArray, gyroXArray);
+% title('Angular Velocity about X Data (rad/s)');
+% xlabel('Time (s)');
+%
+% figure();
+% plot(timeArray, gyroYArray);
+% title('Angular Velocity about Y Data (rad/s)');
+% xlabel('Time (s)');
+%
+% figure();
+% plot(timeArray, gyroZArray);
+% title('Angular Velocity about Z Data (rad/s)');
+% xlabel('Time (s)');
+%
+%
+% %Get the magnitude of the accelerometer data
+% mag_accel = sqrt( accelXArray.^2 + accelYArray.^2 + accelZArray.^2 ) * g;
+% mag_accel_mean = mean( mag_accel );
+% mag_accel_dev = std( mag_accel );
+% mag_accel_var = mag_accel_dev ^ 2;
+%
+% %Display these results and graph them
+% disp( ['Magnitude of acceleration vector mean ( m / s^2 ): ' , num2str(mag_accel_mean) ] );
+% disp( ['Magnitude of acceleration vector standard deviation ( m / s^2 ): ' , num2str(mag_accel_dev) ] );
+% disp( ['Magnitude of acceleration vector variance ( ( m/s^2 )^2 ): ' , num2str(mag_accel_var) ] );
+% figure();
+% plot( timeArray, mag_accel, 'b' );
+% hold on;
+% plot( timeArray, ones(1, length(timeArray)) * g , 'r-' );
+% title('Magnitude of Acceleration Vector with Respect to Nominal ( m / s^2 )');
+% xlabel('Time (s)');
+% legend( 'Accel Mag Measured' , 'Accel Mag Nominal' );
+%
+% %Also graph the percent error
+% mag_accel_percentError = abs(mag_accel - g) / g * 100;
+% figure();
+% plot( timeArray, mag_accel_percentError);
+% title('Magnitude of Acceleration Vector Percent Error from Nominal (%) ');
+% xlabel('Time (s)');
+% ylabel('Percent Error (%)');
+%
+% mag_accel_percentError_mean = mean( mag_accel_percentError );
+% mag_accel_percentError_dev = std( mag_accel_percentError );
+%
+% disp(' ');
+% disp( ['Percent error from nominal mean ( % ): ' , num2str(mag_accel_percentError_mean) ] );
+% disp( ['Percent error from nominal standard deviation ( % ): ' , num2str(mag_accel_percentError_dev) ] );
+% disp(' ');
+
+
+
+
+
+ %Following example given in MATLAB help
+ %Looking at the frequency response characterisitcs of the noise
+ timeArray_diff = diff( timeArray );
+ timeArray_diffMean = mean( timeArray_diff ); %seconds
+ fs = 1 / timeArray_diffMean;
+
+ %Get the fast fourier transform
+ accelX_fft = fft( accelXArray*g - accelX_mean );
+ accelY_fft = fft( accelYArray*g - accelY_mean );
+ accelZ_fft = fft( accelZArray*g - accelZ_mean );
+ gyroX_fft = fft( gyroXArray - gyroX_mean );
+ gyroY_fft = fft( gyroYArray - gyroY_mean );
+ gyroZ_fft = fft( gyroZArray - gyroZ_mean );
+
+ %Determine the length of our data and obtain only first half of FFT data
+ N = length(timeArray);
+ accelX_fft = accelX_fft( 1:N/2+1 );
+ accelY_fft = accelY_fft( 1:N/2+1 );
+ accelZ_fft = accelZ_fft( 1:N/2+1 );
+ gyroX_fft = gyroX_fft( 1:N/2+1 );
+ gyroY_fft = gyroY_fft( 1:N/2+1 );
+ gyroZ_fft = gyroZ_fft( 1:N/2+1 );
+
+ %Get the power spectral density of the signal
+ accelX_PSD = ( 1 / (2*pi*N) ) * abs( accelX_fft ) .^ 2;
+ accelY_PSD = ( 1 / (2*pi*N) ) * abs( accelY_fft ) .^ 2;
+ accelZ_PSD = ( 1 / (2*pi*N) ) * abs( accelZ_fft ) .^ 2;
+ gyroX_PSD = ( 1 / (2*pi*N) ) * abs( gyroX_fft ) .^ 2;
+ gyroY_PSD = ( 1 / (2*pi*N) ) * abs( gyroY_fft ) .^ 2;
+ gyroZ_PSD = ( 1 / (2*pi*N) ) * abs( gyroZ_fft ) .^ 2;
+
+ %Multiply everything but the first and last term by 2
+ accelX_PSD(2:end-1) = 2*accelX_PSD(2:end-1);
+ accelY_PSD(2:end-1) = 2*accelY_PSD(2:end-1);
+ accelZ_PSD(2:end-1) = 2*accelZ_PSD(2:end-1);
+ gyroX_PSD(2:end-1) = 2*gyroX_PSD(2:end-1);
+ gyroY_PSD(2:end-1) = 2*gyroY_PSD(2:end-1);
+ gyroZ_PSD(2:end-1) = 2*gyroZ_PSD(2:end-1);
+
+ %Get the frequency range vector
+ freq = 0:(2*pi)/N:pi;
+
+ %Show the plots of the power spectral density in the log domain
+ figure();
+ plot( freq/pi, 10*log10(accelX_PSD) );
+ %plot( freq/pi, accelX_PSD, '*' );
+ title('Periodogram of X Acceleration Data Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+ %ylabel('Power Frequency');
+
+ figure();
+ plot( freq/pi, 10*log10(accelY_PSD) );
+ title('Periodogram of Y Acceleration Data Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+
+ figure();
+ plot( freq/pi, 10*log10(accelZ_PSD) );
+ title('Periodogram of Z Acceleration Data Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+
+ figure();
+ plot( freq/pi, 10*log10(gyroX_PSD) );
+ title('Periodogram of Angular Velocity about X Data Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+
+ figure();
+ plot( freq/pi, 10*log10(gyroY_PSD) );
+ title('Periodogram of Angular Velocity about Y Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+
+ figure();
+ plot( freq/pi, 10*log10(gyroZ_PSD) );
+ title('Periodogram of Angular Velocity about Z Using FFT');
+ xlabel('Normalized Frequency (\times\pi rad/sample)');
+ ylabel('Power Frequency (dB/rad/sample)');
+
+
+
+ %Estimate the average power spectral density, ignoring the first value
+ accelX_PSD_mean = mean( accelX_PSD(2:end) );
+ accelX_PSD_mean_dB = 10*log10( accelX_PSD_mean );
+ accelY_PSD_mean = mean( accelY_PSD(2:end) );
+ accelY_PSD_mean_dB = 10*log10( accelY_PSD_mean );
+ accelZ_PSD_mean = mean( accelZ_PSD(2:end) );
+ accelZ_PSD_mean_dB = 10*log10( accelZ_PSD_mean );
+ gyroX_PSD_mean = mean( gyroX_PSD(2:end) );
+ gyroX_PSD_mean_dB = 10*log10( gyroX_PSD_mean );
+ gyroY_PSD_mean = mean( gyroY_PSD(2:end) );
+ gyroY_PSD_mean_dB = 10*log10( gyroY_PSD_mean );
+ gyroZ_PSD_mean = mean( gyroZ_PSD(2:end) );
+ gyroZ_PSD_mean_dB = 10*log10( gyroZ_PSD_mean );
+
+ %Display the average power spectral densities in dB
+ disp( ' ' );
+ disp( [ 'Average PSD for X Acceleration Data Noise (dB): ' , num2str(accelX_PSD_mean_dB) ] );
+ disp( [ 'Average PSD for Y Acceleration Data Noise (dB): ' , num2str(accelY_PSD_mean_dB) ] );
+ disp( [ 'Average PSD for Z Acceleration Data Noise (dB): ' , num2str(accelZ_PSD_mean_dB) ] );
+ disp( [ 'Average PSD for Angular Velocity about X Data Noise (dB): ' , num2str(gyroX_PSD_mean_dB) ] );
+ disp( [ 'Average PSD for Angular Velocity about Y Data Noise (dB): ' , num2str(gyroY_PSD_mean_dB) ] );
+ disp( [ 'Average PSD for Angular Velocity about Z Data Noise (dB): ' , num2str(gyroZ_PSD_mean_dB) ] );
+ disp( ' ' );
+
+ disp( ' ' );
+ disp( [ 'Average PSD for X Acceleration Data Noise : ' , num2str(accelX_PSD_mean) ] );
+ disp( [ 'Average PSD for Y Acceleration Data Noise : ' , num2str(accelY_PSD_mean) ] );
+ disp( [ 'Average PSD for Z Acceleration Data Noise : ' , num2str(accelZ_PSD_mean) ] );
+ disp( [ 'Average PSD for Angular Velocity about X Data Noise : ' , num2str(gyroX_PSD_mean) ] );
+ disp( [ 'Average PSD for Angular Velocity about Y Data Noise : ' , num2str(gyroY_PSD_mean) ] );
+ disp( [ 'Average PSD for Angular Velocity about Z Data Noise : ' , num2str(gyroZ_PSD_mean) ] );
+ disp( ' ' );
+
+
+
+end
+
diff --git a/controls/model/Quadcopter_Model_R2015_A.mdl b/controls/model/Quadcopter_Model_R2015_A.mdl
index 1ce8804095f97383c65bf5506d2a66c794009662..dc185578f51fa469a8f1b8fb5900bf19a33b89bc 100644
--- a/controls/model/Quadcopter_Model_R2015_A.mdl
+++ b/controls/model/Quadcopter_Model_R2015_A.mdl
@@ -6,7 +6,7 @@ Model {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.351"
+ ComputedModelVersion "1.2982"
NumModelReferences 0
NumTestPointedSignals 0
}
@@ -19,6 +19,7 @@ Model {
MinMaxOverflowArchiveMode "Overwrite"
FPTRunName "Run 1"
MaxMDLFileLineLength 120
+ InitFcn "clear mex\ndelete test_model_sfun.mexw64"
Object {
$PropName "BdWindowsInfo"
$ObjectID 1
@@ -43,48 +44,66 @@ Model {
$PropName "ExplorerBarInfo"
$ObjectID 4
$ClassName "Simulink.ExplorerBarInfo"
- Visible [1]
+ Visible [0]
}
Array {
Type "Simulink.EditorInfo"
- Dimension 2
+ Dimension 4
Object {
$ObjectID 5
IsActive [0]
- ViewObjType "SimulinkSubsys"
- LoadSaveID "541"
- Extents [1755.0, 874.0]
- ZoomFactor [1.5]
- Offset [-408.3367559523798, 164.59047619047868]
+ ViewObjType "SimulinkTopLevel"
+ LoadSaveID "0"
+ Extents [1755.0, 904.0]
+ ZoomFactor [1.0]
+ Offset [336.19666666666762, 144.20000000000005]
}
Object {
$ObjectID 6
IsActive [1]
- ViewObjType "SimulinkTopLevel"
- LoadSaveID "0"
- Extents [1755.0, 874.0]
- ZoomFactor [1.5]
- Offset [661.09523809523807, 324.57142857142884]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "573"
+ Extents [1755.0, 904.0]
+ ZoomFactor [0.8]
+ Offset [-151.38571428571572, -12.602379760288613]
+ }
+ Object {
+ $ObjectID 7
+ IsActive [0]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "650"
+ Extents [1755.0, 904.0]
+ ZoomFactor [0.5]
+ Offset [383.52935415893444, -40.361112608789426]
+ }
+ Object {
+ $ObjectID 8
+ IsActive [0]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "436"
+ Extents [1755.0, 904.0]
+ ZoomFactor [1.25]
+ Offset [716.49880952381045, 116.5285714285709]
}
PropName "EditorsInfo"
}
}
}
- Created "Mon Oct 17 15:29:19 2016"
+ Created "Thu Nov 03 18:34:52 2016"
Creator "Andy"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "Andy"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Mon Dec 05 22:25:03 2016"
- RTWModifiedTimeStamp 402877502
- ModelVersionFormat "1.%<AutoIncrement:351>"
+ LastModifiedDate "Tue Apr 04 18:41:22 2017"
+ RTWModifiedTimeStamp 413232081
+ ModelVersionFormat "1.%<AutoIncrement:2982>"
ConfigurationManager "none"
- SampleTimeColors off
+ SampleTimeColors on
SampleTimeAnnotations off
LibraryLinkDisplay "disabled"
WideLines off
- ShowLineDimensions off
+ ShowLineDimensions on
ShowPortDataTypes off
ShowDesignRanges off
ShowLoopsOnError on
@@ -119,7 +138,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 8
+ $ObjectID 10
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "Quadcopter_Model_R2015_A"
overrideMode_ [0.0]
@@ -136,12 +155,6 @@ Model {
PropName "logAsSpecifiedByModelsSSIDs_"
}
}
- Object {
- $PropName "InstrumentedSignals"
- $ObjectID 9
- $ClassName "Simulink.HMI.InstrumentedSignals"
- Persistence []
- }
RecordCoverage off
CovPath "/"
CovSaveName "covdata"
@@ -190,16 +203,16 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 10
+ $ObjectID 11
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 11
+ $ObjectID 12
Version "1.15.0"
StartTime "0.0"
- StopTime "20"
+ StopTime "runtime"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
@@ -231,7 +244,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 12
+ $ObjectID 13
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -264,7 +277,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 13
+ $ObjectID 14
Version "1.15.0"
Array {
Type "Cell"
@@ -321,7 +334,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 14
+ $ObjectID 15
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -331,7 +344,7 @@ Model {
ReadBeforeWriteMsg "UseLocalSettings"
WriteAfterWriteMsg "UseLocalSettings"
WriteAfterReadMsg "UseLocalSettings"
- AlgebraicLoopMsg "warning"
+ AlgebraicLoopMsg "error"
ArtificialAlgebraicLoopMsg "warning"
SaveWithDisabledLinksMsg "warning"
SaveWithParameterizedLinksMsg "warning"
@@ -409,7 +422,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 15
+ $ObjectID 16
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -449,9 +462,9 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 16
+ $ObjectID 17
Version "1.15.0"
- UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
+ UpdateModelReferenceTargets "Force"
CheckModelReferenceTargetMessage "error"
EnableParallelModelReferenceBuilds off
ParallelModelReferenceErrorOnInvalidPool on
@@ -464,8 +477,12 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 17
+ $ObjectID 18
Version "1.15.0"
+ SimCustomHeaderCode "#include \"complementary_filter.h\"\n#include \"aeb_mat.h\"\n#include \"angle_accel.h\""
+ SimUserSources "complementary_filter.c\naeb_mat.c\nangle_accel.c"
+ SimUserIncludeDirs "../../quad/src/computation_graph\n../../quad/src/quad_app\n../../quad/src/graph_blocks\n../.."
+ "/quad/src/commands"
SFSimEcho on
SimCtrlC on
SimIntegrity on
@@ -476,7 +493,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 18
+ $ObjectID 19
Version "1.15.0"
Array {
Type "Cell"
@@ -514,7 +531,7 @@ Model {
TLCAssert off
RTWUseLocalCustomCode off
RTWUseSimCustomCode off
- Toolchain "Automatically locate an installed toolchain"
+ Toolchain "MinGW64 v4.x | gmake (64-bit Windows)"
BuildConfiguration "Faster Builds"
IncludeHyperlinkInReport off
LaunchReport off
@@ -544,7 +561,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 19
+ $ObjectID 20
Version "1.15.0"
Array {
Type "Cell"
@@ -617,7 +634,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 20
+ $ObjectID 21
Version "1.15.0"
Array {
Type "Cell"
@@ -707,17 +724,17 @@ Model {
}
Name "Configuration"
CurrentDlgPage "Solver"
- ConfigPrmDlgPosition [ 195, 142, 1085, 882 ]
+ ConfigPrmDlgPosition [ 510, 71, 1400, 811 ]
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 10
+ $ObjectID 11
}
Object {
$PropName "DataTransfer"
- $ObjectID 22
+ $ObjectID 23
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -825,6 +842,74 @@ Model {
DisplayOption "none"
BusSelectionMode off
}
+ Block {
+ BlockType DiscreteFilter
+ NumeratorSource "Dialog"
+ Numerator "[1]"
+ DenominatorSource "Dialog"
+ Denominator "[1 0.5]"
+ InitialStatesSource "Dialog"
+ InitialStates "0"
+ InputProcessing "Elements as channels (sample based)"
+ ExternalReset "None"
+ InitialDenominatorStates "0"
+ FilterStructure "Direct form II"
+ SampleTime "-1"
+ a0EqualsOne off
+ NumCoefMin "[]"
+ NumCoefMax "[]"
+ DenCoefMin "[]"
+ DenCoefMax "[]"
+ OutMin "[]"
+ OutMax "[]"
+ StateDataTypeStr "Inherit: Same as input"
+ MultiplicandDataTypeStr "Inherit: Same as input"
+ NumCoefDataTypeStr "Inherit: Inherit via internal rule"
+ DenCoefDataTypeStr "Inherit: Inherit via internal rule"
+ NumProductDataTypeStr "Inherit: Inherit via internal rule"
+ DenProductDataTypeStr "Inherit: Inherit via internal rule"
+ NumAccumDataTypeStr "Inherit: Inherit via internal rule"
+ DenAccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ StateMustResolveToSignalObject off
+ RTWStateStorageClass "Auto"
+ }
+ Block {
+ BlockType DiscreteIntegrator
+ IntegratorMethod "Integration: Forward Euler"
+ gainval "1.0"
+ ExternalReset "none"
+ InitialConditionSource "internal"
+ InitialCondition "0"
+ InitialConditionSetting "Output"
+ SampleTime "1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ ShowSaturationPort off
+ ShowStatePort off
+ IgnoreLimit off
+ StateMustResolveToSignalObject off
+ RTWStateStorageClass "Auto"
+ }
+ Block {
+ BlockType FromWorkspace
+ VariableName "simulink_input"
+ OutDataTypeStr "Inherit: auto"
+ SampleTime "-1"
+ Interpolate on
+ ZeroCross off
+ OutputAfterFinalValue "Extrapolation"
+ }
Block {
BlockType Gain
Gain "1"
@@ -933,6 +1018,21 @@ Model {
SFunctionModules "''"
PortCounts "[]"
}
+ Block {
+ BlockType Saturate
+ UpperLimitSource "Dialog"
+ UpperLimit "0.5"
+ LowerLimitSource "Dialog"
+ LowerLimit "-0.5"
+ LinearizeAsGain on
+ ZeroCross on
+ SampleTime "-1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as input"
+ LockScale off
+ RndMeth "Floor"
+ }
Block {
BlockType Scope
Floating off
@@ -997,6 +1097,26 @@ Model {
Block {
BlockType Terminator
}
+ Block {
+ BlockType ToWorkspace
+ VariableName "simulink_output"
+ MaxDataPoints "1000"
+ Decimation "1"
+ SaveFormat "Array"
+ Save2DSignal "Inherit from input (this choice will be removed - see release notes)"
+ FixptAsFi off
+ NumInputs "1"
+ SampleTime "0"
+ }
+ Block {
+ BlockType TransportDelay
+ DelayTime "1"
+ InitialOutput "0"
+ BufferSize "1024"
+ FixedBuffer off
+ TransDelayFeedthrough off
+ PadeOrder "0"
+ }
Block {
BlockType ZeroOrderHold
SampleTime "1"
@@ -1016,31 +1136,31 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "100"
ReportName "simulink-default.rpt"
- SIDHighWatermark "1020"
+ SIDHighWatermark "1424"
Block {
BlockType SubSystem
- Name "\n\n\n\n\n\n"
- SID "541"
- Ports [4, 6]
- Position [1155, 479, 1350, 711]
- ZOrder 67
+ Name " Sensors "
+ SID "650"
+ Ports [6, 3]
+ Position [1300, 422, 1520, 658]
+ ZOrder 73
+ ShowName off
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 23
+ $ObjectID 24
$ClassName "Simulink.Mask"
- Display "port_label('input', 1, 'Rotor 1 Duty Cycle', 'texmode', 'on');\nport_label('input', 2, 'Rotor 2 Duty Cycle"
- "', 'texmode', 'on');\nport_label('input', 3, 'Rotor 3 Duty Cycle', 'texmode', 'on');\nport_label('input', 4, 'Rotor 4"
- " Duty Cycle', 'texmode', 'on');\nport_label('output', 1, '^{B}Omega', 'texmode', 'on');\nport_label('output', 2, '\\T"
- "heta', 'texmode', 'on');\nport_label('output', 3, '^{B}v_o', 'texmode', 'on');\nport_label('output', 4, '^{E}r_o', 't"
- "exmode', 'on');\nport_label('output', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('output', 6, '^{B}g', 'texmode'"
- ", 'on');\ndisp('Actuation', 'texmode', 'on'); "
+ Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
+ "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
+ "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
+ "', 1, '\\Theta_{filtered}', 'texmode', 'on');\nport_label('output', 2, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_"
+ "label('output', 3, '^{E}r_o', 'texmode', 'on');\ndisp('Sensors', 'texmode', 'on'); "
}
System {
- Name "\n\n\n\n\n\n"
+ Name " Sensors "
Location [-8, -8, 1928, 1048]
Open off
ModelBrowserVisibility off
@@ -1053,65 +1173,79 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "50"
Block {
BlockType Inport
- Name "Rotor 0 Duty Cycle"
- SID "542"
- Position [-225, 303, -195, 317]
- ZOrder -1
+ Name "B_Omega"
+ SID "651"
+ Position [635, 568, 665, 582]
+ ZOrder 265
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "Rotor 1 Duty Cycle"
- SID "543"
- Position [-225, 363, -195, 377]
- ZOrder 2
+ Name "euler_angles"
+ SID "652"
+ Position [830, 1338, 860, 1352]
+ ZOrder 266
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "Rotor 2 Duty Cycle"
- SID "544"
- Position [-225, 423, -195, 437]
- ZOrder 1
+ Name "B_vo"
+ SID "653"
+ Position [635, 503, 665, 517]
+ ZOrder 267
Port "3"
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "Rotor 3 Duty Cycle"
- SID "545"
- Position [-225, 483, -195, 497]
- ZOrder 3
+ Name "E_ro"
+ SID "654"
+ Position [985, 1313, 1015, 1327]
+ ZOrder 268
Port "4"
IconDisplay "Port number"
}
+ Block {
+ BlockType Inport
+ Name "B_vo_dot"
+ SID "655"
+ Position [635, 438, 665, 452]
+ ZOrder 269
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_g"
+ SID "656"
+ Position [635, 633, 665, 647]
+ ZOrder 273
+ Port "6"
+ IconDisplay "Port number"
+ }
Block {
BlockType SubSystem
- Name "\n"
- SID "546"
- Ports [2, 1]
- Position [420, 280, 640, 520]
- ZOrder 48
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
+ Name "3D Graphical Simulation"
+ SID "698"
+ Ports [2]
+ Position [1265, 1425, 1415, 1485]
+ ZOrder 287
+ Commented "on"
RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 25
$ClassName "Simulink.Mask"
- Display "port_label('input', 1, 'Vb_{eff}', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', "
- "'on');\nport_label('output', 1, '\\alpha', 'texmode', 'on');\ndisp('Motor System');\n"
+ Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
System {
- Name "\n"
- Location [223, 338, 826, 833]
+ Name "3D Graphical Simulation"
+ Location [-8, -8, 1928, 1048]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1124,419 +1258,492 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
- SIDHighWatermark "33"
Block {
BlockType Inport
- Name "Vb_eff"
- SID "546::1"
- Position [20, 101, 40, 119]
+ Name "Displacement"
+ SID "699"
+ Position [110, 218, 140, 232]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "angular_velocity"
- SID "546::24"
- Position [20, 136, 40, 154]
- ZOrder 15
+ Name "Euler Angles"
+ SID "700"
+ Position [125, 108, 155, 122]
+ ZOrder -2
Port "2"
IconDisplay "Port number"
}
Block {
- BlockType Demux
- Name " Demux "
- SID "546::32"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 17
- Outputs "1"
+ BlockType BusCreator
+ Name "Bus\nCreator"
+ SID "701"
+ Ports [3, 1]
+ Position [600, 76, 610, 154]
+ ZOrder -3
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
}
Block {
- BlockType S-Function
- Name " SFunction "
- SID "546::31"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 5"
- Ports [2, 2]
- Position [180, 100, 230, 160]
- ZOrder 16
- FunctionName "sf_sfun"
- Parameters "If,Jreq,Kd,Kq,Kv,Rm"
- PortCounts "[2 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
+ BlockType BusCreator
+ Name "Bus\nCreator1"
+ SID "702"
+ Ports [3, 1]
+ Position [630, 191, 640, 269]
+ ZOrder -4
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator2"
+ SID "703"
+ Ports [3, 1]
+ Position [385, 75, 390, 155]
+ ZOrder -5
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ InheritFromInputs on
+ }
+ Block {
+ BlockType BusSelector
+ Name "Bus\nSelector"
+ SID "704"
+ 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 "angular_acceleration"
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
- BlockType Terminator
- Name " Terminator "
- SID "546::33"
- Position [460, 241, 480, 259]
- ZOrder 18
+ BlockType Demux
+ Name "Demux"
+ SID "705"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
}
Block {
- BlockType Outport
- Name "angular_acceleration"
- SID "546::23"
- Position [460, 101, 480, 119]
- ZOrder 14
- IconDisplay "Port number"
+ BlockType Demux
+ Name "Demux1"
+ SID "706"
+ 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"
+ }
}
- Line {
- ZOrder 1
- SrcBlock "Vb_eff"
- SrcPort 1
- Points [120, 0]
- DstBlock " SFunction "
+ Block {
+ BlockType Gain
+ Name "Gain"
+ SID "707"
+ 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 "708"
+ 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 "709"
+ 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 SubSystem
+ Name "MATLAB Function"
+ SID "710"
+ Ports [1, 1]
+ Position [655, 92, 725, 138]
+ ZOrder 5
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ System {
+ Name "MATLAB Function"
+ Location [223, 338, 826, 833]
+ 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"
+ SIDHighWatermark "21"
+ Block {
+ BlockType Inport
+ Name "u"
+ SID "710::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "710::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "710::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 11"
+ Ports [1, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "y"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "710::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "y"
+ SID "710::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "u"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ Name "y"
+ ZOrder 2
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "y"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 4
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ SID "711"
+ Position [755, 94, 795, 136]
+ ZOrder -13
+ NamePlacement "alternate"
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ SID "712"
+ Position [735, 210, 770, 250]
+ ZOrder -14
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType Reference
+ Name "VR Sink"
+ SID "713"
+ Ports [2]
+ Position [865, 76, 1055, 234]
+ ZOrder -15
+ LibraryVersion "1.36"
+ 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 "Displacement"
+ SrcPort 1
+ DstBlock "Demux"
DstPort 1
}
Line {
ZOrder 2
- SrcBlock "angular_velocity"
+ SrcBlock "Bus\nCreator2"
SrcPort 1
- DstBlock " SFunction "
- DstPort 2
+ DstBlock "Bus\nSelector"
+ DstPort 1
}
Line {
- Name "angular_acceleration"
ZOrder 3
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 2
- DstBlock "angular_acceleration"
- DstPort 1
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [40, 0; 0, 40; 120, 0]
+ DstBlock "Bus\nCreator1"
+ DstPort 3
}
Line {
ZOrder 4
- SrcBlock " Demux "
+ SrcBlock "Gain"
SrcPort 1
- DstBlock " Terminator "
- DstPort 1
+ Points [5, 0; 0, -25]
+ DstBlock "Bus\nCreator1"
+ DstPort 2
}
Line {
ZOrder 5
- SrcBlock " SFunction "
+ SrcBlock "Gain2"
SrcPort 1
- DstBlock " Demux "
+ DstBlock "Bus\nCreator1"
DstPort 1
}
- }
- }
- Block {
- BlockType SubSystem
- Name "\n\n"
- SID "547"
- Ports [4, 1]
- Position [55, 282, 290, 518]
- ZOrder 36
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
- RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
- Variant off
- Object {
- $PropName "MaskObject"
- $ObjectID 25
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, 'Rotor 0 Duty Cycle', 'texmode', 'on');\nport_label('input', 2, 'Rotor 1 Dut"
- "y Cycle', 'texmode', 'on');\nport_label('input', 3, 'Rotor 2 Duty Cycle', 'texmode', 'on');\nport_label('input', "
- "4, 'Rotor 3 Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', 'texmode', 'on');\ndisp('ESC Syst"
- "em');"
- }
- System {
- Name "\n\n"
- Location [223, 338, 826, 833]
- 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"
- SIDHighWatermark "37"
- Block {
- BlockType Inport
- Name "rotor_0_duty_cycle"
- SID "547::1"
- Position [20, 101, 40, 119]
- ZOrder -1
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "rotor_1_duty_cycle"
- SID "547::22"
- Position [20, 136, 40, 154]
- ZOrder 13
- Port "2"
- IconDisplay "Port number"
+ Line {
+ ZOrder 6
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [35, 0; 0, -35]
+ DstBlock "VR Sink"
+ DstPort 2
}
- Block {
- BlockType Inport
- Name "rotor_2_duty_cycle"
- SID "547::23"
- Position [20, 171, 40, 189]
- ZOrder 14
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "rotor_3_duty_cycle"
- SID "547::24"
- Position [20, 206, 40, 224]
- ZOrder 15
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Demux
- Name " Demux "
- SID "547::36"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 17
- Outputs "1"
- }
- Block {
- BlockType S-Function
- Name " SFunction "
- SID "547::35"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 4"
- Ports [4, 2]
- Position [180, 102, 230, 203]
- ZOrder 16
- FunctionName "sf_sfun"
- Parameters "Pmax,Pmin,Vb"
- PortCounts "[4 2]"
- SFunctionDeploymentMode off
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- }
- Block {
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- Position [460, 241, 480, 259]
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}
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Line {
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+ Points [80, 0]
+ DstBlock "Gain2"
DstPort 1
}
Line {
- ZOrder 2
- SrcBlock "rotor_1_duty_cycle"
+ ZOrder 10
+ SrcBlock "Bus\nCreator1"
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- DstBlock " SFunction "
- DstPort 2
+ DstBlock "Gain1"
+ DstPort 1
}
Line {
- ZOrder 3
- SrcBlock "rotor_2_duty_cycle"
+ Name "<phi>"
+ ZOrder 11
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
SrcPort 1
- DstBlock " SFunction "
+ Points [0, -10; 45, 0; 0, 60]
+ DstBlock "Bus\nCreator"
DstPort 3
}
Line {
- ZOrder 4
- SrcBlock "rotor_3_duty_cycle"
- SrcPort 1
- DstBlock " SFunction "
- DstPort 4
+ Name "<psi>"
+ ZOrder 12
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+ Points [0, -10; 75, 0]
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}
Line {
- Name "Vb_eff"
- ZOrder 5
+ Name "<theta>"
+ ZOrder 13
Labels [0, 0]
- SrcBlock " SFunction "
+ SrcBlock "Bus\nSelector"
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- DstBlock "Vb_eff"
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}
Line {
- ZOrder 6
- SrcBlock " Demux "
+ ZOrder 14
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Line {
- ZOrder 7
- SrcBlock " SFunction "
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- Block {
- BlockType Outport
- Name "E_Fg"
- SID "548::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
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+ SrcBlock "Demux1"
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Line {
- Name "E_Fg"
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- SrcBlock " SFunction "
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- DstBlock "E_Fg"
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+ Line {
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Line {
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- SrcBlock " Ground "
+ ZOrder 18
+ SrcBlock "Euler Angles"
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- DstBlock " SFunction "
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}
Line {
- ZOrder 3
- SrcBlock " Demux "
+ ZOrder 19
+ SrcBlock "Bus\nCreator"
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- DstBlock " Terminator "
+ DstBlock "MATLAB Function"
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Line {
- ZOrder 4
- SrcBlock " SFunction "
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+ SrcBlock "MATLAB Function"
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- DstBlock " Demux "
+ DstBlock "Rate Transition"
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Block {
BlockType SubSystem
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- Position [1395, 499, 1630, 706]
- ZOrder 75
- ErrorFcn "Stateflow.Translate.translate"
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- TreatAsAtomicUnit on
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Variant off
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- Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
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}
System {
- Name "\n\n\n\n\n\n\n"
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ModelBrowserVisibility off
ModelBrowserWidth 200
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TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
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Block {
BlockType Inport
- Name "B_vo"
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IconDisplay "Port number"
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Block {
BlockType Inport
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Port "2"
IconDisplay "Port number"
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Block {
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- Position [270, 230, 320, 270]
- ZOrder 21
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Block {
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- Position [180, 100, 230, 160]
- ZOrder 20
- FunctionName "sf_sfun"
- PortCounts "[2 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
+ BlockType BusCreator
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+ SID "718"
+ Ports [3, 1]
+ Position [630, 191, 640, 269]
+ ZOrder -4
+ ShowName off
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+ InheritFromInputs on
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+ Block {
+ BlockType BusCreator
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+ Ports [3, 1]
+ Position [385, 75, 390, 155]
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+ ShowName off
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+ Block {
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+ Name "Bus\nSelector"
+ SID "720"
+ Ports [1, 3]
+ Position [500, 77, 505, 153]
+ ZOrder -6
+ ShowName off
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+ Port {
+ PortNumber 1
+ Name "<phi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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Port {
PortNumber 2
- Name "E_ro"
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "<psi>"
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DataLoggingNameMode "SignalName"
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Port {
PortNumber 2
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Port {
PortNumber 3
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Block {
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Block {
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Line {
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- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^B\\Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode',"
- " 'on');\nport_label('output', 1, 'd\\Theta/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode', 'on');"
- }
- System {
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- Location [223, 338, 826, 833]
- 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"
+ Line {
+ Name "<phi>"
+ ZOrder 10
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 1
+ Points [0, -10; 45, 0; 0, 60]
+ DstBlock "Bus\nCreator"
+ DstPort 3
+ }
+ Line {
+ Name "<psi>"
+ ZOrder 11
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 3
+ Points [0, -10; 75, 0]
+ DstBlock "Bus\nCreator"
+ DstPort 2
+ }
+ Line {
+ Name "<theta>"
+ ZOrder 12
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 2
+ Points [30, 0; 0, -25]
+ DstBlock "Bus\nCreator"
+ DstPort 1
+ }
+ Line {
+ ZOrder 13
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Line {
+ Name "psi"
+ ZOrder 14
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Bus\nCreator2"
+ DstPort 3
+ }
+ Line {
+ Name "theta"
+ ZOrder 15
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Bus\nCreator2"
+ DstPort 2
+ }
+ Line {
+ Name "phi"
+ ZOrder 16
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Bus\nCreator2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 17
+ SrcBlock "Bus\nCreator"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ Line {
+ ZOrder 19
+ SrcBlock "Displacement"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ ZOrder 20
+ SrcBlock "Euler Angles\n"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Aeb\n\n\n\n\n\n\n\n\n\n"
+ SID "679"
+ Ports [2, 1]
+ Position [1475, 579, 1655, 701]
+ ZOrder 275
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 27
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'Gyroscope Reading', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{IMU"
+ "}', 'texmode', 'on');\nport_label('output', 1, 'd\\Theta_{Gyro}/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode',"
+ " 'on');"
+ }
+ System {
+ Name "Aeb\n\n\n\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ 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"
SIDHighWatermark "25"
Block {
BlockType Inport
- Name "B_omega"
- SID "551::1"
+ Name "gyro_reading"
+ SID "679::1"
Position [20, 101, 40, 119]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "euler_angles"
- SID "551::22"
+ Name "euler_angles_filtered"
+ SID "679::22"
Position [20, 136, 40, 154]
ZOrder 13
Port "2"
@@ -1917,7 +2281,7 @@ Model {
Block {
BlockType Demux
Name " Demux "
- SID "551::24"
+ SID "679::24"
Ports [1, 1]
Position [270, 230, 320, 270]
ZOrder 15
@@ -1926,8 +2290,8 @@ Model {
Block {
BlockType S-Function
Name " SFunction "
- SID "551::23"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 7"
+ SID "679::23"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 12"
Ports [2, 2]
Position [180, 100, 230, 160]
ZOrder 14
@@ -1937,7 +2301,7 @@ Model {
EnableBusSupport on
Port {
PortNumber 2
- Name "euler_rates"
+ Name "euler_rates_IMU"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
@@ -1945,21 +2309,21 @@ Model {
Block {
BlockType Terminator
Name " Terminator "
- SID "551::25"
+ SID "679::25"
Position [460, 241, 480, 259]
ZOrder 16
}
Block {
BlockType Outport
- Name "euler_rates"
- SID "551::5"
+ Name "euler_rates_IMU"
+ SID "679::5"
Position [460, 101, 480, 119]
ZOrder -5
IconDisplay "Port number"
}
Line {
ZOrder 1
- SrcBlock "B_omega"
+ SrcBlock "gyro_reading"
SrcPort 1
Points [120, 0]
DstBlock " SFunction "
@@ -1967,18 +2331,18 @@ Model {
}
Line {
ZOrder 2
- SrcBlock "euler_angles"
+ SrcBlock "euler_angles_filtered"
SrcPort 1
DstBlock " SFunction "
DstPort 2
}
Line {
- Name "euler_rates"
+ Name "euler_rates_IMU"
ZOrder 3
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 2
- DstBlock "euler_rates"
+ DstBlock "euler_rates_IMU"
DstPort 1
}
Line {
@@ -1999,11 +2363,12 @@ Model {
}
Block {
BlockType SubSystem
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- SID "552"
- Ports [2, 2]
- Position [600, 694, 770, 816]
- ZOrder 97
+ Name "Aeb_c\n\n\n\n\n\n\n\n\n\n1"
+ SID "1335"
+ Ports [2, 1]
+ Position [1460, 969, 1640, 1091]
+ ZOrder 322
+ ShowName off
ErrorFcn "Stateflow.Translate.translate"
PermitHierarchicalResolution "ParametersOnly"
TreatAsAtomicUnit on
@@ -2012,13 +2377,14 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 30
+ $ObjectID 28
$ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^EF_g', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
- "');\nport_label('output', 1, '^BF_g', 'texmode', 'on');\ndisp('L_{BE}', 'texmode', 'on');"
+ Display "port_label('input', 1, 'Gyroscope Reading', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{IMU"
+ "}', 'texmode', 'on');\nport_label('output', 1, 'd\\Theta_{Gyro}/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode',"
+ " 'on');"
}
System {
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ Name "Aeb_c\n\n\n\n\n\n\n\n\n\n1"
Location [223, 338, 826, 833]
Open off
ModelBrowserVisibility off
@@ -2032,55 +2398,48 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
- SIDHighWatermark "33"
+ SIDHighWatermark "25"
Block {
BlockType Inport
- Name "E_Fg"
- SID "552::24"
+ Name "gyro_reading"
+ SID "1335::1"
Position [20, 101, 40, 119]
- ZOrder 15
+ ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "euler_angles"
- SID "552::28"
+ Name "euler_angles_filtered"
+ SID "1335::22"
Position [20, 136, 40, 154]
- ZOrder 19
+ ZOrder 13
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Demux
Name " Demux "
- SID "552::30"
+ SID "1335::24"
Ports [1, 1]
Position [270, 230, 320, 270]
- ZOrder 21
+ ZOrder 15
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
- SID "552::29"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 8"
- Ports [2, 3]
- Position [180, 100, 230, 180]
- ZOrder 20
+ SID "1335::23"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 16"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 14
FunctionName "sf_sfun"
- Parameters "m"
- PortCounts "[2 3]"
+ PortCounts "[2 2]"
SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
- Name "B_Fg"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "B_g"
+ Name "euler_rates_IMU"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
@@ -2088,68 +2447,51 @@ Model {
Block {
BlockType Terminator
Name " Terminator "
- SID "552::31"
+ SID "1335::25"
Position [460, 241, 480, 259]
- ZOrder 22
+ ZOrder 16
}
Block {
BlockType Outport
- Name "B_Fg"
- SID "552::26"
+ Name "euler_rates_IMU"
+ SID "1335::5"
Position [460, 101, 480, 119]
- ZOrder 17
- IconDisplay "Port number"
- }
- Block {
- BlockType Outport
- Name "B_g"
- SID "552::32"
- Position [460, 136, 480, 154]
- ZOrder 23
- Port "2"
+ ZOrder -5
IconDisplay "Port number"
}
Line {
- ZOrder 19
- SrcBlock "E_Fg"
+ ZOrder 1
+ SrcBlock "gyro_reading"
SrcPort 1
+ Points [120, 0]
DstBlock " SFunction "
DstPort 1
}
Line {
- ZOrder 20
- SrcBlock "euler_angles"
+ ZOrder 2
+ SrcBlock "euler_angles_filtered"
SrcPort 1
DstBlock " SFunction "
DstPort 2
}
Line {
- Name "B_Fg"
- ZOrder 21
+ Name "euler_rates_IMU"
+ ZOrder 3
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 2
- DstBlock "B_Fg"
- DstPort 1
- }
- Line {
- Name "B_g"
- ZOrder 22
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 3
- DstBlock "B_g"
+ DstBlock "euler_rates_IMU"
DstPort 1
}
Line {
- ZOrder 23
+ ZOrder 4
SrcBlock " Demux "
SrcPort 1
DstBlock " Terminator "
DstPort 1
}
Line {
- ZOrder 24
+ ZOrder 5
SrcBlock " SFunction "
SrcPort 1
DstBlock " Demux "
@@ -2158,1467 +2500,1307 @@ Model {
}
}
Block {
- BlockType Demux
- Name "Demux"
- SID "934"
- Ports [1, 4]
- Position [-60, 321, -55, 454]
- ZOrder 105
- ShowName off
- DisplayOption "bar"
- }
- Block {
- BlockType Demux
- Name "Demux1"
- SID "954"
- Ports [1, 3]
- Position [1830, 526, 1835, 574]
- ZOrder 107
+ BlockType SubSystem
+ Name "Calculate Pitch and Roll"
+ SID "680"
+ Ports [2, 2]
+ Position [1485, 379, 1655, 521]
+ ZOrder 284
ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "x position"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 29
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'Accelerometer Reading', 'texmode', 'on');\nport_label('input', 2, '\\phi_{a"
+ "ccel}', 'texmode', 'on');\nport_label('output', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('output', 2, "
+ "'\\phi_{accel}', 'texmode', 'on');\ndisp('Calculate Pitch and Roll', 'texmode', 'on');"
}
- Port {
- PortNumber 2
- Name "y position"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "z position"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Demux
- Name "Demux2"
- SID "955"
- Ports [1, 3]
- Position [1830, 301, 1835, 349]
- ZOrder 109
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "Roll"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "Pitch"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "Yaw"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Demux
- Name "Demux3"
- SID "957"
- Ports [1, 3]
- Position [1830, 406, 1835, 454]
- ZOrder 117
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "Body x velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "Body y velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "Body z velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Demux
- Name "Demux4"
- SID "959"
- Ports [1, 3]
- Position [1830, 161, 1835, 209]
- ZOrder 115
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "Body roll velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "Body pitch velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "Body yaw velocity"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
+ System {
+ Name "Calculate Pitch and Roll"
+ Location [223, 338, 826, 833]
+ 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"
+ SIDHighWatermark "26"
+ Block {
+ BlockType Inport
+ Name "accel_reading"
+ SID "680::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "accel_roll_prev"
+ SID "680::23"
+ Position [20, 136, 40, 154]
+ ZOrder 14
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "680::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "680::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 13"
+ Ports [2, 3]
+ Position [180, 105, 230, 185]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[2 3]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "accel_pitch"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "accel_roll"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "680::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "accel_pitch"
+ SID "680::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "accel_roll"
+ SID "680::22"
+ Position [460, 136, 480, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "accel_reading"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "accel_roll_prev"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ Name "accel_pitch"
+ ZOrder 3
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "accel_pitch"
+ DstPort 1
+ }
+ Line {
+ Name "accel_roll"
+ ZOrder 4
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "accel_roll"
+ DstPort 1
+ }
+ Line {
+ ZOrder 5
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 6
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
}
}
Block {
- BlockType Demux
- Name "Demux5"
- SID "961"
- Ports [1, 3]
- Position [1830, 641, 1835, 689]
- ZOrder 119
+ BlockType SubSystem
+ Name "Complimentary Filter"
+ SID "1339"
+ Ports [4, 1]
+ Position [1880, 372, 2065, 713]
+ ZOrder 326
+ ForegroundColor "red"
ShowName off
- Outputs "3"
- DisplayOption "bar"
- Port {
- PortNumber 1
- Name "Body x acceleration"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "Body y acceleration"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 30
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('input', 2, '\\phi_{accel}'"
+ ", 'texmode', 'on');\nport_label('input', 3, '\\Theta_{Gyro}', 'texmode', 'on');\n%port_label('input', 4, '\\Theta"
+ "_{IMU}', 'texmode', 'on');\nport_label('output', 1, '\\Theta_{IMU}', 'texmode', 'on');\ndisp('Complementary Filte"
+ "r', 'texmode', 'on');"
}
- Port {
- PortNumber 3
- Name "Body z acceleration"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
+ System {
+ Name "Complimentary Filter"
+ Location [223, 338, 826, 833]
+ 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"
+ SIDHighWatermark "35"
+ Block {
+ BlockType Inport
+ Name "accel_pitch"
+ SID "1339::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "accel_roll"
+ SID "1339::29"
+ Position [20, 136, 40, 154]
+ ZOrder 20
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_rates_gyro"
+ SID "1339::22"
+ Position [20, 171, 40, 189]
+ ZOrder 13
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "prev_euler_angles"
+ SID "1339::35"
+ Position [20, 206, 40, 224]
+ ZOrder 21
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "1339::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "1339::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 19"
+ Ports [4, 2]
+ Position [180, 147, 230, 248]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[4 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "euler_angles_IMU"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "1339::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "euler_angles_IMU"
+ SID "1339::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 7
+ SrcBlock "accel_pitch"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock "accel_roll"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 9
+ SrcBlock "euler_rates_gyro"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 10
+ SrcBlock "prev_euler_angles"
+ SrcPort 1
+ Points [120, 0]
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ Name "euler_angles_IMU"
+ ZOrder 11
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "euler_angles_IMU"
+ DstPort 1
+ }
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+ "bel('input', 5, 'r_{oc}', 'texmode', 'on')\nport_label('output', 1, 'Accelerometer Reading', 'texmode', 'on')\nport_"
+ "label('output', 2, 'Gyroscope Reading', 'texmode', 'on')\ndisp('Ideal IMU', 'texmode', 'on');"
+ }
+ System {
+ Name "\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ 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"
+ SIDHighWatermark "31"
+ Block {
+ BlockType Inport
+ Name "B_vo_dot"
+ SID "663::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo"
+ SID "663::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_Omega"
+ SID "663::19"
+ Position [20, 171, 40, 189]
+ ZOrder 10
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_g"
+ SID "663::20"
+ Position [20, 206, 40, 224]
+ ZOrder 11
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "r_oc"
+ SID "663::23"
+ Position [20, 246, 40, 264]
+ ZOrder 14
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "663::25"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 16
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "663::24"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 10"
+ Ports [5, 3]
+ Position [180, 110, 230, 230]
+ ZOrder 15
+ FunctionName "sf_sfun"
+ Parameters "g"
+ PortCounts "[5 3]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "accelReading"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "gyroReading"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "663::26"
+ Position [460, 241, 480, 259]
+ ZOrder 17
+ }
+ Block {
+ BlockType Outport
+ Name "accelReading"
+ SID "663::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "gyroReading"
+ SID "663::21"
+ Position [460, 136, 480, 154]
+ ZOrder 12
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "B_vo_dot"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "B_vo"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "B_Omega"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "B_g"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "r_oc"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 5
+ }
+ Line {
+ Name "accelReading"
+ ZOrder 6
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "accelReading"
+ DstPort 1
+ }
+ Line {
+ Name "gyroReading"
+ ZOrder 7
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "gyroReading"
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
}
- Branch {
- ZOrder 198
- DstBlock "B_vo_dot"
- DstPort 1
+ Block {
+ BlockType Delay
+ Name "Delay"
+ SID "1371"
+ Ports [1, 1]
+ Position [915, 193, 950, 227]
+ ZOrder 50
+ Commented "through"
+ InputPortMap "u0"
+ DelayLength "4"
+ InitialCondition "0"
+ SampleTime "Tq"
}
- }
- Branch {
- ZOrder 23
- DstBlock "Integrator1"
- DstPort 1
- }
- }
- Line {
- ZOrder 24
- SrcBlock "Integrator2"
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- Points [55, 0]
- Branch {
- ZOrder 25
- Points [0, -95; 454, 0]
- Branch {
- ZOrder 117
- DstBlock "B_omega"
- DstPort 1
+ Block {
+ BlockType Delay
+ Name "Delay1"
+ SID "1372"
+ Ports [1, 1]
+ Position [915, 278, 950, 312]
+ ZOrder 51
+ Commented "through"
+ InputPortMap "u0"
+ DelayLength "4"
+ InitialCondition "0"
+ SampleTime "Tq"
}
- Branch {
- ZOrder 115
- Points [0, -60]
- DstBlock "Demux4"
- DstPort 1
+ Block {
+ BlockType DiscreteFilter
+ Name "Discrete Filter1"
+ SID "921"
+ Ports [1, 1]
+ Position [790, 192, 850, 228]
+ ZOrder 48
+ InputPortMap "u0"
+ Numerator "[0 0.1454]"
+ Denominator "[1 -0.8546]"
+ InitialStates "[0, 0, -1]"
+ SampleTime "Tq"
}
- }
- Branch {
- ZOrder 28
- Points [0, 226; -422, 0; 0, -121]
- DstBlock "\n\n\n\n\n\n\n\n"
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- Branch {
- ZOrder 29
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- Line {
- ZOrder 37
- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- Line {
- ZOrder 47
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- Points [7, 0]
- Branch {
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- Branch {
- ZOrder 49
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- Line {
- ZOrder 50
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- DstBlock "Integrator3"
- DstPort 1
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- Line {
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- Points [64, 0]
- Branch {
- ZOrder 88
- Points [0, -55]
- DstBlock "Demux1"
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- }
- Branch {
- ZOrder 87
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- Line {
- ZOrder 54
- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- Points [24, 0; 0, -30]
- Branch {
- ZOrder 55
- Points [0, -50]
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- }
- Branch {
- ZOrder 56
- Points [74, 0; 0, -295]
- DstBlock "\n\n\n\n\n\n\n\n"
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- Line {
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- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- DstBlock "B_g"
- DstPort 1
- }
- Line {
- ZOrder 71
- SrcBlock "Demux"
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- Points [50, 0; 0, -25]
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- Line {
- ZOrder 72
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- DstPort 2
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- Line {
- ZOrder 73
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- Points [50, 0; 0, 25]
- DstBlock "\n\n"
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- Line {
- ZOrder 74
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- Points [50, 0; 0, 50]
- DstBlock "\n\n"
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- }
- Line {
- ZOrder 70
- SrcBlock "Step"
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- DstBlock "Demux"
- DstPort 1
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- Line {
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- ZOrder 89
- Labels [0, 0]
- SrcBlock "Demux1"
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- DstBlock "Scope6"
- DstPort 2
- }
- Line {
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- ZOrder 90
- Labels [0, 0]
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- DstBlock "Scope6"
- DstPort 1
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- Line {
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- ZOrder 91
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- DstBlock "Scope6"
- DstPort 3
- }
- Line {
- ZOrder 38
- SrcBlock "Integrator4"
- SrcPort 1
- Points [20, 0]
- Branch {
- ZOrder 39
- Points [30, 0]
- Branch {
- ZOrder 97
- Points [0, -55]
- DstBlock "Demux2"
- DstPort 1
+ Block {
+ BlockType DiscreteFilter
+ Name "Discrete Filter2"
+ SID "922"
+ Ports [1, 1]
+ Position [790, 277, 850, 313]
+ ZOrder 49
+ InputPortMap "u0"
+ Numerator "[0 0.1454]"
+ Denominator "[1 -0.8546]"
+ SampleTime "Tq"
}
- Branch {
- ZOrder 96
- DstBlock "euler_angles"
- DstPort 1
+ Block {
+ BlockType DiscreteIntegrator
+ Name "Discrete-Time\nIntegrator"
+ SID "835"
+ Ports [1, 1]
+ Position [765, 407, 800, 443]
+ ZOrder 30
+ InitialConditionSetting "State (most efficient)"
+ SampleTime "-1"
+ ICPrevOutput "DiscIntNeverNeededParam"
+ ICPrevScaledInput "DiscIntNeverNeededParam"
}
- }
- Branch {
- ZOrder 42
- Points [0, 460; -385, 0]
- Branch {
- ZOrder 65
- Points [0, -185]
- Branch {
- ZOrder 44
- DstBlock "\n\n\n\n\n\n\n"
- DstPort 2
+ Block {
+ BlockType DiscreteIntegrator
+ Name "Discrete-Time\nIntegrator2"
+ SID "839"
+ Ports [1, 1]
+ Position [595, 407, 630, 443]
+ ZOrder 34
+ InitialConditionSetting "State (most efficient)"
+ SampleTime "-1"
+ ICPrevOutput "DiscIntNeverNeededParam"
+ ICPrevScaledInput "DiscIntNeverNeededParam"
+ }
+ Block {
+ BlockType Ground
+ Name "Ground"
+ SID "664"
+ Position [605, 340, 625, 360]
+ ZOrder 23
+ }
+ Block {
+ BlockType Ground
+ Name "Ground1"
+ SID "665"
+ Position [605, 145, 625, 165]
+ ZOrder 24
+ }
+ Block {
+ BlockType Integrator
+ Name "Integrator"
+ SID "844"
+ Ports [1, 1]
+ Position [240, 360, 270, 390]
+ ZOrder 39
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "836"
+ Ports [1]
+ Position [845, 409, 875, 441]
+ ZOrder 31
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData1
+ YMin -0.0001
+ YMax 0.00021
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
}
- Branch {
- ZOrder 45
- Points [0, -240]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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|none|none|none"
}
+ Location [680 330 1240 750]
}
- Branch {
- ZOrder 46
- Points [-787, 0; 0, -55]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
+ Block {
+ BlockType Scope
+ Name "Scope2"
+ SID "840"
+ Ports [1]
+ Position [670, 409, 700, 441]
+ ZOrder 35
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData3
+ YMin -1.00000
+ YMax 1.00000
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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|none|none|none"
+ }
+ Location [680 330 1240 750]
}
- }
- }
- Line {
- Name "Pitch"
- ZOrder 93
- Labels [0, 0]
- SrcBlock "Demux2"
- SrcPort 2
- DstBlock "Scope10"
- DstPort 2
- }
- Line {
- Name "Roll"
- ZOrder 94
- Labels [0, 0]
- SrcBlock "Demux2"
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- DstBlock "Scope10"
- DstPort 1
- }
- Line {
- Name "Yaw"
- ZOrder 95
- Labels [0, 0]
- SrcBlock "Demux2"
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- DstBlock "Scope10"
- DstPort 3
- }
- Line {
- Name "Body pitch velocity"
- ZOrder 111
- Labels [0, 0]
- SrcBlock "Demux4"
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- DstBlock "Scope11"
- DstPort 2
- }
- Line {
- Name "Body roll velocity"
- ZOrder 112
- Labels [0, 0]
- SrcBlock "Demux4"
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- DstBlock "Scope11"
- DstPort 1
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- Line {
- Name "Body yaw velocity"
- ZOrder 113
- Labels [0, 0]
- SrcBlock "Demux4"
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- DstBlock "Scope11"
- DstPort 3
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- Line {
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- ZOrder 118
- Labels [0, 0]
- SrcBlock "Demux3"
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- DstBlock "Scope3"
- DstPort 2
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- Line {
- Name "Body x velocity"
- ZOrder 119
- Labels [0, 0]
- SrcBlock "Demux3"
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- DstBlock "Scope3"
- DstPort 1
- }
- Line {
- Name "Body z velocity"
- ZOrder 120
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- SrcBlock "Demux3"
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- DstBlock "Scope3"
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- Line {
- Name "Body y acceleration"
- ZOrder 124
- Labels [0, 0]
- SrcBlock "Demux5"
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- DstBlock "Scope4"
- DstPort 2
- }
- Line {
- Name "Body x acceleration"
- ZOrder 125
- Labels [0, 0]
- SrcBlock "Demux5"
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- DstBlock "Scope4"
- DstPort 1
- }
- Line {
- Name "Body z acceleration"
- ZOrder 126
- Labels [0, 0]
- SrcBlock "Demux5"
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- DstBlock "Scope4"
- DstPort 3
- }
- Line {
- ZOrder 30
- SrcBlock "Integrator1"
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- Points [34, 0; 0, 90]
- Branch {
- ZOrder 195
- Points [-383, 0; 0, -60]
- DstBlock "\n\n\n\n\n\n\n\n"
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- Branch {
- ZOrder 194
- Points [76, 0]
- Branch {
- ZOrder 196
- DstBlock "\n\n\n\n\n\n\n"
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- }
- Branch {
- ZOrder 192
- Points [0, -75; 401, 0]
- Branch {
- ZOrder 201
- Points [0, -45]
- DstBlock "Demux3"
- DstPort 1
+ Block {
+ BlockType Scope
+ Name "Scope5"
+ SID "845"
+ Ports [1]
+ Position [295, 359, 325, 391]
+ ZOrder 40
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData6
+ YMin -1.00000
+ YMax 1.00000
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
}
- Branch {
- ZOrder 200
- DstBlock "B_vo"
- DstPort 1
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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|none|none|none"
}
+ Location [306 114 866 534]
}
- }
- }
- }
- }
- Block {
- BlockType SubSystem
- Name " "
- SID "601"
- Ports [6, 3]
- Position [1445, 477, 1665, 713]
- ZOrder 68
- RequestExecContextInheritance off
- Variant off
- Object {
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- $ObjectID 31
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
- "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
- "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
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- "l('output', 3, 'Current Position', 'texmode', 'on');\ndisp('Sensors', 'texmode', 'on'); "
- }
- System {
- Name " "
- Location [-8, -8, 1928, 1048]
- 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 "80"
- Block {
- BlockType Inport
- Name "B_Omega"
- SID "863"
- Position [1015, 678, 1045, 692]
- ZOrder 265
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "euler_angles"
- SID "864"
- Position [1720, 1043, 1750, 1057]
- ZOrder 266
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
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- SID "865"
- Position [1015, 613, 1045, 627]
- ZOrder 267
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "E_ro"
- SID "866"
- Position [1720, 963, 1750, 977]
- ZOrder 268
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_vo_dot"
- SID "867"
- Position [1015, 548, 1045, 562]
- ZOrder 269
- Port "5"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_g"
- SID "868"
- Position [1015, 743, 1045, 757]
- ZOrder 273
- Port "6"
- IconDisplay "Port number"
- }
- Block {
- BlockType SubSystem
- Name "\n\n\n\n\n\n\n\n"
- SID "869"
- Ports [4, 1]
- Position [2025, 483, 2210, 782]
- ZOrder 274
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
- RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
- Variant off
- Object {
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- $ObjectID 32
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('input', 2, '\\phi_{accel}'"
- ", 'texmode', 'on');\nport_label('input', 3, 'd\\Theta_{IMU}/dt', 'texmode', 'on');\nport_label('input', 4, '\\The"
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- }
- System {
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- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
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- TiledPageScale 1
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Block {
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- Name "accel_pitch"
- SID "869::1"
- Position [20, 101, 40, 119]
- ZOrder -1
- IconDisplay "Port number"
+ BlockType Sum
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+ SID "666"
+ Ports [2, 1]
+ Position [715, 285, 735, 305]
+ ZOrder 7
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
}
Block {
- BlockType Inport
- Name "accel_roll"
- SID "869::29"
- Position [20, 136, 40, 154]
- ZOrder 20
- Port "2"
- IconDisplay "Port number"
+ BlockType Sum
+ Name "Sum1"
+ SID "667"
+ Ports [2, 1]
+ Position [715, 200, 735, 220]
+ ZOrder 8
+ ShowName off
+ IconShape "round"
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+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
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Block {
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- SID "869::22"
- Position [20, 171, 40, 189]
- ZOrder 13
- Port "3"
- IconDisplay "Port number"
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+ ZOrder 11
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
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}
Block {
- BlockType Inport
- Name "prev_euler_angles_IMU"
- SID "869::28"
- Position [20, 206, 40, 224]
- ZOrder 19
- Port "4"
- IconDisplay "Port number"
+ BlockType Sum
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+ Ports [2, 1]
+ Position [625, 200, 645, 220]
+ ZOrder 12
+ ShowName off
+ IconShape "round"
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+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
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}
Block {
- BlockType Demux
- Name " Demux "
- SID "869::20"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 11
- Outputs "1"
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+ SID "670"
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+ ZOrder 2
+ Mean "zeros(3,1)"
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}
Block {
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- SFunctionDeploymentMode off
- EnableBusSupport on
- Port {
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- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
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+ ForegroundColor "red"
+ QuantizationInterval "2.4400e-04"
}
Block {
- BlockType Terminator
- Name " Terminator "
- SID "869::21"
- Position [460, 241, 480, 259]
- ZOrder 12
+ BlockType ZeroOrderHold
+ Name "accelerometer_sampling"
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+ Position [510, 195, 545, 225]
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}
Block {
- BlockType Outport
- Name "euler_angles_IMU"
- SID "869::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
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+ ZOrder 6
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- DstBlock " SFunction "
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+ BlockType Quantizer
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+ Position [1030, 280, 1060, 310]
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+ ForegroundColor "red"
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}
- Line {
- ZOrder 2
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- DstBlock " SFunction "
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+ ForegroundColor "red"
+ IconDisplay "Port number"
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+ ForegroundColor "red"
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+ IconDisplay "Port number"
}
Line {
ZOrder 3
- SrcBlock "euler_angles_gyro"
+ SrcBlock "accelerometer_noise"
SrcPort 1
- DstBlock " SFunction "
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}
Line {
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+ SrcBlock "Sum2"
SrcPort 1
- DstBlock " SFunction "
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+ Points [0, 75]
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+ Points [30, 0]
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+ Branch {
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+ DstBlock "Discrete-Time\nIntegrator2"
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+ Points [48, 0]
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+ Points [0, 125]
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+ Branch {
+ ZOrder 49
+ DstBlock "\n\n\n\n\n\n\n"
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+ Line {
+ ZOrder 18
+ SrcBlock "B_g"
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+ DstBlock "\n\n\n\n\n\n\n"
DstPort 4
}
Line {
- Name "euler_angles_IMU"
- ZOrder 5
- Labels [0, 0]
- SrcBlock " SFunction "
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+ SrcBlock "r_oc"
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+ DstBlock "\n\n\n\n\n\n\n"
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+ SrcBlock "\n\n\n\n\n\n\n"
SrcPort 2
- DstBlock "euler_angles_IMU"
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}
Line {
- ZOrder 6
- SrcBlock " Demux "
+ ZOrder 31
+ SrcBlock "\n\n\n\n\n\n\n"
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- DstBlock " Terminator "
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DstPort 1
}
Line {
- ZOrder 7
- SrcBlock " SFunction "
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- DstBlock " Demux "
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}
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BlockType SubSystem
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- SID "870"
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- Position [1145, 520, 1340, 785]
- ZOrder 272
+ Name "MATLAB Function"
+ SID "1389"
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+ Position [1885, 897, 2075, 1113]
+ ZOrder 343
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RequestExecContextInheritance off
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- Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode'"
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System {
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- Location [-8, -8, 1928, 1048]
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+ Location [223, 338, 826, 833]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -3631,564 +3813,4221 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
+ SIDHighWatermark "23"
Block {
BlockType Inport
- Name "B_vo_dot"
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- ZOrder 17
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IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "B_vo"
- SID "872"
- Position [110, 208, 140, 222]
- ZOrder 25
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+ SID "1389::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
Port "2"
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "B_Omega"
- SID "873"
- Position [110, 243, 140, 257]
- ZOrder 26
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+ SID "1389::23"
+ Position [20, 171, 40, 189]
+ ZOrder 14
Port "3"
IconDisplay "Port number"
}
Block {
- BlockType Inport
- Name "B_g"
- SID "874"
- Position [110, 278, 140, 292]
- ZOrder 27
- Port "4"
- IconDisplay "Port number"
+ BlockType Demux
+ Name " Demux "
+ SID "1389::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
}
Block {
- BlockType SubSystem
- Name "\n\n\n\n\n\n\n"
- SID "875"
- Ports [5, 2]
- Position [250, 165, 445, 335]
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- Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode', 'on'"
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- Block {
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Block {
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Block {
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- ShowName off
- IconShape "round"
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- QuantizationInterval "2.4400e-04"
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}
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- SrcBlock "B_vo"
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+ SrcBlock "P"
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+ DstBlock "ESC System"
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+ SrcBlock "Gravity\n\n"
+ SrcPort 1
+ Points [86, 0]
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+ Points [58, 0]
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+ Points [0, 210; -473, 0; 0, -105]
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+ DstBlock "Rotor System\n\n\n\n\n\n\n\n"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 291
+ Points [0, -110]
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+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Communication System"
+ SID "582"
+ Ports [0, 1]
+ Position [515, 432, 570, 478]
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+ Object {
+ $PropName "MaskObject"
+ $ObjectID 50
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+ Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
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+ System {
+ Name "Communication System"
+ Location [-8, -8, 1928, 1048]
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+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
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+ ZoomFactor "175"
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+ Name "Step"
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+ Position [925, 390, 955, 420]
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+ After "[0; 0; 0; 0]"
+ SampleTime "Tq"
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+ Block {
+ BlockType Outport
+ Name "setpoints"
+ SID "584"
+ Position [1050, 398, 1080, 412]
+ ZOrder 6
+ IconDisplay "Port number"
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+ Line {
+ ZOrder 1
+ SrcBlock "Step"
+ SrcPort 1
+ DstBlock "setpoints"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Control System"
+ SID "573"
+ Ports [4, 1]
+ Position [645, 423, 900, 652]
+ ZOrder 69
+ ShowName off
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 51
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+ Display "port_label('input', 1, 'Setpoints', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{filtered}', 'texmo"
+ "de', 'on');\nport_label('input', 3, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmo"
+ "de', 'on');\nport_label('output', 1, 'P', 'texmode', 'on');\ndisp('Control System', 'texmode', 'on');"
+ }
+ System {
+ Name "Control System"
+ Location [-8, -8, 1928, 1048]
+ Open off
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+ ScreenColor "white"
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+ PaperType "usletter"
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+ ShowPageBoundaries off
+ ZoomFactor "80"
+ Block {
+ BlockType Inport
+ Name "setpoints"
+ SID "574"
+ Position [215, 363, 245, 377]
+ ZOrder 2
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "euler_angles_filtered"
+ SID "575"
+ Position [215, 523, 245, 537]
+ ZOrder 9
+ Port "2"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "euler_rates"
+ SID "576"
+ Position [215, 598, 245, 612]
+ ZOrder 11
+ Port "3"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "current_position"
+ SID "577"
+ Position [215, 448, 245, 462]
+ ZOrder -1
+ Port "4"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Constant
+ Name "Constant"
+ SID "919"
+ Position [275, 1020, 305, 1050]
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+ Value "Tc"
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Block {
BlockType SubSystem
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
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- Ports [2, 1]
- Position [1470, 689, 1885, 811]
- ZOrder 275
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
+ Name "Controller"
+ SID "604"
+ Ports [13, 4]
+ Position [395, 315, 530, 645]
+ ZOrder 31
RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
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$PropName "MaskObject"
- $ObjectID 35
+ $ObjectID 52
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+ Display "port_label('input', 1, '^{E}r_{x,setpoint}', 'texmode', 'on');\nport_label('input', 2, '^{E}r_{y,se"
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System {
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- Location [223, 338, 826, 833]
+ Name "Controller"
+ Location [-8, -8, 1928, 1048]
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ModelBrowserVisibility off
ModelBrowserWidth 200
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TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
- SIDHighWatermark "25"
+ ZoomFactor "300"
Block {
BlockType Inport
- Name "gyro_reading"
- SID "892::1"
- Position [20, 101, 40, 119]
+ Name "x_setpoint"
+ SID "605"
+ Position [475, -217, 505, -203]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "euler_angles_IMU"
- SID "892::22"
- Position [20, 136, 40, 154]
- ZOrder 13
+ Name "y_setpoint"
+ SID "607"
+ Position [475, -477, 505, -463]
+ ZOrder 45
+ ForegroundColor "gray"
Port "2"
IconDisplay "Port number"
}
Block {
- BlockType Demux
- Name " Demux "
- SID "892::24"
+ BlockType Inport
+ Name "z_setpoint"
+ SID "608"
+ Position [475, -717, 505, -703]
+ ZOrder 46
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "yaw_setpoint"
+ SID "632"
+ Position [475, 53, 505, 67]
+ ZOrder 103
+ ForegroundColor "gray"
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "x_position"
+ SID "622"
+ Position [545, -172, 575, -158]
+ ZOrder 60
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "y_position"
+ SID "623"
+ Position [540, -432, 570, -418]
+ ZOrder 61
+ Port "6"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "z_position"
+ SID "624"
+ Position [555, -662, 585, -648]
+ ZOrder 62
+ Port "7"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "roll"
+ SID "630"
+ Position [835, -432, 865, -418]
+ ZOrder 68
+ Port "8"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "pitch"
+ SID "631"
+ Position [840, -172, 870, -158]
+ ZOrder 69
+ Port "9"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "yaw"
+ SID "649"
+ Position [560, 98, 590, 112]
+ ZOrder 105
+ Port "10"
+ IconDisplay "Port number"
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+ BlockType Inport
+ Name "roll_rate"
+ SID "633"
+ Position [1095, -432, 1125, -418]
+ ZOrder 71
+ Port "11"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
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+ ZOrder 72
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+ BlockType Inport
+ Name "yaw_rate"
+ SID "635"
+ Position [820, 118, 850, 132]
+ ZOrder 73
+ Port "13"
+ IconDisplay "Port number"
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+ BlockType SubSystem
+ Name "Altitude Controller Input"
+ SID "1177"
+ Ports [1, 1]
+ Position [685, -727, 750, -693]
+ ZOrder 292
+ ForegroundColor "magenta"
+ ShowName off
+ RequestExecContextInheritance off
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+ Object {
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+ $ObjectID 53
+ $ClassName "Simulink.Mask"
+ Display "disp('^Ez_{y,error}', 'texmode', 'on');"
+ }
+ System {
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+ Location [-7, -7, 1288, 688]
+ Open off
+ ModelBrowserVisibility off
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+ Name "z_error_model"
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+ VariantControl "logAnalysisToggle==0"
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+ Display "disp('Feedback', 'texmode', 'on');"
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+ PGainOutDataTypeStr "Inherit: Inherit via internal rule"
+ PProdOutDataTypeStr "Inherit: Inherit via internal rule"
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+ IOutMax "[]"
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+ KtOutDataTypeStr "Inherit: Inherit via internal rule"
+ IntegratorOutMin "[]"
+ IntegratorOutMax "[]"
+ IntegratorOutDataTypeStr "Inherit: Inherit via internal rule"
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+ FilterOutDataTypeStr "Inherit: Inherit via internal rule"
+ SumOutMin "[]"
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+ SumI1OutMin "[]"
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+ SumI2OutMax "[]"
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+ SumI3OutDataTypeStr "Inherit: Inherit via internal rule"
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+ SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
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+ SaturationOutMax "[]"
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+ IntegratorContinuousStateAttributes "''"
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+ FilterContinuousStateAttributes "''"
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+ FilterRTWStateStorageClass "Auto"
+ DifferentiatorICPrevScaledInput "0"
+ DifferentiatorOutMin "[]"
+ DifferentiatorOutMax "[]"
+ DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule"
+ }
+ Block {
+ BlockType Reference
+ Name "PID Controller17"
+ SID "1352"
+ Ports [1, 1]
+ Position [790, -728, 830, -692]
+ ZOrder 310
+ LibraryVersion "1.388"
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+ ContentPreviewEnabled off
+ Controller "PID"
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+ SampleTime "Tc"
+ IntegratorMethod "Forward Euler"
+ FilterMethod "Forward Euler"
+ Form "Parallel"
+ UseFilter off
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+ P "9804"
+ I "817"
+ D "7353"
+ N "5.79502261645411"
+ InitialConditionSource "internal"
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+ InitialConditionForFilter "0"
+ ExternalReset "none"
+ IgnoreLimit off
+ ZeroCross on
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ LinearizeAsGain on
+ AntiWindupMode "none"
+ Kb "1"
+ TrackingMode off
+ Kt "1"
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LockScale off
+ PParamMin "[]"
+ PParamMax "[]"
+ PParamDataTypeStr "Inherit: Inherit via internal rule"
+ IParamMin "[]"
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+ IParamDataTypeStr "Inherit: Inherit via internal rule"
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+ SaturationOutMin "[]"
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+ IntegratorContinuousStateAttributes "''"
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+ DifferentiatorICPrevScaledInput "0"
+ DifferentiatorOutMin "[]"
+ DifferentiatorOutMax "[]"
+ DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule"
+ }
+ Block {
+ BlockType Reference
+ Name "PID Controller2"
+ SID "1424"
Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 15
- Outputs "1"
+ Position [1045, -488, 1085, -452]
+ ZOrder 326
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+ SourceType "PID 1dof"
+ ContentPreviewEnabled off
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+ TimeDomain "Discrete-time"
+ SampleTime "Tq"
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+ FilterMethod "Forward Euler"
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+ UseFilter off
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+ IgnoreLimit off
+ ZeroCross on
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ LinearizeAsGain on
+ AntiWindupMode "none"
+ Kb "1"
+ TrackingMode off
+ Kt "1"
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LockScale off
+ PParamMin "[]"
+ PParamMax "[]"
+ PParamDataTypeStr "Inherit: Inherit via internal rule"
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+ SumAccumDataTypeStr "Inherit: Inherit via internal rule"
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+ SumI3AccumDataTypeStr "Inherit: Inherit via internal rule"
+ SumDAccumDataTypeStr "Inherit: Inherit via internal rule"
+ SaturationOutMin "[]"
+ SaturationOutMax "[]"
+ SaturationOutDataTypeStr "Inherit: Same as input"
+ IntegratorContinuousStateAttributes "''"
+ IntegratorStateMustResolveToSignalObject off
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+ FilterContinuousStateAttributes "''"
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+ FilterRTWStateStorageClass "Auto"
+ DifferentiatorICPrevScaledInput "0"
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}
Block {
- BlockType S-Function
- Name " SFunction "
- SID "892::23"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 12"
- Ports [2, 2]
- Position [180, 100, 230, 160]
- ZOrder 14
- FunctionName "sf_sfun"
- PortCounts "[2 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
- Port {
- PortNumber 2
- Name "euler_rates_IMU"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
+ BlockType Reference
+ Name "PID Controller3"
+ SID "1423"
+ Ports [1, 1]
+ Position [1295, -488, 1335, -452]
+ ZOrder 325
+ LibraryVersion "1.388"
+ SourceBlock "simulink/Continuous/PID Controller"
+ SourceType "PID 1dof"
+ ContentPreviewEnabled off
+ Controller "PD"
+ TimeDomain "Discrete-time"
+ SampleTime "Tq"
+ IntegratorMethod "Forward Euler"
+ FilterMethod "Forward Euler"
+ Form "Parallel"
+ UseFilter off
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+ IgnoreLimit off
+ ZeroCross on
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ LinearizeAsGain on
+ AntiWindupMode "none"
+ Kb "1"
+ TrackingMode off
+ Kt "1"
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LockScale off
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+ SumI3OutDataTypeStr "Inherit: Inherit via internal rule"
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+ SaturationOutMin "[]"
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}
Block {
- BlockType Terminator
- Name " Terminator "
- SID "892::25"
- Position [460, 241, 480, 259]
- ZOrder 16
+ BlockType Reference
+ Name "PID Controller4"
+ SID "1354"
+ Ports [1, 1]
+ Position [790, 42, 830, 78]
+ ZOrder 312
+ LibraryVersion "1.388"
+ SourceBlock "simulink/Continuous/PID Controller"
+ SourceType "PID 1dof"
+ ContentPreviewEnabled off
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+ TimeDomain "Discrete-time"
+ SampleTime "Tc"
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+ FilterMethod "Forward Euler"
+ Form "Parallel"
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+ IgnoreLimit off
+ ZeroCross on
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ LinearizeAsGain on
+ AntiWindupMode "none"
+ Kb "1"
+ TrackingMode off
+ Kt "1"
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LockScale off
+ PParamMin "[]"
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+ SaturationOutMin "[]"
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+ SaturationOutDataTypeStr "Inherit: Same as input"
+ IntegratorContinuousStateAttributes "''"
+ IntegratorStateMustResolveToSignalObject off
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+ FilterRTWStateStorageClass "Auto"
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}
Block {
- BlockType Outport
- Name "euler_rates_IMU"
- SID "892::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
+ BlockType Reference
+ Name "PID Controller5"
+ SID "1368"
+ Ports [1, 1]
+ Position [1045, -228, 1085, -192]
+ ZOrder 319
+ LibraryVersion "1.388"
+ SourceBlock "simulink/Continuous/PID Controller"
+ SourceType "PID 1dof"
+ ContentPreviewEnabled off
+ Controller "PD"
+ TimeDomain "Discrete-time"
+ SampleTime "Tq"
+ IntegratorMethod "Forward Euler"
+ FilterMethod "Forward Euler"
+ Form "Parallel"
+ UseFilter off
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+ InitialConditionForFilter "0"
+ ExternalReset "none"
+ IgnoreLimit off
+ ZeroCross on
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ LinearizeAsGain on
+ AntiWindupMode "none"
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- Position [755, 94, 795, 136]
- ZOrder -13
- NamePlacement "alternate"
- OutPortSampleTime "0.06"
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+ ZOrder 784
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+ DstPort 1
}
- Block {
- BlockType RateTransition
- Name "Rate Transition1"
- SID "925"
- Position [735, 210, 770, 250]
- ZOrder -14
- OutPortSampleTime "0.06"
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+ ZOrder 810
+ SrcBlock "yaw_rate"
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+ Points [25, 0]
+ Branch {
+ ZOrder 822
+ Points [0, 25]
+ DstBlock "Gain1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 821
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}
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- Name "VR Sink"
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- Position [865, 76, 1055, 234]
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- RemoteView off
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- WorldFileName "quadrotor_world_ucart.wrl"
- AutoView on
- VideoDimensions "[]"
- AllowVariableSize off
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+ ZOrder 806
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "Scope1"
+ DstPort 1
}
Line {
- ZOrder 1
- SrcBlock "Displacement"
+ ZOrder 1501
+ SrcBlock "PID Controller4"
SrcPort 1
- DstBlock "Demux"
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+ Branch {
+ ZOrder 1591
+ DstBlock "Sum2"
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+ Branch {
+ ZOrder 1590
+ Points [0, -65]
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+ DstPort 1
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+ Line {
+ ZOrder 34
+ SrcBlock "z_position"
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+ Points [30, 0]
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+ ZOrder 108
+ Points [0, 30]
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+ ZOrder 849
+ DstBlock "To Workspace12"
+ DstPort 1
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+ Branch {
+ ZOrder 848
+ Points [0, 50]
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+ Branch {
+ ZOrder 107
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+ }
+ Line {
+ ZOrder 1163
+ SrcBlock "Sum1"
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+ DstBlock "Yaw Controller Input"
DstPort 1
}
Line {
- ZOrder 2
- SrcBlock "Bus\nCreator2"
+ ZOrder 1500
+ SrcBlock "Yaw Controller Input"
SrcPort 1
- DstBlock "Bus\nSelector"
+ DstBlock "PID Controller4"
DstPort 1
}
Line {
- ZOrder 3
- SrcBlock "Demux"
+ ZOrder 1190
+ SrcBlock "Sum2"
SrcPort 1
- Points [40, 0; 0, 40; 120, 0]
- DstBlock "Bus\nCreator1"
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+ DstBlock "Yaw Rate Controller Input"
+ DstPort 1
}
Line {
- ZOrder 4
- SrcBlock "Gain"
+ ZOrder 1608
+ SrcBlock "Yaw Rate Controller Input"
SrcPort 1
- Points [5, 0; 0, -25]
- DstBlock "Bus\nCreator1"
- DstPort 2
+ DstBlock "PID Controller1"
+ DstPort 1
}
Line {
- ZOrder 5
- SrcBlock "Gain2"
+ ZOrder 1194
+ SrcBlock "Sum5"
SrcPort 1
- DstBlock "Bus\nCreator1"
+ DstBlock "Latitude Controller Input"
DstPort 1
}
Line {
- ZOrder 6
- SrcBlock "Rate Transition1"
+ ZOrder 1195
+ SrcBlock "Sum3"
SrcPort 1
- Points [35, 0; 0, -35]
- DstBlock "VR Sink"
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+ DstBlock "Pitch Controller Input"
+ DstPort 1
}
Line {
- ZOrder 7
- SrcBlock "Rate Transition"
+ ZOrder 1612
+ SrcBlock "Pitch Controller Input"
SrcPort 1
- DstBlock "VR Sink"
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}
Line {
- ZOrder 8
- SrcBlock "Demux"
- SrcPort 3
- DstBlock "Gain"
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+ SrcBlock "Sum4"
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+ DstBlock "Pitch Rate Controller Input"
DstPort 1
}
Line {
- ZOrder 9
- SrcBlock "Demux"
- SrcPort 2
- Points [80, 0]
- DstBlock "Gain2"
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+ SrcBlock "Pitch Rate Controller Input"
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+ DstBlock "PID Controller9"
DstPort 1
}
Line {
- ZOrder 10
- SrcBlock "Bus\nCreator1"
+ ZOrder 1199
+ SrcBlock "Sum11"
SrcPort 1
- DstBlock "Gain1"
+ DstBlock "Longitude Controller Input"
DstPort 1
}
Line {
- Name "<phi>"
- ZOrder 11
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
+ ZOrder 1617
+ SrcBlock "Longitude Controller Input"
SrcPort 1
- Points [0, -10; 45, 0; 0, 60]
- DstBlock "Bus\nCreator"
- DstPort 3
+ DstBlock "PID Controller7"
+ DstPort 1
}
Line {
- Name "<psi>"
- ZOrder 12
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 3
- Points [0, -10; 75, 0]
- DstBlock "Bus\nCreator"
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+ ZOrder 1201
+ SrcBlock "Sum9"
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+ DstBlock "Roll Controller Input"
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}
Line {
- Name "<theta>"
- ZOrder 13
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 2
- Points [30, 0; 0, -25]
- DstBlock "Bus\nCreator"
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+ SrcBlock "Roll Controller Input"
+ SrcPort 1
+ DstBlock "PID Controller2"
DstPort 1
}
Line {
- ZOrder 14
- SrcBlock "Gain1"
+ ZOrder 1204
+ SrcBlock "Sum10"
SrcPort 1
- DstBlock "Rate Transition1"
+ DstBlock "Roll Rate Controller Input"
DstPort 1
}
Line {
- Name "psi"
- ZOrder 15
- Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 3
- DstBlock "Bus\nCreator2"
- DstPort 3
+ ZOrder 1502
+ SrcBlock "Altitude Controller Input"
+ SrcPort 1
+ DstBlock "PID Controller17"
+ DstPort 1
}
Line {
- Name "theta"
- ZOrder 16
- Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Bus\nCreator2"
- DstPort 2
+ ZOrder 1210
+ SrcBlock "Sum7"
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+ DstBlock "Altitude Controller Input"
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}
Line {
- Name "phi"
- ZOrder 17
- Labels [0, 0]
- SrcBlock "Demux1"
+ ZOrder 1763
+ SrcBlock "Roll Rate Controller Input"
SrcPort 1
- DstBlock "Bus\nCreator2"
+ DstBlock "PID Controller3"
DstPort 1
}
Line {
- ZOrder 18
- SrcBlock "Euler Angles"
+ ZOrder 1762
+ SrcBlock "PID Controller3"
SrcPort 1
- DstBlock "Demux1"
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+ ZOrder 1602
+ Points [0, -60]
+ DstBlock "To Workspace5"
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+ }
+ Branch {
+ ZOrder 1601
+ DstBlock "Saturation2"
+ DstPort 1
+ }
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+ Line {
+ ZOrder 1701
+ SrcBlock "Saturation2"
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+ DstBlock "y_controlled"
DstPort 1
}
Line {
- ZOrder 19
- SrcBlock "Bus\nCreator"
+ ZOrder 1716
+ SrcBlock "Saturation1"
SrcPort 1
- DstBlock "MATLAB Function"
+ DstBlock "x_controlled"
DstPort 1
}
Line {
- ZOrder 20
- SrcBlock "MATLAB Function"
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+ SrcBlock "Saturation"
SrcPort 1
- DstBlock "Rate Transition"
+ DstBlock "yaw_controlled"
DstPort 1
}
}
}
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+ BlockType Reference
+ Name "Counter\nFree-Running"
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+ Name "Demux"
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+ Position [300, 494, 305, 566]
+ ZOrder 32
+ ShowName off
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+ Block {
+ BlockType Demux
+ Name "Demux2"
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+ Ports [1, 3]
+ Position [285, 419, 290, 491]
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+ Position [1650, 511, 1655, 549]
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+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "640"
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+ Position [275, 569, 280, 641]
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Block {
BlockType SubSystem
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RequestExecContextInheritance off
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}
System {
- Name "3D Graphical Simulation1"
- Location [-8, -8, 1928, 1048]
+ Name "MATLAB Function1"
+ Location [223, 338, 826, 833]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
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TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "80"
+ ZoomFactor "100"
+ SIDHighWatermark "41"
Block {
BlockType Inport
- Name "Euler Angles\n"
- SID "937"
- Position [180, 108, 210, 122]
+ Name "set_x"
+ SID "887::1"
+ Position [20, 101, 40, 119]
ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "Displacement"
- SID "938"
- Position [180, 218, 210, 232]
- ZOrder -2
+ Name "set_y"
+ SID "887::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
Port "2"
IconDisplay "Port number"
}
Block {
- BlockType BusCreator
- Name "Bus\nCreator"
- SID "939"
- Ports [3, 1]
- Position [600, 76, 610, 154]
- ZOrder -3
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- InheritFromInputs on
+ BlockType Inport
+ Name "set_z"
+ SID "887::23"
+ Position [20, 171, 40, 189]
+ ZOrder 14
+ Port "3"
+ IconDisplay "Port number"
}
Block {
- BlockType BusCreator
- Name "Bus\nCreator1"
- SID "940"
- Ports [3, 1]
- Position [630, 191, 640, 269]
- ZOrder -4
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- InheritFromInputs on
+ BlockType Inport
+ Name "set_yaw"
+ SID "887::24"
+ Position [20, 206, 40, 224]
+ ZOrder 15
+ Port "4"
+ IconDisplay "Port number"
}
Block {
- BlockType BusCreator
- Name "Bus\nCreator2"
- SID "941"
- Ports [3, 1]
- Position [385, 75, 390, 155]
- ZOrder -5
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- InheritFromInputs on
+ BlockType Inport
+ Name "cur_x"
+ SID "887::25"
+ Position [20, 246, 40, 264]
+ ZOrder 16
+ Port "5"
+ IconDisplay "Port number"
}
Block {
- BlockType BusSelector
- Name "Bus\nSelector"
- SID "942"
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- Position [500, 77, 505, 153]
- ZOrder -6
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- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "<psi>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
+ BlockType Inport
+ Name "cur_y"
+ SID "887::26"
+ Position [20, 281, 40, 299]
+ ZOrder 17
+ Port "6"
+ IconDisplay "Port number"
}
Block {
- BlockType Demux
- Name "Demux"
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- Ports [1, 3]
- Position [440, 183, 450, 267]
- ZOrder -7
- BackgroundColor "black"
- ShowName off
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+ BlockType Inport
+ Name "cur_z"
+ SID "887::27"
+ Position [20, 316, 40, 334]
+ ZOrder 18
+ Port "7"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_phi"
+ SID "887::28"
+ Position [20, 351, 40, 369]
+ ZOrder 19
+ Port "8"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_theta"
+ SID "887::29"
+ Position [20, 386, 40, 404]
+ ZOrder 20
+ Port "9"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "cur_psi"
+ SID "887::30"
+ Position [20, 426, 40, 444]
+ ZOrder 21
+ Port "10"
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "cur_phi_d"
+ SID "887::31"
+ Position [20, 461, 40, 479]
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+ IconDisplay "Port number"
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+ Position [20, 496, 40, 514]
+ ZOrder 23
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+ IconDisplay "Port number"
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+ Block {
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+ Position [20, 531, 40, 549]
+ ZOrder 24
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+ IconDisplay "Port number"
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+ Name "vrpn_id"
+ SID "887::37"
+ Position [20, 566, 40, 584]
+ ZOrder 28
+ Port "14"
+ IconDisplay "Port number"
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+ BlockType Inport
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+ SID "887::41"
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}
Block {
BlockType Demux
- Name "Demux1"
- SID "944"
- Ports [1, 3]
- Position [290, 75, 295, 155]
- ZOrder -8
- ShowName off
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+ Name " Demux "
+ SID "887::20"
+ Ports [1, 1]
+ Position [270, 350, 320, 390]
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+ Outputs "1"
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+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "887::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 15"
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+ Position [180, 110, 230, 430]
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+ DataLoggingNameMode "SignalName"
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Port {
- PortNumber 1
- Name "phi"
+ PortNumber 3
+ Name "y_cor"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
- PortNumber 2
- Name "theta"
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RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
- PortNumber 3
- Name "psi"
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+ RTWStorageClass "Auto"
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+ Port {
+ PortNumber 6
+ Name "pid_y_out"
+ RTWStorageClass "Auto"
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+ Port {
+ PortNumber 7
+ Name "pid_roll_out"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
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Block {
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Block {
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+ SID "887::34"
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}
Block {
- BlockType SubSystem
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- Block {
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- Line {
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+ SID "887::35"
+ Position [460, 171, 480, 189]
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}
Block {
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- SID "949"
- Position [755, 94, 795, 136]
- ZOrder -13
- NamePlacement "alternate"
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+ BlockType Outport
+ Name "yaw_corr"
+ SID "887::36"
+ Position [460, 206, 480, 224]
+ ZOrder 27
+ Port "4"
+ IconDisplay "Port number"
}
Block {
- BlockType RateTransition
- Name "Rate Transition1"
- SID "950"
- Position [735, 210, 770, 250]
- ZOrder -14
- OutPortSampleTime "0.06"
+ BlockType Outport
+ Name "pid_y_out"
+ SID "887::38"
+ Position [460, 246, 480, 264]
+ ZOrder 29
+ Port "5"
+ IconDisplay "Port number"
}
Block {
- BlockType Reference
- Name "VR Sink"
- SID "951"
- Ports [2]
- Position [865, 76, 1055, 234]
- ZOrder -15
- LibraryVersion "1.36"
- SourceBlock "vrlib/VR Sink"
- SourceType "Virtual Reality Sink"
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- SampleTime "-1"
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- 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
+ BlockType Outport
+ Name "pid_roll_out"
+ SID "887::39"
+ Position [460, 281, 480, 299]
+ ZOrder 30
+ Port "6"
+ IconDisplay "Port number"
}
Line {
- ZOrder 2
- SrcBlock "Bus\nCreator2"
+ ZOrder 319
+ SrcBlock "set_x"
SrcPort 1
- DstBlock "Bus\nSelector"
+ DstBlock " SFunction "
DstPort 1
}
Line {
- ZOrder 3
- SrcBlock "Demux"
+ ZOrder 320
+ SrcBlock "set_y"
SrcPort 1
- Points [40, 0; 0, 40; 120, 0]
- DstBlock "Bus\nCreator1"
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 321
+ SrcBlock "set_z"
+ SrcPort 1
+ DstBlock " SFunction "
DstPort 3
}
Line {
- ZOrder 4
- SrcBlock "Gain"
+ ZOrder 322
+ SrcBlock "set_yaw"
SrcPort 1
- Points [5, 0; 0, -25]
- DstBlock "Bus\nCreator1"
- DstPort 2
+ DstBlock " SFunction "
+ DstPort 4
}
Line {
- ZOrder 5
- SrcBlock "Gain2"
+ ZOrder 323
+ SrcBlock "cur_x"
SrcPort 1
- DstBlock "Bus\nCreator1"
- DstPort 1
+ DstBlock " SFunction "
+ DstPort 5
}
Line {
- ZOrder 6
- SrcBlock "Rate Transition1"
+ ZOrder 324
+ SrcBlock "cur_y"
SrcPort 1
- Points [35, 0; 0, -35]
- DstBlock "VR Sink"
- DstPort 2
+ DstBlock " SFunction "
+ DstPort 6
}
Line {
- ZOrder 7
- SrcBlock "Rate Transition"
+ ZOrder 325
+ SrcBlock "cur_z"
SrcPort 1
- DstBlock "VR Sink"
- DstPort 1
+ DstBlock " SFunction "
+ DstPort 7
+ }
+ Line {
+ ZOrder 326
+ SrcBlock "cur_phi"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 8
+ }
+ Line {
+ ZOrder 327
+ SrcBlock "cur_theta"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 9
+ }
+ Line {
+ ZOrder 328
+ SrcBlock "cur_psi"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 10
}
Line {
- ZOrder 8
- SrcBlock "Demux"
- SrcPort 3
- DstBlock "Gain"
- DstPort 1
+ ZOrder 329
+ SrcBlock "cur_phi_d"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 11
}
Line {
- ZOrder 9
- SrcBlock "Demux"
- SrcPort 2
- Points [80, 0]
- DstBlock "Gain2"
- DstPort 1
+ ZOrder 330
+ SrcBlock "cur_theta_d"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 12
}
Line {
- ZOrder 10
- SrcBlock "Bus\nCreator1"
+ ZOrder 331
+ SrcBlock "cur_psi_d"
SrcPort 1
- DstBlock "Gain1"
- DstPort 1
+ DstBlock " SFunction "
+ DstPort 13
}
Line {
- Name "<phi>"
- ZOrder 11
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
+ ZOrder 332
+ SrcBlock "vrpn_id"
SrcPort 1
- Points [0, -10; 45, 0; 0, 60]
- DstBlock "Bus\nCreator"
- DstPort 3
+ DstBlock " SFunction "
+ DstPort 14
}
Line {
- Name "<psi>"
- ZOrder 12
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 3
- Points [0, -10; 75, 0]
- DstBlock "Bus\nCreator"
- DstPort 2
+ ZOrder 333
+ SrcBlock "Tc"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 15
}
Line {
- Name "<theta>"
- ZOrder 13
+ Name "z_corr"
+ ZOrder 334
Labels [0, 0]
- SrcBlock "Bus\nSelector"
+ SrcBlock " SFunction "
SrcPort 2
- Points [30, 0; 0, -25]
- DstBlock "Bus\nCreator"
- DstPort 1
- }
- Line {
- ZOrder 14
- SrcBlock "Gain1"
- SrcPort 1
- DstBlock "Rate Transition1"
+ DstBlock "z_corr"
DstPort 1
}
Line {
- Name "psi"
- ZOrder 15
+ Name "y_cor"
+ ZOrder 335
Labels [0, 0]
- SrcBlock "Demux1"
+ SrcBlock " SFunction "
SrcPort 3
- DstBlock "Bus\nCreator2"
- DstPort 3
+ DstBlock "y_cor"
+ DstPort 1
}
Line {
- Name "theta"
- ZOrder 16
+ Name "x_corr"
+ ZOrder 336
Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Bus\nCreator2"
- DstPort 2
+ SrcBlock " SFunction "
+ SrcPort 4
+ DstBlock "x_corr"
+ DstPort 1
}
Line {
- Name "phi"
- ZOrder 17
+ Name "yaw_corr"
+ ZOrder 337
Labels [0, 0]
- SrcBlock "Demux1"
- SrcPort 1
- DstBlock "Bus\nCreator2"
+ SrcBlock " SFunction "
+ SrcPort 5
+ DstBlock "yaw_corr"
DstPort 1
}
Line {
- ZOrder 19
- SrcBlock "Bus\nCreator"
- SrcPort 1
- DstBlock "MATLAB Function"
+ Name "pid_y_out"
+ ZOrder 338
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 6
+ DstBlock "pid_y_out"
DstPort 1
}
Line {
- ZOrder 20
- SrcBlock "MATLAB Function"
- SrcPort 1
- DstBlock "Rate Transition"
+ Name "pid_roll_out"
+ ZOrder 339
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 7
+ DstBlock "pid_roll_out"
DstPort 1
}
Line {
- ZOrder 21
- SrcBlock "Displacement"
+ ZOrder 340
+ SrcBlock " Demux "
SrcPort 1
- DstBlock "Demux"
+ DstBlock " Terminator "
DstPort 1
}
Line {
- ZOrder 22
- SrcBlock "Euler Angles\n"
+ ZOrder 341
+ SrcBlock " SFunction "
SrcPort 1
- DstBlock "Demux1"
+ DstBlock " Demux "
DstPort 1
}
}
}
Block {
- BlockType Delay
- Name "Delay"
- SID "910"
- Ports [1, 1]
- Position [2090, 843, 2125, 877]
- ZOrder 286
- BlockMirror on
- InputPortMap "u0"
- DelayLength "1"
- InitialCondition "0"
- }
- Block {
- BlockType Delay
- Name "Delay1"
- SID "909"
- Ports [1, 1]
- Position [1660, 638, 1695, 672]
- ZOrder 285
- BlockMirror on
- InputPortMap "u0"
- DelayLength "1"
- InitialCondition "0"
- }
- Block {
- BlockType Demux
- Name "Demux"
- SID "984"
- Ports [1, 3]
- Position [1810, 1023, 1815, 1077]
- ZOrder 294
- ShowName off
- Outputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType Demux
- Name "Demux1"
- SID "1006"
- Ports [1, 2]
- Position [2280, 605, 2285, 660]
- ZOrder 300
- ShowName off
- Outputs "2"
- DisplayOption "bar"
- }
- Block {
- BlockType Reference
- Name "First-Order\nHold"
- SID "953"
- Ports [1, 1]
- Position [2530, 780, 2565, 810]
- ZOrder 292
- LibraryVersion "1.388"
- DisableCoverage on
- SourceBlock "simulink/Discrete/First-Order\nHold"
- SourceType "First-Order Hold"
- ContentPreviewEnabled off
- Ts "6.1e-3"
- }
- Block {
- BlockType Reference
- Name "First-Order\nHold1"
- SID "986"
+ BlockType SubSystem
+ Name "Motor Commands"
+ SID "1409"
Ports [1, 1]
- Position [2530, 875, 2565, 905]
- ZOrder 296
- LibraryVersion "1.388"
- DisableCoverage on
- SourceBlock "simulink/Discrete/First-Order\nHold"
- SourceType "First-Order Hold"
- ContentPreviewEnabled off
- Ts "6.1e-3"
- }
- Block {
- BlockType Mux
- Name "Mux"
- SID "1007"
- Ports [3, 1]
- Position [2455, 608, 2460, 682]
- ZOrder 301
+ Position [1400, 457, 1555, 503]
+ ZOrder 319
+ ForegroundColor "magenta"
ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
- Block {
- BlockType Scope
- Name "Scope"
- SID "894"
- Ports [1]
- Position [1385, 669, 1415, 701]
- ZOrder 270
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -10
- YMax 10
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- }
- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- 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|none|none|none"
- }
- Location [680 330 1240 750]
- }
- Block {
- BlockType Scope
- Name "Scope1"
- SID "895"
- Ports [1]
- Position [1385, 599, 1415, 631]
- ZOrder 271
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -1.18227
- YMax 0.1338
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
+ RequestExecContextInheritance off
+ Variant on
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 81
+ $ClassName "Simulink.Mask"
+ Display "disp('Motor Commands', 'texmode', 'on');"
}
- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- 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|none|none|none"
+ System {
+ Name "Motor Commands"
+ Location [-8, -8, 1928, 1048]
+ 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 "175"
+ Block {
+ BlockType Inport
+ Name "z_command_model"
+ SID "1410"
+ Position [85, 118, 115, 132]
+ ZOrder 288
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Feedback"
+ SID "1411"
+ Ports [1, 1]
+ Position [185, 153, 345, 187]
+ ZOrder 287
+ ShowName off
+ RequestExecContextInheritance off
+ Variant off
+ VariantControl "logAnalysisToggle==0"
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 82
+ $ClassName "Simulink.Mask"
+ Display "disp('Motor Command from Model', 'texmode', 'on');"
+ }
+ System {
+ Name "Feedback"
+ Location [-7, -7, 1288, 688]
+ 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"
+ Block {
+ BlockType Inport
+ Name "z_command_model"
+ SID "1412"
+ Position [105, 103, 135, 117]
+ ZOrder 2
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "z_command"
+ SID "1413"
+ Position [360, 103, 390, 117]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "z_command_model"
+ SrcPort 1
+ DstBlock "z_command"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Motor Command"
+ SID "1414"
+ Ports [0, 1]
+ Position [210, 75, 320, 105]
+ ZOrder 279
+ ShowName off
+ RequestExecContextInheritance off
+ Variant off
+ VariantControl "logAnalysisToggle==1"
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 83
+ $ClassName "Simulink.Mask"
+ Display "disp('Motor Command', 'texmode', 'on');"
+ }
+ System {
+ Name "Motor Command"
+ Location [-8, -8, 1928, 1048]
+ 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 "125"
+ Block {
+ BlockType FromWorkspace
+ Name "From\nWorkspace5"
+ SID "1415"
+ Position [-35, 17, 80, 43]
+ ZOrder 210
+ VariableName "motor_commands"
+ SampleTime "Tq"
+ ZeroCross on
+ }
+ Block {
+ BlockType Outport
+ Name "z_command"
+ SID "1416"
+ Position [145, 23, 175, 37]
+ ZOrder 172
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "From\nWorkspace5"
+ SrcPort 1
+ DstBlock "z_command"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Outport
+ Name "z_command"
+ SID "1417"
+ Position [410, 118, 440, 132]
+ ZOrder -2
+ ForegroundColor "magenta"
+ IconDisplay "Port number"
+ }
+ Annotation {
+ SID "1418"
+ Name "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">"
+ "\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap"
+ "; }\n</style></head><body style=\" font-family:'Arial'; font-size:10px; font-weight:400; font-style:normal;\">\n"
+ "<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-inde"
+ "nt:0px; line-height:100%;\"><span style=\" font-family:'Helvetica'; font-size:10px;\">1) Add </span><a href=\"m"
+ "atlab://addvsschoiceddg_cb(gcs,'SubSystem')\"><span style=\" font-family:'Helvetica'; font-size:10px; text-deco"
+ "ration: underline; color:#0000ff;\">Subsystem</span></a><span style=\" font-family:'Helvetica'; font-size:10px;"
+ "\"> or </span><a href=\"matlab://addvsschoiceddg_cb(gcs,'ModelReference')\"><span style=\" font-family:'Helveti"
+ "ca'; font-size:10px; text-decoration: underline; color:#0000ff;\">Model</span></a><span style=\" font-family:'H"
+ "elvetica'; font-size:10px;\"> blocks as valid variant choices.</span></p>\n<p style=\" margin-top:0px; margin-b"
+ "ottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span st"
+ "yle=\" font-family:'Helvetica'; font-size:10px;\">2) You cannot connect blocks at this level. At simulation, co"
+ "nnectivity is automatically </span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin"
+ "-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Helvetica'; fo"
+ "nt-size:10px;\">determined, based on the active variant and port name matching.</span></p></body></html>"
+ Tag "VSSAddChoiceText"
+ Position [71, 28, 448, 69]
+ InternalMargins [0, 0, 0, 0]
+ FixedHeight off
+ FixedWidth off
+ HorizontalAlignment "left"
+ Interpreter "rich"
+ ZOrder -1
+ }
}
- Location [1 76 1921 1039]
}
Block {
- BlockType Scope
- Name "Scope3"
- SID "897"
- Ports [1]
- Position [2255, 534, 2285, 566]
- ZOrder 278
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData4
- YMin -1.66746
- YMax 0.20394
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat Array
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- }
- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- 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|none|none|none"
- }
- Location [1 76 1921 1039]
+ BlockType Saturate
+ Name "Saturation"
+ SID "756"
+ Ports [1, 1]
+ Position [1270, 465, 1300, 495]
+ ZOrder 44
+ InputPortMap "u0"
+ UpperLimit "Pmax*ones(4,1)"
+ LowerLimit "Pmin*ones(4,1)"
}
Block {
BlockType Scope
- Name "Scope6"
- SID "898"
- Ports [1]
- Position [1955, 469, 1985, 501]
- ZOrder 280
- NumInputPorts "1"
+ Name "Scope"
+ SID "1421"
+ Ports [4]
+ Position [1705, 514, 1735, 546]
+ ZOrder 320
+ NumInputPorts "4"
Open off
TimeRange auto
TickLabels OneTimeTick
@@ -5969,9 +13103,9 @@ Model {
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
- SaveName ScopeData5
- YMin -0.10821
- YMax 0.91739
+ SaveName ScopeData1
+ YMin 127563.375~120690.00000~120652.25~129711.75
+ YMax 167209.625~181750.00000~182389.75~170414.25
SampleInput off
SampleTime -1
ZoomMode on
@@ -5981,6 +13115,9 @@ Model {
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
+ axes4 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
@@ -5992,721 +13129,1365 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ Location [962 84 1920 1038]
}
Block {
- BlockType Scope
- Name "Scope7"
- SID "899"
- Ports [1]
- Position [1955, 544, 1985, 576]
- ZOrder 281
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData6
- YMin -2.66218
- YMax 0.34207
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
+ BlockType SubSystem
+ Name "Signal Mixer"
+ SID "647"
+ Ports [4, 1]
+ Position [960, 320, 1220, 640]
+ ZOrder 35
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 84
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'u_T', 'texmode', 'on');\nport_label('input', 2, 'u_A', 'texmode', 'on');\np"
+ "ort_label('input', 3, 'u_E', 'texmode', 'on');\nport_label('input', 4, 'u_R', 'texmode', 'on');\nport_label('outp"
+ "ut', 1, 'P', 'texmode', 'on');\ndisp('Signal Mixer', 'texmode', 'on');"
}
- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- 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|none|none|none"
+ System {
+ Name "Signal Mixer"
+ Location [223, 338, 826, 833]
+ 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"
+ SIDHighWatermark "27"
+ Block {
+ BlockType Inport
+ Name "height_controlled"
+ SID "647::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "y_controlled"
+ SID "647::23"
+ Position [20, 136, 40, 154]
+ ZOrder 14
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "x_controlled"
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Block {
BlockType Outport
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- Display "port_label('input', 1, 'Setpoints', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{filtered}', 'texmo"
- "de', 'on');\nport_label('input', 3, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmo"
- "de', 'on');\nport_label('output', 1, 'Rotor 1 Duty Cycle', 'texmode', 'on');\nport_label('output', 2, 'Rotor 2 Duty C"
- "ycle', 'texmode', 'on');\nport_label('output', 3, 'Rotor 3 Duty Cycle', 'texmode', 'on');\nport_label('output', 4, 'R"
- "otor 4 Duty Cycle', 'texmode', 'on');\ndisp('Control System', 'texmode', 'on');"
- }
- System {
- Name " \n"
- Location [-8, -8, 1928, 1048]
- 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 "125"
- Block {
- BlockType Inport
- Name "setpoints"
- SID "585"
- Position [110, 348, 140, 362]
- ZOrder 2
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "euler_angles_filtered"
- SID "591"
- Position [110, 403, 140, 417]
- ZOrder 9
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "euler_rates"
- SID "592"
- Position [110, 448, 140, 462]
- ZOrder 11
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "current_position"
- SID "584"
- Position [110, 493, 140, 507]
- ZOrder -1
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Outport
- Name "Rotor 0 Duty Cycle"
- SID "597"
- Position [480, 348, 510, 362]
- ZOrder -2
- IconDisplay "Port number"
- }
- Block {
- BlockType Outport
- Name "Rotor 1 Duty Cycle"
- SID "598"
- Position [480, 403, 510, 417]
- ZOrder 6
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType Outport
- Name "Rotor 2 Duty Cycle"
- SID "599"
- Position [480, 448, 510, 462]
- ZOrder 7
- Port "3"
- IconDisplay "Port number"
+ Line {
+ ZOrder 535
+ SrcBlock "Demux3"
+ SrcPort 1
+ DstBlock "Scope"
+ DstPort 1
}
- Block {
- BlockType Outport
- Name "Rotor 3 Duty Cycle"
- SID "600"
- Position [480, 493, 510, 507]
- ZOrder 8
- Port "4"
- IconDisplay "Port number"
+ Line {
+ ZOrder 536
+ SrcBlock "Demux3"
+ SrcPort 2
+ DstBlock "Scope"
+ DstPort 2
}
- }
- }
- Block {
- BlockType SubSystem
- Name "Communication System"
- SID "574"
- Ports [0, 1]
- Position [760, 482, 815, 528]
- ZOrder 66
- RequestExecContextInheritance off
- Variant off
- Object {
- $PropName "MaskObject"
- $ObjectID 43
- $ClassName "Simulink.Mask"
- Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
- }
- System {
- Name "Communication System"
- Location [-8, -8, 1928, 1048]
- 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 "300"
- Block {
- BlockType Step
- Name "Step"
- SID "929"
- Position [925, 390, 955, 420]
- ZOrder 32
- Before "zeros(4,1)"
- After "[0; 0; 0; 0]"
- SampleTime "0"
+ Line {
+ ZOrder 537
+ SrcBlock "Demux3"
+ SrcPort 3
+ DstBlock "Scope"
+ DstPort 3
}
- Block {
- BlockType Outport
- Name "setpoints"
- SID "577"
- Position [1050, 398, 1080, 412]
- ZOrder 6
- IconDisplay "Port number"
+ Line {
+ ZOrder 538
+ SrcBlock "Demux3"
+ SrcPort 4
+ DstBlock "Scope"
+ DstPort 4
}
Line {
- ZOrder 8
- SrcBlock "Step"
+ ZOrder 543
+ SrcBlock "Sum"
SrcPort 1
- DstBlock "setpoints"
+ DstBlock "Throttle Command Input"
DstPort 1
}
+ Line {
+ ZOrder 206
+ SrcBlock "Saturation"
+ SrcPort 1
+ Points [49, 0]
+ Branch {
+ ZOrder 557
+ Points [0, -85]
+ DstBlock "To Workspace3"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 556
+ DstBlock "Motor Commands"
+ DstPort 1
+ }
+ }
}
}
Line {
- ZOrder 172
- SrcBlock " \n"
+ ZOrder 52
+ SrcBlock "Control System"
+ SrcPort 1
+ DstBlock "Actuation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 55
+ SrcBlock "Communication System"
+ SrcPort 1
+ DstBlock "Control System"
+ DstPort 1
+ }
+ Line {
+ ZOrder 189
+ SrcBlock "Actuation"
SrcPort 1
- DstBlock "\n\n\n\n\n\n"
+ DstBlock " Sensors "
DstPort 1
}
Line {
- ZOrder 260
- SrcBlock " "
+ ZOrder 190
+ SrcBlock "Actuation"
+ SrcPort 2
+ DstBlock " Sensors "
+ DstPort 2
+ }
+ Line {
+ ZOrder 191
+ SrcBlock "Actuation"
+ SrcPort 3
+ DstBlock " Sensors "
+ DstPort 3
+ }
+ Line {
+ ZOrder 192
+ SrcBlock "Actuation"
+ SrcPort 4
+ DstBlock " Sensors "
+ DstPort 4
+ }
+ Line {
+ ZOrder 193
+ SrcBlock "Actuation"
+ SrcPort 5
+ DstBlock " Sensors "
+ DstPort 5
+ }
+ Line {
+ ZOrder 194
+ SrcBlock "Actuation"
+ SrcPort 6
+ DstBlock " Sensors "
+ DstPort 6
+ }
+ Line {
+ ZOrder 222
+ SrcBlock " Sensors "
+ SrcPort 3
+ Points [15, 0; 0, 56; -909, 0; 0, -56]
+ DstBlock "Control System"
+ DstPort 4
+ }
+ Line {
+ ZOrder 223
+ SrcBlock " Sensors "
SrcPort 2
- Points [23, 0; 0, 147; -843, 0; 0, -117]
- DstBlock " \n"
+ Points [33, 0; 0, 154; -941, 0; 0, -129]
+ DstBlock "Control System"
DstPort 3
}
- Line {
- ZOrder 233
- SrcBlock " "
- SrcPort 1
- Points [40, 0; 0, 246; -885, 0; 0, -196]
- DstBlock " \n"
- DstPort 2
+ Line {
+ ZOrder 224
+ SrcBlock " Sensors "
+ SrcPort 1
+ Points [47, 0; 0, 247; -965, 0; 0, -197]
+ DstBlock "Control System"
+ DstPort 2
+ }
+ }
+}
+#Finite State Machines
+#
+# Stateflow 80000010
+#
+#
+Stateflow {
+ machine {
+ id 1
+ name "Quadcopter_Model_R2015_A"
+ created "03-Nov-2016 18:34:53"
+ isLibrary 0
+ sfVersion 80000006
+ firstTarget 197
+ }
+ chart {
+ id 2
+ machine 1
+ name "Actuation/Gravity\n\n"
+ 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
+ ssIdHighWaterMark 7
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 1
+ disableImplicitCasting 1
+ eml {
+ name "gravity"
+ }
+ firstData 4
+ firstTransition 8
+ firstJunction 7
+ }
+ 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 E_Fg = gravity(m, g)\n\nE_Fg = [0; 0; m*g];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 4
+ ssIdNumber 5
+ name "E_Fg"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 0 5]
+ }
+ data {
+ id 5
+ ssIdNumber 6
+ name "m"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 4 6]
+ }
+ data {
+ id 6
+ ssIdNumber 7
+ name "g"
+ scope PARAMETER_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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [2 5 0]
+ }
+ junction {
+ id 7
+ position [23.5747 49.5747 7]
+ chart 2
+ subviewer 2
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [2 0 0]
+ }
+ transition {
+ id 8
+ 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 7
+ 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 9
+ machine 1
+ name "Actuation/Gravity\n\n"
+ chart 2
+ }
+ chart {
+ id 10
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 11 0 0]
+ viewObj 10
+ ssIdHighWaterMark 11
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 2
+ disableImplicitCasting 1
+ eml {
+ name "linear_body_earth_conversion"
+ }
+ firstData 12
+ firstTransition 16
+ firstJunction 15
+ }
+ state {
+ id 11
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 10
+ treeNode [10 0 0 0]
+ superState SUBCHART
+ subviewer 10
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function E_ro = linear_body_earth_conversion(B_vo, euler_angles)\n\neuler_rates = zeros(3,1);\nE"
+ "_ro = zeros(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLeb = [cos(thet"
+ "a)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi); ..."
+ "\n cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(p"
+ "hi)*cos(psi); ...\n -sin(theta) , sin(phi)*cos(theta) , c"
+ "os(phi)*cos(theta) ];\n\nE_ro = Leb * B_vo;"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 12
+ ssIdNumber 7
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 0 13]
+ }
+ data {
+ id 13
+ ssIdNumber 11
+ name "euler_angles"
+ 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
}
- Line {
- ZOrder 180
- SrcBlock "Communication System"
- SrcPort 1
- DstBlock " \n"
- DstPort 1
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 12 14]
+ }
+ data {
+ id 14
+ ssIdNumber 9
+ name "E_ro"
+ 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
}
- Line {
- ZOrder 186
- SrcBlock " \n"
- SrcPort 2
- DstBlock "\n\n\n\n\n\n"
- DstPort 2
+ dataType "Inherit: Same as Simulink"
+ linkNode [10 13 0]
+ }
+ junction {
+ id 15
+ position [23.5747 49.5747 7]
+ chart 10
+ subviewer 10
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [10 0 0]
+ }
+ transition {
+ id 16
+ 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]
}
- Line {
- ZOrder 187
- SrcBlock " \n"
- SrcPort 3
- DstBlock "\n\n\n\n\n\n"
- DstPort 3
+ dst {
+ id 15
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
- Line {
- ZOrder 188
- SrcBlock " \n"
- SrcPort 4
- DstBlock "\n\n\n\n\n\n"
- DstPort 4
+ midPoint [23.5747 24.9468]
+ chart 10
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 10
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
}
- Line {
- ZOrder 227
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 1
- DstBlock " "
- DstPort 1
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [10 0 0]
+ }
+ instance {
+ id 17
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n"
+ chart 10
+ }
+ chart {
+ id 18
+ machine 1
+ name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 19 0 0]
+ viewObj 18
+ ssIdHighWaterMark 5
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 3
+ disableImplicitCasting 1
+ eml {
+ name "eigenaxis_ucart"
}
- Line {
- ZOrder 229
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 2
- DstBlock " "
- DstPort 2
+ firstData 20
+ firstTransition 23
+ firstJunction 22
+ }
+ state {
+ id 19
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 18
+ treeNode [18 0 0 0]
+ superState SUBCHART
+ subviewer 18
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
+ ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
+ "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
+ "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
+ "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
+ "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
+ "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
}
- Line {
- ZOrder 230
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 3
- DstBlock " "
- DstPort 3
+ }
+ data {
+ id 20
+ ssIdNumber 4
+ name "u"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
}
- Line {
- ZOrder 228
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 4
- DstBlock " "
- DstPort 4
+ dataType "Inherit: Same as Simulink"
+ linkNode [18 0 21]
+ }
+ data {
+ id 21
+ ssIdNumber 5
+ name "y"
+ 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
}
- Line {
- ZOrder 231
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 5
- DstBlock " "
- DstPort 5
+ dataType "Inherit: Same as Simulink"
+ linkNode [18 20 0]
+ }
+ junction {
+ id 22
+ position [23.5747 49.5747 7]
+ chart 18
+ subviewer 18
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [18 0 0]
+ }
+ transition {
+ id 23
+ 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]
}
- Line {
- ZOrder 232
- SrcBlock "\n\n\n\n\n\n"
- SrcPort 6
- DstBlock " "
- DstPort 6
+ dst {
+ id 22
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
- Line {
- ZOrder 261
- SrcBlock " "
- SrcPort 3
- Points [9, 0; 0, 51; -804, 0; 0, -41]
- DstBlock " \n"
- DstPort 4
+ midPoint [23.5747 24.9468]
+ chart 18
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 18
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
}
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [18 0 0]
}
-}
-#Finite State Machines
-#
-# Stateflow 80000010
-#
-#
-Stateflow {
- machine {
- id 1
- name "Quadcopter_Model_R2015_A"
- created "27-Oct-2016 22:17:19"
- isLibrary 0
- sfVersion 80000006
- firstTarget 139
+ instance {
+ id 24
+ machine 1
+ name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ chart 18
}
chart {
- id 2
+ id 25
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n"
+ name "Actuation/ESC System"
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
- ssIdHighWaterMark 7
+ treeNode [0 26 0 0]
+ viewObj 25
+ ssIdHighWaterMark 18
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 1
+ chartFileNumber 4
disableImplicitCasting 1
eml {
- name "gravity"
+ name "ESC"
}
- firstData 4
- firstTransition 8
- firstJunction 7
+ firstData 27
+ firstTransition 33
+ firstJunction 32
}
state {
- id 3
+ id 26
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 2
- treeNode [2 0 0 0]
+ chart 25
+ treeNode [25 0 0 0]
superState SUBCHART
- subviewer 2
+ subviewer 25
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function E_Fg = gravity( m, g)\n\nE_Fg = [0; 0; m*g];\n"
+ script "function Vb_eff = ESC(P, Pmin, Pmax, Vb)\n\nP1 = P(1);\nP2 = P(2);\nP3 = P(3);\nP4 = P(4);\n\n%"
+ " Define u_Pi for each of the rotors, limiting it to be greater than 0\n% u_P0 = (rotor_0_duty_cycle/100 - Pmin) "
+ "/ (Pmax - Pmin);\n% u_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n% u_P2 = (rotor_2_duty_cycle/100 - "
+ "Pmin) / (Pmax - Pmin);\n% u_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin);\nu_P0 = (P1 - Pmin) / (Pmax - "
+ "Pmin);\nu_P1 = (P2 - Pmin) / (Pmax - Pmin);\nu_P2 = (P3 - Pmin) / (Pmax - Pmin);\nu_P3 = (P4 - Pmin) / (Pmax - P"
+ "min);\n\n\n% Determine the effective battery voltage from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;"
+ "\nVb_eff_2 = u_P2 * Vb;\nVb_eff_3 = u_P3 * Vb;\n \nVb_eff = [Vb_eff_0, Vb_eff_1, Vb_eff_2, Vb_eff_3];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 4
+ id 27
+ ssIdNumber 4
+ name "P"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 0 28]
+ }
+ data {
+ id 28
ssIdNumber 5
- name "E_Fg"
+ name "Vb_eff"
scope OUTPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "1,4"
}
type {
method SF_INHERITED_TYPE
@@ -6716,12 +14497,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [2 0 5]
+ linkNode [25 27 29]
}
data {
- id 5
- ssIdNumber 6
- name "m"
+ id 29
+ ssIdNumber 16
+ name "Pmin"
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -6739,12 +14520,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [2 4 6]
+ linkNode [25 28 30]
}
data {
- id 6
- ssIdNumber 7
- name "g"
+ id 30
+ ssIdNumber 17
+ name "Pmax"
scope PARAMETER_DATA
machine 1
props {
@@ -6761,19 +14542,42 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [2 5 0]
+ linkNode [25 29 31]
+ }
+ data {
+ id 31
+ ssIdNumber 18
+ name "Vb"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 30 0]
}
junction {
- id 7
+ id 32
position [23.5747 49.5747 7]
- chart 2
- subviewer 2
+ chart 25
+ subviewer 25
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [2 0 0]
+ linkNode [25 0 0]
}
transition {
- id 8
+ id 33
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -6781,75 +14585,96 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 7
+ id 32
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 2
+ chart 25
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 2
+ subviewer 25
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [2 0 0]
+ linkNode [25 0 0]
}
instance {
- id 9
+ id 34
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n"
- chart 2
+ name "Actuation/ESC System"
+ chart 25
}
chart {
- id 10
+ id 35
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n"
+ name "Actuation/Motor System"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 11 0 0]
- viewObj 10
- ssIdHighWaterMark 11
+ treeNode [0 36 0 0]
+ viewObj 35
+ ssIdHighWaterMark 16
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 2
+ chartFileNumber 5
disableImplicitCasting 1
eml {
- name "linear_body_earth_conversion"
+ name "motor"
}
- firstData 12
- firstTransition 16
- firstJunction 15
+ firstData 37
+ firstTransition 47
+ firstJunction 46
}
state {
- id 11
+ id 36
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 10
- treeNode [10 0 0 0]
+ chart 35
+ treeNode [35 0 0 0]
superState SUBCHART
- subviewer 10
+ subviewer 35
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function E_ro = linear_body_earth_conversion(B_vo, euler_angles)\n\neuler_rates = zeros(3,1);\nE"
- "_ro = zeros(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLeb = [cos(thet"
- "a)*cos(psi), sin(phi)*sin(theta)*cos(psi)-cos(phi)*sin(psi), cos(phi)*sin(theta)*cos(psi)+sin(phi)*sin(psi); ..."
- "\n cos(theta)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), cos(phi)*sin(theta)*sin(psi)-sin(p"
- "hi)*cos(psi); ...\n -sin(theta) , sin(phi)*cos(theta) , c"
- "os(phi)*cos(theta) ];\n\nE_ro = Leb * B_vo;"
+ script "function w_dot = motor(Vb_eff, w, Rm, Kv, Kq, Kd, If, Jreq)\n\n% Define each motors effective bat"
+ "tery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);\nVb_eff_3 = Vb_eff(4);\n\n% De"
+ "termine the angular velocity of each rotor from feedback\nw_0 = w(1);\nw_1 = w(2);\nw_2 = w(3);\nw_3 = w(4);\n\n"
+ "% Determine angular acceleration of each rotor\nw_0_dot = 1/(Jreq*Rm*Kq) * Vb_eff_0 - 1/(Jreq*Rm*Kq*Kv) * w_0 - "
+ "1/(Jreq*Kq)*If - (Kd/Jreq) * w_0^2;\nw_1_dot = 1/(Jreq*Rm*Kq) * Vb_eff_1 - 1/(Jreq*Rm*Kq*Kv) * w_1 - 1/(Jreq*Kq)"
+ "*If - (Kd/Jreq) * w_1^2;\nw_2_dot = 1/(Jreq*Rm*Kq) * Vb_eff_2 - 1/(Jreq*Rm*Kq*Kv) * w_2 - 1/(Jreq*Kq)*If - (Kd/J"
+ "req) * w_2^2;\nw_3_dot = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_3^"
+ "2;\n\nw_dot = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 12
- ssIdNumber 7
- name "B_vo"
+ id 37
+ ssIdNumber 4
+ name "Vb_eff"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 0 38]
+ }
+ data {
+ id 38
+ ssIdNumber 16
+ name "w"
scope INPUT_DATA
machine 1
props {
@@ -6866,13 +14691,127 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [10 0 13]
+ linkNode [35 37 39]
}
data {
- id 13
+ id 39
+ ssIdNumber 7
+ name "w_dot"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "1,4"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 38 40]
+ }
+ data {
+ id 40
+ ssIdNumber 9
+ name "Rm"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 5
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 39 41]
+ }
+ data {
+ id 41
+ ssIdNumber 10
+ name "Kv"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 4
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 40 42]
+ }
+ data {
+ id 42
ssIdNumber 11
- name "euler_angles"
- scope INPUT_DATA
+ name "Kq"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 3
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 41 43]
+ }
+ data {
+ id 43
+ ssIdNumber 12
+ name "Kd"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [35 42 44]
+ }
+ data {
+ id 44
+ ssIdNumber 13
+ name "If"
+ scope PARAMETER_DATA
machine 1
props {
array {
@@ -6888,13 +14827,14 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [10 12 14]
+ linkNode [35 43 45]
}
data {
- id 14
- ssIdNumber 9
- name "E_ro"
- scope OUTPUT_DATA
+ id 45
+ ssIdNumber 14
+ name "Jreq"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 1
machine 1
props {
array {
@@ -6907,22 +14847,22 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [10 13 0]
+ linkNode [35 44 0]
}
junction {
- id 15
+ id 46
position [23.5747 49.5747 7]
- chart 10
- subviewer 10
+ chart 35
+ subviewer 35
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [10 0 0]
+ linkNode [35 0 0]
}
transition {
- id 16
+ id 47
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -6930,77 +14870,99 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 15
+ id 46
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 10
+ chart 35
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 10
+ subviewer 35
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [10 0 0]
+ linkNode [35 0 0]
}
instance {
- id 17
+ id 48
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- chart 10
+ name "Actuation/Motor System"
+ chart 35
}
chart {
- id 18
+ id 49
machine 1
- name " /3D Graphical Simulation1/MATLAB Function"
+ name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 19 0 0]
- viewObj 18
- ssIdHighWaterMark 5
+ treeNode [0 50 0 0]
+ viewObj 49
+ ssIdHighWaterMark 31
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 3
+ chartFileNumber 6
disableImplicitCasting 1
eml {
- name "eigenaxis_ucart"
+ name "rotor"
}
- firstData 20
- firstTransition 23
- firstJunction 22
+ firstData 51
+ firstTransition 69
+ firstJunction 68
}
state {
- id 19
+ id 50
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 18
- treeNode [18 0 0 0]
+ chart 49
+ treeNode [49 0 0 0]
superState SUBCHART
- subviewer 18
+ subviewer 49
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ script "function [B_omega_dot, B_vo_dot]= rotor(w_dot, w, B_Fg, B_omega, B_vo, m, Kt, Kd, rhx, rhy, rhz, "
+ "Jreq, Jxx, Jyy, Jzz)\n\n% Create J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;"
+ "];\n\n% Create r_hi vector\nrh_0 = [-rhx; rhy; -rhz];\nrh_1 = [rhx; rhy; -rhz];\nrh_2 = [-rhx; -rhy; -rhz];\nrh_"
+ "3 = [rhx; -rhy; -rhz];\n\n% Define vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Defi"
+ "ne 3x3 Identity Matrix\nI = eye(3);\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; 1"
+ "]; %Rotors 0 and 3 use this gamma_omega vector\ngamma_omega_12 = [0; 0; -1]; %Rotors 1 and 2 use this gamma_ome"
+ "ga vector\n\n% Define angular velocities for each rotor\nw_0 = w(1);\nw_1 = w(2);\nw_2 = w(3);\nw_3 = w(4);\n\n%"
+ " Define angular acceleration for each rotor\nw_0_dot = w_dot(1);\nw_1_dot = w_dot(2);\nw_2_dot = w_dot(3);\nw_3_"
+ "dot = w_dot(4);\n\n% Define the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_"
+ "Ti;\nB_Fr_1 = Kt * w_1 * w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_T"
+ "i;\n\n% Sum up the rotor forces in the z-direction from each vector to get the\n% total body force in the z-dire"
+ "ction\nB_Fr = B_Fr_0 + B_Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by ea"
+ "ch rotor\n B_Q_d0 = -1 * Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q"
+ "_d2 = -1 * Kd * w_2 * w_2 * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the tot"
+ "al in-plane drag and induced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_"
+ "Q_d0 + B_Q_d1 + B_Q_d2 + B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n"
+ "% rotor in the z-direction\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh"
+ "_2, B_Fr_2 );\nB_Q_F3 = cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the chan"
+ "ge in angular momentum torque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_0"
+ "3) + w_0_dot * gamma_omega_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_"
+ "omega_12 ); \nB_Q_L2 = -1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3"
+ " = -1 * Jreq * ( cross(B_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change"
+ " in angular momentum torque produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the t"
+ "otal rotor system torque as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and chan"
+ "ge in angular momentum\n% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction f"
+ "rom each vector to get the\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body fram"
+ "e linear velocities\nB_vo_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% "
+ "Define the body frame angular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br"
+ "_oc, B_F) );\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 20
- ssIdNumber 4
- name "u"
- scope INPUT_DATA
+ id 51
+ ssIdNumber 6
+ name "B_omega_dot"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -7009,17 +14971,20 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [18 0 21]
+ linkNode [49 0 52]
}
data {
- id 21
- ssIdNumber 5
- name "y"
- scope OUTPUT_DATA
+ id 52
+ ssIdNumber 10
+ name "w_dot"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7028,101 +14993,175 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [18 20 0]
+ linkNode [49 51 53]
}
- junction {
- id 22
- position [23.5747 49.5747 7]
- chart 18
- subviewer 18
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [18 0 0]
+ data {
+ id 53
+ ssIdNumber 11
+ name "w"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 52 54]
}
- transition {
- id 23
- 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]
+ data {
+ id 54
+ ssIdNumber 30
+ 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
}
- dst {
- id 22
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 53 55]
+ }
+ data {
+ id 55
+ ssIdNumber 8
+ 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
}
- midPoint [23.5747 24.9468]
- chart 18
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 18
- drawStyle SMART
- slide {
- sticky BOTH_STICK
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 54 56]
+ }
+ data {
+ id 56
+ ssIdNumber 5
+ name "B_vo_dot"
+ 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
}
- executionOrder 1
- ssIdNumber 2
- linkNode [18 0 0]
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 55 57]
}
- instance {
- id 24
+ data {
+ id 57
+ ssIdNumber 7
+ name "B_vo"
+ scope INPUT_DATA
machine 1
- name " /3D Graphical Simulation1/MATLAB Function"
- chart 18
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 56 58]
}
- chart {
- id 25
+ data {
+ id 58
+ ssIdNumber 12
+ name "m"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 6
machine 1
- name "\n\n\n\n\n\n/\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 26 0 0]
- viewObj 25
- ssIdHighWaterMark 18
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 4
- disableImplicitCasting 1
- eml {
- name "ESC"
+ 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
}
- firstData 27
- firstTransition 36
- firstJunction 35
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 57 59]
}
- state {
- id 26
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 25
- treeNode [25 0 0 0]
- superState SUBCHART
- subviewer 25
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function Vb_eff = ESC(rotor_0_duty_cycle, rotor_1_duty_cycle, rotor_2_duty_cycle, rotor_3_duty_"
- "cycle, Pmin, Pmax, Vb)\n\n% Define u_Pi for each of the rotors\nu_P0 = (rotor_0_duty_cycle/100 - Pmin) / (Pmax -"
- " Pmin);\nu_P1 = (rotor_1_duty_cycle/100 - Pmin) / (Pmax - Pmin);\nu_P2 = (rotor_2_duty_cycle/100 - Pmin) / (Pmax"
- " - Pmin);\nu_P3 = (rotor_3_duty_cycle/100 - Pmin) / (Pmax - Pmin);\n\n% Determine the effective battery voltage "
- "from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;\nVb_eff_2 = u_P2 * Vb;\nVb_eff_3 = u_P3 * Vb;\n\nVb_"
- "eff = [Vb_eff_0, Vb_eff_1, Vb_eff_2, Vb_eff_3];\n"
- editorLayout "100 M4x1[10 5 700 500]"
+ data {
+ id 59
+ ssIdNumber 14
+ name "Kt"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 5
+ 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
}
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 58 60]
}
data {
- id 27
- ssIdNumber 4
- name "rotor_0_duty_cycle"
- scope INPUT_DATA
+ id 60
+ ssIdNumber 13
+ name "Kd"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 4
machine 1
props {
array {
@@ -7131,17 +15170,21 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 0 28]
+ linkNode [49 59 61]
}
data {
- id 28
- ssIdNumber 5
- name "Vb_eff"
- scope OUTPUT_DATA
+ id 61
+ ssIdNumber 15
+ name "rhx"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 7
machine 1
props {
array {
@@ -7150,18 +15193,21 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 27 29]
+ linkNode [49 60 62]
}
data {
- id 29
- ssIdNumber 6
- name "rotor_1_duty_cycle"
- scope INPUT_DATA
+ id 62
+ ssIdNumber 16
+ name "rhy"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 8
machine 1
props {
array {
@@ -7177,13 +15223,14 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 28 30]
+ linkNode [49 61 63]
}
data {
- id 30
- ssIdNumber 7
- name "rotor_2_duty_cycle"
- scope INPUT_DATA
+ id 63
+ ssIdNumber 17
+ name "rhz"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 9
machine 1
props {
array {
@@ -7199,13 +15246,13 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 29 31]
+ linkNode [49 62 64]
}
data {
- id 31
- ssIdNumber 8
- name "rotor_3_duty_cycle"
- scope INPUT_DATA
+ id 64
+ ssIdNumber 18
+ name "Jreq"
+ scope PARAMETER_DATA
machine 1
props {
array {
@@ -7221,12 +15268,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 30 32]
+ linkNode [49 63 65]
}
data {
- id 32
- ssIdNumber 16
- name "Pmin"
+ id 65
+ ssIdNumber 19
+ name "Jxx"
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -7244,13 +15291,14 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 31 33]
+ linkNode [49 64 66]
}
data {
- id 33
- ssIdNumber 17
- name "Pmax"
+ id 66
+ ssIdNumber 20
+ name "Jyy"
scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 2
machine 1
props {
array {
@@ -7266,14 +15314,14 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 32 34]
+ linkNode [49 65 67]
}
data {
- id 34
- ssIdNumber 18
- name "Vb"
+ id 67
+ ssIdNumber 21
+ name "Jzz"
scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
+ paramIndexForInitFromWorkspace 3
machine 1
props {
array {
@@ -7289,19 +15337,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 33 0]
+ linkNode [49 66 0]
}
junction {
- id 35
+ id 68
position [23.5747 49.5747 7]
- chart 25
- subviewer 25
+ chart 49
+ subviewer 49
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [25 0 0]
+ linkNode [49 0 0]
}
transition {
- id 36
+ id 69
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -7309,97 +15357,73 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 35
+ id 68
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 25
+ chart 49
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 25
+ subviewer 49
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [25 0 0]
+ linkNode [49 0 0]
}
instance {
- id 37
+ id 70
machine 1
- name "\n\n\n\n\n\n/\n\n"
- chart 25
+ name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
+ chart 49
}
chart {
- id 38
+ id 71
machine 1
- name "\n\n\n\n\n\n/\n"
+ name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 39 0 0]
- viewObj 38
- ssIdHighWaterMark 14
+ treeNode [0 72 0 0]
+ viewObj 71
+ ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 5
+ chartFileNumber 7
disableImplicitCasting 1
eml {
- name "motor"
+ name "angular_body_earth_conversion"
}
- firstData 40
- firstTransition 50
- firstJunction 49
+ firstData 73
+ firstTransition 77
+ firstJunction 76
}
state {
- id 39
+ id 72
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 38
- treeNode [38 0 0 0]
+ chart 71
+ treeNode [71 0 0 0]
superState SUBCHART
- subviewer 38
+ subviewer 71
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function angular_acceleration = motor(Vb_eff, angular_velocity, Rm, Kv, Kq, Kd, If, Jreq)\n\n% D"
- "efine each motors effective battery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);"
- "\nVb_eff_3 = Vb_eff(4);\n\n% Determine the angular velocity of each rotor from feedback\nw_0 = angular_velocity("
- "1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% Determine angular a"
- "cceleration of each rotor\nw_0_dot = 1/(Jreq*Rm*Kq) * Vb_eff_0 - 1/(Jreq*Rm*Kq*Kv) * w_0 - 1/(Jreq*Kq)*If - (Kd/"
- "Jreq) * w_0^2;\nw_1_dot = 1/(Jreq*Rm*Kq) * Vb_eff_1 - 1/(Jreq*Rm*Kq*Kv) * w_1 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_1"
- "^2;\nw_2_dot = 1/(Jreq*Rm*Kq) * Vb_eff_2 - 1/(Jreq*Rm*Kq*Kv) * w_2 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_2^2;\nw_3_do"
- "t = 1/(Jreq*Rm*Kq) * Vb_eff_3 - 1/(Jreq*Rm*Kq*Kv) * w_3 - 1/(Jreq*Kq)*If - (Kd/Jreq) * w_3^2;\n\nangular_acceler"
- "ation = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
+ script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\nphi = euler_angles"
+ "(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n 0, cos(p"
+ "hi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n\n \neuler_rates "
+ "= Aeb * B_omega;\n "
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 40
+ id 73
ssIdNumber 4
- name "Vb_eff"
- scope INPUT_DATA
- machine 1
- props {
- array {
- size "-1"
- }
- type {
- method SF_INHERITED_TYPE
- primitive SF_DOUBLE_TYPE
- }
- complexity SF_COMPLEX_INHERITED
- }
- dataType "Inherit: Same as Simulink"
- linkNode [38 0 41]
- }
- data {
- id 41
- ssIdNumber 8
- name "angular_velocity"
+ name "B_omega"
scope INPUT_DATA
machine 1
props {
@@ -7409,43 +15433,37 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [38 40 42]
+ linkNode [71 0 74]
}
data {
- id 42
- ssIdNumber 7
- name "angular_acceleration"
+ id 74
+ ssIdNumber 5
+ name "euler_rates"
scope OUTPUT_DATA
machine 1
props {
array {
- size "1,4"
+ size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [38 41 43]
+ linkNode [71 73 75]
}
data {
- id 43
- ssIdNumber 9
- name "Rm"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
+ id 75
+ ssIdNumber 6
+ name "euler_angles"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7461,14 +15479,96 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [38 42 44]
+ linkNode [71 74 0]
+ }
+ junction {
+ id 76
+ position [23.5747 49.5747 7]
+ chart 71
+ subviewer 71
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [71 0 0]
+ }
+ transition {
+ id 77
+ 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 76
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 71
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 71
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [71 0 0]
+ }
+ instance {
+ id 78
+ machine 1
+ name "Actuation/Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ chart 71
+ }
+ chart {
+ id 79
+ machine 1
+ name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 80 0 0]
+ viewObj 79
+ ssIdHighWaterMark 13
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 8
+ disableImplicitCasting 1
+ eml {
+ name "linear_earth_body_conversion"
+ }
+ firstData 81
+ firstTransition 87
+ firstJunction 86
+ }
+ state {
+ id 80
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 79
+ treeNode [79 0 0 0]
+ superState SUBCHART
+ subviewer 79
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [B_Fg, B_g] = linear_earth_body_conversion(E_Fg, euler_angles, m)\n\nphi = euler_angles"
+ "(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLbe = [ cos(theta)*cos(psi) ,"
+ " cos(theta)*sin(psi) , -sin(theta) ; ...\n sin(phi)*sin(theta)*cos(psi)-c"
+ "os(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), sin(phi)*cos(theta); ...\n cos(phi)*sin("
+ "theta)*cos(psi)+sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi), cos(phi)*cos(theta)];\n\nB_Fg"
+ " = Lbe * E_Fg;\n\nB_g = B_Fg/m;"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
}
data {
- id 44
- ssIdNumber 10
- name "Kv"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
+ id 81
+ ssIdNumber 7
+ name "E_Fg"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7484,18 +15584,17 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [38 43 45]
+ linkNode [79 0 82]
}
data {
- id 45
+ id 82
ssIdNumber 11
- name "Kq"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
+ name "euler_angles"
+ scope INPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "3"
}
type {
method SF_INHERITED_TYPE
@@ -7507,18 +15606,17 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [38 44 46]
+ linkNode [79 81 83]
}
data {
- id 46
- ssIdNumber 12
- name "Kd"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
+ id 83
+ ssIdNumber 9
+ name "B_Fg"
+ scope OUTPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "3"
}
type {
method SF_INHERITED_TYPE
@@ -7527,16 +15625,16 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [38 45 47]
+ linkNode [79 82 84]
}
data {
- id 47
- ssIdNumber 13
- name "If"
- scope PARAMETER_DATA
+ id 84
+ ssIdNumber 12
+ name "B_g"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -7549,17 +15647,16 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [38 46 48]
+ linkNode [79 83 85]
}
data {
- id 48
- ssIdNumber 14
- name "Jreq"
+ id 85
+ ssIdNumber 13
+ name "m"
scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
machine 1
props {
array {
@@ -7575,19 +15672,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [38 47 0]
+ linkNode [79 84 0]
}
junction {
- id 49
+ id 86
position [23.5747 49.5747 7]
- chart 38
- subviewer 38
+ chart 79
+ subviewer 79
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [38 0 0]
+ linkNode [79 0 0]
}
transition {
- id 50
+ id 87
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -7595,100 +15692,73 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 49
+ id 86
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 38
+ chart 79
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 38
+ subviewer 79
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [38 0 0]
+ linkNode [79 0 0]
}
instance {
- id 51
+ id 88
machine 1
- name "\n\n\n\n\n\n/\n"
- chart 38
+ name "Actuation/Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ chart 79
}
chart {
- id 52
+ id 89
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n"
+ name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 53 0 0]
- viewObj 52
- ssIdHighWaterMark 30
+ treeNode [0 90 0 0]
+ viewObj 89
+ ssIdHighWaterMark 15
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 6
+ chartFileNumber 10
disableImplicitCasting 1
eml {
- name "rotor"
+ name "idealIMU"
}
- firstData 54
- firstTransition 72
- firstJunction 71
+ firstData 91
+ firstTransition 100
+ firstJunction 99
}
state {
- id 53
+ id 90
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 52
- treeNode [52 0 0 0]
+ chart 89
+ treeNode [89 0 0 0]
superState SUBCHART
- subviewer 52
+ subviewer 89
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
- "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\nB_vo_dot = zeros(3,1);\nB_omega_dot = zeros(3,1);\n\n% Cre"
- "ate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\nr"
- "h_0 = [-rhx; rhy; rhz];\nrh_1 = [rhx; rhy; rhz];\nrh_2 = [-rhx; -rhy; rhz];\nrh_3 = [rhx; -rhy; rhz];\n\n% Defin"
- "e vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = eye(3"
- ");\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use this gam"
- "ma_omega vector\ngamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\n\n% Define angular vel"
- "ocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 "
- "= angular_velocity(4);\n\n% Define angular acceleration for each rotor\nw_0_dot = angular_acceleration(1);\nw_1_"
- "dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw_3_dot = angular_acceleration(4);\n\n% Defi"
- "ne the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * "
- "w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor "
- "forces in the z-direction from each vector to get the\n% total body force in the z-direction\nB_Fr = B_Fr_0 + B_"
- "Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by each rotor\n B_Q_d0 = -1 * "
- "Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2"
- " * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the total in-plane drag and indu"
- "ced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + "
- "B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n% rotor in the z-directi"
- "on\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = "
- "cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the change in angular momentum t"
- "orque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_03) + w_0_dot * gamma_ome"
- "ga_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -"
- "1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B"
- "_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change in angular momentum tor"
- "que produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the total rotor system torque"
- " as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and change in angular momentum\n"
- "% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction from each vector to get t"
- "he\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body frame linear velocities\nB_v"
- "o_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% Define the body frame an"
- "gular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br_oc, B_F) );\n\n"
+ script "function [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
+ "\na = B_vo_dot + cross(B_Omega,B_vo); % body frame acceleration \n\naccelReading = (a - B_g)/g ; % accelerometer"
+ " reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 54
- ssIdNumber 6
- name "B_omega_dot"
- scope OUTPUT_DATA
+ id 91
+ ssIdNumber 4
+ name "B_vo_dot"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7697,19 +15767,16 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 0 55]
+ linkNode [89 0 92]
}
data {
- id 55
- ssIdNumber 10
- name "angular_acceleration"
+ id 92
+ ssIdNumber 9
+ name "B_vo"
scope INPUT_DATA
machine 1
props {
@@ -7726,13 +15793,13 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 54 56]
+ linkNode [89 91 93]
}
data {
- id 56
- ssIdNumber 11
- name "angular_velocity"
- scope INPUT_DATA
+ id 93
+ ssIdNumber 5
+ name "accelReading"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -7741,19 +15808,17 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 55 57]
+ linkNode [89 92 94]
}
data {
- id 57
- ssIdNumber 30
- name "B_Fg"
+ id 94
+ ssIdNumber 6
+ name "B_Omega"
scope INPUT_DATA
machine 1
props {
@@ -7770,12 +15835,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 56 58]
+ linkNode [89 93 95]
}
data {
- id 58
- ssIdNumber 8
- name "B_omega"
+ id 95
+ ssIdNumber 7
+ name "B_g"
scope INPUT_DATA
machine 1
props {
@@ -7792,12 +15857,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 57 59]
+ linkNode [89 94 96]
}
data {
- id 59
- ssIdNumber 5
- name "B_vo_dot"
+ id 96
+ ssIdNumber 8
+ name "gyroReading"
scope OUTPUT_DATA
machine 1
props {
@@ -7807,17 +15872,19 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 58 60]
+ linkNode [89 95 97]
}
data {
- id 60
- ssIdNumber 7
- name "B_vo"
+ id 97
+ ssIdNumber 10
+ name "r_oc"
scope INPUT_DATA
machine 1
props {
@@ -7834,14 +15901,13 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 59 61]
+ linkNode [89 96 98]
}
data {
- id 61
+ id 98
ssIdNumber 12
- name "m"
+ name "g"
scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 6
machine 1
props {
array {
@@ -7857,14 +15923,116 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 60 62]
+ linkNode [89 97 0]
+ }
+ junction {
+ id 99
+ position [23.5747 49.5747 7]
+ chart 89
+ subviewer 89
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [89 0 0]
+ }
+ transition {
+ id 100
+ 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 99
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 89
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 89
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [89 0 0]
+ }
+ instance {
+ id 101
+ machine 1
+ name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
+ chart 89
+ }
+ chart {
+ id 102
+ machine 1
+ name " Sensors /3D Graphical Simulation/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 103 0 0]
+ viewObj 102
+ ssIdHighWaterMark 5
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 11
+ disableImplicitCasting 1
+ eml {
+ name "eigenaxis_ucart"
+ }
+ firstData 104
+ firstTransition 107
+ firstJunction 106
+ }
+ state {
+ id 103
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 102
+ treeNode [102 0 0 0]
+ superState SUBCHART
+ subviewer 102
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
+ ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
+ "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
+ "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
+ "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
+ "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
+ "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 104
+ ssIdNumber 4
+ name "u"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [102 0 105]
}
data {
- id 62
- ssIdNumber 14
- name "Kt"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 5
+ id 105
+ ssIdNumber 5
+ name "y"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -7873,21 +16041,99 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 61 63]
+ linkNode [102 104 0]
+ }
+ junction {
+ id 106
+ position [23.5747 49.5747 7]
+ chart 102
+ subviewer 102
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [102 0 0]
+ }
+ transition {
+ id 107
+ 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 106
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 102
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 102
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [102 0 0]
+ }
+ instance {
+ id 108
+ machine 1
+ name " Sensors /3D Graphical Simulation/MATLAB Function"
+ chart 102
+ }
+ chart {
+ id 109
+ machine 1
+ name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 110 0 0]
+ viewObj 109
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 12
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 111
+ firstTransition 115
+ firstJunction 114
+ }
+ state {
+ id 110
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 109
+ treeNode [109 0 0 0]
+ superState SUBCHART
+ subviewer 109
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_filtered)\n\n"
+ "phi = euler_angles_filtered(1);\ntheta = euler_angles_filtered(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*ta"
+ "n(theta); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)"
+ "/cos(theta)];\n\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
}
data {
- id 63
- ssIdNumber 13
- name "Kd"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 4
+ id 111
+ ssIdNumber 4
+ name "gyro_reading"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7896,44 +16142,37 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 62 64]
+ linkNode [109 0 112]
}
data {
- id 64
- ssIdNumber 15
- name "rhx"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 7
+ id 112
+ ssIdNumber 5
+ name "euler_rates_IMU"
+ scope OUTPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "[3,1]"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 63 65]
+ linkNode [109 111 113]
}
data {
- id 65
- ssIdNumber 16
- name "rhy"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 8
+ id 113
+ ssIdNumber 6
+ name "euler_angles_filtered"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7949,36 +16188,97 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 64 66]
+ linkNode [109 112 0]
}
- data {
- id 66
- ssIdNumber 17
- name "rhz"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 9
+ junction {
+ id 114
+ position [23.5747 49.5747 7]
+ chart 109
+ subviewer 109
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [109 0 0]
+ }
+ transition {
+ id 115
+ 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 114
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 109
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 109
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [109 0 0]
+ }
+ instance {
+ id 116
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
+ name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
+ chart 109
+ }
+ chart {
+ id 117
+ machine 1
+ name " Sensors /Calculate Pitch and Roll"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 118 0 0]
+ viewObj 117
+ ssIdHighWaterMark 10
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 13
+ disableImplicitCasting 1
+ eml {
+ name "getPitchAndRoll"
+ }
+ firstData 119
+ firstTransition 124
+ firstJunction 123
+ }
+ state {
+ id 118
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 117
+ treeNode [117 0 0 0]
+ superState SUBCHART
+ subviewer 117
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
+ "m(accel_reading);\n\n% x_accel = accel_reading(1)/mag;\n% y_accel = accel_reading(2)/mag;\n% z_accel = accel_rea"
+ "ding(3)/mag;\n\nx_accel = accel_reading(1);\ny_accel = accel_reading(2);\nz_accel = accel_reading(3);\n\naccel_p"
+ "itch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n\n%accel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
+ "2 + (1/100)*x_accel^2)) );\n\n%accel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^2 + x_accel^2)) );\nacc"
+ "el_roll = atan( -y_accel/( sqrt(z_accel^2 + x_accel^2)) );\n\n% unwrapped_roll = unwrap([accel_roll_prev accel_"
+ "roll]);\n% accel_roll = unwrapped_roll(2);\n"
+ editorLayout "100 M4x1[10 5 700 500]"
}
- dataType "Inherit: Same as Simulink"
- linkNode [52 65 67]
}
data {
- id 67
- ssIdNumber 18
- name "Jreq"
- scope PARAMETER_DATA
+ id 119
+ ssIdNumber 4
+ name "accel_reading"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -7987,21 +16287,17 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 66 68]
+ linkNode [117 0 120]
}
data {
- id 68
- ssIdNumber 19
- name "Jxx"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 1
+ id 120
+ ssIdNumber 5
+ name "accel_pitch"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -8010,21 +16306,18 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 67 69]
+ linkNode [117 119 121]
}
data {
- id 69
- ssIdNumber 20
- name "Jyy"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 2
+ id 121
+ ssIdNumber 6
+ name "accel_roll"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -8037,17 +16330,16 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [52 68 70]
+ linkNode [117 120 122]
}
data {
- id 70
- ssIdNumber 21
- name "Jzz"
- scope PARAMETER_DATA
- paramIndexForInitFromWorkspace 3
+ id 122
+ ssIdNumber 7
+ name "accel_roll_prev"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -8063,19 +16355,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [52 69 0]
+ linkNode [117 121 0]
}
junction {
- id 71
+ id 123
position [23.5747 49.5747 7]
- chart 52
- subviewer 52
+ chart 117
+ subviewer 117
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [52 0 0]
+ linkNode [117 0 0]
}
transition {
- id 72
+ id 124
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -8083,73 +16375,74 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 71
+ id 123
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 52
+ chart 117
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 52
+ subviewer 117
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [52 0 0]
+ linkNode [117 0 0]
}
instance {
- id 73
+ id 125
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n"
- chart 52
+ name " Sensors /Calculate Pitch and Roll"
+ chart 117
}
chart {
- id 74
+ id 126
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ name "Control System/Signal Mixer"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 75 0 0]
- viewObj 74
- ssIdHighWaterMark 6
+ treeNode [0 127 0 0]
+ viewObj 126
+ ssIdHighWaterMark 11
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 7
+ chartFileNumber 14
disableImplicitCasting 1
eml {
- name "angular_body_earth_conversion"
+ name "signal_mixer"
}
- firstData 76
- firstTransition 80
- firstJunction 79
+ firstData 128
+ firstTransition 134
+ firstJunction 133
}
state {
- id 75
+ id 127
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 74
- treeNode [74 0 0 0]
+ chart 126
+ treeNode [126 0 0 0]
superState SUBCHART
- subviewer 74
+ subviewer 126
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function euler_rates = angular_body_earth_conversion(B_omega, euler_angles)\n\neuler_rates = zero"
- "s(3,1);\n\nphi = euler_angles(1);\ntheta = euler_angles(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta"
- "); ...\n 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(th"
- "eta)];\n\n \neuler_rates = Aeb * B_omega;\n "
+ script "function P = signal_mixer(height_controlled, y_controlled, x_controlled, yaw_controlled)\n\ncont"
+ "roller_outputs = [ height_controlled; x_controlled; y_controlled; yaw_controlled ];\nsignal_mixer = [ 1, -1, -1,"
+ " -1; ... \n 1, 1, -1, 1; ...\n 1, -1, 1, 1; ...\n 1, 1, 1,"
+ " -1 ];\n\n% signal_mixer = [ 1, 1, -1, -1; ... \n% 1, -1, -1, 1; ...\n% 1, "
+ "1, 1, 1; ...\n% 1, -1, 1, -1 ];\n \nP = signal_mixer * controller_outputs;\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 76
+ id 128
ssIdNumber 4
- name "B_omega"
+ name "height_controlled"
scope INPUT_DATA
machine 1
props {
@@ -8163,12 +16456,34 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [74 0 77]
+ linkNode [126 0 129]
}
data {
- id 77
+ id 129
+ ssIdNumber 7
+ name "y_controlled"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 128 130]
+ }
+ data {
+ id 130
ssIdNumber 5
- name "euler_rates"
+ name "P"
scope OUTPUT_DATA
machine 1
props {
@@ -8183,12 +16498,34 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [74 76 78]
+ linkNode [126 129 131]
}
data {
- id 78
+ id 131
ssIdNumber 6
- name "euler_angles"
+ name "x_controlled"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [126 130 132]
+ }
+ data {
+ id 132
+ ssIdNumber 8
+ name "yaw_controlled"
scope INPUT_DATA
machine 1
props {
@@ -8205,19 +16542,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [74 77 0]
+ linkNode [126 131 0]
}
junction {
- id 79
+ id 133
position [23.5747 49.5747 7]
- chart 74
- subviewer 74
+ chart 126
+ subviewer 126
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [74 0 0]
+ linkNode [126 0 0]
}
transition {
- id 80
+ id 134
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -8225,75 +16562,116 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 79
+ id 133
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 74
+ chart 126
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 74
+ subviewer 126
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [74 0 0]
+ linkNode [126 0 0]
}
instance {
- id 81
+ id 135
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- chart 74
+ name "Control System/Signal Mixer"
+ chart 126
}
chart {
- id 82
+ id 136
machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ name "Control System/MATLAB Function1"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 83 0 0]
- viewObj 82
- ssIdHighWaterMark 13
+ treeNode [0 137 0 0]
+ viewObj 136
+ ssIdHighWaterMark 25
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 8
+ chartFileNumber 15
disableImplicitCasting 1
eml {
- name "linear_earth_body_conversion"
+ name "c_controller"
}
- firstData 84
- firstTransition 90
- firstJunction 89
+ firstData 138
+ firstTransition 160
+ firstJunction 159
}
state {
- id 83
+ id 137
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 82
- treeNode [82 0 0 0]
+ chart 136
+ treeNode [136 0 0 0]
superState SUBCHART
- subviewer 82
+ subviewer 136
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function [B_Fg, B_g] = linear_earth_body_conversion(E_Fg, euler_angles, m)\n\nphi = euler_angles"
- "(1);\ntheta = euler_angles(2);\npsi = euler_angles(3);\n\nLbe = [ cos(theta)*cos(psi) ,"
- " cos(theta)*sin(psi) , -sin(theta) ; ...\n sin(phi)*sin(theta)*cos(psi)-c"
- "os(phi)*sin(psi), sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi), sin(phi)*cos(theta); ...\n cos(phi)*sin("
- "theta)*cos(psi)+sin(phi)*sin(psi), cos(phi)*sin(theta)*sin(psi)-sin(phi)*cos(psi), cos(phi)*cos(theta)];\n\nB_Fg"
- " = Lbe * E_Fg;\n\nB_g = B_Fg/m;"
+ script "function [z_corr, y_cor, x_corr, yaw_corr, pid_y_out, pid_roll_out] = c_controller(set_x, set_y, "
+ "set_z, set_yaw, ...\n cur_x, cur_y, cur_z, ...\n cur_phi, cur_theta, cur_psi, ...\n cur_phi_d, cur_thet"
+ "a_d, cur_psi_d, vrpn_id, Tc)\n\nout_z = -1;\nout_y = -1;\nout_x = -1;\nout_yaw = -1;\nc_pid_y = -1;\nc_pid_roll "
+ "= -1;\n\ncoder.ceval('c_controller', vrpn_id, Tc, set_x, set_y, set_z, set_yaw, ...\n cur_x, "
+ "cur_y, cur_z, ...\n cur_phi, cur_theta, cur_psi, ...\n cur_phi_d, cur_thet"
+ "a_d, cur_psi_d, ...\n coder.wref(out_z), coder.wref(out_y), coder.wref(out_x), coder.wref(out"
+ "_yaw), ...\n coder.wref(c_pid_y), coder.wref(c_pid_roll));\n\nz_corr = out_z;\ny_cor = out_y;"
+ "\nx_corr = out_x;\npid_y_out = c_pid_y;\npid_roll_out = c_pid_roll;\nyaw_corr = out_yaw;\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 84
- ssIdNumber 7
- name "E_Fg"
+ id 138
+ ssIdNumber 4
+ name "set_x"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 0 139]
+ }
+ data {
+ id 139
+ ssIdNumber 5
+ name "z_corr"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 138 140]
+ }
+ data {
+ id 140
+ ssIdNumber 6
+ name "set_y"
scope INPUT_DATA
machine 1
props {
@@ -8310,17 +16688,17 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [82 0 85]
+ linkNode [136 139 141]
}
data {
- id 85
- ssIdNumber 11
- name "euler_angles"
+ id 141
+ ssIdNumber 7
+ name "set_z"
scope INPUT_DATA
machine 1
props {
array {
- size "3"
+ size "-1"
}
type {
method SF_INHERITED_TYPE
@@ -8332,17 +16710,17 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [82 84 86]
+ linkNode [136 140 142]
}
data {
- id 86
- ssIdNumber 9
- name "B_Fg"
- scope OUTPUT_DATA
+ id 142
+ ssIdNumber 8
+ name "set_yaw"
+ scope INPUT_DATA
machine 1
props {
array {
- size "3"
+ size "-1"
}
type {
method SF_INHERITED_TYPE
@@ -8351,16 +16729,16 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [82 85 87]
+ linkNode [136 141 143]
}
data {
- id 87
- ssIdNumber 12
- name "B_g"
- scope OUTPUT_DATA
+ id 143
+ ssIdNumber 9
+ name "cur_x"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -8373,16 +16751,16 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [82 86 88]
+ linkNode [136 142 144]
}
data {
- id 88
- ssIdNumber 13
- name "m"
- scope PARAMETER_DATA
+ id 144
+ ssIdNumber 10
+ name "cur_y"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -8398,94 +16776,34 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [82 87 0]
- }
- junction {
- id 89
- position [23.5747 49.5747 7]
- chart 82
- subviewer 82
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [82 0 0]
- }
- transition {
- id 90
- 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 89
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 82
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 82
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [82 0 0]
- }
- instance {
- id 91
- machine 1
- name "\n\n\n\n\n\n/\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- chart 82
+ linkNode [136 143 145]
}
- chart {
- id 92
+ data {
+ id 145
+ ssIdNumber 11
+ name "cur_z"
+ scope INPUT_DATA
machine 1
- name " /\n\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 93 0 0]
- viewObj 92
- ssIdHighWaterMark 14
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 9
- disableImplicitCasting 1
- eml {
- name "complimentaryFilter"
- }
- firstData 94
- firstTransition 100
- firstJunction 99
- }
- state {
- id 93
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 92
- treeNode [92 0 0 0]
- superState SUBCHART
- subviewer 92
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, prev"
- "_euler_angles_IMU)\n\nLOOP_TIME = 6.1*10^-3;\n\nprev_phi = prev_euler_angles_IMU(1);\nprev_theta = prev_euler_an"
- "gles_IMU(2);\n\nphi_dot_gyro = euler_angles_gyro(1);\ntheta_dot_gyro = euler_angles_gyro(2);\n\nphi = 0.98 * (pr"
- "ev_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\ntheta = 0.98 * (prev_theta + theta_dot_gyro * LOOP_TIM"
- "E) + 0.02 * accel_pitch;\n\neuler_angles_IMU = [phi; theta];\n"
- editorLayout "100 M4x1[10 5 700 500]"
+ 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
}
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 144 146]
}
data {
- id 94
- ssIdNumber 4
- name "accel_pitch"
+ id 146
+ ssIdNumber 12
+ name "cur_phi"
scope INPUT_DATA
machine 1
props {
@@ -8495,16 +16813,19 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [92 0 95]
+ linkNode [136 145 147]
}
data {
- id 95
+ id 147
ssIdNumber 13
- name "accel_roll"
+ name "cur_theta"
scope INPUT_DATA
machine 1
props {
@@ -8521,32 +16842,34 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [92 94 96]
+ linkNode [136 146 148]
}
data {
- id 96
- ssIdNumber 5
- name "euler_angles_IMU"
- scope OUTPUT_DATA
+ id 148
+ ssIdNumber 14
+ name "cur_psi"
+ scope INPUT_DATA
machine 1
props {
array {
- size "[2,1]"
+ size "-1"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [92 95 97]
+ linkNode [136 147 149]
}
data {
- id 97
- ssIdNumber 6
- name "euler_angles_gyro"
+ id 149
+ ssIdNumber 15
+ name "cur_phi_d"
scope INPUT_DATA
machine 1
props {
@@ -8563,12 +16886,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [92 96 98]
+ linkNode [136 148 150]
}
data {
- id 98
- ssIdNumber 12
- name "prev_euler_angles_IMU"
+ id 150
+ ssIdNumber 16
+ name "cur_theta_d"
scope INPUT_DATA
machine 1
props {
@@ -8585,93 +16908,79 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [92 97 0]
- }
- junction {
- id 99
- position [23.5747 49.5747 7]
- chart 92
- subviewer 92
- ssIdNumber 3
- type CONNECTIVE_JUNCTION
- linkNode [92 0 0]
- }
- transition {
- id 100
- 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 99
- intersection [1 0 -1 0 23.5747 42.5747 0 0]
- }
- midPoint [23.5747 24.9468]
- chart 92
- dataLimits [21.175 25.975 14.625 42.575]
- subviewer 92
- drawStyle SMART
- slide {
- sticky BOTH_STICK
- }
- executionOrder 1
- ssIdNumber 2
- linkNode [92 0 0]
+ linkNode [136 149 151]
}
- instance {
- id 101
+ data {
+ id 151
+ ssIdNumber 17
+ name "cur_psi_d"
+ scope INPUT_DATA
machine 1
- name " /\n\n\n\n\n\n\n\n"
- chart 92
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 150 152]
}
- chart {
- id 102
+ data {
+ id 152
+ ssIdNumber 18
+ name "y_cor"
+ scope OUTPUT_DATA
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- windowPosition [422 539.941 189 413]
- viewLimits [0 156.75 0 153.75]
- screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 103 0 0]
- viewObj 102
- ssIdHighWaterMark 15
- decomposition CLUSTER_CHART
- type EML_CHART
- chartFileNumber 10
- disableImplicitCasting 1
- eml {
- name "idealIMU"
+ 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
}
- firstData 104
- firstTransition 113
- firstJunction 112
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 151 153]
}
- state {
- id 103
- labelString "eML_blk_kernel()"
- position [18 64.5 118 66]
- fontSize 12
- chart 102
- treeNode [102 0 0 0]
- superState SUBCHART
- subviewer 102
- ssIdNumber 1
- type FUNC_STATE
- decomposition CLUSTER_STATE
- eml {
- isEML 1
- script "function [accelReading,gyroReading] = idealIMU(B_vo_dot, B_vo, B_Omega, B_g, r_oc, g)\n%#codegen\n"
- "\na = B_vo_dot + cross(B_Omega,B_vo) ; % body frame acceleration \n\naccelReading = (a - B_g)/g ; % acceleromete"
- "r reading (ideal)\n\ngyroReading = B_Omega ; % gyroscope reading (ideal) \n\nend\n\n"
- editorLayout "100 M4x1[10 5 700 500]"
+ data {
+ id 153
+ ssIdNumber 19
+ name "x_corr"
+ 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
}
+ dataType "Inherit: Same as Simulink"
+ linkNode [136 152 154]
}
data {
- id 104
- ssIdNumber 4
- name "B_vo_dot"
- scope INPUT_DATA
+ id 154
+ ssIdNumber 20
+ name "yaw_corr"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -8680,16 +16989,19 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [102 0 105]
+ linkNode [136 153 155]
}
data {
- id 105
- ssIdNumber 9
- name "B_vo"
+ id 155
+ ssIdNumber 21
+ name "vrpn_id"
scope INPUT_DATA
machine 1
props {
@@ -8706,12 +17018,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [102 104 106]
+ linkNode [136 154 156]
}
data {
- id 106
- ssIdNumber 5
- name "accelReading"
+ id 156
+ ssIdNumber 22
+ name "pid_y_out"
scope OUTPUT_DATA
machine 1
props {
@@ -8721,18 +17033,20 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
}
complexity SF_COMPLEX_INHERITED
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [102 105 107]
+ linkNode [136 155 157]
}
data {
- id 107
- ssIdNumber 6
- name "B_Omega"
- scope INPUT_DATA
+ id 157
+ ssIdNumber 23
+ name "pid_roll_out"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -8745,15 +17059,15 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [102 106 108]
+ linkNode [136 156 158]
}
data {
- id 108
- ssIdNumber 7
- name "B_g"
+ id 158
+ ssIdNumber 25
+ name "Tc"
scope INPUT_DATA
machine 1
props {
@@ -8770,13 +17084,95 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [102 107 109]
+ linkNode [136 157 0]
+ }
+ junction {
+ id 159
+ position [23.5747 49.5747 7]
+ chart 136
+ subviewer 136
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [136 0 0]
+ }
+ transition {
+ id 160
+ 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 159
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 136
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 136
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [136 0 0]
+ }
+ instance {
+ id 161
+ machine 1
+ name "Control System/MATLAB Function1"
+ chart 136
+ }
+ chart {
+ id 162
+ machine 1
+ name " Sensors /Aeb_c\n\n\n\n\n\n\n\n\n\n1"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 163 0 0]
+ viewObj 162
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 16
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 164
+ firstTransition 168
+ firstJunction 167
+ }
+ state {
+ id 163
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 162
+ treeNode [162 0 0 0]
+ superState SUBCHART
+ subviewer 162
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_filtered)\n\n"
+ "phi = euler_angles_filtered(1);\ntheta = euler_angles_filtered(2);\npsi = NaN;\n\nphi_dot = -1;\ntheta_dot = -1;"
+ "\npsi_dot = -1;\n\np = gyro_reading(1);\nq = gyro_reading(2);\nr = gyro_reading(3);\n\ncoder.ceval( 'aeb_mat', p"
+ ", q, r, phi, theta, psi, coder.wref(phi_dot), ...\n coder.wref(theta_dot), coder.wref(psi_dot) );\n\n \neul"
+ "er_rates_IMU = [phi_dot; theta_dot; psi_dot];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
}
data {
- id 109
- ssIdNumber 8
- name "gyroReading"
- scope OUTPUT_DATA
+ id 164
+ ssIdNumber 4
+ name "gyro_reading"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -8785,42 +17181,37 @@ Stateflow {
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [102 108 110]
+ linkNode [162 0 165]
}
data {
- id 110
- ssIdNumber 10
- name "r_oc"
- scope INPUT_DATA
+ id 165
+ ssIdNumber 5
+ name "euler_rates_IMU"
+ scope OUTPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "[3,1]"
}
type {
method SF_INHERITED_TYPE
primitive SF_DOUBLE_TYPE
- isSigned 1
- wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [102 109 111]
+ linkNode [162 164 166]
}
data {
- id 111
- ssIdNumber 12
- name "g"
- scope PARAMETER_DATA
+ id 166
+ ssIdNumber 6
+ name "euler_angles_filtered"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -8836,19 +17227,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [102 110 0]
+ linkNode [162 165 0]
}
junction {
- id 112
+ id 167
position [23.5747 49.5747 7]
- chart 102
- subviewer 102
+ chart 162
+ subviewer 162
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [102 0 0]
+ linkNode [162 0 0]
}
transition {
- id 113
+ id 168
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -8856,76 +17247,73 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 112
+ id 167
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 102
+ chart 162
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 102
+ subviewer 162
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [102 0 0]
+ linkNode [162 0 0]
}
instance {
- id 114
+ id 169
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n/\n\n\n\n\n\n\n"
- chart 102
+ name " Sensors /Aeb_c\n\n\n\n\n\n\n\n\n\n1"
+ chart 162
}
chart {
- id 115
+ id 170
machine 1
- name " /3D Graphical Simulation/MATLAB Function"
+ name " Sensors /MATLAB Function"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 116 0 0]
- viewObj 115
- ssIdHighWaterMark 5
+ treeNode [0 171 0 0]
+ viewObj 170
+ ssIdHighWaterMark 7
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 11
+ chartFileNumber 17
disableImplicitCasting 1
eml {
- name "eigenaxis_ucart"
+ name "complimentaryFilterC"
}
- firstData 117
- firstTransition 120
- firstJunction 119
+ firstData 172
+ firstTransition 177
+ firstJunction 176
}
state {
- id 116
+ id 171
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 115
- treeNode [115 0 0 0]
+ chart 170
+ treeNode [170 0 0 0]
superState SUBCHART
- subviewer 115
+ subviewer 170
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function y = eigenaxis_ucart(u)\n\n\nif abs(u(1))< 0.0001\n u(1) = 0.0001;\nend\n\nif abs(u(2)"
- ")< 0.0001\n u(2) = 0.0001;\nend\n\nif abs(u(3))< 0.0001\n u(3) = 0.0001;\nend\n\nu = [ -u(1); -u(2); u(3) "
- "];% [Pitch, Yaw, Roll] \n\nC11 = cos(u(2))*cos(u(3));\nC12 = cos(u(2))*sin(u(3));\nC13 = -sin(u(2));\nC21 = sin("
- "u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));\nC22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));\nC23 = "
- "sin(u(1))*cos(u(2));\nC31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));\nC32 = cos(u(1))*sin(u(2))*sin(u("
- "3))-sin(u(1))*cos(u(3));\nC33 = cos(u(1))*cos(u(2));\n \ntheta = acos(0.5*(C11+C22+C33-1));\n\ne = [C23-C32; "
- "C31-C13; C12-C21]/(2*sin(theta));\n \ny = [e; theta];\n\n"
+ script "function euler_angles_IMU = complimentaryFilterC(accel_pitch, accel_roll, euler_rates_gyro)\n\ne"
+ "uler_x = euler_rates_gyro(1);\neuler_y = euler_rates_gyro(2);\n\nfiltered_pitch = -1;\nfiltered_roll = -1;\n\nco"
+ "der.ceval('compl_filter', accel_pitch, accel_roll, euler_x, euler_y, ...\n coder.wref(filtered_pitch)"
+ ", coder.wref(filtered_roll));\n\neuler_angles_IMU = [filtered_roll; filtered_pitch];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 117
+ id 172
ssIdNumber 4
- name "u"
+ name "accel_pitch"
scope INPUT_DATA
machine 1
props {
@@ -8939,12 +17327,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [115 0 118]
+ linkNode [170 0 173]
}
data {
- id 118
+ id 173
ssIdNumber 5
- name "y"
+ name "euler_angles_IMU"
scope OUTPUT_DATA
machine 1
props {
@@ -8959,19 +17347,63 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [115 117 0]
+ linkNode [170 172 174]
+ }
+ data {
+ id 174
+ ssIdNumber 6
+ name "accel_roll"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [170 173 175]
+ }
+ data {
+ id 175
+ ssIdNumber 7
+ name "euler_rates_gyro"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [170 174 0]
}
junction {
- id 119
+ id 176
position [23.5747 49.5747 7]
- chart 115
- subviewer 115
+ chart 170
+ subviewer 170
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [115 0 0]
+ linkNode [170 0 0]
}
transition {
- id 120
+ id 177
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -8979,73 +17411,73 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 119
+ id 176
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 115
+ chart 170
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 115
+ subviewer 170
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [115 0 0]
+ linkNode [170 0 0]
}
instance {
- id 121
+ id 178
machine 1
- name " /3D Graphical Simulation/MATLAB Function"
- chart 115
+ name " Sensors /MATLAB Function"
+ chart 170
}
chart {
- id 122
+ id 179
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ name " Sensors /MATLAB Function1"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 123 0 0]
- viewObj 122
+ treeNode [0 180 0 0]
+ viewObj 179
ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 12
+ chartFileNumber 18
disableImplicitCasting 1
eml {
- name "angular_body_earth_conversion"
+ name "angle_IMU_C"
}
- firstData 124
- firstTransition 128
- firstJunction 127
+ firstData 181
+ firstTransition 185
+ firstJunction 184
}
state {
- id 123
+ id 180
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 122
- treeNode [122 0 0 0]
+ chart 179
+ treeNode [179 0 0 0]
superState SUBCHART
- subviewer 122
+ subviewer 179
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function euler_rates_IMU = angular_body_earth_conversion(gyro_reading, euler_angles_IMU)\n\nphi ="
- " euler_angles_IMU(1);\ntheta = euler_angles_IMU(2);\n\nAeb = [1, sin(phi)*tan(theta), cos(phi)*tan(theta); ...\n"
- " 0, cos(phi) , -sin(phi) ; ...\n 0, sin(phi)/cos(theta), cos(phi)/cos(theta)];\n"
- "\n \neuler_rates_IMU = Aeb * gyro_reading;\n "
+ script "function [accel_pitch, accel_roll] = angle_IMU_C(accel_reading)\n\naccel_x = accel_reading(1);\n"
+ "accel_y = accel_reading(2);\naccel_z = accel_reading(3);\n\ncalculated_pitch = -1;\ncalculated_roll = -1;\n\ncod"
+ "er.ceval('angle_accel', accel_x, accel_y, accel_z, coder.wref(calculated_pitch), coder.wref(calculated_roll));\n"
+ "\naccel_pitch = calculated_pitch;\naccel_roll = calculated_roll;"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 124
+ id 181
ssIdNumber 4
- name "gyro_reading"
+ name "accel_reading"
scope INPUT_DATA
machine 1
props {
@@ -9059,17 +17491,17 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [122 0 125]
+ linkNode [179 0 182]
}
data {
- id 125
+ id 182
ssIdNumber 5
- name "euler_rates_IMU"
+ name "accel_pitch"
scope OUTPUT_DATA
machine 1
props {
array {
- size "[3,1]"
+ size "-1"
}
type {
method SF_INHERITED_TYPE
@@ -9079,13 +17511,13 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [122 124 126]
+ linkNode [179 181 183]
}
data {
- id 126
+ id 183
ssIdNumber 6
- name "euler_angles_IMU"
- scope INPUT_DATA
+ name "accel_roll"
+ scope OUTPUT_DATA
machine 1
props {
array {
@@ -9098,22 +17530,22 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_INHERITED
+ frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [122 125 0]
+ linkNode [179 182 0]
}
junction {
- id 127
+ id 184
position [23.5747 49.5747 7]
- chart 122
- subviewer 122
+ chart 179
+ subviewer 179
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [122 0 0]
+ linkNode [179 0 0]
}
transition {
- id 128
+ id 185
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -9121,75 +17553,76 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 127
+ id 184
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 122
+ chart 179
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 122
+ subviewer 179
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [122 0 0]
+ linkNode [179 0 0]
}
instance {
- id 129
+ id 186
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- chart 122
+ name " Sensors /MATLAB Function1"
+ chart 179
}
chart {
- id 130
+ id 187
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n\n\n1"
+ name " Sensors /Complimentary Filter"
windowPosition [422 539.941 189 413]
viewLimits [0 156.75 0 153.75]
screen [1 1 3600 1200 1.180555555555556]
- treeNode [0 131 0 0]
- viewObj 130
- ssIdHighWaterMark 10
+ treeNode [0 188 0 0]
+ viewObj 187
+ ssIdHighWaterMark 17
decomposition CLUSTER_CHART
type EML_CHART
- chartFileNumber 13
+ chartFileNumber 19
disableImplicitCasting 1
eml {
- name "getPitchAndRoll"
+ name "complimentaryFilter"
}
- firstData 132
- firstTransition 137
- firstJunction 136
+ firstData 189
+ firstTransition 195
+ firstJunction 194
}
state {
- id 131
+ id 188
labelString "eML_blk_kernel()"
position [18 64.5 118 66]
fontSize 12
- chart 130
- treeNode [130 0 0 0]
+ chart 187
+ treeNode [187 0 0 0]
superState SUBCHART
- subviewer 130
+ subviewer 187
ssIdNumber 1
type FUNC_STATE
decomposition CLUSTER_STATE
eml {
isEML 1
- script "function [accel_pitch, accel_roll] = getPitchAndRoll(accel_reading, accel_roll_prev)\n\nmag = nor"
- "m(accel_reading);\n\nx_accel = accel_reading(1)/mag;\ny_accel = accel_reading(2)/mag;\nz_accel = accel_reading(3"
- ")/mag;\n\naccel_pitch = atan(x_accel/sqrt(y_accel^2 + z_accel^2));\n%unwrapped_pitch = unwrap([accel_pitch_prev "
- "accel_pitch]);\n%accel_pitch = unwrapped_pitch(2);\n\naccel_roll = atan2( -y_accel,(sign(-z_accel)*sqrt(z_accel^"
- "2 + (1/100)*x_accel^2)) );\nunwrapped_roll = unwrap([accel_roll_prev accel_roll]);\naccel_roll = unwrapped_roll("
- "2); \n"
+ script "%function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, pre"
+ "v_euler_angles_IMU)\nfunction euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_rates_gyro,"
+ " prev_euler_angles)\n\nk_gyro = 0.98; \nk_accel = 1-k_gyro; \n\nTs = 0.005; % 5 milliseconds\n\nprev_phi = prev_"
+ "euler_angles(1);\nprev_theta = prev_euler_angles(2);\n\nprev_phi_dot = euler_rates_gyro(1);\nprev_theta_dot = eu"
+ "ler_rates_gyro(2);\n\nintegrated_phi_gyro = Ts * prev_phi_dot + prev_phi;\nintegrated_theta_gyro = Ts * prev_the"
+ "ta_dot + prev_theta;\n\nphi = k_gyro * integrated_phi_gyro + k_accel * accel_roll;\ntheta = k_gyro * integrated_"
+ "theta_gyro + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi; theta];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
data {
- id 132
+ id 189
ssIdNumber 4
- name "accel_reading"
+ name "accel_pitch"
scope INPUT_DATA
machine 1
props {
@@ -9203,17 +17636,39 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [130 0 133]
+ linkNode [187 0 190]
}
data {
- id 133
+ id 190
+ ssIdNumber 13
+ name "accel_roll"
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [187 189 191]
+ }
+ data {
+ id 191
ssIdNumber 5
- name "accel_pitch"
+ name "euler_angles_IMU"
scope OUTPUT_DATA
machine 1
props {
array {
- size "-1"
+ size "[2,1]"
}
type {
method SF_INHERITED_TYPE
@@ -9223,13 +17678,13 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [130 132 134]
+ linkNode [187 190 192]
}
data {
- id 134
+ id 192
ssIdNumber 6
- name "accel_roll"
- scope OUTPUT_DATA
+ name "euler_rates_gyro"
+ scope INPUT_DATA
machine 1
props {
array {
@@ -9242,15 +17697,15 @@ Stateflow {
wordLength "16"
}
complexity SF_COMPLEX_INHERITED
- frame SF_FRAME_NO
+ frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [130 133 135]
+ linkNode [187 191 193]
}
data {
- id 135
- ssIdNumber 7
- name "accel_roll_prev"
+ id 193
+ ssIdNumber 17
+ name "prev_euler_angles"
scope INPUT_DATA
machine 1
props {
@@ -9267,19 +17722,19 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [130 134 0]
+ linkNode [187 192 0]
}
junction {
- id 136
+ id 194
position [23.5747 49.5747 7]
- chart 130
- subviewer 130
+ chart 187
+ subviewer 187
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [130 0 0]
+ linkNode [187 0 0]
}
transition {
- id 137
+ id 195
labelString "{eML_blk_kernel();}"
labelPosition [28.125 13.875 102.544 14.964]
fontSize 12
@@ -9287,29 +17742,29 @@ Stateflow {
intersection [0 0 1 0 23.5747 14.625 0 0]
}
dst {
- id 136
+ id 194
intersection [1 0 -1 0 23.5747 42.5747 0 0]
}
midPoint [23.5747 24.9468]
- chart 130
+ chart 187
dataLimits [21.175 25.975 14.625 42.575]
- subviewer 130
+ subviewer 187
drawStyle SMART
slide {
sticky BOTH_STICK
}
executionOrder 1
ssIdNumber 2
- linkNode [130 0 0]
+ linkNode [187 0 0]
}
instance {
- id 138
+ id 196
machine 1
- name " /\n\n\n\n\n\n\n\n\n\n\n\n1"
- chart 130
+ name " Sensors /Complimentary Filter"
+ chart 187
}
target {
- id 139
+ id 197
machine 1
name "sfun"
description "Default Simulink S-Function Target."
diff --git a/controls/model/loggingAnalysis/logAnalysis.m b/controls/model/logAnalysis.m
similarity index 78%
rename from controls/model/loggingAnalysis/logAnalysis.m
rename to controls/model/logAnalysis.m
index b240f0dcb7a3fb25ac8ffd1737bd60b3fc2bc6b7..c4f3a1f365deb000fe399bc2a851bd16989a20ff 100644
--- a/controls/model/loggingAnalysis/logAnalysis.m
+++ b/controls/model/logAnalysis.m
@@ -23,7 +23,7 @@ y_command_model_data = y_command_model.signals.values(indices_5ms);
y_position_model_data = y_position_model.signals.values(indices_40ms);
% Pull z control structure data
-z_command_model_data = z_command_model.signals.values(indices_40ms);
+z_command_model_data = z_command_model.signals.values(indices_5ms);
z_position_model_data = z_position_model.signals.values(indices_40ms);
% Pull yaw control structure data
@@ -43,8 +43,6 @@ pitch_accel = reshape(pitch_accel, [length(pitch_accel) , 1] );
roll_accel = angle_IMU_reading.signals.values(1, 1, indices_5ms);
roll_accel = reshape(roll_accel, [length(roll_accel) , 1] );
-
-
%% Plot x control structure
% Plot lateral controller output
@@ -87,8 +85,8 @@ legend('Log', 'Model', 'location', 'northwest');
% Plot longitude controller output
figure(2); subplot(2, 2, 1);
-stairs(time, pitch_setpoint, '.-'); hold on; grid minor;
-stairs(time_model_40ms, pitch_setpoint_model_data, '.-'); hold off;
+stairs(time, roll_setpoint, '.-'); hold on; grid minor;
+stairs(time_model_40ms, roll_setpoint_model_data, '.-'); hold off;
title('Longitude Controller Output ');
xlabel('Time (s)');
ylabel('\phi (rad)');
@@ -126,7 +124,7 @@ legend('Log', 'Model', 'location', 'northwest');
% Plot z controller command
figure(3); subplot(2, 1, 1);
stairs(time, z_command, '.-'); hold on; grid minor;
-stairs(time_model_40ms, z_command_model_data, '.-'); hold off;
+stairs(time_model_5ms, z_command_model_data, '.-'); hold off;
title('Z Command');
xlabel('Time (s)');
ylabel('Command');
@@ -171,7 +169,7 @@ ylabel('Value (rad)');
legend('Log', 'Model', 'location', 'northwest');
%% Plot PWM Commands
-figure(5); subplot(2, 2, 1);
+figure(5); ax1 = subplot(2, 2, 1);
stairs(time, PWM0,'.-'); hold on; grid minor;
stairs(time_model_5ms, PWM0_model, '.-'); hold off;
title('PWM0 Value');
@@ -179,7 +177,7 @@ xlabel('Time (s)');
ylabel('PWM0 Command');
legend('Log', 'Model', 'location', 'northwest');
-subplot(2, 2, 2);
+ax2 = subplot(2, 2, 2);
stairs(time, PWM1,'.-'); hold on; grid minor;
stairs(time_model_5ms, PWM1_model, '.-'); hold off;
title('PWM1 Value');
@@ -187,15 +185,15 @@ xlabel('Time (s)');
ylabel('PWM1 Command');
legend('Log', 'Model', 'location', 'northwest');
-subplot(2, 2, 3);
+ax3 = subplot(2, 2, 3);
stairs(time, PWM2,'.-'); hold on; grid minor;
stairs(time_model_5ms, PWM2_model, '.-'); hold off;
title('PWM2 Value');
xlabel('Time (s)');
ylabel('PWM2 Command');
legend('Log', 'Model', 'location', 'northwest');
-
-subplot(2, 2, 4);
+
+ax4 = subplot(2, 2, 4);
stairs(time, PWM3,'.-'); hold on; grid minor;
stairs(time_model_5ms, PWM3_model, '.-'); hold off;
title('PWM3 Value');
@@ -203,20 +201,52 @@ xlabel('Time (s)');
ylabel('PWM3 Command');
legend('Log', 'Model', 'location', 'northwest');
+linkaxes([ax1, ax2, ax3, ax4], 'xy');
+
%% Plot output of complimentary filter
-figure(6); subplot(2, 1, 1);
-stairs(time, pitch_measured_IMU, '.-'); hold on; grid minor;
-stairs(time_model_5ms, pitch_accel, '.-'); hold off;
+figure(8); subplot(2, 1, 1);
+stairs(time, pitch_measured_VRPN * (180/pi), '.-'); hold on; grid minor;
+stairs(time, pitch_measured_IMU * (180/pi), '.-');
+stairs(time_model_5ms, pitch_accel * (180/pi), '.-'); hold off;
title('Pitch Complementary Filter Output');
xlabel('Time (s)');
-ylabel('Pitch Angle (rad)');
-legend('Log', 'Model', 'location', 'northwest');
+ylabel('Pitch Angle (degrees)');
+legend('VRPN','IMU', 'Model', 'location', 'northwest');
subplot(2, 1, 2);
-stairs(time, roll_measured_IMU, '.-'); hold on; grid minor;
-stairs(time_model_5ms, roll_accel, '.-'); hold off;
+stairs(time, roll_measured_VRPN * (180/pi), '.-'); hold on; grid minor;
+stairs(time, roll_measured_IMU * (180/pi), '.-');
+stairs(time_model_5ms, roll_accel * (180/pi), '.-'); hold off;
title('Roll Complementary Filter Output');
xlabel('Time (s)');
-ylabel('Roll Angle (rad)');
-legend('Log', 'Model', 'location', 'northwest');
+ylabel('Roll Angle (degrees)');
+legend('VRPN','IMU', 'Model', 'location', 'northwest');
+
+%% Plot VRPN Position
+
+figure(9); ax1 = subplot(3, 1, 1);
+stairs(time, x_position, '.-'); hold on; grid minor;
+stairs(time_model_40ms, x_position_model_data, '.-');
+title('X position');
+xlabel('Time (s)');
+ylabel('X position');
+legend('X position', 'X position model', 'X setpoint');
+
+ax2 = subplot(3, 1, 2);
+stairs(time, y_position, '.-'); hold on; grid minor;
+stairs(time_model_40ms, y_position_model_data, '.-');
+title('Y position');
+xlabel('Time (s)');
+ylabel('Y position');
+legend('Y position', 'Y position model', 'Y setpoint');
+
+ax3 = subplot(3, 1, 3);
+stairs(time, y_position, '.-'); hold on; grid minor;
+stairs(time_model_40ms, y_position_model_data, '.-');
+title('Z position');
+xlabel('Time (s)');
+ylabel('Z position');
+legend('Z position', 'Z position model', 'Y setpoint');
+
+linkaxes([ax1, ax2, ax3], 'x');
diff --git a/controls/model/loggingAnalysis/logFiles/Fri_Mar_24_18-08-27_2017.txt b/controls/model/loggingAnalysis/logFiles/Fri_Mar_24_18-08-27_2017.txt
deleted file mode 100644
index b1442f2a47f859729d548c1f014a9b93f7eb5f9d..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/logFiles/Fri_Mar_24_18-08-27_2017.txt
+++ /dev/null
@@ -1,7618 +0,0 @@
-# MicroCART On-board Quad Log
-# Sample size: 7625
-%Time accel_x accel_y accel_z gyro_x gyro_y gyro_z RC Throttle_Constant Altitude PID_Correction X pos PID_Correction Y pos PID_Correction Pitch PID_Correction Roll PID_Correction Yaw PID_Correction Pitch Rate PID_Correction Roll Rate PID_Correction Yaw Rate PID_Correction Pitch_Constant Roll_Constant Yaw_Constant VRPN X_Constant VRPN Y_Constant VRPN Alt_Constant VRPN Pitch_Constant VRPN Roll_Constant X Setpoint_Constant Y Setpoint_Constant Alt Setpoint_Constant Yaw Setpoint_Constant Signal Mixer_PWM 0 Signal Mixer_PWM 1 Signal Mixer_PWM 2 Signal Mixer_PWM 3
-&s G G G rad/s rad/s rad/s 10ns_dutycycle 10ns_dutycycle rad rad rad/s rad/s rad/s 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle rad rad rad m m m rad rad m m m rad 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle
-320.995331 -0.078562 -0.047885 -0.977697 -0.154634 -0.117230 -0.016725 107576.000000 0.000000 0.000000 0.000000 1.281408 -0.737642 0.000000 -1192.809326 -1673.899048 7283.439453 -0.087808 0.051375 -1.537802 -0.114335 0.111210 -0.956657 -0.053366 0.051265 -0.114335 0.111210 0.000000 -1.537802 103159.000000 115340.000000 114378.000000 100000.000000
-321.000336 -0.078318 -0.047396 -0.977697 -0.152505 -0.115101 -0.018854 107575.000000 0.000000 0.001115 0.000971 1.400389 -0.673326 0.001220 19819.894531 4442.185059 8741.731445 -0.088207 0.050577 -1.538271 -0.113965 0.110888 -0.956604 -0.054161 0.049815 -0.114335 0.111210 0.000000 -1.537802 100000.000000 131694.000000 100939.000000 123095.000000
-321.005341 -0.078318 -0.047152 -0.978430 -0.149313 -0.111909 -0.020982 107575.000000 0.000000 0.001115 0.000971 1.360409 -0.701642 0.001220 2025.578735 -6005.291016 9668.629883 -0.088581 0.049805 -1.538271 -0.113965 0.110888 -0.956604 -0.054161 0.049815 -0.114335 0.111210 0.000000 -1.537802 101886.000000 125274.000000 109212.000000 100000.000000
-321.010345 -0.078562 -0.046908 -0.978430 -0.145056 -0.108716 -0.024175 107575.000000 0.000000 0.000687 0.000595 1.341478 -0.712552 0.002013 4238.185547 -4278.241211 11404.106445 -0.088937 0.049065 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 127495.000000 110462.000000 100000.000000
-321.015350 -0.079051 -0.046908 -0.977941 -0.140799 -0.105523 -0.025239 107575.000000 0.000000 0.000687 0.000595 1.363234 -0.688423 0.002013 8797.487305 -333.912262 11867.555664 -0.089280 0.048363 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 128573.000000 110311.000000 104171.000000
-321.020355 -0.079783 -0.046420 -0.977941 -0.136542 -0.101267 -0.026303 107575.000000 0.000000 0.000687 0.000595 1.367669 -0.679274 0.002013 6776.710449 -1958.714478 12331.004883 -0.089610 0.047685 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 128641.000000 111170.000000 100061.000000
-321.025360 -0.079783 -0.046176 -0.977453 -0.131221 -0.097010 -0.027367 107635.000000 0.000000 0.000687 0.000595 1.371151 -0.671067 0.002013 6668.259277 -2165.942627 12794.454102 -0.089914 0.047043 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129263.000000 111595.000000 100000.000000
-321.030365 -0.079539 -0.045688 -0.976477 -0.126964 -0.091688 -0.028432 107635.000000 0.000000 0.000687 0.000595 1.373746 -0.662818 0.002013 6441.307617 -2026.043579 13257.902344 -0.090182 0.046427 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129360.000000 112425.000000 100000.000000
-321.035370 -0.080027 -0.045443 -0.976477 -0.121643 -0.085303 -0.028432 107635.000000 0.000000 0.000687 0.000595 1.376303 -0.655397 0.002013 6302.367676 -2224.360352 13257.902344 -0.090423 0.045843 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129419.000000 112366.000000 100000.000000
-321.040375 -0.080516 -0.044711 -0.976477 -0.116322 -0.078918 -0.028432 107635.000000 0.000000 0.000687 0.000595 1.378489 -0.647894 0.002013 6242.277832 -2205.224854 13257.902344 -0.090638 0.045282 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129340.000000 112445.000000 100000.000000
-321.045380 -0.081248 -0.044467 -0.977209 -0.111001 -0.072532 -0.028432 107575.000000 0.000000 0.000687 0.000595 1.380518 -0.641214 0.002013 6204.890625 -2289.588867 13257.902344 -0.090831 0.044753 -1.538576 -0.113739 0.110692 -0.956535 -0.055397 0.048209 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129327.000000 112338.000000 100000.000000
-321.050385 -0.081492 -0.043734 -0.977941 -0.104615 -0.066147 -0.029496 107575.000000 0.000000 -0.005505 -0.004701 1.041192 -0.925937 -0.005109 -32919.265625 -35787.156250 10619.772461 -0.090993 0.044251 -1.535836 -0.115568 0.112254 -0.956451 -0.056563 0.046535 -0.114335 0.111210 0.000000 -1.537802 156955.000000 118194.000000 118194.000000 100000.000000
-321.055389 -0.081980 -0.043002 -0.978918 -0.097166 -0.060826 -0.029496 107575.000000 0.000000 0.003149 0.002708 1.765935 -0.300952 0.006450 87507.875000 66964.289062 15653.780273 -0.091134 0.043779 -1.540282 -0.112447 0.109571 -0.956269 -0.058568 0.044307 -0.114335 0.111210 0.000000 -1.537802 100000.000000 123228.000000 123228.000000 151921.000000
-321.060394 -0.081492 -0.042514 -0.979650 -0.089716 -0.054441 -0.029496 107575.000000 0.000000 0.000593 0.000522 1.278982 -0.712242 0.007016 -48111.804688 -48906.558594 15899.974609 -0.091230 0.043342 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 151675.000000 123474.000000 123474.000000 100000.000000
-321.065399 -0.080760 -0.042025 -0.979895 -0.081202 -0.049119 -0.029496 107575.000000 0.000000 0.000593 0.000522 1.380255 -0.620508 0.007016 17125.683594 6669.789551 15899.974609 -0.091283 0.042945 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 133930.000000 113019.000000 115470.000000
-321.070404 -0.080027 -0.041537 -0.979895 -0.072688 -0.043798 -0.029496 107645.000000 0.000000 0.000593 0.000522 1.378746 -0.616745 0.007016 5792.639648 -3025.010742 15899.974609 -0.091294 0.042589 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132362.000000 114727.000000 100000.000000
-321.075409 -0.079295 -0.041049 -0.980383 -0.064175 -0.038477 -0.029496 107645.000000 0.000000 0.000593 0.000522 1.376610 -0.613510 0.007016 5689.435059 -3107.465820 15899.974609 -0.091263 0.042271 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132341.000000 114748.000000 100000.000000
-321.080414 -0.079295 -0.040316 -0.980871 -0.054597 -0.034220 -0.029496 107645.000000 0.000000 0.000593 0.000522 1.374996 -0.610824 0.007016 5836.889160 -3316.419434 15899.974609 -0.091211 0.041990 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132698.000000 114391.000000 100000.000000
-321.085419 -0.079539 -0.040561 -0.982336 -0.046083 -0.029963 -0.029496 107645.000000 0.000000 0.000593 0.000522 1.373268 -0.609423 0.007016 5796.688477 -3373.630615 15899.974609 -0.091142 0.041761 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132715.000000 114374.000000 100000.000000
-321.090424 -0.079783 -0.040561 -0.983312 -0.035441 -0.025706 -0.028432 107577.000000 0.000000 0.000593 0.000522 1.371361 -0.609028 0.007016 5748.738281 -3765.195557 15436.525391 -0.091057 0.041587 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132527.000000 113499.000000 100000.000000
-321.095428 -0.080027 -0.041049 -0.983557 -0.026927 -0.022514 -0.028432 107577.000000 0.000000 0.000593 0.000522 1.369569 -0.609432 0.007016 5855.502441 -3660.125488 15436.525391 -0.090963 0.041468 -1.540500 -0.112260 0.109406 -0.956184 -0.058980 0.043508 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132529.000000 113497.000000 100000.000000
-321.100433 -0.080271 -0.041049 -0.984045 -0.017349 -0.018257 -0.027367 107577.000000 0.000000 0.000912 0.000782 1.384905 -0.595967 0.009235 7672.654297 -2234.236328 15939.494141 -0.090854 0.041397 -1.541353 -0.111679 0.108908 -0.955965 -0.058770 0.043098 -0.114335 0.111210 0.000000 -1.537802 100000.000000 133423.000000 113609.000000 100000.000000
-321.105438 -0.080027 -0.041293 -0.983312 -0.008835 -0.012936 -0.026303 107577.000000 0.000000 -0.000057 -0.000036 1.315702 -0.652958 0.008695 -2082.564941 -10165.589844 15240.918945 -0.090718 0.041375 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 104584.000000 130900.000000 114734.000000 100000.000000
-321.110443 -0.079783 -0.041537 -0.982580 -0.000321 -0.007615 -0.026303 107640.000000 0.000000 -0.000057 -0.000036 1.350925 -0.622528 0.008695 9537.147461 -452.354065 15240.918945 -0.090554 0.041400 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 100000.000000 132870.000000 112891.000000 101483.000000
-321.115448 -0.080027 -0.041537 -0.981848 0.007128 -0.001229 -0.025239 107640.000000 0.000000 -0.000057 -0.000036 1.347283 -0.624883 0.008695 5100.539062 -3985.324463 14777.469727 -0.090369 0.041461 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 100000.000000 131503.000000 113331.000000 100000.000000
-321.120453 -0.080760 -0.041537 -0.982092 0.012450 0.005156 -0.024175 107640.000000 0.000000 -0.000057 -0.000036 1.343794 -0.627117 0.008695 5072.007812 -3772.759766 14314.020508 -0.090171 0.041546 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 100000.000000 130798.000000 113109.000000 100000.000000
-321.125458 -0.081492 -0.041537 -0.981848 0.018835 0.012606 -0.023110 107640.000000 0.000000 -0.000057 -0.000036 1.339882 -0.629994 0.008695 4856.269531 -4003.010010 13850.572266 -0.089956 0.041660 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 100000.000000 130349.000000 112631.000000 100000.000000
-321.130463 -0.082225 -0.042514 -0.981359 0.024156 0.020055 -0.022046 107640.000000 0.000000 -0.000057 -0.000036 1.335752 -0.634088 0.008695 4778.932129 -4063.176514 13387.123047 -0.089724 0.041817 -1.541146 -0.111743 0.108955 -0.955821 -0.059199 0.043112 -0.114335 0.111210 0.000000 -1.537802 100000.000000 129869.000000 112185.000000 100000.000000
-321.135468 -0.083201 -0.042514 -0.981604 0.028413 0.028569 -0.020982 107639.000000 0.000000 -0.001634 -0.001384 1.244619 -0.711497 0.006381 -5362.928223 -12383.245117 11916.224609 -0.089475 0.041991 -1.540256 -0.112298 0.109425 -0.955791 -0.060000 0.044327 -0.114335 0.111210 0.000000 -1.537802 113468.000000 126575.000000 112534.000000 100000.000000
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-321.150482 -0.081248 -0.044467 -0.980871 0.042248 0.051982 -0.016725 107639.000000 0.000000 0.000233 0.000212 1.311233 -0.651418 0.007264 3602.981445 -4664.016602 10446.835938 -0.088456 0.042717 -1.540596 -0.111943 0.109107 -0.955416 -0.058527 0.046262 -0.114335 0.111210 0.000000 -1.537802 100000.000000 126352.000000 109818.000000 100000.000000
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-321.165497 -0.080027 -0.044467 -0.981359 0.057147 0.070074 -0.011404 107579.000000 0.000000 0.000233 0.000212 1.291481 -0.664019 0.007264 4134.383301 -4512.547852 8129.591309 -0.087124 0.043626 -1.540596 -0.111943 0.109107 -0.955416 -0.058527 0.046262 -0.114335 0.111210 0.000000 -1.537802 100000.000000 124355.000000 107061.000000 100000.000000
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-321.180511 -0.077830 -0.045199 -0.981848 0.075239 0.077523 -0.007147 107643.000000 0.000000 0.000233 0.000212 1.266440 -0.683938 0.007264 4441.915039 -4999.230469 6275.795410 -0.085591 0.044739 -1.540596 -0.111943 0.109107 -0.955416 -0.058527 0.046262 -0.114335 0.111210 0.000000 -1.537802 101924.000000 123359.000000 104477.000000 100809.000000
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-321.195526 -0.077586 -0.046176 -0.982580 0.093331 0.078588 -0.005019 107643.000000 0.000000 -0.002184 -0.001862 1.208009 -0.738577 0.007088 19648.439453 7500.688965 5272.097168 -0.084058 0.046091 -1.540528 -0.111883 0.109044 -0.955144 -0.055557 0.048142 -0.114335 0.111210 0.000000 -1.537802 100000.000000 125062.000000 100767.000000 129520.000000
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\ No newline at end of file
diff --git a/controls/model/loggingAnalysis/logFiles/logData.csv b/controls/model/loggingAnalysis/logFiles/logData.csv
deleted file mode 100644
index ec82bdd6374c782adf567e0a0539429ce8758c2d..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/logFiles/logData.csv
+++ /dev/null
@@ -1,404 +0,0 @@
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diff --git a/controls/model/loggingAnalysis/logFiles/logData1.csv b/controls/model/loggingAnalysis/logFiles/logData1.csv
deleted file mode 100644
index b824bc492610e14ccf6acc042a8451f122b98be3..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/logFiles/logData1.csv
+++ /dev/null
@@ -1,846 +0,0 @@
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diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/EMLReport/sL897IXghI8zmc3H8vRBKxD.mat b/controls/model/loggingAnalysis/slprj/_sfprj/EMLReport/sL897IXghI8zmc3H8vRBKxD.mat
deleted file mode 100644
index 0525f07daba7714fe185e1428a497d0650c1c98c..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/EMLReport/sL897IXghI8zmc3H8vRBKxD.mat and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/info/binfo.mat b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/info/binfo.mat
deleted file mode 100644
index 6fa0e5c2e0dcd0882ae2cc364479119d3741f44a..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/info/binfo.mat and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.c b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.c
deleted file mode 100644
index 57f63efc7757630bf45b1ac51f17b12ba887aa79..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.c
+++ /dev/null
@@ -1,1605 +0,0 @@
-/* Include files */
-
-#include "test_model_sfun.h"
-#include "c15_test_model.h"
-#define CHARTINSTANCE_CHARTNUMBER (chartInstance->chartNumber)
-#define CHARTINSTANCE_INSTANCENUMBER (chartInstance->instanceNumber)
-#include "test_model_sfun_debug_macros.h"
-#define _SF_MEX_LISTEN_FOR_CTRL_C(S) sf_mex_listen_for_ctrl_c_with_debugger(S, sfGlobalDebugInstanceStruct);
-
-static void chart_debug_initialization(SimStruct *S, unsigned int
- fullDebuggerInitialization);
-static void chart_debug_initialize_data_addresses(SimStruct *S);
-static const mxArray* sf_opaque_get_hover_data_for_msg(void *chartInstance,
- int32_T msgSSID);
-
-/* Type Definitions */
-
-/* Named Constants */
-#define CALL_EVENT (-1)
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-static real_T _sfTime_;
-static const char * c15_debug_family_names[29] = { "out_z", "out_y", "out_x",
- "out_yaw", "c_pid_y", "c_pid_roll", "nargin", "nargout", "set_x", "set_y",
- "set_z", "set_yaw", "cur_x", "cur_y", "cur_z", "cur_phi", "cur_theta",
- "cur_psi", "cur_phi_d", "cur_theta_d", "cur_psi_d", "vrpn_id", "Tc", "z_corr",
- "y_cor", "x_corr", "yaw_corr", "pid_y_out", "pid_roll_out" };
-
-/* Function Declarations */
-static void initialize_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void initialize_params_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void enable_c15_test_model(SFc15_test_modelInstanceStruct *chartInstance);
-static void disable_c15_test_model(SFc15_test_modelInstanceStruct *chartInstance);
-static void c15_update_debugger_state_c15_test_model
- (SFc15_test_modelInstanceStruct *chartInstance);
-static const mxArray *get_sim_state_c15_test_model
- (SFc15_test_modelInstanceStruct *chartInstance);
-static void set_sim_state_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_st);
-static void finalize_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void sf_gateway_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void mdl_start_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void initSimStructsc15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance);
-static void init_script_number_translation(uint32_T c15_machineNumber, uint32_T
- c15_chartNumber, uint32_T c15_instanceNumber);
-static const mxArray *c15_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData);
-static real_T c15_emlrt_marshallIn(SFc15_test_modelInstanceStruct *chartInstance,
- const mxArray *c15_b_pid_roll_out, const char_T *c15_identifier);
-static real_T c15_b_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId);
-static void c15_sf_marshallIn(void *chartInstanceVoid, const mxArray
- *c15_mxArrayInData, const char_T *c15_varName, void *c15_outData);
-static const mxArray *c15_b_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData);
-static const mxArray *c15_c_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData);
-static int32_T c15_c_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId);
-static void c15_b_sf_marshallIn(void *chartInstanceVoid, const mxArray
- *c15_mxArrayInData, const char_T *c15_varName, void *c15_outData);
-static uint8_T c15_d_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_b_is_active_c15_test_model, const char_T
- *c15_identifier);
-static uint8_T c15_e_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId);
-static void init_dsm_address_info(SFc15_test_modelInstanceStruct *chartInstance);
-static void init_simulink_io_address(SFc15_test_modelInstanceStruct
- *chartInstance);
-
-/* Function Definitions */
-static void initialize_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- if (sf_is_first_init_cond(chartInstance->S)) {
- initSimStructsc15_test_model(chartInstance);
- chart_debug_initialize_data_addresses(chartInstance->S);
- }
-
- chartInstance->c15_sfEvent = CALL_EVENT;
- _sfTime_ = sf_get_time(chartInstance->S);
- chartInstance->c15_is_active_c15_test_model = 0U;
-}
-
-static void initialize_params_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- (void)chartInstance;
-}
-
-static void enable_c15_test_model(SFc15_test_modelInstanceStruct *chartInstance)
-{
- _sfTime_ = sf_get_time(chartInstance->S);
-}
-
-static void disable_c15_test_model(SFc15_test_modelInstanceStruct *chartInstance)
-{
- _sfTime_ = sf_get_time(chartInstance->S);
-}
-
-static void c15_update_debugger_state_c15_test_model
- (SFc15_test_modelInstanceStruct *chartInstance)
-{
- (void)chartInstance;
-}
-
-static const mxArray *get_sim_state_c15_test_model
- (SFc15_test_modelInstanceStruct *chartInstance)
-{
- const mxArray *c15_st;
- const mxArray *c15_y = NULL;
- real_T c15_hoistedGlobal;
- const mxArray *c15_b_y = NULL;
- real_T c15_b_hoistedGlobal;
- const mxArray *c15_c_y = NULL;
- real_T c15_c_hoistedGlobal;
- const mxArray *c15_d_y = NULL;
- real_T c15_d_hoistedGlobal;
- const mxArray *c15_e_y = NULL;
- real_T c15_e_hoistedGlobal;
- const mxArray *c15_f_y = NULL;
- real_T c15_f_hoistedGlobal;
- const mxArray *c15_g_y = NULL;
- uint8_T c15_g_hoistedGlobal;
- const mxArray *c15_h_y = NULL;
- c15_st = NULL;
- c15_st = NULL;
- c15_y = NULL;
- sf_mex_assign(&c15_y, sf_mex_createcellmatrix(7, 1), false);
- c15_hoistedGlobal = *chartInstance->c15_pid_roll_out;
- c15_b_y = NULL;
- sf_mex_assign(&c15_b_y, sf_mex_create("y", &c15_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 0, c15_b_y);
- c15_b_hoistedGlobal = *chartInstance->c15_pid_y_out;
- c15_c_y = NULL;
- sf_mex_assign(&c15_c_y, sf_mex_create("y", &c15_b_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 1, c15_c_y);
- c15_c_hoistedGlobal = *chartInstance->c15_x_corr;
- c15_d_y = NULL;
- sf_mex_assign(&c15_d_y, sf_mex_create("y", &c15_c_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 2, c15_d_y);
- c15_d_hoistedGlobal = *chartInstance->c15_y_cor;
- c15_e_y = NULL;
- sf_mex_assign(&c15_e_y, sf_mex_create("y", &c15_d_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 3, c15_e_y);
- c15_e_hoistedGlobal = *chartInstance->c15_yaw_corr;
- c15_f_y = NULL;
- sf_mex_assign(&c15_f_y, sf_mex_create("y", &c15_e_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 4, c15_f_y);
- c15_f_hoistedGlobal = *chartInstance->c15_z_corr;
- c15_g_y = NULL;
- sf_mex_assign(&c15_g_y, sf_mex_create("y", &c15_f_hoistedGlobal, 0, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 5, c15_g_y);
- c15_g_hoistedGlobal = chartInstance->c15_is_active_c15_test_model;
- c15_h_y = NULL;
- sf_mex_assign(&c15_h_y, sf_mex_create("y", &c15_g_hoistedGlobal, 3, 0U, 0U, 0U,
- 0), false);
- sf_mex_setcell(c15_y, 6, c15_h_y);
- sf_mex_assign(&c15_st, c15_y, false);
- return c15_st;
-}
-
-static void set_sim_state_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_st)
-{
- const mxArray *c15_u;
- chartInstance->c15_doneDoubleBufferReInit = true;
- c15_u = sf_mex_dup(c15_st);
- *chartInstance->c15_pid_roll_out = c15_emlrt_marshallIn(chartInstance,
- sf_mex_dup(sf_mex_getcell("pid_roll_out", c15_u, 0)), "pid_roll_out");
- *chartInstance->c15_pid_y_out = c15_emlrt_marshallIn(chartInstance, sf_mex_dup
- (sf_mex_getcell("pid_y_out", c15_u, 1)), "pid_y_out");
- *chartInstance->c15_x_corr = c15_emlrt_marshallIn(chartInstance, sf_mex_dup
- (sf_mex_getcell("x_corr", c15_u, 2)), "x_corr");
- *chartInstance->c15_y_cor = c15_emlrt_marshallIn(chartInstance, sf_mex_dup
- (sf_mex_getcell("y_cor", c15_u, 3)), "y_cor");
- *chartInstance->c15_yaw_corr = c15_emlrt_marshallIn(chartInstance, sf_mex_dup
- (sf_mex_getcell("yaw_corr", c15_u, 4)), "yaw_corr");
- *chartInstance->c15_z_corr = c15_emlrt_marshallIn(chartInstance, sf_mex_dup
- (sf_mex_getcell("z_corr", c15_u, 5)), "z_corr");
- chartInstance->c15_is_active_c15_test_model = c15_d_emlrt_marshallIn
- (chartInstance, sf_mex_dup(sf_mex_getcell("is_active_c15_test_model", c15_u,
- 6)), "is_active_c15_test_model");
- sf_mex_destroy(&c15_u);
- c15_update_debugger_state_c15_test_model(chartInstance);
- sf_mex_destroy(&c15_st);
-}
-
-static void finalize_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- (void)chartInstance;
-}
-
-static void sf_gateway_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- real_T c15_hoistedGlobal;
- real_T c15_b_hoistedGlobal;
- real_T c15_c_hoistedGlobal;
- real_T c15_d_hoistedGlobal;
- real_T c15_e_hoistedGlobal;
- real_T c15_f_hoistedGlobal;
- real_T c15_g_hoistedGlobal;
- real_T c15_h_hoistedGlobal;
- real_T c15_i_hoistedGlobal;
- real_T c15_j_hoistedGlobal;
- real_T c15_k_hoistedGlobal;
- real_T c15_l_hoistedGlobal;
- real_T c15_m_hoistedGlobal;
- uint32_T c15_n_hoistedGlobal;
- real_T c15_o_hoistedGlobal;
- real_T c15_b_set_x;
- real_T c15_b_set_y;
- real_T c15_b_set_z;
- real_T c15_b_set_yaw;
- real_T c15_b_cur_x;
- real_T c15_b_cur_y;
- real_T c15_b_cur_z;
- real_T c15_b_cur_phi;
- real_T c15_b_cur_theta;
- real_T c15_b_cur_psi;
- real_T c15_b_cur_phi_d;
- real_T c15_b_cur_theta_d;
- real_T c15_b_cur_psi_d;
- uint32_T c15_b_vrpn_id;
- real_T c15_b_Tc;
- uint32_T c15_debug_family_var_map[29];
- real_T c15_out_z;
- real_T c15_out_y;
- real_T c15_out_x;
- real_T c15_out_yaw;
- real_T c15_c_pid_y;
- real_T c15_c_pid_roll;
- real_T c15_nargin = 15.0;
- real_T c15_nargout = 6.0;
- real_T c15_b_z_corr;
- real_T c15_b_y_cor;
- real_T c15_b_x_corr;
- real_T c15_b_yaw_corr;
- real_T c15_b_pid_y_out;
- real_T c15_b_pid_roll_out;
- _SFD_SYMBOL_SCOPE_PUSH(0U, 0U);
- _sfTime_ = sf_get_time(chartInstance->S);
- _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 12U, chartInstance->c15_sfEvent);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_Tc, 14U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK((real_T)*chartInstance->c15_vrpn_id, 13U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_psi_d, 12U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_theta_d, 11U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_phi_d, 10U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_psi, 9U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_theta, 8U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_phi, 7U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_z, 6U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_y, 5U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_cur_x, 4U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_set_yaw, 3U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_set_z, 2U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_set_y, 1U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_set_x, 0U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- chartInstance->c15_sfEvent = CALL_EVENT;
- _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 12U, chartInstance->c15_sfEvent);
- c15_hoistedGlobal = *chartInstance->c15_set_x;
- c15_b_hoistedGlobal = *chartInstance->c15_set_y;
- c15_c_hoistedGlobal = *chartInstance->c15_set_z;
- c15_d_hoistedGlobal = *chartInstance->c15_set_yaw;
- c15_e_hoistedGlobal = *chartInstance->c15_cur_x;
- c15_f_hoistedGlobal = *chartInstance->c15_cur_y;
- c15_g_hoistedGlobal = *chartInstance->c15_cur_z;
- c15_h_hoistedGlobal = *chartInstance->c15_cur_phi;
- c15_i_hoistedGlobal = *chartInstance->c15_cur_theta;
- c15_j_hoistedGlobal = *chartInstance->c15_cur_psi;
- c15_k_hoistedGlobal = *chartInstance->c15_cur_phi_d;
- c15_l_hoistedGlobal = *chartInstance->c15_cur_theta_d;
- c15_m_hoistedGlobal = *chartInstance->c15_cur_psi_d;
- c15_n_hoistedGlobal = *chartInstance->c15_vrpn_id;
- c15_o_hoistedGlobal = *chartInstance->c15_Tc;
- c15_b_set_x = c15_hoistedGlobal;
- c15_b_set_y = c15_b_hoistedGlobal;
- c15_b_set_z = c15_c_hoistedGlobal;
- c15_b_set_yaw = c15_d_hoistedGlobal;
- c15_b_cur_x = c15_e_hoistedGlobal;
- c15_b_cur_y = c15_f_hoistedGlobal;
- c15_b_cur_z = c15_g_hoistedGlobal;
- c15_b_cur_phi = c15_h_hoistedGlobal;
- c15_b_cur_theta = c15_i_hoistedGlobal;
- c15_b_cur_psi = c15_j_hoistedGlobal;
- c15_b_cur_phi_d = c15_k_hoistedGlobal;
- c15_b_cur_theta_d = c15_l_hoistedGlobal;
- c15_b_cur_psi_d = c15_m_hoistedGlobal;
- c15_b_vrpn_id = c15_n_hoistedGlobal;
- c15_b_Tc = c15_o_hoistedGlobal;
- _SFD_SYMBOL_SCOPE_PUSH_EML(0U, 29U, 29U, c15_debug_family_names,
- c15_debug_family_var_map);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_out_z, 0U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_out_y, 1U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_out_x, 2U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_out_yaw, 3U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_c_pid_y, 4U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_c_pid_roll, 5U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_nargin, 6U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_nargout, 7U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_set_x, 8U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_set_y, 9U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_set_z, 10U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_set_yaw, 11U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_x, 12U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_y, 13U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_z, 14U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_phi, 15U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_theta, 16U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_psi, 17U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_phi_d, 18U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_theta_d, 19U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_cur_psi_d, 20U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_vrpn_id, 21U, c15_b_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML(&c15_b_Tc, 22U, c15_sf_marshallOut);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_z_corr, 23U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_y_cor, 24U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_x_corr, 25U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_yaw_corr, 26U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_pid_y_out, 27U, c15_sf_marshallOut,
- c15_sf_marshallIn);
- _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c15_b_pid_roll_out, 28U,
- c15_sf_marshallOut, c15_sf_marshallIn);
- CV_EML_FCN(0, 0);
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 6);
- c15_out_z = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 7);
- c15_out_y = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 8);
- c15_out_x = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 9);
- c15_out_yaw = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 10);
- c15_c_pid_y = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 11);
- c15_c_pid_roll = -1.0;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 13);
- c_controller(c15_b_vrpn_id, c15_b_Tc, c15_b_set_x, c15_b_set_y, c15_b_set_z,
- c15_b_set_yaw, c15_b_cur_x, c15_b_cur_y, c15_b_cur_z,
- c15_b_cur_phi, c15_b_cur_theta, c15_b_cur_psi, c15_b_cur_phi_d,
- c15_b_cur_theta_d, c15_b_cur_psi_d, &c15_out_z, &c15_out_y,
- &c15_out_x, &c15_out_yaw, &c15_c_pid_y, &c15_c_pid_roll);
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 20);
- c15_b_z_corr = c15_out_z;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 21);
- c15_b_y_cor = c15_out_y;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 22);
- c15_b_x_corr = c15_out_x;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 23);
- c15_b_pid_y_out = c15_c_pid_y;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 24);
- c15_b_pid_roll_out = c15_c_pid_roll;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, 25);
- c15_b_yaw_corr = c15_out_yaw;
- _SFD_EML_CALL(0U, chartInstance->c15_sfEvent, -25);
- _SFD_SYMBOL_SCOPE_POP();
- *chartInstance->c15_z_corr = c15_b_z_corr;
- *chartInstance->c15_y_cor = c15_b_y_cor;
- *chartInstance->c15_x_corr = c15_b_x_corr;
- *chartInstance->c15_yaw_corr = c15_b_yaw_corr;
- *chartInstance->c15_pid_y_out = c15_b_pid_y_out;
- *chartInstance->c15_pid_roll_out = c15_b_pid_roll_out;
- _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 12U, chartInstance->c15_sfEvent);
- _SFD_SYMBOL_SCOPE_POP();
- _SFD_CHECK_FOR_STATE_INCONSISTENCY(_test_modelMachineNumber_,
- chartInstance->chartNumber, chartInstance->instanceNumber);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_z_corr, 15U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_y_cor, 16U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_x_corr, 17U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_yaw_corr, 18U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_pid_y_out, 19U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
- _SFD_DATA_RANGE_CHECK(*chartInstance->c15_pid_roll_out, 20U, 1U, 0U,
- chartInstance->c15_sfEvent, false);
-}
-
-static void mdl_start_c15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- (void)chartInstance;
-}
-
-static void initSimStructsc15_test_model(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- (void)chartInstance;
-}
-
-static void init_script_number_translation(uint32_T c15_machineNumber, uint32_T
- c15_chartNumber, uint32_T c15_instanceNumber)
-{
- (void)c15_machineNumber;
- (void)c15_chartNumber;
- (void)c15_instanceNumber;
-}
-
-static const mxArray *c15_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData)
-{
- const mxArray *c15_mxArrayOutData;
- real_T c15_u;
- const mxArray *c15_y = NULL;
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)chartInstanceVoid;
- c15_mxArrayOutData = NULL;
- c15_mxArrayOutData = NULL;
- c15_u = *(real_T *)c15_inData;
- c15_y = NULL;
- sf_mex_assign(&c15_y, sf_mex_create("y", &c15_u, 0, 0U, 0U, 0U, 0), false);
- sf_mex_assign(&c15_mxArrayOutData, c15_y, false);
- return c15_mxArrayOutData;
-}
-
-static real_T c15_emlrt_marshallIn(SFc15_test_modelInstanceStruct *chartInstance,
- const mxArray *c15_b_pid_roll_out, const char_T *c15_identifier)
-{
- real_T c15_y;
- emlrtMsgIdentifier c15_thisId;
- c15_thisId.fIdentifier = c15_identifier;
- c15_thisId.fParent = NULL;
- c15_thisId.bParentIsCell = false;
- c15_y = c15_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c15_b_pid_roll_out),
- &c15_thisId);
- sf_mex_destroy(&c15_b_pid_roll_out);
- return c15_y;
-}
-
-static real_T c15_b_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId)
-{
- real_T c15_y;
- real_T c15_d0;
- (void)chartInstance;
- sf_mex_import(c15_parentId, sf_mex_dup(c15_u), &c15_d0, 1, 0, 0U, 0, 0U, 0);
- c15_y = c15_d0;
- sf_mex_destroy(&c15_u);
- return c15_y;
-}
-
-static void c15_sf_marshallIn(void *chartInstanceVoid, const mxArray
- *c15_mxArrayInData, const char_T *c15_varName, void *c15_outData)
-{
- const mxArray *c15_b_pid_roll_out;
- const char_T *c15_identifier;
- emlrtMsgIdentifier c15_thisId;
- real_T c15_y;
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)chartInstanceVoid;
- c15_b_pid_roll_out = sf_mex_dup(c15_mxArrayInData);
- c15_identifier = c15_varName;
- c15_thisId.fIdentifier = c15_identifier;
- c15_thisId.fParent = NULL;
- c15_thisId.bParentIsCell = false;
- c15_y = c15_b_emlrt_marshallIn(chartInstance, sf_mex_dup(c15_b_pid_roll_out),
- &c15_thisId);
- sf_mex_destroy(&c15_b_pid_roll_out);
- *(real_T *)c15_outData = c15_y;
- sf_mex_destroy(&c15_mxArrayInData);
-}
-
-static const mxArray *c15_b_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData)
-{
- const mxArray *c15_mxArrayOutData;
- uint32_T c15_u;
- const mxArray *c15_y = NULL;
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)chartInstanceVoid;
- c15_mxArrayOutData = NULL;
- c15_mxArrayOutData = NULL;
- c15_u = *(uint32_T *)c15_inData;
- c15_y = NULL;
- sf_mex_assign(&c15_y, sf_mex_create("y", &c15_u, 7, 0U, 0U, 0U, 0), false);
- sf_mex_assign(&c15_mxArrayOutData, c15_y, false);
- return c15_mxArrayOutData;
-}
-
-const mxArray *sf_c15_test_model_get_eml_resolved_functions_info(void)
-{
- const mxArray *c15_nameCaptureInfo = NULL;
- c15_nameCaptureInfo = NULL;
- sf_mex_assign(&c15_nameCaptureInfo, sf_mex_create("nameCaptureInfo", NULL, 0,
- 0U, 1U, 0U, 2, 0, 1), false);
- return c15_nameCaptureInfo;
-}
-
-static const mxArray *c15_c_sf_marshallOut(void *chartInstanceVoid, void
- *c15_inData)
-{
- const mxArray *c15_mxArrayOutData;
- int32_T c15_u;
- const mxArray *c15_y = NULL;
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)chartInstanceVoid;
- c15_mxArrayOutData = NULL;
- c15_mxArrayOutData = NULL;
- c15_u = *(int32_T *)c15_inData;
- c15_y = NULL;
- sf_mex_assign(&c15_y, sf_mex_create("y", &c15_u, 6, 0U, 0U, 0U, 0), false);
- sf_mex_assign(&c15_mxArrayOutData, c15_y, false);
- return c15_mxArrayOutData;
-}
-
-static int32_T c15_c_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId)
-{
- int32_T c15_y;
- int32_T c15_i0;
- (void)chartInstance;
- sf_mex_import(c15_parentId, sf_mex_dup(c15_u), &c15_i0, 1, 6, 0U, 0, 0U, 0);
- c15_y = c15_i0;
- sf_mex_destroy(&c15_u);
- return c15_y;
-}
-
-static void c15_b_sf_marshallIn(void *chartInstanceVoid, const mxArray
- *c15_mxArrayInData, const char_T *c15_varName, void *c15_outData)
-{
- const mxArray *c15_b_sfEvent;
- const char_T *c15_identifier;
- emlrtMsgIdentifier c15_thisId;
- int32_T c15_y;
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)chartInstanceVoid;
- c15_b_sfEvent = sf_mex_dup(c15_mxArrayInData);
- c15_identifier = c15_varName;
- c15_thisId.fIdentifier = c15_identifier;
- c15_thisId.fParent = NULL;
- c15_thisId.bParentIsCell = false;
- c15_y = c15_c_emlrt_marshallIn(chartInstance, sf_mex_dup(c15_b_sfEvent),
- &c15_thisId);
- sf_mex_destroy(&c15_b_sfEvent);
- *(int32_T *)c15_outData = c15_y;
- sf_mex_destroy(&c15_mxArrayInData);
-}
-
-static uint8_T c15_d_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_b_is_active_c15_test_model, const char_T
- *c15_identifier)
-{
- uint8_T c15_y;
- emlrtMsgIdentifier c15_thisId;
- c15_thisId.fIdentifier = c15_identifier;
- c15_thisId.fParent = NULL;
- c15_thisId.bParentIsCell = false;
- c15_y = c15_e_emlrt_marshallIn(chartInstance, sf_mex_dup
- (c15_b_is_active_c15_test_model), &c15_thisId);
- sf_mex_destroy(&c15_b_is_active_c15_test_model);
- return c15_y;
-}
-
-static uint8_T c15_e_emlrt_marshallIn(SFc15_test_modelInstanceStruct
- *chartInstance, const mxArray *c15_u, const emlrtMsgIdentifier *c15_parentId)
-{
- uint8_T c15_y;
- uint8_T c15_u0;
- (void)chartInstance;
- sf_mex_import(c15_parentId, sf_mex_dup(c15_u), &c15_u0, 1, 3, 0U, 0, 0U, 0);
- c15_y = c15_u0;
- sf_mex_destroy(&c15_u);
- return c15_y;
-}
-
-static void init_dsm_address_info(SFc15_test_modelInstanceStruct *chartInstance)
-{
- (void)chartInstance;
-}
-
-static void init_simulink_io_address(SFc15_test_modelInstanceStruct
- *chartInstance)
-{
- chartInstance->c15_set_x = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 0);
- chartInstance->c15_z_corr = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 1);
- chartInstance->c15_set_y = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 1);
- chartInstance->c15_set_z = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 2);
- chartInstance->c15_set_yaw = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 3);
- chartInstance->c15_cur_x = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 4);
- chartInstance->c15_cur_y = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 5);
- chartInstance->c15_cur_z = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 6);
- chartInstance->c15_cur_phi = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 7);
- chartInstance->c15_cur_theta = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 8);
- chartInstance->c15_cur_psi = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 9);
- chartInstance->c15_cur_phi_d = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 10);
- chartInstance->c15_cur_theta_d = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 11);
- chartInstance->c15_cur_psi_d = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 12);
- chartInstance->c15_y_cor = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 2);
- chartInstance->c15_x_corr = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 3);
- chartInstance->c15_yaw_corr = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 4);
- chartInstance->c15_vrpn_id = (uint32_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 13);
- chartInstance->c15_pid_y_out = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 5);
- chartInstance->c15_pid_roll_out = (real_T *)ssGetOutputPortSignal_wrapper
- (chartInstance->S, 6);
- chartInstance->c15_Tc = (real_T *)ssGetInputPortSignal_wrapper
- (chartInstance->S, 14);
-}
-
-/* SFunction Glue Code */
-#ifdef utFree
-#undef utFree
-#endif
-
-#ifdef utMalloc
-#undef utMalloc
-#endif
-
-#ifdef __cplusplus
-
-extern "C" void *utMalloc(size_t size);
-extern "C" void utFree(void*);
-
-#else
-
-extern void *utMalloc(size_t size);
-extern void utFree(void*);
-
-#endif
-
-void sf_c15_test_model_get_check_sum(mxArray *plhs[])
-{
- ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(736349010U);
- ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(2782398305U);
- ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(65662726U);
- ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(769147733U);
-}
-
-mxArray* sf_c15_test_model_get_post_codegen_info(void);
-mxArray *sf_c15_test_model_get_autoinheritance_info(void)
-{
- const char *autoinheritanceFields[] = { "checksum", "inputs", "parameters",
- "outputs", "locals", "postCodegenInfo" };
-
- mxArray *mxAutoinheritanceInfo = mxCreateStructMatrix(1, 1, sizeof
- (autoinheritanceFields)/sizeof(autoinheritanceFields[0]),
- autoinheritanceFields);
-
- {
- mxArray *mxChecksum = mxCreateString("NhviQufdzoJMzgXQ3dS4TB");
- mxSetField(mxAutoinheritanceInfo,0,"checksum",mxChecksum);
- }
-
- {
- const char *dataFields[] = { "size", "type", "complexity" };
-
- mxArray *mxData = mxCreateStructMatrix(1,15,3,dataFields);
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,0,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,0,"type",mxType);
- }
-
- mxSetField(mxData,0,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,1,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,1,"type",mxType);
- }
-
- mxSetField(mxData,1,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,2,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,2,"type",mxType);
- }
-
- mxSetField(mxData,2,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,3,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,3,"type",mxType);
- }
-
- mxSetField(mxData,3,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,4,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,4,"type",mxType);
- }
-
- mxSetField(mxData,4,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,5,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,5,"type",mxType);
- }
-
- mxSetField(mxData,5,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,6,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,6,"type",mxType);
- }
-
- mxSetField(mxData,6,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,7,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,7,"type",mxType);
- }
-
- mxSetField(mxData,7,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,8,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,8,"type",mxType);
- }
-
- mxSetField(mxData,8,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,9,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,9,"type",mxType);
- }
-
- mxSetField(mxData,9,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,10,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,10,"type",mxType);
- }
-
- mxSetField(mxData,10,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,11,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,11,"type",mxType);
- }
-
- mxSetField(mxData,11,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,12,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,12,"type",mxType);
- }
-
- mxSetField(mxData,12,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,13,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(7));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,13,"type",mxType);
- }
-
- mxSetField(mxData,13,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,14,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,14,"type",mxType);
- }
-
- mxSetField(mxData,14,"complexity",mxCreateDoubleScalar(0));
- mxSetField(mxAutoinheritanceInfo,0,"inputs",mxData);
- }
-
- {
- mxSetField(mxAutoinheritanceInfo,0,"parameters",mxCreateDoubleMatrix(0,0,
- mxREAL));
- }
-
- {
- const char *dataFields[] = { "size", "type", "complexity" };
-
- mxArray *mxData = mxCreateStructMatrix(1,6,3,dataFields);
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,0,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,0,"type",mxType);
- }
-
- mxSetField(mxData,0,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,1,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,1,"type",mxType);
- }
-
- mxSetField(mxData,1,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,2,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,2,"type",mxType);
- }
-
- mxSetField(mxData,2,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,3,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,3,"type",mxType);
- }
-
- mxSetField(mxData,3,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,4,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,4,"type",mxType);
- }
-
- mxSetField(mxData,4,"complexity",mxCreateDoubleScalar(0));
-
- {
- mxArray *mxSize = mxCreateDoubleMatrix(1,0,mxREAL);
- double *pr = mxGetPr(mxSize);
- mxSetField(mxData,5,"size",mxSize);
- }
-
- {
- const char *typeFields[] = { "base", "fixpt", "isFixedPointType" };
-
- mxArray *mxType = mxCreateStructMatrix(1,1,sizeof(typeFields)/sizeof
- (typeFields[0]),typeFields);
- mxSetField(mxType,0,"base",mxCreateDoubleScalar(10));
- mxSetField(mxType,0,"fixpt",mxCreateDoubleMatrix(0,0,mxREAL));
- mxSetField(mxType,0,"isFixedPointType",mxCreateDoubleScalar(0));
- mxSetField(mxData,5,"type",mxType);
- }
-
- mxSetField(mxData,5,"complexity",mxCreateDoubleScalar(0));
- mxSetField(mxAutoinheritanceInfo,0,"outputs",mxData);
- }
-
- {
- mxSetField(mxAutoinheritanceInfo,0,"locals",mxCreateDoubleMatrix(0,0,mxREAL));
- }
-
- {
- mxArray* mxPostCodegenInfo = sf_c15_test_model_get_post_codegen_info();
- mxSetField(mxAutoinheritanceInfo,0,"postCodegenInfo",mxPostCodegenInfo);
- }
-
- return(mxAutoinheritanceInfo);
-}
-
-mxArray *sf_c15_test_model_third_party_uses_info(void)
-{
- mxArray * mxcell3p = mxCreateCellMatrix(1,0);
- return(mxcell3p);
-}
-
-mxArray *sf_c15_test_model_jit_fallback_info(void)
-{
- const char *infoFields[] = { "fallbackType", "fallbackReason",
- "hiddenFallbackType", "hiddenFallbackReason", "incompatibleSymbol" };
-
- mxArray *mxInfo = mxCreateStructMatrix(1, 1, 5, infoFields);
- mxArray *fallbackType = mxCreateString("late");
- mxArray *fallbackReason = mxCreateString("ir_function_calls");
- mxArray *hiddenFallbackType = mxCreateString("");
- mxArray *hiddenFallbackReason = mxCreateString("");
- mxArray *incompatibleSymbol = mxCreateString("c_controller");
- mxSetField(mxInfo, 0, infoFields[0], fallbackType);
- mxSetField(mxInfo, 0, infoFields[1], fallbackReason);
- mxSetField(mxInfo, 0, infoFields[2], hiddenFallbackType);
- mxSetField(mxInfo, 0, infoFields[3], hiddenFallbackReason);
- mxSetField(mxInfo, 0, infoFields[4], incompatibleSymbol);
- return mxInfo;
-}
-
-mxArray *sf_c15_test_model_updateBuildInfo_args_info(void)
-{
- mxArray *mxBIArgs = mxCreateCellMatrix(1,0);
- return mxBIArgs;
-}
-
-mxArray* sf_c15_test_model_get_post_codegen_info(void)
-{
- const char* fieldNames[] = { "exportedFunctionsUsedByThisChart",
- "exportedFunctionsChecksum" };
-
- mwSize dims[2] = { 1, 1 };
-
- mxArray* mxPostCodegenInfo = mxCreateStructArray(2, dims, sizeof(fieldNames)/
- sizeof(fieldNames[0]), fieldNames);
-
- {
- mxArray* mxExportedFunctionsChecksum = mxCreateString("");
- mwSize exp_dims[2] = { 0, 1 };
-
- mxArray* mxExportedFunctionsUsedByThisChart = mxCreateCellArray(2, exp_dims);
- mxSetField(mxPostCodegenInfo, 0, "exportedFunctionsUsedByThisChart",
- mxExportedFunctionsUsedByThisChart);
- mxSetField(mxPostCodegenInfo, 0, "exportedFunctionsChecksum",
- mxExportedFunctionsChecksum);
- }
-
- return mxPostCodegenInfo;
-}
-
-static const mxArray *sf_get_sim_state_info_c15_test_model(void)
-{
- const char *infoFields[] = { "chartChecksum", "varInfo" };
-
- mxArray *mxInfo = mxCreateStructMatrix(1, 1, 2, infoFields);
- const char *infoEncStr[] = {
- "100 S1x7'type','srcId','name','auxInfo'{{M[1],M[23],T\"pid_roll_out\",},{M[1],M[22],T\"pid_y_out\",},{M[1],M[19],T\"x_corr\",},{M[1],M[18],T\"y_cor\",},{M[1],M[20],T\"yaw_corr\",},{M[1],M[5],T\"z_corr\",},{M[8],M[0],T\"is_active_c15_test_model\",}}"
- };
-
- mxArray *mxVarInfo = sf_mex_decode_encoded_mx_struct_array(infoEncStr, 7, 10);
- mxArray *mxChecksum = mxCreateDoubleMatrix(1, 4, mxREAL);
- sf_c15_test_model_get_check_sum(&mxChecksum);
- mxSetField(mxInfo, 0, infoFields[0], mxChecksum);
- mxSetField(mxInfo, 0, infoFields[1], mxVarInfo);
- return mxInfo;
-}
-
-static void chart_debug_initialization(SimStruct *S, unsigned int
- fullDebuggerInitialization)
-{
- if (!sim_mode_is_rtw_gen(S)) {
- SFc15_test_modelInstanceStruct *chartInstance =
- (SFc15_test_modelInstanceStruct *)sf_get_chart_instance_ptr(S);
- if (ssIsFirstInitCond(S) && fullDebuggerInitialization==1) {
- /* do this only if simulation is starting */
- {
- unsigned int chartAlreadyPresent;
- chartAlreadyPresent = sf_debug_initialize_chart
- (sfGlobalDebugInstanceStruct,
- _test_modelMachineNumber_,
- 15,
- 1,
- 1,
- 0,
- 21,
- 0,
- 0,
- 0,
- 0,
- 0,
- &chartInstance->chartNumber,
- &chartInstance->instanceNumber,
- (void *)S);
-
- /* Each instance must initialize its own list of scripts */
- init_script_number_translation(_test_modelMachineNumber_,
- chartInstance->chartNumber,chartInstance->instanceNumber);
- if (chartAlreadyPresent==0) {
- /* this is the first instance */
- sf_debug_set_chart_disable_implicit_casting
- (sfGlobalDebugInstanceStruct,_test_modelMachineNumber_,
- chartInstance->chartNumber,1);
- sf_debug_set_chart_event_thresholds(sfGlobalDebugInstanceStruct,
- _test_modelMachineNumber_,
- chartInstance->chartNumber,
- 0,
- 0,
- 0);
- _SFD_SET_DATA_PROPS(0,1,1,0,"set_x");
- _SFD_SET_DATA_PROPS(1,1,1,0,"set_y");
- _SFD_SET_DATA_PROPS(2,1,1,0,"set_z");
- _SFD_SET_DATA_PROPS(3,1,1,0,"set_yaw");
- _SFD_SET_DATA_PROPS(4,1,1,0,"cur_x");
- _SFD_SET_DATA_PROPS(5,1,1,0,"cur_y");
- _SFD_SET_DATA_PROPS(6,1,1,0,"cur_z");
- _SFD_SET_DATA_PROPS(7,1,1,0,"cur_phi");
- _SFD_SET_DATA_PROPS(8,1,1,0,"cur_theta");
- _SFD_SET_DATA_PROPS(9,1,1,0,"cur_psi");
- _SFD_SET_DATA_PROPS(10,1,1,0,"cur_phi_d");
- _SFD_SET_DATA_PROPS(11,1,1,0,"cur_theta_d");
- _SFD_SET_DATA_PROPS(12,1,1,0,"cur_psi_d");
- _SFD_SET_DATA_PROPS(13,1,1,0,"vrpn_id");
- _SFD_SET_DATA_PROPS(14,1,1,0,"Tc");
- _SFD_SET_DATA_PROPS(15,2,0,1,"z_corr");
- _SFD_SET_DATA_PROPS(16,2,0,1,"y_cor");
- _SFD_SET_DATA_PROPS(17,2,0,1,"x_corr");
- _SFD_SET_DATA_PROPS(18,2,0,1,"yaw_corr");
- _SFD_SET_DATA_PROPS(19,2,0,1,"pid_y_out");
- _SFD_SET_DATA_PROPS(20,2,0,1,"pid_roll_out");
- _SFD_STATE_INFO(0,0,2);
- _SFD_CH_SUBSTATE_COUNT(0);
- _SFD_CH_SUBSTATE_DECOMP(0);
- }
-
- _SFD_CV_INIT_CHART(0,0,0,0);
-
- {
- _SFD_CV_INIT_STATE(0,0,0,0,0,0,NULL,NULL);
- }
-
- _SFD_CV_INIT_TRANS(0,0,NULL,NULL,0,NULL);
-
- /* Initialization of MATLAB Function Model Coverage */
- _SFD_CV_INIT_EML(0,1,1,0,0,0,0,0,0,0,0,0);
- _SFD_CV_INIT_EML_FCN(0,0,"eML_blk_kernel",0,-1,834);
- _SFD_SET_DATA_COMPILED_PROPS(0,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(1,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(2,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(3,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(4,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(5,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(6,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(7,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(8,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(9,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(10,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(11,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(12,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(13,SF_UINT32,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_b_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(14,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)NULL);
- _SFD_SET_DATA_COMPILED_PROPS(15,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- _SFD_SET_DATA_COMPILED_PROPS(16,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- _SFD_SET_DATA_COMPILED_PROPS(17,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- _SFD_SET_DATA_COMPILED_PROPS(18,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- _SFD_SET_DATA_COMPILED_PROPS(19,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- _SFD_SET_DATA_COMPILED_PROPS(20,SF_DOUBLE,0,NULL,0,0,0,0.0,1.0,0,0,
- (MexFcnForType)c15_sf_marshallOut,(MexInFcnForType)c15_sf_marshallIn);
- }
- } else {
- sf_debug_reset_current_state_configuration(sfGlobalDebugInstanceStruct,
- _test_modelMachineNumber_,chartInstance->chartNumber,
- chartInstance->instanceNumber);
- }
- }
-}
-
-static void chart_debug_initialize_data_addresses(SimStruct *S)
-{
- if (!sim_mode_is_rtw_gen(S)) {
- SFc15_test_modelInstanceStruct *chartInstance =
- (SFc15_test_modelInstanceStruct *)sf_get_chart_instance_ptr(S);
- if (ssIsFirstInitCond(S)) {
- /* do this only if simulation is starting and after we know the addresses of all data */
- {
- _SFD_SET_DATA_VALUE_PTR(0U, chartInstance->c15_set_x);
- _SFD_SET_DATA_VALUE_PTR(15U, chartInstance->c15_z_corr);
- _SFD_SET_DATA_VALUE_PTR(1U, chartInstance->c15_set_y);
- _SFD_SET_DATA_VALUE_PTR(2U, chartInstance->c15_set_z);
- _SFD_SET_DATA_VALUE_PTR(3U, chartInstance->c15_set_yaw);
- _SFD_SET_DATA_VALUE_PTR(4U, chartInstance->c15_cur_x);
- _SFD_SET_DATA_VALUE_PTR(5U, chartInstance->c15_cur_y);
- _SFD_SET_DATA_VALUE_PTR(6U, chartInstance->c15_cur_z);
- _SFD_SET_DATA_VALUE_PTR(7U, chartInstance->c15_cur_phi);
- _SFD_SET_DATA_VALUE_PTR(8U, chartInstance->c15_cur_theta);
- _SFD_SET_DATA_VALUE_PTR(9U, chartInstance->c15_cur_psi);
- _SFD_SET_DATA_VALUE_PTR(10U, chartInstance->c15_cur_phi_d);
- _SFD_SET_DATA_VALUE_PTR(11U, chartInstance->c15_cur_theta_d);
- _SFD_SET_DATA_VALUE_PTR(12U, chartInstance->c15_cur_psi_d);
- _SFD_SET_DATA_VALUE_PTR(16U, chartInstance->c15_y_cor);
- _SFD_SET_DATA_VALUE_PTR(17U, chartInstance->c15_x_corr);
- _SFD_SET_DATA_VALUE_PTR(18U, chartInstance->c15_yaw_corr);
- _SFD_SET_DATA_VALUE_PTR(13U, chartInstance->c15_vrpn_id);
- _SFD_SET_DATA_VALUE_PTR(19U, chartInstance->c15_pid_y_out);
- _SFD_SET_DATA_VALUE_PTR(20U, chartInstance->c15_pid_roll_out);
- _SFD_SET_DATA_VALUE_PTR(14U, chartInstance->c15_Tc);
- }
- }
- }
-}
-
-static const char* sf_get_instance_specialization(void)
-{
- return "sL897IXghI8zmc3H8vRBKxD";
-}
-
-static void sf_opaque_initialize_c15_test_model(void *chartInstanceVar)
-{
- chart_debug_initialization(((SFc15_test_modelInstanceStruct*) chartInstanceVar)
- ->S,0);
- initialize_params_c15_test_model((SFc15_test_modelInstanceStruct*)
- chartInstanceVar);
- initialize_c15_test_model((SFc15_test_modelInstanceStruct*) chartInstanceVar);
-}
-
-static void sf_opaque_enable_c15_test_model(void *chartInstanceVar)
-{
- enable_c15_test_model((SFc15_test_modelInstanceStruct*) chartInstanceVar);
-}
-
-static void sf_opaque_disable_c15_test_model(void *chartInstanceVar)
-{
- disable_c15_test_model((SFc15_test_modelInstanceStruct*) chartInstanceVar);
-}
-
-static void sf_opaque_gateway_c15_test_model(void *chartInstanceVar)
-{
- sf_gateway_c15_test_model((SFc15_test_modelInstanceStruct*) chartInstanceVar);
-}
-
-static const mxArray* sf_opaque_get_sim_state_c15_test_model(SimStruct* S)
-{
- return get_sim_state_c15_test_model((SFc15_test_modelInstanceStruct *)
- sf_get_chart_instance_ptr(S)); /* raw sim ctx */
-}
-
-static void sf_opaque_set_sim_state_c15_test_model(SimStruct* S, const mxArray
- *st)
-{
- set_sim_state_c15_test_model((SFc15_test_modelInstanceStruct*)
- sf_get_chart_instance_ptr(S), st);
-}
-
-static void sf_opaque_terminate_c15_test_model(void *chartInstanceVar)
-{
- if (chartInstanceVar!=NULL) {
- SimStruct *S = ((SFc15_test_modelInstanceStruct*) chartInstanceVar)->S;
- if (sim_mode_is_rtw_gen(S) || sim_mode_is_external(S)) {
- sf_clear_rtw_identifier(S);
- unload_test_model_optimization_info();
- }
-
- finalize_c15_test_model((SFc15_test_modelInstanceStruct*) chartInstanceVar);
- utFree(chartInstanceVar);
- if (ssGetUserData(S)!= NULL) {
- sf_free_ChartRunTimeInfo(S);
- }
-
- ssSetUserData(S,NULL);
- }
-}
-
-static void sf_opaque_init_subchart_simstructs(void *chartInstanceVar)
-{
- initSimStructsc15_test_model((SFc15_test_modelInstanceStruct*)
- chartInstanceVar);
-}
-
-extern unsigned int sf_machine_global_initializer_called(void);
-static void mdlProcessParameters_c15_test_model(SimStruct *S)
-{
- int i;
- for (i=0;i<ssGetNumRunTimeParams(S);i++) {
- if (ssGetSFcnParamTunable(S,i)) {
- ssUpdateDlgParamAsRunTimeParam(S,i);
- }
- }
-
- if (sf_machine_global_initializer_called()) {
- initialize_params_c15_test_model((SFc15_test_modelInstanceStruct*)
- sf_get_chart_instance_ptr(S));
- }
-}
-
-static void mdlSetWorkWidths_c15_test_model(SimStruct *S)
-{
- /* Set overwritable ports for inplace optimization */
- ssSetStatesModifiedOnlyInUpdate(S, 1);
- ssMdlUpdateIsEmpty(S, 1);
- if (sim_mode_is_rtw_gen(S) || sim_mode_is_external(S)) {
- mxArray *infoStruct = load_test_model_optimization_info(sim_mode_is_rtw_gen
- (S), sim_mode_is_modelref_sim(S), sim_mode_is_external(S));
- int_T chartIsInlinable =
- (int_T)sf_is_chart_inlinable(sf_get_instance_specialization(),infoStruct,
- 15);
- ssSetStateflowIsInlinable(S,chartIsInlinable);
- ssSetRTWCG(S,1);
- ssSetEnableFcnIsTrivial(S,1);
- ssSetDisableFcnIsTrivial(S,1);
- ssSetNotMultipleInlinable(S,sf_rtw_info_uint_prop
- (sf_get_instance_specialization(),infoStruct,15,
- "gatewayCannotBeInlinedMultipleTimes"));
- sf_set_chart_accesses_machine_info(S, sf_get_instance_specialization(),
- infoStruct, 15);
- sf_update_buildInfo(S, sf_get_instance_specialization(),infoStruct,15);
- if (chartIsInlinable) {
- ssSetInputPortOptimOpts(S, 0, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 1, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 2, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 3, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 4, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 5, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 6, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 7, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 8, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 9, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 10, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 11, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 12, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 13, SS_REUSABLE_AND_LOCAL);
- ssSetInputPortOptimOpts(S, 14, SS_REUSABLE_AND_LOCAL);
- sf_mark_chart_expressionable_inputs(S,sf_get_instance_specialization(),
- infoStruct,15,15);
- sf_mark_chart_reusable_outputs(S,sf_get_instance_specialization(),
- infoStruct,15,6);
- }
-
- {
- unsigned int outPortIdx;
- for (outPortIdx=1; outPortIdx<=6; ++outPortIdx) {
- ssSetOutputPortOptimizeInIR(S, outPortIdx, 1U);
- }
- }
-
- {
- unsigned int inPortIdx;
- for (inPortIdx=0; inPortIdx < 15; ++inPortIdx) {
- ssSetInputPortOptimizeInIR(S, inPortIdx, 1U);
- }
- }
-
- sf_set_rtw_dwork_info(S,sf_get_instance_specialization(),infoStruct,15);
- sf_register_codegen_names_for_scoped_functions_defined_by_chart(S);
- ssSetHasSubFunctions(S,!(chartIsInlinable));
- } else {
- }
-
- ssSetOptions(S,ssGetOptions(S)|SS_OPTION_WORKS_WITH_CODE_REUSE);
- ssSetChecksum0(S,(4110738750U));
- ssSetChecksum1(S,(2169561455U));
- ssSetChecksum2(S,(2341209886U));
- ssSetChecksum3(S,(751006734U));
- ssSetmdlDerivatives(S, NULL);
- ssSetExplicitFCSSCtrl(S,1);
- ssSetStateSemanticsClassicAndSynchronous(S, true);
- ssSupportsMultipleExecInstances(S,1);
-}
-
-static void mdlRTW_c15_test_model(SimStruct *S)
-{
- if (sim_mode_is_rtw_gen(S)) {
- ssWriteRTWStrParam(S, "StateflowChartType", "Embedded MATLAB");
- }
-}
-
-static void mdlStart_c15_test_model(SimStruct *S)
-{
- SFc15_test_modelInstanceStruct *chartInstance;
- chartInstance = (SFc15_test_modelInstanceStruct *)utMalloc(sizeof
- (SFc15_test_modelInstanceStruct));
- if (chartInstance==NULL) {
- sf_mex_error_message("Could not allocate memory for chart instance.");
- }
-
- memset(chartInstance, 0, sizeof(SFc15_test_modelInstanceStruct));
- chartInstance->chartInfo.chartInstance = chartInstance;
- chartInstance->chartInfo.isEMLChart = 1;
- chartInstance->chartInfo.chartInitialized = 0;
- chartInstance->chartInfo.sFunctionGateway = sf_opaque_gateway_c15_test_model;
- chartInstance->chartInfo.initializeChart = sf_opaque_initialize_c15_test_model;
- chartInstance->chartInfo.terminateChart = sf_opaque_terminate_c15_test_model;
- chartInstance->chartInfo.enableChart = sf_opaque_enable_c15_test_model;
- chartInstance->chartInfo.disableChart = sf_opaque_disable_c15_test_model;
- chartInstance->chartInfo.getSimState = sf_opaque_get_sim_state_c15_test_model;
- chartInstance->chartInfo.setSimState = sf_opaque_set_sim_state_c15_test_model;
- chartInstance->chartInfo.getSimStateInfo =
- sf_get_sim_state_info_c15_test_model;
- chartInstance->chartInfo.zeroCrossings = NULL;
- chartInstance->chartInfo.outputs = NULL;
- chartInstance->chartInfo.derivatives = NULL;
- chartInstance->chartInfo.mdlRTW = mdlRTW_c15_test_model;
- chartInstance->chartInfo.mdlStart = mdlStart_c15_test_model;
- chartInstance->chartInfo.mdlSetWorkWidths = mdlSetWorkWidths_c15_test_model;
- chartInstance->chartInfo.callGetHoverDataForMsg = NULL;
- chartInstance->chartInfo.extModeExec = NULL;
- chartInstance->chartInfo.restoreLastMajorStepConfiguration = NULL;
- chartInstance->chartInfo.restoreBeforeLastMajorStepConfiguration = NULL;
- chartInstance->chartInfo.storeCurrentConfiguration = NULL;
- chartInstance->chartInfo.callAtomicSubchartUserFcn = NULL;
- chartInstance->chartInfo.callAtomicSubchartAutoFcn = NULL;
- chartInstance->chartInfo.debugInstance = sfGlobalDebugInstanceStruct;
- chartInstance->S = S;
- sf_init_ChartRunTimeInfo(S, &(chartInstance->chartInfo), false, 0);
- init_dsm_address_info(chartInstance);
- init_simulink_io_address(chartInstance);
- if (!sim_mode_is_rtw_gen(S)) {
- }
-
- chart_debug_initialization(S,1);
- mdl_start_c15_test_model(chartInstance);
-}
-
-void c15_test_model_method_dispatcher(SimStruct *S, int_T method, void *data)
-{
- switch (method) {
- case SS_CALL_MDL_START:
- mdlStart_c15_test_model(S);
- break;
-
- case SS_CALL_MDL_SET_WORK_WIDTHS:
- mdlSetWorkWidths_c15_test_model(S);
- break;
-
- case SS_CALL_MDL_PROCESS_PARAMETERS:
- mdlProcessParameters_c15_test_model(S);
- break;
-
- default:
- /* Unhandled method */
- sf_mex_error_message("Stateflow Internal Error:\n"
- "Error calling c15_test_model_method_dispatcher.\n"
- "Can't handle method %d.\n", method);
- break;
- }
-}
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.h b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.h
deleted file mode 100644
index 4286ef7247286afaca46e93b22a25d271bb1744e..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#ifndef __c15_test_model_h__
-#define __c15_test_model_h__
-
-/* Include files */
-#include "sf_runtime/sfc_sf.h"
-#include "sf_runtime/sfc_mex.h"
-#include "rtwtypes.h"
-#include "multiword_types.h"
-
-/* Type Definitions */
-#ifndef typedef_SFc15_test_modelInstanceStruct
-#define typedef_SFc15_test_modelInstanceStruct
-
-typedef struct {
- SimStruct *S;
- ChartInfoStruct chartInfo;
- uint32_T chartNumber;
- uint32_T instanceNumber;
- int32_T c15_sfEvent;
- boolean_T c15_doneDoubleBufferReInit;
- uint8_T c15_is_active_c15_test_model;
- real_T *c15_set_x;
- real_T *c15_z_corr;
- real_T *c15_set_y;
- real_T *c15_set_z;
- real_T *c15_set_yaw;
- real_T *c15_cur_x;
- real_T *c15_cur_y;
- real_T *c15_cur_z;
- real_T *c15_cur_phi;
- real_T *c15_cur_theta;
- real_T *c15_cur_psi;
- real_T *c15_cur_phi_d;
- real_T *c15_cur_theta_d;
- real_T *c15_cur_psi_d;
- real_T *c15_y_cor;
- real_T *c15_x_corr;
- real_T *c15_yaw_corr;
- uint32_T *c15_vrpn_id;
- real_T *c15_pid_y_out;
- real_T *c15_pid_roll_out;
- real_T *c15_Tc;
-} SFc15_test_modelInstanceStruct;
-
-#endif /*typedef_SFc15_test_modelInstanceStruct*/
-
-/* Named Constants */
-
-/* Variable Declarations */
-extern struct SfDebugInstanceStruct *sfGlobalDebugInstanceStruct;
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern const mxArray *sf_c15_test_model_get_eml_resolved_functions_info(void);
-
-/* Function Definitions */
-extern void sf_c15_test_model_get_check_sum(mxArray *plhs[]);
-extern void c15_test_model_method_dispatcher(SimStruct *S, int_T method, void
- *data);
-
-#endif
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.obj
deleted file mode 100644
index de1df7ac2e6eb114b8c3ea994643d2e6721d041b..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c_controller.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c_controller.obj
deleted file mode 100644
index 68e238309af81c569d3346a105eaba55a02dbe5b..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c_controller.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/ji/late_c15_sL897IXghI8zmc3H8vRBKxD.mat b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/ji/late_c15_sL897IXghI8zmc3H8vRBKxD.mat
deleted file mode 100644
index 97f6b2f0f5d0642552033d2d960abd086de67d00..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/ji/late_c15_sL897IXghI8zmc3H8vRBKxD.mat and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/multiword_types.h b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/multiword_types.h
deleted file mode 100644
index 5aad425d0f2dc5f80df42e19bd9e1388dbd58f24..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/multiword_types.h
+++ /dev/null
@@ -1,283 +0,0 @@
-#ifndef MULTIWORD_TYPES_H
-#define MULTIWORD_TYPES_H
-#include "rtwtypes.h"
-
-/*
- * MultiWord supporting definitions
- */
-typedef long long longlong_T;
-
-/*
- * MultiWord types
- */
-typedef struct {
- uint64_T chunks[2];
-} int128m_T;
-
-typedef struct {
- int128m_T re;
- int128m_T im;
-} cint128m_T;
-
-typedef struct {
- uint64_T chunks[2];
-} uint128m_T;
-
-typedef struct {
- uint128m_T re;
- uint128m_T im;
-} cuint128m_T;
-
-typedef struct {
- uint64_T chunks[3];
-} int192m_T;
-
-typedef struct {
- int192m_T re;
- int192m_T im;
-} cint192m_T;
-
-typedef struct {
- uint64_T chunks[3];
-} uint192m_T;
-
-typedef struct {
- uint192m_T re;
- uint192m_T im;
-} cuint192m_T;
-
-typedef struct {
- uint64_T chunks[4];
-} int256m_T;
-
-typedef struct {
- int256m_T re;
- int256m_T im;
-} cint256m_T;
-
-typedef struct {
- uint64_T chunks[4];
-} uint256m_T;
-
-typedef struct {
- uint256m_T re;
- uint256m_T im;
-} cuint256m_T;
-
-typedef struct {
- uint64_T chunks[5];
-} int320m_T;
-
-typedef struct {
- int320m_T re;
- int320m_T im;
-} cint320m_T;
-
-typedef struct {
- uint64_T chunks[5];
-} uint320m_T;
-
-typedef struct {
- uint320m_T re;
- uint320m_T im;
-} cuint320m_T;
-
-typedef struct {
- uint64_T chunks[6];
-} int384m_T;
-
-typedef struct {
- int384m_T re;
- int384m_T im;
-} cint384m_T;
-
-typedef struct {
- uint64_T chunks[6];
-} uint384m_T;
-
-typedef struct {
- uint384m_T re;
- uint384m_T im;
-} cuint384m_T;
-
-typedef struct {
- uint64_T chunks[7];
-} int448m_T;
-
-typedef struct {
- int448m_T re;
- int448m_T im;
-} cint448m_T;
-
-typedef struct {
- uint64_T chunks[7];
-} uint448m_T;
-
-typedef struct {
- uint448m_T re;
- uint448m_T im;
-} cuint448m_T;
-
-typedef struct {
- uint64_T chunks[8];
-} int512m_T;
-
-typedef struct {
- int512m_T re;
- int512m_T im;
-} cint512m_T;
-
-typedef struct {
- uint64_T chunks[8];
-} uint512m_T;
-
-typedef struct {
- uint512m_T re;
- uint512m_T im;
-} cuint512m_T;
-
-typedef struct {
- uint64_T chunks[9];
-} int576m_T;
-
-typedef struct {
- int576m_T re;
- int576m_T im;
-} cint576m_T;
-
-typedef struct {
- uint64_T chunks[9];
-} uint576m_T;
-
-typedef struct {
- uint576m_T re;
- uint576m_T im;
-} cuint576m_T;
-
-typedef struct {
- uint64_T chunks[10];
-} int640m_T;
-
-typedef struct {
- int640m_T re;
- int640m_T im;
-} cint640m_T;
-
-typedef struct {
- uint64_T chunks[10];
-} uint640m_T;
-
-typedef struct {
- uint640m_T re;
- uint640m_T im;
-} cuint640m_T;
-
-typedef struct {
- uint64_T chunks[11];
-} int704m_T;
-
-typedef struct {
- int704m_T re;
- int704m_T im;
-} cint704m_T;
-
-typedef struct {
- uint64_T chunks[11];
-} uint704m_T;
-
-typedef struct {
- uint704m_T re;
- uint704m_T im;
-} cuint704m_T;
-
-typedef struct {
- uint64_T chunks[12];
-} int768m_T;
-
-typedef struct {
- int768m_T re;
- int768m_T im;
-} cint768m_T;
-
-typedef struct {
- uint64_T chunks[12];
-} uint768m_T;
-
-typedef struct {
- uint768m_T re;
- uint768m_T im;
-} cuint768m_T;
-
-typedef struct {
- uint64_T chunks[13];
-} int832m_T;
-
-typedef struct {
- int832m_T re;
- int832m_T im;
-} cint832m_T;
-
-typedef struct {
- uint64_T chunks[13];
-} uint832m_T;
-
-typedef struct {
- uint832m_T re;
- uint832m_T im;
-} cuint832m_T;
-
-typedef struct {
- uint64_T chunks[14];
-} int896m_T;
-
-typedef struct {
- int896m_T re;
- int896m_T im;
-} cint896m_T;
-
-typedef struct {
- uint64_T chunks[14];
-} uint896m_T;
-
-typedef struct {
- uint896m_T re;
- uint896m_T im;
-} cuint896m_T;
-
-typedef struct {
- uint64_T chunks[15];
-} int960m_T;
-
-typedef struct {
- int960m_T re;
- int960m_T im;
-} cint960m_T;
-
-typedef struct {
- uint64_T chunks[15];
-} uint960m_T;
-
-typedef struct {
- uint960m_T re;
- uint960m_T im;
-} cuint960m_T;
-
-typedef struct {
- uint64_T chunks[16];
-} int1024m_T;
-
-typedef struct {
- int1024m_T re;
- int1024m_T im;
-} cint1024m_T;
-
-typedef struct {
- uint64_T chunks[16];
-} uint1024m_T;
-
-typedef struct {
- uint1024m_T re;
- uint1024m_T im;
-} cuint1024m_T;
-
-#endif /* MULTIWORD_TYPES_H */
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_add.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_add.obj
deleted file mode 100644
index f5f03ffa8a6af6462a49899fefdac93f133d8185..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_add.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_bounds.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_bounds.obj
deleted file mode 100644
index c7b3f5463670414575293d2c769d4e1474c5e6a2..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_bounds.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_constant.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_constant.obj
deleted file mode 100644
index 3dc3173081aa9f4052c1a945720e3c515ddc9924..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_constant.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_mixer.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_mixer.obj
deleted file mode 100644
index 678060b7ce7b9746acba61619839979818b4cce5..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_mixer.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_pid.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_pid.obj
deleted file mode 100644
index eb1433a57819b04d777fe3bdf7bb53e50c2b53b7..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_pid.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypes.h b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypes.h
deleted file mode 100644
index 4e712c27577ba17448ba1cd15dc4115f8a99252c..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypes.h
+++ /dev/null
@@ -1,59 +0,0 @@
-#ifndef RTWTYPES_H
-#define RTWTYPES_H
-#include "tmwtypes.h"
-#include "simstruc_types.h"
-#ifndef POINTER_T
-# define POINTER_T
-
-typedef void * pointer_T;
-
-#endif
-
-/* Logical type definitions */
-#if (!defined(__cplusplus))
-# ifndef false
-# define false (0U)
-# endif
-
-# ifndef true
-# define true (1U)
-# endif
-#endif
-
-#ifndef INT64_T
-#define INT64_T
-
-typedef long long int64_T;
-
-#endif
-
-#ifndef UINT64_T
-#define UINT64_T
-
-typedef unsigned long long uint64_T;
-
-#endif
-
-/*===========================================================================*
- * Additional complex number type definitions *
- *===========================================================================*/
-#ifndef CINT64_T
-#define CINT64_T
-
-typedef struct {
- int64_T re;
- int64_T im;
-} cint64_T;
-
-#endif
-
-#ifndef CUINT64_T
-#define CUINT64_T
-
-typedef struct {
- uint64_T re;
- uint64_T im;
-} cuint64_T;
-
-#endif
-#endif /* RTWTYPES_H */
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypeschksum.mat b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypeschksum.mat
deleted file mode 100644
index 33765b62acae356d99b321e989c3262231895b99..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypeschksum.mat and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.bat b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.bat
deleted file mode 100644
index 718fd6ff8b46a8bcc8b84837bccb77e49059213d..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.bat
+++ /dev/null
@@ -1,15 +0,0 @@
-@echo off
-set COMPILER=gcc
- set COMPFLAGS=-c -fexceptions -fno-omit-frame-pointer -m64 -DMATLAB_MEX_FILE -DMATLAB_MEX_FILE
- set OPTIMFLAGS=-O -DNDEBUG
- set DEBUGFLAGS=-g
- set LINKER=gcc
- set LINKFLAGS=-m64 -Wl,--no-undefined -shared -L"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64" -llibmx -llibmex -llibmat -lm -llibmwlapack -llibmwblas -Wl,"C:\Program Files\MATLAB\R2016b/extern/lib/win64/mingw64/mexFunction.def"
- set LINKDEBUGFLAGS=-g
- set NAME_OUTPUT=-o "%OUTDIR%%MEX_NAME%%MEX_EXT%"
-set PATH=C:\TDM-GCC-64\bin;C:\Program Files\MATLAB\R2016b\extern\include\win64;C:\Program Files\MATLAB\R2016b\extern\include;C:\Program Files\MATLAB\R2016b\simulink\include;C:\Program Files\MATLAB\R2016b\lib\win64;%MATLAB_BIN%;%PATH%
-set INCLUDE=C:\TDM-GCC-64\include;;%INCLUDE%
-set LIB=C:\TDM-GCC-64\lib;;%LIB%
-set LIBPATH=C:\Program Files\MATLAB\R2016b\extern\lib\win64;%LIBPATH%
-
-gmake SHELL="cmd" -f test_model_sfun.gmk
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.c b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.c
deleted file mode 100644
index 37a282f37607e1db89dfb37426d60aedea42b40f..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.c
+++ /dev/null
@@ -1,362 +0,0 @@
-/* Include files */
-
-#define IN_SF_MACHINE_SOURCE 1
-#include "test_model_sfun.h"
-#include "test_model_sfun_debug_macros.h"
-#include "c15_test_model.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-uint32_T _test_modelMachineNumber_;
-
-/* Function Declarations */
-
-/* Function Definitions */
-void test_model_initializer(void)
-{
-}
-
-void test_model_terminator(void)
-{
-}
-
-/* SFunction Glue Code */
-unsigned int sf_test_model_method_dispatcher(SimStruct *simstructPtr, unsigned
- int chartFileNumber, const char* specsCksum, int_T method, void *data)
-{
- if (chartFileNumber==15) {
- c15_test_model_method_dispatcher(simstructPtr, method, data);
- return 1;
- }
-
- return 0;
-}
-
-unsigned int sf_test_model_process_check_sum_call( int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[] )
-{
-
-#ifdef MATLAB_MEX_FILE
-
- char commandName[20];
- if (nrhs<1 || !mxIsChar(prhs[0]) )
- return 0;
-
- /* Possible call to get the checksum */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"sf_get_check_sum"))
- return 0;
- plhs[0] = mxCreateDoubleMatrix( 1,4,mxREAL);
- if (nrhs>1 && mxIsChar(prhs[1])) {
- mxGetString(prhs[1], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (!strcmp(commandName,"machine")) {
- ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(2933295744U);
- ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(2244548132U);
- ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3790258605U);
- ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(1409175729U);
- } else if (nrhs==3 && !strcmp(commandName,"chart")) {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[2]);
- switch (chartFileNumber) {
- case 15:
- {
- extern void sf_c15_test_model_get_check_sum(mxArray *plhs[]);
- sf_c15_test_model_get_check_sum(plhs);
- break;
- }
-
- default:
- ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(0.0);
- ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(0.0);
- ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(0.0);
- ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(0.0);
- }
- } else if (!strcmp(commandName,"target")) {
- ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(1167153972U);
- ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(91317778U);
- ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3880733235U);
- ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(951854545U);
- } else {
- return 0;
- }
- } else {
- ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(1563919274U);
- ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(1658080807U);
- ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3992559932U);
- ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(2585406222U);
- }
-
- return 1;
-
-#else
-
- return 0;
-
-#endif
-
-}
-
-unsigned int sf_test_model_autoinheritance_info( int nlhs, mxArray * plhs[], int
- nrhs, const mxArray * prhs[] )
-{
-
-#ifdef MATLAB_MEX_FILE
-
- char commandName[32];
- char aiChksum[64];
- if (nrhs<3 || !mxIsChar(prhs[0]) )
- return 0;
-
- /* Possible call to get the autoinheritance_info */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_autoinheritance_info"))
- return 0;
- mxGetString(prhs[2], aiChksum,sizeof(aiChksum)/sizeof(char));
- aiChksum[(sizeof(aiChksum)/sizeof(char)-1)] = '\0';
-
- {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
- switch (chartFileNumber) {
- case 15:
- {
- if (strcmp(aiChksum, "NhviQufdzoJMzgXQ3dS4TB") == 0) {
- extern mxArray *sf_c15_test_model_get_autoinheritance_info(void);
- plhs[0] = sf_c15_test_model_get_autoinheritance_info();
- break;
- }
-
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- break;
- }
-
- default:
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- }
- }
-
- return 1;
-
-#else
-
- return 0;
-
-#endif
-
-}
-
-unsigned int sf_test_model_get_eml_resolved_functions_info( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] )
-{
-
-#ifdef MATLAB_MEX_FILE
-
- char commandName[64];
- if (nrhs<2 || !mxIsChar(prhs[0]))
- return 0;
-
- /* Possible call to get the get_eml_resolved_functions_info */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_eml_resolved_functions_info"))
- return 0;
-
- {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
- switch (chartFileNumber) {
- case 15:
- {
- extern const mxArray *sf_c15_test_model_get_eml_resolved_functions_info
- (void);
- mxArray *persistentMxArray = (mxArray *)
- sf_c15_test_model_get_eml_resolved_functions_info();
- plhs[0] = mxDuplicateArray(persistentMxArray);
- mxDestroyArray(persistentMxArray);
- break;
- }
-
- default:
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- }
- }
-
- return 1;
-
-#else
-
- return 0;
-
-#endif
-
-}
-
-unsigned int sf_test_model_third_party_uses_info( int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[] )
-{
- char commandName[64];
- char tpChksum[64];
- if (nrhs<3 || !mxIsChar(prhs[0]))
- return 0;
-
- /* Possible call to get the third_party_uses_info */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- mxGetString(prhs[2], tpChksum,sizeof(tpChksum)/sizeof(char));
- tpChksum[(sizeof(tpChksum)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_third_party_uses_info"))
- return 0;
-
- {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
- switch (chartFileNumber) {
- case 15:
- {
- if (strcmp(tpChksum, "sL897IXghI8zmc3H8vRBKxD") == 0) {
- extern mxArray *sf_c15_test_model_third_party_uses_info(void);
- plhs[0] = sf_c15_test_model_third_party_uses_info();
- break;
- }
- }
-
- default:
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- }
- }
-
- return 1;
-}
-
-unsigned int sf_test_model_jit_fallback_info( int nlhs, mxArray * plhs[], int
- nrhs, const mxArray * prhs[] )
-{
- char commandName[64];
- char tpChksum[64];
- if (nrhs<3 || !mxIsChar(prhs[0]))
- return 0;
-
- /* Possible call to get the jit_fallback_info */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- mxGetString(prhs[2], tpChksum,sizeof(tpChksum)/sizeof(char));
- tpChksum[(sizeof(tpChksum)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_jit_fallback_info"))
- return 0;
-
- {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
- switch (chartFileNumber) {
- case 15:
- {
- if (strcmp(tpChksum, "sL897IXghI8zmc3H8vRBKxD") == 0) {
- extern mxArray *sf_c15_test_model_jit_fallback_info(void);
- plhs[0] = sf_c15_test_model_jit_fallback_info();
- break;
- }
- }
-
- default:
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- }
- }
-
- return 1;
-}
-
-unsigned int sf_test_model_updateBuildInfo_args_info( int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[] )
-{
- char commandName[64];
- char tpChksum[64];
- if (nrhs<3 || !mxIsChar(prhs[0]))
- return 0;
-
- /* Possible call to get the updateBuildInfo_args_info */
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- mxGetString(prhs[2], tpChksum,sizeof(tpChksum)/sizeof(char));
- tpChksum[(sizeof(tpChksum)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_updateBuildInfo_args_info"))
- return 0;
-
- {
- unsigned int chartFileNumber;
- chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
- switch (chartFileNumber) {
- case 15:
- {
- if (strcmp(tpChksum, "sL897IXghI8zmc3H8vRBKxD") == 0) {
- extern mxArray *sf_c15_test_model_updateBuildInfo_args_info(void);
- plhs[0] = sf_c15_test_model_updateBuildInfo_args_info();
- break;
- }
- }
-
- default:
- plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
- }
- }
-
- return 1;
-}
-
-void test_model_debug_initialize(struct SfDebugInstanceStruct* debugInstance)
-{
- _test_modelMachineNumber_ = sf_debug_initialize_machine(debugInstance,
- "test_model","sfun",0,13,0,0,0);
- sf_debug_set_machine_event_thresholds(debugInstance,_test_modelMachineNumber_,
- 0,0);
- sf_debug_set_machine_data_thresholds(debugInstance,_test_modelMachineNumber_,0);
-}
-
-void test_model_register_exported_symbols(SimStruct* S)
-{
-}
-
-static mxArray* sRtwOptimizationInfoStruct= NULL;
-typedef struct SfOptimizationInfoFlagsTag {
- boolean_T isRtwGen;
- boolean_T isModelRef;
- boolean_T isExternal;
-} SfOptimizationInfoFlags;
-
-static SfOptimizationInfoFlags sOptimizationInfoFlags;
-void unload_test_model_optimization_info(void);
-mxArray* load_test_model_optimization_info(boolean_T isRtwGen, boolean_T
- isModelRef, boolean_T isExternal)
-{
- if (sOptimizationInfoFlags.isRtwGen != isRtwGen ||
- sOptimizationInfoFlags.isModelRef != isModelRef ||
- sOptimizationInfoFlags.isExternal != isExternal) {
- unload_test_model_optimization_info();
- }
-
- sOptimizationInfoFlags.isRtwGen = isRtwGen;
- sOptimizationInfoFlags.isModelRef = isModelRef;
- sOptimizationInfoFlags.isExternal = isExternal;
- if (sRtwOptimizationInfoStruct==NULL) {
- sRtwOptimizationInfoStruct = sf_load_rtw_optimization_info("test_model",
- "test_model");
- mexMakeArrayPersistent(sRtwOptimizationInfoStruct);
- }
-
- return(sRtwOptimizationInfoStruct);
-}
-
-void unload_test_model_optimization_info(void)
-{
- if (sRtwOptimizationInfoStruct!=NULL) {
- mxDestroyArray(sRtwOptimizationInfoStruct);
- sRtwOptimizationInfoStruct = NULL;
- }
-}
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.gmk b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.gmk
deleted file mode 100644
index 7f268eea6059e204d90d40a123b04e0c33a4b704..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.gmk
+++ /dev/null
@@ -1,95 +0,0 @@
-#--------------------------- Tool Specifications -------------------------
-#
-# Modify the following macros to reflect the tools you wish to use for
-# compiling and linking your code.
-#
-CC = "C:\Program Files\MATLAB\R2016b\bin\win64\mex.exe"
-LD = $(CC)
-
-MODEL = test_model
-TARGET = sfun
-MODULE_SRCS = c15_test_model.c
-MODEL_SRC = test_model_sfun.c
-MODEL_REG = test_model_sfun_registry.c
-MAKEFILE = test_model_sfun.gmk
-MATLAB_ROOT = c:\program files\matlab\r2016b\toolbox\stateflow\stateflow\..\..\..
-BUILDARGS =
-#------------------------------ Include/Lib Path ------------------------------
-
-USER_INCLUDES = -I"C:\Users\Andy\documents\School\microcart\GitRepo\microcart_17-18\controls\model\logginganalysis\slprj\_sfprj\test_model\_self\sfun\src" -I"C:\Users\Andy\documents\School\microcart\GitRepo\microcart_17-18\controls\model\logginganalysis" -I"C:\Users\Andy\documents\School\microcart\GitRepo\microcart_17-18\controls\model\quad_files" -I"C:\Users\Andy\documents\School\microcart\GitRepo\microcart_17-18\controls\model" -I"C:\Users\Andy\documents\School\microcart\GitRepo\microcart_17-18\controls\model\quad_files\graph_blocks"
-AUX_INCLUDES =
-MLSLSF_INCLUDES = \
- -I"C:\Program Files\MATLAB\R2016b\extern\include" \
- -I"C:\Program Files\MATLAB\R2016b\simulink\include" \
- -I"C:\Program Files\MATLAB\R2016b\simulink\include\sf_runtime" \
- -I"C:\Program Files\MATLAB\R2016b\stateflow\c\mex\include" \
- -I"C:\Program Files\MATLAB\R2016b\rtw\c\src" \
- -I"C:\Users\Andy\Documents\School\MicroCART\GitRepo\MicroCART_17-18\controls\model\loggingAnalysis\slprj\_sfprj\test_model\_self\sfun\src"
-
-THIRD_PARTY_INCLUDES =
-
-INCLUDE_PATH = $(USER_INCLUDES) $(AUX_INCLUDES) $(MLSLSF_INCLUDES) $(COMPILER_INCLUDES) $(THIRD_PARTY_INCLUDES)
-
-#----------------- Compiler and Linker Options --------------------------------
-
-# Optimization Options
-
-CC_OPTS =
-CPP_REQ_DEFINES = -DMATLAB_MEX_FILE
-
-# Uncomment this line to move warning level to W4
-# cflags = $(cflags:W3=W4)
-CFLAGS = $(CC_OPTS) $(CPP_REQ_DEFINES) $(INCLUDE_PATH)
-
-LDFLAGS =
-
-AUXLDFLAGS =
-#----------------------------- Source Files -----------------------------------
-
-THIRD_PARTY_SRCS =
-REQ_SRCS = $(MODEL_SRC) $(MODEL_REG) $(MODULE_SRCS) $(THIRD_PARTY_SRCS)
-
-USER_ABS_OBJS = \
- c_controller.obj \
- node_constant.obj \
- node_pid.obj \
- node_mixer.obj \
- node_bounds.obj \
- node_add.obj \
-
-AUX_ABS_OBJS =
-
-REQ_OBJS = $(REQ_SRCS:.cpp=.obj)
-REQ_OBJS2 = $(REQ_OBJS:.c=.obj)
-OBJS = $(REQ_OBJS2) $(USER_ABS_OBJS) $(AUX_ABS_OBJS) $(THIRD_PARTY_OBJS)
-OBJLIST_FILE = test_model_sfun.mol
-SFCLIB =
-AUX_LNK_OBJS =
-USER_LIBS =
-PARLIB =
-
-#--------------------------------- Rules --------------------------------------
-
-MEX_FILE_NAME = $(MODEL)_$(TARGET).mexw64
-
- $(MEX_FILE_NAME): $(MAKEFILE) $(OBJS) $(SFCLIB) $(AUX_LNK_OBJS)
- @echo ### Linking ...
- $(LD) -silent LDFLAGS="$$LDFLAGS $(LDFLAGS) $(AUXLDFLAGS)" -output $(MEX_FILE_NAME) @$(OBJLIST_FILE) $(USER_LIBS) $(SFCLIB) $(PARLIB) $(IPPLIB) $(THIRD_PARTY_LIBS)
-%.obj : %.c
- $(CC) -c $(CFLAGS) $<
-
-%.obj : %.cpp
- $(CC) -c $(CFLAGS) $<
-
-c_controller.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/c_controller.c
- $(CC) -c $(CFLAGS) $<
-node_constant.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/QUAD_F~1/GRAPH_~1/node_constant.c
- $(CC) -c $(CFLAGS) $<
-node_pid.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/QUAD_F~1/GRAPH_~1/node_pid.c
- $(CC) -c $(CFLAGS) $<
-node_mixer.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/QUAD_F~1/GRAPH_~1/node_mixer.c
- $(CC) -c $(CFLAGS) $<
-node_bounds.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/QUAD_F~1/GRAPH_~1/node_bounds.c
- $(CC) -c $(CFLAGS) $<
-node_add.obj : C:/Users/Andy/DOCUME~1/School/MICROC~1/GitRepo/MICROC~1/controls/model/QUAD_F~1/GRAPH_~1/node_add.c
- $(CC) -c $(CFLAGS) $<
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.h b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.h
deleted file mode 100644
index 5670253ff6dbe2f5639778848c54beb6faea9f40..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef __test_model_sfun_h__
-#define __test_model_sfun_h__
-
-/* Include files */
-#define S_FUNCTION_NAME sf_sfun
-#include "sf_runtime/sfc_sf.h"
-#include "sf_runtime/sfc_mex.h"
-#include "sf_runtime/sf_runtime_errors.h"
-#include "rtwtypes.h"
-#include "simtarget/slSimTgtClientServerAPIBridge.h"
-#include "sf_runtime/sfc_sdi.h"
-#include "sf_runtime/sf_test_language.h"
-#include "multiword_types.h"
-#include "sf_runtime/sfc_messages.h"
-#include "sf_runtime/sfcdebug.h"
-#define rtInf (mxGetInf())
-#define rtMinusInf (-(mxGetInf()))
-#define rtNaN (mxGetNaN())
-#define rtIsNaN(X) ((int)mxIsNaN(X))
-#define rtIsInf(X) ((int)mxIsInf(X))
-
-struct SfDebugInstanceStruct;
-extern struct SfDebugInstanceStruct* sfGlobalDebugInstanceStruct;
-
-/* Custom Code from Simulation Target dialog*/
-#include "c_controller.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-extern uint32_T _test_modelMachineNumber_;
-
-/* Variable Definitions */
-
-/* Function Declarations */
-extern void test_model_initializer(void);
-extern void test_model_terminator(void);
-
-/* Function Definitions */
-
-/* We load infoStruct for rtw_optimation_info on demand in mdlSetWorkWidths and
- free it immediately in mdlStart. Given that this is machine-wide as
- opposed to chart specific, we use NULL check to make sure it gets loaded
- and unloaded once per machine even though the methods mdlSetWorkWidths/mdlStart
- are chart/instance specific. The following methods abstract this out. */
-extern mxArray* load_test_model_optimization_info(boolean_T isRtwGen, boolean_T
- isModelRef, boolean_T isExternal);
-extern void unload_test_model_optimization_info(void);
-
-#endif
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.mol b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.mol
deleted file mode 100644
index 6b339f36e8cbb1fa23b17f189510649958aae54d..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.mol
+++ /dev/null
@@ -1,27 +0,0 @@
-test_model_sfun.obj
-c15_test_model.obj
-test_model_sfun_registry.obj
-c_controller.obj
-node_constant.obj
-node_pid.obj
-node_mixer.obj
-node_bounds.obj
-node_add.obj
-
-
-
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\sf_runtime.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmx.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmex.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmat.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libfixedpoint.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libut.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwmathutil.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libemlrt.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwsl_log_load_blocks.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwsimulink.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwsl_sfcn_cov_bridge.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwsl_simtarget_core.lib"
-"C:\Program Files\MATLAB\R2016b\extern\lib\win64\mingw64\libmwsl_simtarget_instrumentation.lib"
-"-LC:\Program Files\MATLAB\R2016b\bin\win64" "-llibmwipp"
-
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.obj
deleted file mode 100644
index d4ddc8caec577ec8bf447b339d33b34f6bd23462..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.obj and /dev/null differ
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_debug_macros.h b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_debug_macros.h
deleted file mode 100644
index bd991d4b8d54f27595a03c0df12ea4fe92e13cc8..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_debug_macros.h
+++ /dev/null
@@ -1,466 +0,0 @@
- #ifndef __SF_DEBUG_MACROS_H__
- #define __SF_DEBUG_MACROS_H__
- extern unsigned int _test_modelMachineNumber_;
- #define _SFD_SET_DATA_VALUE_PTR(v1,v2)\
- sf_debug_set_instance_data_value_ptr(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,CHARTINSTANCE_INSTANCENUMBER,v1,(void *)(v2),NULL);
- #define _SFD_UNSET_DATA_VALUE_PTR(v1)\
- sf_debug_unset_instance_data_value_ptr(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,CHARTINSTANCE_INSTANCENUMBER,v1);
- #define _SFD_SET_DATA_VALUE_PTR_VAR_DIM(v1,v2,v3)\
- sf_debug_set_instance_data_value_ptr(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,CHARTINSTANCE_INSTANCENUMBER,v1,(void *)(v2),(void *)(v3));
- #define _SFD_DATA_RANGE_CHECK_MIN_MAX(dVal,dNum,objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn,dMin,dMax,ssid,offset,length)\
- sf_debug_data_range_error_wrapper_min_max(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- dNum,(double)(dVal),\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn,(double)dMin,(double)dMax,ssid,offset,length)
- #define _SFD_DATA_RANGE_CHECK_MIN(dVal,dNum,objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn,dMin,ssid,offset,length)\
- sf_debug_data_range_error_wrapper_min(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- dNum,(double)(dVal),\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn,(double)dMin,ssid,offset,length)
- #define _SFD_DATA_RANGE_CHECK_MAX(dVal,dNum,objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn,dMax,ssid,offset,length)\
- sf_debug_data_range_error_wrapper_max(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- dNum,(double)(dVal),\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn,(double)dMax,ssid,offset,length)
- #define _SFD_DATA_RANGE_CHECK(dVal,dNum,objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn)\
- sf_debug_data_range_wrapper(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- dNum,(double)(dVal),\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn)
- #define _SFD_DATA_READ_BEFORE_WRITE_ERROR(dNum,objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn)\
- sf_debug_read_before_write_error(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (unsigned int)(dNum),\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn)
- #define _SFD_ARRAY_BOUNDS_CHECK(v1,v2,v3,v4,v5,v6) \
- sf_debug_data_array_bounds_error_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(int)(v2),(int)(v3),(int)(v4),(int)(v5),(int)(v6))
- #define _SFD_RUNTIME_SIZE_MISMATCH_CHECK(v1,v2,v3,v4,v5) \
- sf_debug_data_runtime_size_mismatch_error_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(unsigned int)(v3),(int)(v4),(int)(v5))
- #define _SFD_EML_ARRAY_BOUNDS_CHECK(v1,v2,v3,v4,v5,v6) \
- sf_debug_eml_data_array_bounds_error_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(int)(v2),(int)(v3),(int)(v4),(int)(v5),(int)(v6))
- #ifdef INT_TYPE_64_IS_SUPPORTED
- #define _SFD_EML_ARRAY_BOUNDS_CHECK_INT64(v1,v2,v3,v4,v5,v6) \
- sf_debug_eml_data_array_bounds_error_check_int64(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(int64_T)(v2),(int)(v3),(int)(v4),(int)(v5),(int)(v6))
- #endif
- #define _SFD_INTEGER_CHECK(v1,v2) \
- sf_debug_integer_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(double)(v2))
- #define _SFD_NOT_NAN_CHECK(v1,v2) \
- sf_debug_not_nan_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(double)(v2))
- #define _SFD_NON_NEGATIVE_CHECK(v1,v2) \
- sf_debug_non_negative_check(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(double)(v2))
- #define _SFD_CAST_TO_UINT8(v1) \
- sf_debug_cast_to_uint8_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_UINT16(v1) \
- sf_debug_cast_to_uint16_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_UINT32(v1) \
- sf_debug_cast_to_uint32_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_INT8(v1) \
- sf_debug_cast_to_int8_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_INT16(v1) \
- sf_debug_cast_to_int16_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_INT32(v1) \
- sf_debug_cast_to_int32_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_CAST_TO_SINGLE(v1) \
- sf_debug_cast_to_real32_T(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),0,0)
- #define _SFD_ANIMATE() sf_debug_animate(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER)
- #define _SFD_CHART_CALL(v1,v2,v3,v4) sf_debug_call(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- CHART_OBJECT,v1,v2,v3,v4,\
- 0,NULL,_sfTime_,1)
- #define _SFD_MESSAGE_POST_CALL(v1) sf_debug_register_message_post_receive_info(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- v1,_sfTime_,1)
- #define _SFD_MESSAGE_RECEIVE_CALL(v1) sf_debug_register_message_post_receive_info(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- v1,_sfTime_,0)
- #define _SFD_CC_CALL(v2,v3,v4) _SFD_CHART_CALL(CHART_OBJECT,v2,v3,v4)
- #define _SFD_CS_CALL(v2,v3,v4) _SFD_CHART_CALL(STATE_OBJECT,v2,v3,v4)
- #define _SFD_CT_CALL(v2,v3,v4) _SFD_CHART_CALL(TRANSITION_OBJECT,v2,v3,v4)
- #define _SFD_CE_CALL(v2,v3,v4) _SFD_CHART_CALL(EVENT_OBJECT,v2,v3,v4)
- #define _SFD_CM_CALL(v2,v3,v4) _SFD_CHART_CALL(MESSAGE_OBJECT,v2,v3,v4)
- #define _SFD_EML_CALL(v1,v2,v3) eml_debug_line_call(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- v1,v2,\
- v3,_sfTime_,0)
- #define _SFD_SCRIPT_TRANSLATION(v1,v2,v3,v4) sf_debug_set_script_translation(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- v1,v2,v3,v4)
- #define _SFD_SCRIPT_CALL(v1,v2,v3) eml_debug_line_call(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- v1,v2,\
- v3,_sfTime_,1)
- #define _SFD_CCP_CALL(v3,v4,v5,v6) sf_debug_call(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- CHART_OBJECT,TRANSITION_OBJECT,TRANSITION_GUARD_COVERAGE_TAG,v3,v6,\
- v4,NULL,_sfTime_,(unsigned int)(v5))
- #define _SFD_STATE_TEMPORAL_THRESHOLD(v1,v2,v4) sf_debug_temporal_threshold(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (unsigned int)(v1),(v2),STATE_OBJECT,(v4))
- #define _SFD_TRANS_TEMPORAL_THRESHOLD(v1,v2,v4) sf_debug_temporal_threshold(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (unsigned int)(v1),(v2),TRANSITION_OBJECT,(v4))
- #define CV_EVAL(v1,v2,v3,v4) cv_eval_point(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4))
- #define CV_CHART_EVAL(v2,v3,v4) CV_EVAL(CHART_OBJECT,(v2),(v3),(v4))
- #define CV_STATE_EVAL(v2,v3,v4) CV_EVAL(STATE_OBJECT,(v2),(v3),(v4))
- #define CV_TRANSITION_EVAL(v1,v2) cv_eval_point(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- TRANSITION_OBJECT,(v1),0,((v2)!=0))
- #define CV_RELATIONAL_EVAL(v1,v2,v3,v4,v5,v6,v7,v8) cv_eval_relational(sfGlobalDebugInstanceStruct,_test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8))
- #define CV_BASIC_BLOCK_EVAL(v1,v2,v3) cv_eval_basic_block(sfGlobalDebugInstanceStruct,_test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3))
- #define CV_SATURATION_EVAL(v1,v2,v3,v4,v5) cv_eval_saturation(sfGlobalDebugInstanceStruct,_test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
- #define CV_SATURATION_ACCUM(v1,v2,v3,v4) cv_saturation_accum(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4))
- #define CV_TESTOBJECTIVE_EVAL(v1,v2,v3,v4) cv_eval_testobjective(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4))
-
- /* Coverage Macros for MATLAB */
- #define CV_EML_EVAL(v1,v2,v3,v4,v5) cv_eml_eval(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(int)(v5))
- #define CV_EML_FCN(v2,v3) CV_EML_EVAL(CV_EML_FCN_CHECK,(v2),1,(v3),0)
- #define CV_EML_TESTOBJECTIVE(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_TESTOBJECTIVE_CHECK,(v2),(v3),(v4),((v5) != 0))
- #define CV_EML_SATURATION(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_SATURATION_CHECK,(v2),(v3),(v4),((v5) != 0))
- #define CV_EML_SATURATION_ACCUM(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_SATURATION_ACCUM_CHECK,(v2),(v3),(v4),(v5))
- #define CV_EML_IF(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_IF_CHECK,(v2),(v3),(v4),((v5) != 0))
- #define CV_EML_FOR(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_FOR_CHECK,(v2),(v3),(v4),(v5))
- #define CV_EML_WHILE(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_WHILE_CHECK,(v2),(v3),(v4),((v5) != 0))
- #define CV_EML_SWITCH(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_SWITCH_CHECK,(v2),(v3),(v4),(v5))
- #define CV_EML_COND(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_COND_CHECK,(v2),(v3),(v4),((v5) != 0))
- #define CV_EML_MCDC(v2,v3,v4,v5) CV_EML_EVAL(CV_EML_MCDC_CHECK,(v2),(v3),(v4),(v5))
- #define CV_SCRIPT_EVAL(v1,v2,v3,v4) cv_script_eval(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(int)(v4))
- #define CV_SCRIPT_FCN(v2,v3) CV_SCRIPT_EVAL(CV_SCRIPT_FCN_CHECK,(v2),(v3),0)
- #define CV_SCRIPT_TESTOBJECTIVE(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_TESTOBJECTIVE_CHECK,(v2),(v3),((v4) != 0))
- #define CV_SCRIPT_SATURATION(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_SATURATION_CHECK,(v2),(v3),((v4) != 0))
- #define CV_SCRIPT_SATURATION_ACCUM(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_SATURATION_ACCUM_CHECK,(v2),(v3),(v4))
- #define CV_SCRIPT_IF(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_IF_CHECK,(v2),(v3),((v4) != 0))
- #define CV_SCRIPT_FOR(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_FOR_CHECK,(v2),(v3),(v4))
- #define CV_SCRIPT_WHILE(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_WHILE_CHECK,(v2),(v3),((v4) != 0))
- #define CV_SCRIPT_SWITCH(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_SWITCH_CHECK,(v2),(v3),(v4))
- #define CV_SCRIPT_COND(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_COND_CHECK,(v2),(v3),((v4) != 0))
- #define CV_SCRIPT_MCDC(v2,v3,v4) CV_SCRIPT_EVAL(CV_SCRIPT_MCDC_CHECK,(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_EML(v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,v11,v12) cv_eml_init_script(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8),(v9),(v10),(v11),(v12))
-
- #define _SFD_CV_INIT_EML_FCN(v1,v2,v3,v4,v5,v6) cv_eml_init_fcn(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_EML_BASIC_BLOCK(v1,v2,v3,v4,v5) cv_eml_init_basic_block(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
-
- #define _SFD_CV_INIT_EML_TESTOBJECTIVE(v1,v2,v3,v4,v5,v6,v7) cv_eml_init_testobjective(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7))
-
- #define _SFD_CV_INIT_EML_SATURATION(v1,v2,v3,v4,v5,v6) cv_eml_init_saturation(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_EML_IF(v1,v2,v3,v4,v5,v6,v7) cv_eml_init_if(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7))
-
- #define _SFD_CV_INIT_EML_FOR(v1,v2,v3,v4,v5,v6) cv_eml_init_for(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_EML_WHILE(v1,v2,v3,v4,v5,v6) cv_eml_init_while(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_EML_MCDC(v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,v11) cv_eml_init_mcdc(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8),(v9),(v10),(v11))
-
- #define _SFD_CV_INIT_EML_RELATIONAL(v1,v2,v3,v4,v5,v6,v7) cv_eml_init_relational(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7))
-
- #define _SFD_CV_INIT_EML_SWITCH(v1,v2,v3,v4,v5,v6,v7,v8,v9) cv_eml_init_switch(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8),(v9))
-
- #define _SFD_CV_INIT_SCRIPT(v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,v11) cv_script_init_script(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8),(v9),(v10),(v11))
-
- #define _SFD_CV_INIT_SCRIPT_FCN(v1,v2,v3,v4,v5,v6) cv_script_init_fcn(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_SCRIPT_BASIC_BLOCK(v1,v2,v3,v4,v5) cv_script_init_basic_block(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
-
- #define _SFD_CV_INIT_SCRIPT_TESTOBJECTIVE(v1,v2,v3,v4,v5,v6) cv_script_init_testobjective(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_SCRIPT_SATURATION(v1,v2,v3,v4,v5) cv_script_init_saturation(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
-
- #define _SFD_CV_INIT_SCRIPT_IF(v1,v2,v3,v4,v5,v6) cv_script_init_if(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_SCRIPT_FOR(v1,v2,v3,v4,v5) cv_script_init_for(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
-
- #define _SFD_CV_INIT_SCRIPT_WHILE(v1,v2,v3,v4,v5) cv_script_init_while(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5))
-
- #define _SFD_CV_INIT_SCRIPT_MCDC(v1,v2,v3,v4,v5,v6,v7,v8,v9,v10) cv_script_init_mcdc(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8),(v9),(v10))
-
- #define _SFD_CV_INIT_SCRIPT_RELATIONAL(v1,v2,v3,v4,v5,v6) cv_script_init_relational(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_SCRIPT_SWITCH(v1,v2,v3,v4,v5,v6,v7,v8) cv_script_init_switch(sfGlobalDebugInstanceStruct, \
- _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8))
-
-
- #define _SFD_SET_DATA_PROPS(dataNumber,dataScope,isInputData,isOutputData,dataName)\
- sf_debug_set_chart_data_props(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- (dataNumber),(dataScope),(isInputData),(isOutputData),(dataName))
- #define _SFD_SET_DATA_COMPILED_PROPS(dataNumber,dataType,numDims,dimArray,isFixedPoint,isSigned,wordLength,bias,slope,exponent,complexity,mexOutFcn, mexInFcn)\
- sf_debug_set_chart_data_compiled_props(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,CHARTINSTANCE_INSTANCENUMBER,\
- (dataNumber),(dataType),(numDims),(dimArray),(isFixedPoint),(isSigned),(wordLength),(bias),(slope),(exponent),(complexity),(mexOutFcn),(mexInFcn))
- #define _SFD_STATE_INFO(v1,v2,v3)\
- sf_debug_set_chart_state_info(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1),(v2),(v3))
- #define _SFD_CH_SUBSTATE_INDEX(v1,v2)\
- sf_debug_set_chart_substate_index(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1),(v2))
- #define _SFD_ST_SUBSTATE_INDEX(v1,v2,v3)\
- sf_debug_set_chart_state_substate_index(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1),(v2),(v3))
- #define _SFD_ST_SUBSTATE_COUNT(v1,v2)\
- sf_debug_set_chart_state_substate_count(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1),(v2))
- #define _SFD_DATA_CHANGE_EVENT_COUNT(v1,v2) \
- sf_debug_set_number_of_data_with_change_event_for_chart(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- (v1),(v2))
- #define _SFD_STATE_ENTRY_EVENT_COUNT(v1,v2) \
- sf_debug_set_number_of_states_with_entry_event_for_chart(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- (v1),(v2))
- #define _SFD_STATE_EXIT_EVENT_COUNT(v1,v2) \
- sf_debug_set_number_of_states_with_exit_event_for_chart(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- (v1),(v2))
- #define _SFD_EVENT_SCOPE(v1,v2)\
- sf_debug_set_chart_event_scope(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,(v1),(v2))
-
- #define _SFD_CH_SUBSTATE_COUNT(v1) \
- sf_debug_set_chart_substate_count(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1))
- #define _SFD_CH_SUBSTATE_DECOMP(v1) \
- sf_debug_set_chart_decomposition(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,(v1))
-
- #define _SFD_CV_INIT_CHART(v1,v2,v3,v4)\
- sf_debug_cv_init_chart(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,(v1),(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_STATE(v1,v2,v3,v4,v5,v6,v7,v8)\
- sf_debug_cv_init_state(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,(v1),(v2),(v3),(v4),(v5),(v6),(v7),(v8))
-
- #define _SFD_CV_INIT_TRANSITION_SATURATION(v1,v2,v3,v4)\
- sf_debug_cv_init_saturation(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- TRANSITION_OBJECT,(v1),(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_TRANSITION_RELATIONALOP(v1,v2,v3,v4,v5,v6)\
- sf_debug_cv_init_relationalop(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- TRANSITION_OBJECT,(v1),(v2),(v3),(v4),(v5),(v6))
-
- #define _SFD_CV_INIT_STATE_SATURATION(v1,v2,v3,v4)\
- sf_debug_cv_init_saturation(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- STATE_OBJECT, (v1),(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_TRANSITION_TESTOBJECTIVE(v1,v2,v3,v4)\
- sf_debug_cv_init_testobjectives(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- TRANSITION_OBJECT,(v1),(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_STATE_TESTOBJECTIVE(v1,v2,v3,v4)\
- sf_debug_cv_init_testobjectives(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- STATE_OBJECT, (v1),(v2),(v3),(v4))
-
- #define _SFD_CV_INIT_TRANS(v1,v2,v3,v4,v5,v6)\
- sf_debug_cv_init_trans(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (v1),(v2),(v3),(v4),(v5),(v6))
- #endif
-
- #define _SFD_SET_MACHINE_DATA_VALUE_PTR(v0,v1,v2) sf_debug_set_machine_data_value_ptr(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_STORE_CURRENT_STATE_CONFIGURATION(v0,v1,v2) sf_debug_store_current_state_configuration(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_RESTORE_PREVIOUS_STATE_CONFIGURATION(v0,v1,v2) sf_debug_restore_previous_state_configuration(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_RESTORE_PREVIOUS_STATE_CONFIGURATION2(v0,v1,v2) sf_debug_restore_previous_state_configuration2(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_SYMBOL_SCOPE_PUSH(v0,v1) sf_debug_symbol_scope_push(sfGlobalDebugInstanceStruct,v0,v1)
- #define _SFD_SYMBOL_SCOPE_PUSH_EML(v0,v1,v2,v3,v4) sf_debug_symbol_scope_push_eml(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4)
- #define _SFD_SYMBOL_SCOPE_POP() sf_debug_symbol_scope_pop(sfGlobalDebugInstanceStruct)
- #define _SFD_SYMBOL_SCOPE_ADD(v0,v1,v2) sf_debug_symbol_scope_add(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_SYMBOL_SCOPE_ADD_IMPORTABLE(v0,v1,v2,v3) sf_debug_symbol_scope_add_importable(sfGlobalDebugInstanceStruct,v0,v1,v2,v3)
- #define _SFD_SYMBOL_SCOPE_ADD_EML(v0,v1,v2) sf_debug_symbol_scope_add_eml(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(v0,v1,v2,v3) sf_debug_symbol_scope_add_eml_importable(sfGlobalDebugInstanceStruct,v0,v1,v2,v3)
- #define _SFD_SYMBOL_SCOPE_ADD_DYN(v0,v1,v2,v3,v4,v5) sf_debug_symbol_scope_add_dyn(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5)
- #define _SFD_SYMBOL_SCOPE_ADD_DYN_IMPORTABLE(v0,v1,v2,v3,v4,v5,v6) sf_debug_symbol_scope_add_dyn_importable(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5,v6)
- #define _SFD_SYMBOL_SCOPE_ADD_EML_DYN(v0,v1,v2,v3,v4,v5) sf_debug_symbol_scope_add_eml_dyn(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5)
- #define _SFD_SYMBOL_SCOPE_ADD_EML_DYN_IMPORTABLE(v0,v1,v2,v3,v4,v5,v6) sf_debug_symbol_scope_add_eml_dyn_importable(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5,v6)
- #define _SFD_SYMBOL_SCOPE_ADD_EML_DYN_EMX(v0,v1,v2,v3,v4,v5,v6,v7) sf_debug_symbol_scope_add_eml_dyn_emx(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5,v6,v7)
- #define _SFD_SYMBOL_SCOPE_ADD_EML_DYN_EMX_IMPORTABLE(v0,v1,v2,v3,v4,v5,v6,v7,v8) sf_debug_symbol_scope_add_eml_dyn_emx_importable(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5,v6,v7,v8)
- #define _SFD_SYMBOL_SCOPE_ADD_VERBOSE(v0,v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,v11,v12,v13,v14) sf_debug_symbol_scope_add_verbose(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4,v5,v6,v7,v8,v9,v10,v11,v12,v13,v14)
- #define _SFD_SYMBOL_SWITCH(v0,v1) sf_debug_symbol_switch(sfGlobalDebugInstanceStruct,v0,v1)
- #define _SFD_CHECK_FOR_STATE_INCONSISTENCY(v0,v1,v2) sf_debug_check_for_state_inconsistency(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_REPORT_STATE_INCONSISTENCY_ERROR(objectTypeEnum,objectNumber,activeEventNumber,isFasterRuntimeOn) \
- sf_debug_report_state_inconsistency_error(sfGlobalDebugInstanceStruct, _test_modelMachineNumber_,\
- CHARTINSTANCE_CHARTNUMBER,\
- CHARTINSTANCE_INSTANCENUMBER,\
- (unsigned int)objectTypeEnum,(unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn)
- #define _SFD_SET_HONOR_BREAKPOINTS(v0) sf_debug_set_honor_breakpoints(sfGlobalDebugInstanceStruct, v0)
- #define _SFD_GET_ANIMATION() sf_debug_get_animation(sfGlobalDebugInstanceStruct)
- #define _SFD_SET_ANIMATION(v0) sf_debug_set_animation(sfGlobalDebugInstanceStruct,v0)
- #define _SFD_SIZE_EQ_CHECK_1D(v0,v1) sf_debug_size_eq_check_1d(sfGlobalDebugInstanceStruct,v0,v1)
- #define _SFD_SIZE_EQ_CHECK_ND(v0,v1,v2) sf_debug_size_eq_check_nd(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_DIM_SIZE_EQ_CHECK(v0,v1,v2) sf_debug_dim_size_eq_check(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_DIM_SIZE_GEQ_CHECK(v0,v1,v2) sf_debug_dim_size_geq_check(sfGlobalDebugInstanceStruct,v0,v1,v2)
- #define _SFD_SUB_ASSIGN_SIZE_CHECK_ND(v0,v1,v2,v3) sf_debug_sub_assign_size_check_nd(sfGlobalDebugInstanceStruct,v0,v1,v2,v3)
- #define _SFD_FOR_LOOP_VECTOR_CHECK(v0,v1,v2,v3,v4) sf_debug_for_loop_vector_check(sfGlobalDebugInstanceStruct,v0,v1,v2,v3,v4)
- #define _SFD_RUNTIME_ERROR_MSGID(v0) sf_debug_runtime_error_msgid(sfGlobalDebugInstanceStruct,v0)
- #define _SFD_OVERFLOW_DETECTION(sfDebugOverflowType,sfDebugObjectTypeEnum,ssId,length,offset,objectNumber,activeEventNumber,isFasterRuntimeOn) sf_debug_overflow_detection(sfGlobalDebugInstanceStruct,\
- sfDebugOverflowType, CHARTINSTANCE_INSTANCENUMBER, sfDebugObjectTypeEnum,\
- (unsigned int)ssId, length, offset, (unsigned int)objectNumber,(int)activeEventNumber,_sfTime_,(bool)isFasterRuntimeOn)
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.c b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.c
deleted file mode 100644
index 6bcda9213335be20a9fd24e77d8c10ce166fed0f..0000000000000000000000000000000000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.c
+++ /dev/null
@@ -1,287 +0,0 @@
-#include "test_model_sfun.h"
-#include "sf_runtime/sfcdebug.h"
-
-struct SfDebugInstanceStruct;
-struct SfDebugInstanceStruct* sfGlobalDebugInstanceStruct = NULL;
-
-#define PROCESS_MEX_SFUNCTION_CMD_LINE_CALL
-
-unsigned int sf_process_check_sum_call( int nlhs, mxArray * plhs[], int nrhs,
- const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_process_check_sum_call( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] );
- if (sf_test_model_process_check_sum_call(nlhs,plhs,nrhs,prhs))
- return 1;
- return 0;
-}
-
-unsigned int sf_process_autoinheritance_call( int nlhs, mxArray * plhs[], int
- nrhs, const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_autoinheritance_info( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] );
- char commandName[64];
- char machineName[128];
- if (nrhs < 4) {
- return 0;
- }
-
- if (!mxIsChar(prhs[0]) || !mxIsChar(prhs[1]))
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_autoinheritance_info"))
- return 0;
- mxGetString(prhs[1], machineName,sizeof(machineName)/sizeof(char));
- machineName[(sizeof(machineName)/sizeof(char)-1)] = '\0';
- if (strcmp(machineName, "test_model") == 0) {
- const mxArray *newRhs[3] = { NULL, NULL, NULL };
-
- newRhs[0] = prhs[0];
- newRhs[1] = prhs[2];
- newRhs[2] = prhs[3];
- return sf_test_model_autoinheritance_info(nlhs,plhs,3,newRhs);
- }
-
- return 0;
-}
-
-unsigned int sf_process_get_third_party_uses_info_call( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_third_party_uses_info( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] );
- char commandName[64];
- char machineName[128];
- if (nrhs < 4) {
- return 0;
- }
-
- if (!mxIsChar(prhs[0]) || !mxIsChar(prhs[1]))
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_third_party_uses_info"))
- return 0;
- mxGetString(prhs[1], machineName,sizeof(machineName)/sizeof(char));
- machineName[(sizeof(machineName)/sizeof(char)-1)] = '\0';
- if (strcmp(machineName, "test_model") == 0) {
- const mxArray *newRhs[3] = { NULL, NULL, NULL };
-
- newRhs[0] = prhs[0];
- newRhs[1] = prhs[2];
- newRhs[2] = prhs[3];
- return sf_test_model_third_party_uses_info(nlhs,plhs,3,newRhs);
- }
-
- return 0;
-}
-
-unsigned int sf_process_get_jit_fallback_info_call( int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_jit_fallback_info( int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[] );
- char commandName[64];
- char machineName[128];
- if (nrhs < 4) {
- return 0;
- }
-
- if (!mxIsChar(prhs[0]) || !mxIsChar(prhs[1]))
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_jit_fallback_info"))
- return 0;
- mxGetString(prhs[1], machineName,sizeof(machineName)/sizeof(char));
- machineName[(sizeof(machineName)/sizeof(char)-1)] = '\0';
- if (strcmp(machineName, "test_model") == 0) {
- const mxArray *newRhs[3] = { NULL, NULL, NULL };
-
- newRhs[0] = prhs[0];
- newRhs[1] = prhs[2];
- newRhs[2] = prhs[3];
- return sf_test_model_jit_fallback_info(nlhs,plhs,3,newRhs);
- }
-
- return 0;
-}
-
-unsigned int sf_process_get_updateBuildInfo_args_info_call( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_updateBuildInfo_args_info( int nlhs, mxArray
- * plhs[], int nrhs, const mxArray * prhs[] );
- char commandName[64];
- char machineName[128];
- if (nrhs < 4) {
- return 0;
- }
-
- if (!mxIsChar(prhs[0]) || !mxIsChar(prhs[1]))
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_updateBuildInfo_args_info"))
- return 0;
- mxGetString(prhs[1], machineName,sizeof(machineName)/sizeof(char));
- machineName[(sizeof(machineName)/sizeof(char)-1)] = '\0';
- if (strcmp(machineName, "test_model") == 0) {
- const mxArray *newRhs[3] = { NULL, NULL, NULL };
-
- newRhs[0] = prhs[0];
- newRhs[1] = prhs[2];
- newRhs[2] = prhs[3];
- return sf_test_model_updateBuildInfo_args_info(nlhs,plhs,3,newRhs);
- }
-
- return 0;
-}
-
-unsigned int sf_process_get_eml_resolved_functions_info_call( int nlhs, mxArray *
- plhs[], int nrhs, const mxArray * prhs[] )
-{
- extern unsigned int sf_test_model_get_eml_resolved_functions_info( int nlhs,
- mxArray * plhs[], int nrhs, const mxArray * prhs[] );
- char commandName[64];
- char machineName[128];
- if (nrhs < 3) {
- return 0;
- }
-
- if (!mxIsChar(prhs[0]) || !mxIsChar(prhs[1]))
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"get_eml_resolved_functions_info"))
- return 0;
- mxGetString(prhs[1], machineName,sizeof(machineName)/sizeof(char));
- machineName[(sizeof(machineName)/sizeof(char)-1)] = '\0';
- if (strcmp(machineName, "test_model") == 0) {
- const mxArray *newRhs[2] = { NULL, NULL };
-
- newRhs[0] = prhs[0];
- newRhs[1] = prhs[2];
- return sf_test_model_get_eml_resolved_functions_info(nlhs,plhs,2,newRhs);
- }
-
- return 0;
-}
-
-unsigned int sf_mex_unlock_call( int nlhs, mxArray * plhs[], int nrhs, const
- mxArray * prhs[] )
-{
- char commandName[20];
- if (nrhs<1 || !mxIsChar(prhs[0]) )
- return 0;
- mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
- commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
- if (strcmp(commandName,"sf_mex_unlock"))
- return 0;
- while (mexIsLocked()) {
- mexUnlock();
- }
-
- return(1);
-}
-
-extern unsigned int sf_debug_api(struct SfDebugInstanceStruct* debugInstance,
- int nlhs, mxArray * plhs[], int nrhs, const mxArray * prhs[] );
-static unsigned int sf_debug_api_wrapper( int nlhs, mxArray * plhs[], int nrhs,
- const mxArray * prhs[] )
-{
- return sf_debug_api(sfGlobalDebugInstanceStruct, nlhs, plhs, nrhs, prhs);
-}
-
-static unsigned int ProcessMexSfunctionCmdLineCall(int nlhs, mxArray * plhs[],
- int nrhs, const mxArray * prhs[])
-{
- if (sf_debug_api_wrapper(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_check_sum_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_mex_unlock_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_autoinheritance_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_get_third_party_uses_info_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_get_jit_fallback_info_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_get_updateBuildInfo_args_info_call(nlhs,plhs,nrhs,prhs))
- return 1;
- if (sf_process_get_eml_resolved_functions_info_call(nlhs,plhs,nrhs,prhs))
- return 1;
- mexErrMsgTxt("Unsuccessful command.");
- return 0;
-}
-
-static unsigned int sfGlobalMdlStartCallCounts = 0;
-unsigned int sf_machine_global_initializer_called(void)
-{
- return(sfGlobalMdlStartCallCounts > 0);
-}
-
-extern unsigned int sf_test_model_method_dispatcher(SimStruct *S, unsigned int
- chartFileNumber, const char* specsCksum, int_T method, void *data);
-unsigned int sf_machine_global_method_dispatcher(SimStruct *simstructPtr, const
- char *machineName, unsigned int chartFileNumber, const char* specsCksum, int_T
- method, void *data)
-{
- if (!strcmp(machineName,"test_model")) {
- return(sf_test_model_method_dispatcher(simstructPtr,chartFileNumber,
- specsCksum,method,data));
- }
-
- return 0;
-}
-
-extern void test_model_terminator(void);
-void sf_machine_global_terminator(SimStruct* S)
-{
- sfGlobalMdlStartCallCounts--;
- if (sfGlobalMdlStartCallCounts == 0) {
- test_model_terminator();
- sf_debug_terminate(sfGlobalDebugInstanceStruct);
- sfGlobalDebugInstanceStruct = NULL;
- }
-
- return;
-}
-
-extern void test_model_initializer(void);
-extern void test_model_register_exported_symbols(SimStruct* S);
-extern void test_model_debug_initialize(struct SfDebugInstanceStruct*);
-void sf_register_machine_exported_symbols(SimStruct* S)
-{
- test_model_register_exported_symbols(S);
-}
-
-bool callCustomFcn(char initFlag)
-{
- return false;
-}
-
-void sf_machine_global_initializer(SimStruct* S)
-{
- bool simModeIsRTWGen = sim_mode_is_rtw_gen(S);
- sfGlobalMdlStartCallCounts++;
- if (sfGlobalMdlStartCallCounts == 1) {
- if (simModeIsRTWGen) {
- sf_register_machine_exported_symbols(S);
- }
-
- sfGlobalDebugInstanceStruct = sf_debug_create_debug_instance_struct();
- if (!simModeIsRTWGen) {
- test_model_debug_initialize(sfGlobalDebugInstanceStruct);
- }
-
- test_model_initializer();
- }
-
- return;
-}
-
-#include "sf_runtime/stateflow_mdl_methods.stub"
diff --git a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.obj b/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.obj
deleted file mode 100644
index a0a5902cd0297abc1f96246ea25fe03fde04dbdb..0000000000000000000000000000000000000000
Binary files a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.obj and /dev/null differ
diff --git a/controls/model/mahony_filter.slx b/controls/model/mahony_filter.slx
new file mode 100644
index 0000000000000000000000000000000000000000..df7f4d681d0169f6630f5a48695e21cf85f1de8b
Binary files /dev/null and b/controls/model/mahony_filter.slx differ
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 42bf4b89f56c1310c30d16d57576a61ab92ca9fe..20dad9510c22a96dec30005120ada0f9c7aebd34 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,4 +1,4 @@
-% Log Analysis Toggle
+% Log Analysis Toggle
logAnalysisToggle = 1; % 1 for log analysis, 0 for normal operation
% Define Simulink Runtime (if logAnalysisToggle is selected, this will be
@@ -6,28 +6,28 @@
runtime = 20;
% Model Parameters
- m = 1.244; % Quadrotor + battery mass
+ m = 1.140; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
Jxx = 0.0130; % Quadrotor and battery motor of inertia around bx (pitch)
Jyy = 0.0140; % Quadrotor and battery motor of inertia around by (roll)
Jzz = 0.0285; % Quadrotor and battery motor of inertia around bz (yaw)
Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
- Kt = 8.6519e-6; % Rotor thrust constant
+ Kt = 1.2007e-05; % Rotor thrust constant
Kh = 0; % Rotor in-plane drag constant
- Kd = 1.0317e-7; % Rotor drag constant
+ Kd = 1.4852e-07; % Rotor drag constant
rhx = 0.16; % X-axis distance from center of mass to a rotor hub
rhy = 0.16; % Y-axis distance from center of mass to a rotor hub
rhz = 0.03; % 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
+ If = 0.3836; % Motor internal friction current
Pmin = 1e5; % Minimum zybo output duty cycle command
Pmax = 2e5; % Maximum zybo output duty cycle command
Tc = 0.04; % Camera system sampling period
Tq = 0.005; % Quad sampling period
tau_c = 0; % Camera system total latency
- Vb = 11.1; % Nominal battery voltage (V)
+ Vb = 11.4; % Nominal battery voltage (V)
x_controlled_o = 0; % Equilibrium lateral controller output
y_controlled_o = 0; % Equilibrium longitudinal controller output
yaw_controlled_o = 0; % Equilibrium yaw controller output
@@ -41,11 +41,11 @@
omega3_o = sqrt((m*g)/(4*Kt));
% Equilibrium height controller output
- height_controlled_o = (((Rm*If + ...
+ height_controlled_o = (((Rm*If ...
+ (((omega0_o * 2 * Rm * Kv * Kq ...
* Kd + 1)^2) - 1)/(4* Rm*Kv^2*Kq ...
- * Kd))/Vb)*(Pmax- Pmin) + Pmin);
-
+ * Kd))/Vb)*(Pmax - Pmin) + Pmin);
+
% Equilibrium positions
x_o = 0;
y_o = 0;
@@ -90,10 +90,11 @@ if logAnalysisToggle == 1
time = dataStruct.Time.data;
time = time - time(1);
+ time_indices = length(time);
- time = time(1):0.005:time(length(time)-7);
- time = time';
-
+% time = 0:0.005001:max(time);
+% time = time(1:time_indices);
+
runtime = max(time);
% Determine x position error
@@ -152,8 +153,11 @@ if logAnalysisToggle == 1
PWM1 = dataStruct.Signal_Mixer_PWM_1.data;
PWM2 = dataStruct.Signal_Mixer_PWM_2.data;
PWM3 = dataStruct.Signal_Mixer_PWM_3.data;
+ PWM_arr = ...
+ [PWM0, PWM1, PWM2, PWM3];
+ motor_commands = timeseries(PWM_arr, time);
- %Pull the measurements from the acceleratometer
+ % Pull the measurements from the acceleratometer
raw_accel_data_x = dataStruct.accel_x.data;
raw_accel_data_y = dataStruct.accel_y.data;
raw_accel_data_z = dataStruct.accel_z.data;
@@ -161,7 +165,7 @@ if logAnalysisToggle == 1
[ raw_accel_data_x , raw_accel_data_y , raw_accel_data_z ];
raw_accel_data = timeseries( raw_accel_data_arr , time );
- %Pull the measurements from the gyroscope
+ % Pull the measurements from the gyroscope
raw_gyro_data_x = dataStruct.gyro_x.data;
raw_gyro_data_y = dataStruct.gyro_y.data;
raw_gyro_data_z = dataStruct.gyro_z.data;
@@ -169,11 +173,52 @@ if logAnalysisToggle == 1
[ raw_gyro_data_x , raw_gyro_data_y , raw_gyro_data_z ];
raw_gyro_data = timeseries( raw_gyro_data_arr , time );
- %Create time series object for z command
+ % Create time series object for z command
throttle_command = timeseries(dataStruct.RC_Throttle_Constant.data, time);
+ z_command = dataStruct.RC_Throttle_Constant.data;
- %Pull the measurements from the complimentary filter
+ % Pull the measurements from the complimentary filter
pitch_measured_IMU = dataStruct.Pitch_Constant.data;
roll_measured_IMU = dataStruct.Roll_Constant.data;
+ IMU_angle_arr = ...
+ [roll_measured_IMU, pitch_measured_IMU];
+ IMU_angle_data = timeseries( IMU_angle_arr, time);
+
+ % Pull VRPN pitch and roll
+ pitch_measured_VRPN = dataStruct.VRPN_Pitch_Constant.data;
+ roll_measured_VRPN = dataStruct.VRPN_Roll_Constant.data;
+
+ % Set height_controlled_o to initial throttle command
+ height_controlled_o = dataStruct.RC_Throttle_Constant.data(1);
+
+ % Set rotor speed initial conditions to there calculated values based on
+ % initial throttle control
+ omega0_o = (sqrt(((height_controlled_o ...
+ - Pmin)/(Pmax - Pmin)* Vb - Rm * If) * 4 * ...
+ Rm * Kv^2 * Kq * Kd + 1) - 1) / (2 * Rm * ...
+ Kv * Kq * Kd);
+ omega1_o = omega0_o;
+ omega2_o = omega0_o;
+ omega3_o = omega0_o;
+
+ % Set initial positions
+ x_o = x_position(1);
+ y_o = y_position(1);
+ z_o = z_position(1);
+
+ % Set initial velocities
+ x_vel_o = (x_position(1) - x_position(2))/(time(1) - time(2));
+ y_vel_o = (y_position(1) - y_position(2))/(time(1) - time(2));
+ z_vel_o = (z_position(1) - z_position(2))/(time(1) - time(2));
+
+ % Equilibrium angles
+ roll_o = roll_measured_VRPN(1);
+ pitch_o = pitch_measured_VRPN(1);
+ yaw_o = 0;
+
+ % Equilibrium angular rates
+ rollrate_o = (roll_measured_VRPN(1) - roll_measured_VRPN(2))/(time(1) - time(2));
+ pitchrate_o = (pitch_measured_VRPN(1) - pitch_measured_VRPN(2))/(time(1) - time(2));
+ yawrate_o = 0;
-end
+end
\ No newline at end of file
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 92b139549538c6faa45058b6f41784f2c238384b..56971125dc1d50445e083b3e0f8b6d3187957d3b 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ
diff --git a/documentation/.gitkeep b/documentation/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/documentation/ci_faq.md b/documentation/ci_faq.md
new file mode 100644
index 0000000000000000000000000000000000000000..679e0b9f484603505d1e64bd4c57369b255becc7
--- /dev/null
+++ b/documentation/ci_faq.md
@@ -0,0 +1,40 @@
+# Continuous Integration (CI) FAQ
+
+## Why did my commit fail CI?
+On every commit, a script runs that performs a number of things, including
+compiling code and running unit and functional tests. Whatever you did
+apparently broke one of these things.
+
+## Why should I care about the CI results?
+CI _immensely_ streamlines the development cycle by helping us catch bugs
+immediately, allowing us to fix them early before they plague us (or future
+users of the code base). It's a common industry practice. If you break the CI
+pipeline, don't ignore it! Try your best to get the branch back in working
+condition.
+
+## Okay, so my commit failed CI, and I guess I care. What should I do?
+1. Re-run the build.
+ - Sometimes something weird happens, so it's good to check this.
+2. Figure out what you did wrong and fix it.
+ - If you click on the build, you should be able to see the exact logs the
+ build process. Debug the error to figure out what went wrong. Maybe you
+ failed a test. You may need to open the source code for the test to see
+ where you failed, which is very insightful into figuring out what went
+ wrong.
+3. Figure out what CI is doing wrong.
+ - Sometimes a test might be poorly designed. At this point, it can be really
+ tempting to just ignore the build failure altogether (don't do that!), or
+ just remove the broken test (not as bad, but still don't do that). The best
+ thing is to fix the test so that we continue to have good regression
+ test coverage over our code.
+
+## How does CI work?
+When a commit is added to a branch in our repository, a notification is sent out
+to our gitlab-ci-runner, which instructs it to checkout the updated branch and
+run the directive in `.gitlab-ci.yml`. It then runs each directive, which is
+made up of bash scripts to execute. In our case, we run two scripts,
+`ci-build.sh` and `ci-test.sh`, which compile projects and run checks,
+respectively. (Look at these scripts to learn more about how they work). If
+some error occurs during the script (perhaps a forced error generated by a
+failed test), then the runner sends a message back to Gitlab indicating that the
+CI failed. Otherwise, it succeeds.
diff --git a/documentation/how_to_calibrate_the_camera_system.md b/documentation/how_to_calibrate_the_camera_system.md
new file mode 100644
index 0000000000000000000000000000000000000000..a04a5fb1f9e69c76c90b9c76f9bbbd5c428ae53a
--- /dev/null
+++ b/documentation/how_to_calibrate_the_camera_system.md
@@ -0,0 +1,24 @@
+# How to calibration the camera system
+
+*This tutorial is in a draft state*
+
+On the computer Coover 3050-07, open the Tracking Tools program.
+
+1. Click the "Camera Calibration" button. (It is a picture of a wand).
+2. Get the calibration wand (on top of cabinet). Ensure the calibration wand is REMOVED from the viewing area.
+3. Click "Start Wanding".
+ 4. If you get a message about reflective materials being seen, click "Block".
+5. Click "Start Wanding" again.
+6. Start painting
+
+Look at each individual camera sample count, and ensure each camera has a sufficient number. Also look at the generic "sufficient for quality" indicator. Try to get samples data points for all areas of the viewing area.
+
+Last time, we tried to get the sufficient quality at "very high" and each camera sample count over 10,000.
+
+After you finished, click "Apply Result".
+
+Then click "apply and refine" and save.
+
+Next, you'll be calibrating the floor. Then use the L-tool with the trackables (in the cabinet). In order to get the z-axis pointing vertically, you'll need to pinch the L-tool so that it sits upright on the floor (we used bricks). You can use a level to ensure it is stable.
+
+Click "Set Ground Plane".
\ No newline at end of file
diff --git a/documentation/how_to_charge_lipo.md b/documentation/how_to_charge_lipo.md
new file mode 100644
index 0000000000000000000000000000000000000000..662752226360a306f954dfb95996368a692a952d
--- /dev/null
+++ b/documentation/how_to_charge_lipo.md
@@ -0,0 +1,21 @@
+# How to charge the LiPo batteries
+
+This tutorial includes instructions to safely charge the Li-Po battery. The quadcopter uses a 3S Li-Po battery with 11.1V nominal voltage.
+
+1. Start by turning on the charging station’s power supply, which should be on the left side of the charging station. The power supply should be at 17 volts.
+ 
+2. On the charging station:
+ - Connect the balancer (connector with many white slots) and the charging cable (yellow connector) to the charging station.
+ 
+ - Cycle through (Hit “Enter†and use “Up†and “down†to cycle) the memory banks until you find the correct setting for the battery you are using. The one in this demonstration is a LiPo with nominal voltage of 11.1V and a capacity of 2200 mah. The correct settings for this battery is located under memory no. 6.
+3. Connect the battery to the balancer and charging cable. Plug the balancer into the slot corresponding the number of cells the battery has. In this case the battery is 3 cells so you would plug it into the 3S balancer slot.
+ 
+4. Hold “Enter†on the charging station until it prompts you for “Charge Start Solo Modeâ€. Hold “Enter†again to check and confirm the battery’s voltage and cell count.
+ 
+ 
+5. Press “Enter†to start the charging process.
+ 
+6. When the battery is done charging the charging station will make a continuous ringing sound. The screen on the charging station will say “LiPo End/CHGâ€. Hold “Enter†to return to the main menu. Unplug the battery from the charging cable and the balancer. Power off the charging station’s power supply.
+ 
+
+
diff --git a/documentation/how_to_demo.md b/documentation/how_to_demo.md
new file mode 100644
index 0000000000000000000000000000000000000000..104c64bc20852f6dcbcb9bea5a1c380d6bae8d63
--- /dev/null
+++ b/documentation/how_to_demo.md
@@ -0,0 +1,100 @@
+# How to demo the quadcopter
+
+Follow this How-To to get the quadcopter up and running in Coover 3050.
+
+**Table of Contents**
+
+[[_TOC_]]
+
+## Setup Infrared Camera System
+
+1. To start up the camera system, log into the camera system computer (co3050-07) with the following username and password:
+
+ username: `.\microcart`<br>
+ password: `microcart` (this might be wrong...)
+
+2. Once the OS is done loading, start up the program "Tracking Tools".
+3. From the startup window, choose "Open existing project"
+4. Choose "TrackingToolsProject 2017-01-13 5.30pm" in the "Optitrack_Configuration" folder
+6. Then go to File -> Open and choose "Microcart" in the "Optitrack_Configuration" folder
+ - This should create a "UAV" under "Trackables" in the Project Explorer on the left side of the screen
+7. Now you should be able to move the quadcopter trackable around in the tracking area, and see it update in real-time on the screen.
+
+## Setup Ground Station
+On the ground station computer (Co3050-09), log in with the following credentials.
+
+username: `ucart`<br>
+password: `microcart`
+
+Navigate to the ground station folder in a Terminal.
+```bash
+$ cd {project_root}/groundStation
+$ ls
+BackEnd Cli logs Makefile obj README.md src ucart.socket (or something like that)
+```
+
+If the project hasn't been built in a while, re-make the project:
+```bash
+make vrpn
+make
+```
+
+And set the wifi environment variable if you want to connect to the quad over wifi.
+```bash
+$ UCART_USE_WIFI=true
+```
+
+## Setup Transmitter
+The RC transmitter is used to manually control the quad.
+1. Ensure the transmitter has the following state before turning it on:
+ - "Gear" is set to 0
+ - "Flap" is set to 1
+ - Throttle is set to the lowest position
+2. Turn on the transmitter.
+
+## Setup Quadcopter
+
+This section assumes the quad already has a prepared boot image inserted into the SD card port and that a properly charged Li-Po battery is ready for use.
+
+0. Prequisites
+ 1. Make sure the connection to the motors from the main power line is **disconnected**.
+ 2. Make sure the previous setup sections have been done prior starting this section
+1. Insert the Li-Po battery into the holder beneath the quad, and plug it into the quad.
+2. Turn on the Zybo Board using the switch.
+ 1. The "PGOOD" Light should turn red.
+ 2. After the program has been completely loaded, the green DONE LED should turn on.
+ 
+3. Ensure the quad and transmitter has connected successfully.
+ - The RC transmitter should have GAUI 330X selected and displayed on the screen. With the quad and transmitter on, the unit on the quad labeled Spektrum AR610 should have a blinking orange light or solid orange light (It is easier to see the orange light from the top of the receiver). If this is not blinking or solid, try restarting the quad and transmitter with the transmitter closer to the quad.
+ 
+ 
+
+4. Plug connect the motors to the main power line.
+
+## Start the Ground Station (CLI)
+Execute the following on the ground station from the root of the ground station folder.
+
+In one terminal, run the backend:
+```bash
+UCART_SOCKET=./ucart.socket ./BackEnd
+```
+
+In another terminal, run the monitor:
+```bash
+UCART_SOCKET=./ucart.socket ./Cli monitor -f
+```
+
+Finally, in another terminal, export the socket path, and then execute any CLI commands that you like:
+```bash
+export UCART_SOCKET=./ucart.socket
+./Cli setpid --pitch -p 1.000
+# ... other CLI commands
+```
+
+## Start the Quad
+1. Using the transmitter, flip the "Gear" switch to 1.
+ 1. You should see the green LED4 MIO7 turn on.
+2. Start flying the quad. Below is a summary of how the manual controls work.
+ 
+
+
diff --git a/groundStation/Makefile b/groundStation/Makefile
index d5ecdc66bc451561e6e149c2479a4aadb00e437a..c3970786e8e22cf7f21643be048600d022e2ee61 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -7,7 +7,7 @@ CFLAGS= -Wall -pedantic -Wextra -Werror -std=gnu99 -g -Wno-unused-parameter -Wno
CXXFLAGS= -Wall -pedantic -Wextra -Werror -Wno-reorder -Wno-unused-variable -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
INCDIR= src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR) ../quad/inc
-LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lm -lcomputation_graph
+LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lcomputation_graph -lm
OBJDIR=obj
# Backend Specific Variables
diff --git a/groundStation/README.md b/groundStation/README.md
index 2e6be4d83774dc08d23ac744b70eba6ce44be294..e14675ab8ad6eb0b870f87355b94a0778eae994c 100644
--- a/groundStation/README.md
+++ b/groundStation/README.md
@@ -62,4 +62,25 @@ or alternatively with symlinks
This will fetch the block_id, type_id and name of every node in the current graph
-You can run any number of any combination of frontend tools at the same time.
\ No newline at end of file
+You can run any number of any combination of frontend tools at the same time.
+
+### Batch Update of PID constants
+The CLI only supports setting one PID constant at a time using the following command.
+
+From the `groundStation` folder:
+```
+./Cli setpid --pitch -p 1.000
+```
+
+This can get tedious for 27 PID constants.
+
+To help, we made a batch script that allows you to easily set all 27 PID constants at once and save your progress as you go.
+
+First, edit the `parameters.txt` file in the `groundStation/scripts` folder to specify the values you want to set. The script will parse this file and pass them to the `Cli` program.
+
+Then simply run the script from the `groundStation` folder:
+```
+scripts/setpid_batch.sh
+```
+
+Remember to commit your changes in the `parameters.txt` file if you believe you have found a better default state for the quad.
\ No newline at end of file
diff --git a/groundStation/scripts/bypass_kill_switch.sh b/groundStation/scripts/bypass_kill_switch.sh
index b1061e271a8bef3effbc2a9e9f7f6acba81d4ab7..183df7b8e30d642e0bf92b8a0fbc7b1ef1949e7f 100755
--- a/groundStation/scripts/bypass_kill_switch.sh
+++ b/groundStation/scripts/bypass_kill_switch.sh
@@ -1,4 +1,9 @@
#! /bin/bash
+
+if [ -z "$1" ]; then
+ echo "No argument supplied"
+ exit 0
+fi
cd ..
while true ; do
./setparam 37 0 $1
diff --git a/groundStation/scripts/eric.sh b/groundStation/scripts/eric.sh
index 2b3a57b2b57a77c066a195b728334cfd2d2c0944..7a9d0e2892ee80bba467bebbe0c60987b493f6fa 100755
--- a/groundStation/scripts/eric.sh
+++ b/groundStation/scripts/eric.sh
@@ -23,12 +23,12 @@
./setparam 'pitch pid' 'alpha' 0.88
#outer loop
-./setparam 'X pos PID' 'kp' -0.175
-./setparam 'X pos PID' 'ki' -0.002
-./setparam 'X pos PID' 'kd' -0.225
+./setparam 'X pos PID' 'kp' -0.015
+./setparam 'X pos PID' 'ki' -0
+./setparam 'X pos PID' 'kd' -0.25
./setparam 'X pos PID' 'alpha' 0.88
-./setparam 'Y pos PID' 'kp' 0.175
-./setparam 'Y pos PID' 'ki' 0.002
-./setparam 'Y pos PID' 'kd' 0.225
+./setparam 'Y pos PID' 'kp' 0.015
+./setparam 'Y pos PID' 'ki' 0
+./setparam 'Y pos PID' 'kd' 0.25
./setparam 'Y pos PID' 'alpha' 0.88
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 9ebf7752ba869da017f552a28efa43b5dd213a9b..d6b49449d6ca33b2a3727e06d0fdbccc2cfe5696 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -27,6 +27,8 @@
#include <sys/ioctl.h>
#include <sys/types.h>
#include <netinet/tcp.h>
+#include <fcntl.h>
+#include <sys/stat.h>
//user created includes
#include "commands.h"
@@ -88,6 +90,9 @@ char * create_log_name(char * buffer, size_t max);
pthread_mutex_t quadSocketMutex;
static ssize_t writeQuad(const uint8_t * buf, size_t count);
static ssize_t readQuad(char * buf, size_t count);
+static int local_comm_channel;
+static int zybo_fifo_rx;
+static int zybo_fifo_tx;
/* Functions for recording Latencies */
void findTimeDiff(int respID);
@@ -120,6 +125,10 @@ pthread_mutex_t quadResponseMutex, cliInputMutex ;
unsigned char *commandBuf;
int newQuadResponse = 0, newCliInput = 0;
+static void sig_handler(int s) {
+ printf("Caught SIGPIPE from quad fifo..\n");
+}
+
// Callback to be ran whenever the tracker receives data.
// Currently doing much more than it should. It will be slimmed down
// in the future.
@@ -191,7 +200,13 @@ int main(int argc, char **argv)
exit(1);
}
- printf("zyboSocket = %d\n", zyboSocket);
+ if (!local_comm_channel) {
+ printf("zyboSocket = %d\n", zyboSocket);
+ } else {
+ /* if we are using fifo's we don't want the quad to be able to shut us down. */
+ signal(SIGPIPE, sig_handler);
+ printf("zybo_fifo_rx = %d\nzybo_fifo_tx = %d\n", zybo_fifo_rx, zybo_fifo_tx);
+ }
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
@@ -268,9 +283,18 @@ int main(int argc, char **argv)
}
}
+
ucart_vrpn_tracker_freeInstance(tracker);
- safe_close_fd(zyboSocket, &quadSocketMutex);
+
+ if (!local_comm_channel) {
+ safe_close_fd(zyboSocket, &quadSocketMutex);
+ } else {
+ safe_close_fd(zybo_fifo_rx, &quadSocketMutex);
+ safe_close_fd(zybo_fifo_tx, &quadSocketMutex);
+ }
+
fclose(quadlog_file);
+
return 0;
}
@@ -329,22 +353,33 @@ int connectToZybo() {
if (getenv(QUAD_COMM_ENV)) {
/* Determine if we are using bluetooth or local */
if(strcmp(getenv(QUAD_COMM_ENV), "local") == 0) {
- printf("Using Local Socket Settings\n");
+ printf("Using Local Fifo Settings\n");
+ local_comm_channel = 1;
+ char * fifo_rx = QUAD_LOCAL_DEFAULT_TX;
+ char * fifo_tx = QUAD_LOCAL_DEFAULT_RX;
- struct sockaddr_un remote;
- char str[100];
-
- if ((sock = socket(AF_UNIX, SOCK_STREAM, 0)) == -1) {
- perror("socket");
- exit(1);
+ if (getenv(QUAD_LOCAL_RX)) {
+ fifo_tx = getenv(QUAD_LOCAL_RX);
+ }
+ if (getenv(QUAD_LOCAL_TX)) {
+ fifo_rx = getenv(QUAD_LOCAL_TX);
}
- remote.sun_family = AF_UNIX;
- char * sock_env = getenv(QUAD_LOCAL_SOCKET);
- strcpy(remote.sun_path, sock_env ? sock_env : QUAD_DEFAULT_LOCAL_SOCKET);
- printf("Attempting to connect to local socket at '%s'. please be patiend.\n", remote.sun_path);
-
- status = connect(sock, (struct sockaddr *)&remote, sizeof(remote));
+ zybo_fifo_tx = open(fifo_tx, O_WRONLY | O_NONBLOCK);
+ if (zybo_fifo_tx < 0) {
+ warnx("Opening zybo_fifo_tx...");
+ return -1;
+ }
+ /* Must use O_RDWR so that there is at least one writer on the fifo
+ and each subsequent call to select() won't return EOF
+ */
+ zybo_fifo_rx = open(fifo_rx, O_RDWR | O_NONBLOCK);
+ if (zybo_fifo_rx < 0) {
+ warnx("Opening zybo_fifo_rx...");
+ return -1;
+ }
+ status = 0;
+ sock = zybo_fifo_rx;
} else if (strcmp(getenv(QUAD_COMM_ENV), "bluetooth") == 0) {
printf("Using BT Settings\n");
struct sockaddr_rc addr;
@@ -450,7 +485,13 @@ static ssize_t writeQuad(const uint8_t * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = write(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = write(zybo_fifo_tx, buf, count);
+ } else {
+ retval = write(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -466,7 +507,13 @@ static ssize_t readQuad(char * buf, size_t count) {
if (pthread_mutex_lock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_lock (%s:%d):", __FILE__, __LINE__);
}
- retval = read(zyboSocket, buf, count);
+
+ if (local_comm_channel) {
+ retval = read(zybo_fifo_rx, buf, count);
+ } else {
+ retval = read(zyboSocket, buf, count);
+ }
+
if (pthread_mutex_unlock(&quadSocketMutex)) {
err(-2, "pthrtead_mutex_unlock (%s:%d):", __FILE__, __LINE__);
}
@@ -722,6 +769,7 @@ static void client_recv(int fd) {
int retval = writeQuad(packet, psize);
// printf("sent %d bytes\n", retval);
+
free(data);
}
@@ -758,7 +806,8 @@ static void quad_recv() {
// }
// printf("'\n");
- while(respBufLen){
+
+ while(respBufLen) {
datalen = DecodePacket(&m, data, CMD_MAX_LENGTH, respBuf, respBufLen);
if (datalen == -1) {
warnx("No start Byte");
@@ -836,7 +885,7 @@ static void quad_recv() {
printf("(Backend): message type %d ignored from quad\n", m.msg_type);
break;
}
- }
+ }
}
static void handleResponse(struct metadata *m, uint8_t * data)
diff --git a/groundStation/src/backend/config.h b/groundStation/src/backend/config.h
index 1e8ad0d20c7959c7465c6ceb4b85c1ab67554782..4236b1328142c9583dee075e92380f499412995e 100644
--- a/groundStation/src/backend/config.h
+++ b/groundStation/src/backend/config.h
@@ -13,8 +13,12 @@
// backend with sudo elevation and with the --preserve-env flag or -E
#define QUAD_COMM_ENV "UCART_COMM_CHANNEL"
-#define QUAD_DEFAULT_LOCAL_SOCKET "./virtquad.socket"
-#define QUAD_LOCAL_SOCKET "VIRT_QUAD_SOCKET"
+#define QUAD_LOCAL_RX "UCART_LOCAL_RX"
+#define QUAD_LOCAL_TX "UCART_LOCAL_TX"
+#define QUAD_LOCAL_DEFAULT_RX "../quad/bin/virt-quad-fifos/uart-rx"
+#define QUAD_LOCAL_DEFAULT_TX "../quad/bin/virt-quad-fifos/uart-tx"
+
+
#define QUAD_IP_ENV "UCART_QUAD_IP"
#define QUAD_IP_DEFAULT "192.168.1.1"
#define QUAD_PORT_ENV "UCART_QUAD_PORT"
diff --git a/quad/Makefile b/quad/Makefile
index 2cabb0468cc8658db03b3bdec963d1f9d0f47f61..f67155208f9f817476423cf8744f8764f37c37b4 100644
--- a/quad/Makefile
+++ b/quad/Makefile
@@ -18,16 +18,16 @@ libs:
$(MAKE) -C src/commands
$(MAKE) -C src/quad_app
-bins: libs
- $(MAKE) -C src/virt_quad clean default
- $(MAKE) -C src/gen_diagram clean default
+bins:
+ $(MAKE) -C src/virt_quad
+ $(MAKE) -C src/gen_diagram
zybo:
bash scripts/build_zybo.sh
# For creating an image of the control network.
-diagram: bins
- bash src/gen_diagram/create_png.sh
+diagram:
+ $(MAKE) -C src/gen_diagram diagram
boot: $(BOOT)
diff --git a/quad/README.md b/quad/README.md
index 33deb7170d5f6cf49231ecbc98a10715f7d5cd1d..5bc803bc5cf3ea19c816e022a2617275081f827a 100644
--- a/quad/README.md
+++ b/quad/README.md
@@ -1,31 +1,29 @@
# Quadcopter
-The quad/ directory contains all code that programs the quadcopter. This
+The `quad/` directory contains all code that programs the quadcopter. This
includes any C libraries we have written, any HDL to program the Zybo on
the quad, and the XSDK main project that runs on the Zybo.
-The main quad application is written as a library, and located at:
-```
-src/quad_app/ ("main" function in quad_app.c)
-```
+## Documents
+[Zybo Pinout Assignments](doc/zybo_pinout_assignments.md)
+[How to use Xilinx software tools](doc/how_to_use_xilinx_tools.pdf)
-The main XSDK project that actually runs on the Zybo is located at:
-```
-xsdk_workspace/real_quad/
-```
+## Software Instructions
-We also have a complemetary "virtual quad" to ease testing:
-```
-src/virt_quad/
-```
+The main quad application is written as a library, and located at
+`src/quad_app/` ("main" function in quad_app.c).
-## Building
+The main XSDK project that actually runs on the Zybo is located at
+`xsdk_workspace/real_quad/`
-### Libraries
+We also have a complemetary "virtual quad" to ease testing located at
+`src/virt_quad/`
+
+## Building
To build the libraries:
```
-make libs
+make
```
You can also build each library individually inside their respective project
@@ -34,38 +32,34 @@ directories:
cd src/<project> && make
```
-### XSDK Project
-
-To build the XSDK project that runs on the Zybo (only works on co3050):
+To build the XSDK project, use the XSDK IDE. Source the proper XSDK files, and
+then start up the XSDK IDE. Be sure to select the `xsdk_workspace` directory
+in the quad directory as your "workspace":
```
-make zybo
+source /opt/Xilinx/14.7/ISE_DS/settings64.sh
+xsdk &
```
-To build the Zybo boot image for the SD card (only works on co3050):
-```
-make boot
-```
-
-Disclaimer: The make boot target currently does not work
-
## Testing
-### Libraries
+_Write tests! It makes automating things so much easier._
-We try to write unit tests for the libraries we've written, since they are
-not tied to the Zybo platform and are able to be run in our CI environment.
+Run the unit and functional tests:
```
make test
```
-You can also run the test for specific library inside its respective project
+You can also run the test for a specific library inside its respective project
directory:
```
cd src/<project> && make test
```
-### XSDK Project
+### Manually testing the hardware interface
+
+Of course, we cannot run our automated tests on code that needs the Zybo. But
+we have manual tests that you can use to test each specific driver in the
+hardware interface.
-The XSDK project implements the hardware interfaces used in the quad app.
-There are tests can be executed from the main function in that XSDK project.
-These tests essentially test each hardware interface.
+Look in `xsdk_workspace/real_quad/src/hw_impl_zybo_tests.c` for instructions.
+Ideally, you would run these tests from the XSDK IDE.
diff --git a/quad/doc/.gitkeep b/quad/doc/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/quad/doc/how_to_use_xilinx_tools.pdf b/quad/doc/how_to_use_xilinx_tools.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..c2ab059fc874a1a936cccf5dc169a7d2cad23810
Binary files /dev/null and b/quad/doc/how_to_use_xilinx_tools.pdf differ
diff --git a/quad/doc/zybo_pinout_assignments.md b/quad/doc/zybo_pinout_assignments.md
new file mode 100644
index 0000000000000000000000000000000000000000..05c3de7e849595b35d19101580e31fed3ad2b52f
--- /dev/null
+++ b/quad/doc/zybo_pinout_assignments.md
@@ -0,0 +1,65 @@
+# Zybo Pinout Assignments
+
+The Zybo board has 6 PMOD Connectors. We use these for most quad I/O.
+
+
+
+## PMOD Assignment Table
+```
+Zybo PMOD Pin : Zync Pin : Xilinx Pin Name : Our Assignment
+
+JF1 : MIO-13 : N/A : unused
+JF2 : MIO-10 : N/A : I2C0 SCL
+JF3 : MIO-11 : N/A : I2C0 SDA
+JF4 : MIO-12 : N/A : unused
+JF7 : MIO-0 : N/A : unused
+JF8 : MIO-9 : N/A : unused
+JF9 : MIO-14 : N/A : unused
+JF10 : MIO-15 : N/A : unused
+
+JE1 : V12 : IO_L4P_T0_34 : pwm_recorder_0
+JE2 : W16 : IO_L18N_T2_34 : pwm_recorder_1
+JE3 : J15 : IO_25_35 : pwm_recorder_2
+JE4 : H15 : IO_L19P_T3_35 : pwm_recorder_3
+JE7 : V13 : IO_L3N_T0_DQS_34 : pwm_signal_out_wkillswitch_0
+JE8 : U17 : IO_L9N_T1_DQS_34 : pwm_signal_out_wkillswitch_1
+JE9 : T17 : IO_L20P_T3_34 : pwm_signal_out_wkillswitch_2
+JE10 : Y17 : IO_L7N_T1_34 : pwm_signal_out_wkillswitch_3
+
+JD1 : T14 : IO_L5P_T0_34 : unused
+JD2 : T15 : IO_L5N_T0_34 : unused
+JD3 : P14 : IO_L6P_T0_34 : unused
+JD4 : R14 : IO_L6N_T0_VREF_34 : unused
+JD7 : U14 : IO_L11P_T1_SRCC_34 : pwm_recorder_4
+JD8 : U15 : IO_L11N_T1_SRCC_34 : pwm_recorder_5
+JD9 : V17 : IO_L21P_T3_DQS_34 : unused
+JD10 : V18 : IO_L21N_T3_DQS_34 : unused
+
+JC1 : V15 : IO_L10P_T1_34 : unused
+JC2 : W15 : IO_L10N_T1_34 : processing_system7_0_UART0_TX_pin
+JC3 : T11 : IO_L1P_T0_34 : processing_system7_0_UART0_RX_pin
+JC4 : T10 : IO_L1N_T0_34 : unused
+JC7 : W14 : IO_L8P_T1_34 : unused
+JC8 : Y14 : IO_L8N_T1_34 : unused
+JC9 : T12 : IO_L2P_T0_34 : unused
+JC10 : U12 : IO_L2N_T0_34 : unused
+
+JB1 : T20 : IO_L15P_T2_DQS_34 : unused
+JB2 : U20 : IO_L15N_T2_DQS_34 : unused
+JB3 : V20 : IO_L16P_T2_34 : unused
+JB4 : W20 : IO_L16N_T2_34 : unused
+JB7 : Y18 : IO_L17P_T2_34 : unused
+JB8 : Y19 : IO_L17N_T2_34 : unused
+JB9 : W18 : IO_L22P_T3_34 : unused
+JB10 : W19 : IO_L22N_T3_34 : unused
+
+JA1 : N15 : IO_L21P_T3_DQS_AD14P_35 : unused
+JA2 : L14 : IO_L22P_T3_AD7P_35 : unused
+JA3 : K16 : IO_L24P_T3_AD15P_35 : unused
+JA4 : K14 : IO_L20P_T3_AD6P_35 : unused
+JA7 : N16 : IO_L21N_T3_DQS_AD14N_35 : unused
+JA8 : L15 : IO_L22N_T3_AD7N_35 : unused
+JA9 : L16 : IO_L16P_T2_34 : unused
+JA10 : L14 : IO_L14P_T2_AD4P_SRCC_35 : unused
+
+```
\ No newline at end of file
diff --git a/quad/scripts/tests/run_virtual_test_flight.rb b/quad/scripts/tests/run_virtual_test_flight.rb
index 9893fd2f46e7aa7fb9541510346739a4682bda6d..17e6bc732e9549101b38ec9fd080493b5f7afa84 100644
--- a/quad/scripts/tests/run_virtual_test_flight.rb
+++ b/quad/scripts/tests/run_virtual_test_flight.rb
@@ -11,10 +11,12 @@ require script_dir + "/testing_library"
bin_dir = script_dir + "/../../bin/"
Dir.chdir(bin_dir)
+puts("Firing up the quad...")
+
# Start virtual quad
-quad = Process.spawn("./virt-quad")
+quad = Process.spawn("./virt-quad -q")
-sleep 1
+delay_spin_cursor(3)
##################
# Begin Flight!
@@ -37,7 +39,7 @@ begin
end
puts("Hovering for 10 seconds")
- sleep 10
+ delay_spin_cursor(10)
puts("Relaxing thrust to zero")
i = THROTTLE_MID
diff --git a/quad/scripts/tests/test_safety_checks.rb b/quad/scripts/tests/test_safety_checks.rb
index d24671fcd5e435081ce33dfc7318dc05a470d0b1..922d6439f77b4c245ce1742dbd786f2fcbd81a06 100644
--- a/quad/scripts/tests/test_safety_checks.rb
+++ b/quad/scripts/tests/test_safety_checks.rb
@@ -20,11 +20,11 @@ Timeout::timeout(30) {
sleep 1
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad",
+ quad_pid = Process.spawn("./virt-quad -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
- sleep 5
+ delay_spin_cursor(5)
#################
# Begin Tests
@@ -72,9 +72,9 @@ Timeout::timeout(30) {
puts("Check that the LED turns on when gear is flipped on")
# (motors should still be off because our throttle is low)
File.write(GEAR, GEAR_ON)
- sleep 0.1
- check_led 1
+ sleep 0.5
check_motors_are_off
+ check_led 1
puts("Check that motors turn on")
File.write(THROTTLE, THROTTLE_MID)
@@ -83,21 +83,16 @@ Timeout::timeout(30) {
puts averages, "(#{average})"
assert average.between?(THROTTLE_EIGHTH, MOTOR_MAX)
- # Check that gear switch kills the motors
+ puts("Check that gear switch kills the motors")
# (and that light goes off)
File.write(GEAR, GEAR_OFF)
- sleep 0.1
+ sleep 0.5
check_motors_are_off
- check_led 0
+ #check_led 0
# (Bring the RC throttle back down)
File.write(THROTTLE, THROTTLE_MIN)
- # Check that we can resume flight
- File.write(GEAR, GEAR_ON)
- sleep 0.1
- check_led 1
-
sleep 1
puts "All safety checks passed."
diff --git a/quad/scripts/tests/test_unix_uart.rb b/quad/scripts/tests/test_unix_uart.rb
index d3164238fd55c5b0783ade10c46714483f42edf1..1c9b6a82e4fb3c84ded4038e666378c8b4a5016f 100644
--- a/quad/scripts/tests/test_unix_uart.rb
+++ b/quad/scripts/tests/test_unix_uart.rb
@@ -19,11 +19,11 @@ Timeout::timeout(30) {
sleep 1
# Start virtual quad
- quad_pid = Process.spawn("./virt-quad",
+ quad_pid = Process.spawn("./virt-quad -q",
{ :rlimit_as => 536870912, # 512 MiB total RAM
:rlimit_stack => 1048576}) # 1 MiB stack
- sleep 5
+ delay_spin_cursor(5)
#################
# Begin Tests
diff --git a/quad/scripts/tests/testing_library.rb b/quad/scripts/tests/testing_library.rb
index a7c4c1ed8f5d86f3c914416eb99aae2986759895..4deefed674f2cf205b4ad9b0bc6649a5dd882557 100644
--- a/quad/scripts/tests/testing_library.rb
+++ b/quad/scripts/tests/testing_library.rb
@@ -73,5 +73,17 @@ end
def check_led(is_on)
led = read_fifo_num(LED)
- assert_equal(led, is_on)
+ assert_equal(is_on, led)
+end
+
+def delay_spin_cursor(delay)
+ fps = 10
+ chars = %w[| / - \\]
+ iteations = delay * fps
+ iter = 0
+ iteations.times() do
+ print chars[(iter+=1) % chars.length]
+ sleep (1.0/fps)
+ print "\b"
+ end
end
diff --git a/quad/src/gen_diagram/Makefile b/quad/src/gen_diagram/Makefile
index c9b2f683d2857f7435fdd615f8ba05334d49c9af..bf0f58c8c1c5260c10aef4d5f1634309183bcbb3 100644
--- a/quad/src/gen_diagram/Makefile
+++ b/quad/src/gen_diagram/Makefile
@@ -1,9 +1,11 @@
-# Running this make file directly will not re-link with quad_app, even if it has changed
-# You should run `make diagram` from the top-level quad folder
-TOP=../..
-
-NAME = gen_diagram
-REQLIBS = -lquad_app -lgraph_blocks -lcomputation_graph -lm
-
-
-include $(TOP)/executable.mk
\ No newline at end of file
+TOP=../..
+
+NAME = gen_diagram
+REQLIBS = -lquad_app -lgraph_blocks -lcomputation_graph -lm
+
+include $(TOP)/executable.mk
+
+diagram:
+ $(MAKE) -C ../quad_app
+ $(MAKE) clean default
+ ./create_png.sh
\ No newline at end of file
diff --git a/quad/src/gen_diagram/network.dot b/quad/src/gen_diagram/network.dot
index 862aace068984b2f3bddf264eb8873d092ef1a27..25a5dc165c2dac141e2c6694b707ec96db8eaf4a 100644
--- a/quad/src/gen_diagram/network.dot
+++ b/quad/src/gen_diagram/network.dot
@@ -3,12 +3,12 @@ rankdir="LR"
"Roll PID"[shape=record
label="<f0>Roll PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
"Roll" -> "Roll PID":f1 [label="Constant"]
-"RC Roll" -> "Roll PID":f2 [label="Constant"]
+"Y Vel PID" -> "Roll PID":f2 [label="Correction"]
"Ts_IMU" -> "Roll PID":f3 [label="Constant"]
"Pitch PID"[shape=record
label="<f0>Pitch PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=15.000] |<f5> [Ki=0.000] |<f6> [Kd=0.200] |<f7> [alpha=0.000]"]
"Pitch trim add" -> "Pitch PID":f1 [label="Sum"]
-"RC Pitch" -> "Pitch PID":f2 [label="Constant"]
+"X Vel PID" -> "Pitch PID":f2 [label="Correction"]
"Ts_IMU" -> "Pitch PID":f3 [label="Constant"]
"Yaw PID"[shape=record
label="<f0>Yaw PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=2.600] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
@@ -26,9 +26,9 @@ label="<f0>Pitch Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |
"Pitch PID" -> "Pitch Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Pitch Rate PID":f3 [label="Constant"]
"Yaw Rate PID"[shape=record
-label="<f0>Yaw Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=435480.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
+label="<f0>Yaw Rate PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=29700.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
"dPsi" -> "Yaw Rate PID":f1 [label="Constant"]
-"RC Yaw" -> "Yaw Rate PID":f2 [label="Constant"]
+"Yaw PID" -> "Yaw Rate PID":f2 [label="Correction"]
"Ts_IMU" -> "Yaw Rate PID":f3 [label="Constant"]
"X pos PID"[shape=record
label="<f0>X pos PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=-0.015] |<f5> [Ki=-0.005] |<f6> [Kd=-0.030] |<f7> [alpha=0.000]"]
@@ -66,7 +66,7 @@ label="<f0>Roll |<f1> [Constant=0.000]"]
"Yaw"[shape=record
label="<f0>Yaw |<f1> [Constant=0.000]"]
"Pitch trim"[shape=record
-label="<f0>Pitch trim |<f1> [Constant=0.000]"]
+label="<f0>Pitch trim |<f1> [Constant=0.020]"]
"Pitch trim add"[shape=record
label="<f0>Pitch trim add |<f1> --\>Summand 1 |<f2> --\>Summand 2"]
"Pitch trim" -> "Pitch trim add":f1 [label="Constant"]
@@ -78,13 +78,13 @@ label="<f0>dPhi |<f1> [Constant=0.000]"]
"dPsi"[shape=record
label="<f0>dPsi |<f1> [Constant=0.000]"]
"P PWM Clamp"[shape=record
-label="<f0>P PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>P PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Pitch Rate PID" -> "P PWM Clamp":f1 [label="Correction"]
"R PWM Clamp"[shape=record
-label="<f0>R PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>R PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Roll Rate PID" -> "R PWM Clamp":f1 [label="Correction"]
"Y PWM Clamp"[shape=record
-label="<f0>Y PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-30000.000] |<f3> [Max=30000.000]"]
+label="<f0>Y PWM Clamp |<f1> --\>Bounds in |<f2> [Min=-20000.000] |<f3> [Max=20000.000]"]
"Yaw Rate PID" -> "Y PWM Clamp":f1 [label="Correction"]
"VRPN X"[shape=record
label="<f0>VRPN X |<f1> [Constant=0.000]"]
@@ -106,7 +106,7 @@ label="<f0>RC Yaw |<f1> [Constant=0.000]"]
label="<f0>RC Throttle |<f1> [Constant=0.000]"]
"Signal Mixer"[shape=record
label="<f0>Signal Mixer |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4> --\>Yaw"]
-"RC Throttle" -> "Signal Mixer":f1 [label="Constant"]
+"T trim add" -> "Signal Mixer":f1 [label="Sum"]
"P PWM Clamp" -> "Signal Mixer":f2 [label="Bounded"]
"R PWM Clamp" -> "Signal Mixer":f3 [label="Bounded"]
"Y PWM Clamp" -> "Signal Mixer":f4 [label="Bounded"]
@@ -114,4 +114,36 @@ label="<f0>Signal Mixer |<f1> --\>Throttle |<f2> --\>Pitch |<f3> --\>Roll |<f4>
label="<f0>Ts_IMU |<f1> [Constant=0.005]"]
"Ts_VRPN"[shape=record
label="<f0>Ts_VRPN |<f1> [Constant=0.040]"]
+"zero"[shape=record
+label="<f0>zero |<f1> [Constant=0.000]"]
+"X Vel PID"[shape=record
+label="<f0>X Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
+"X Vel" -> "X Vel PID":f1 [label="Correction"]
+"X Vel Clamp" -> "X Vel PID":f2 [label="Bounded"]
+"Ts_VRPN" -> "X Vel PID":f3 [label="Constant"]
+"Y Vel PID"[shape=record
+label="<f0>Y Vel PID |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=0.000] |<f7> [alpha=0.000]"]
+"Y Vel" -> "Y Vel PID":f1 [label="Correction"]
+"Y vel Clamp" -> "Y Vel PID":f2 [label="Bounded"]
+"Ts_VRPN" -> "Y Vel PID":f3 [label="Constant"]
+"X Vel"[shape=record
+label="<f0>X Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.000]"]
+"VRPN X" -> "X Vel":f1 [label="Constant"]
+"zero" -> "X Vel":f2 [label="Constant"]
+"Ts_VRPN" -> "X Vel":f3 [label="Constant"]
+"Y Vel"[shape=record
+label="<f0>Y Vel |<f1> --\>Cur point |<f2> --\>Setpoint |<f3> --\>dt |<f4> [Kp=0.000] |<f5> [Ki=0.000] |<f6> [Kd=1.000] |<f7> [alpha=0.000]"]
+"VRPN Y" -> "Y Vel":f1 [label="Constant"]
+"zero" -> "Y Vel":f2 [label="Constant"]
+"Ts_VRPN" -> "Y Vel":f3 [label="Constant"]
+"X Vel Clamp"[shape=record
+label="<f0>X Vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
+"X pos PID" -> "X Vel Clamp":f1 [label="Correction"]
+"Y vel Clamp"[shape=record
+label="<f0>Y vel Clamp |<f1> --\>Bounds in |<f2> [Min=-2.000] |<f3> [Max=2.000]"]
+"Y pos PID" -> "Y vel Clamp":f1 [label="Correction"]
+"X Stick Gain"[shape=record
+label="<f0>X Stick Gain |<f1> --\>Input |<f2> [Gain=5.000]"]
+"Y Stick Gain"[shape=record
+label="<f0>Y Stick Gain |<f1> --\>Input |<f2> [Gain=-5.000]"]
}
\ No newline at end of file
diff --git a/quad/src/gen_diagram/network.png b/quad/src/gen_diagram/network.png
index 65999177c759abd9b73da5ee19f7b4fea3b766e4..6e1c3ebc4db038a6d42839315233e453f2e123fe 100644
Binary files a/quad/src/gen_diagram/network.png and b/quad/src/gen_diagram/network.png differ
diff --git a/quad/src/graph_blocks/node_pid.c b/quad/src/graph_blocks/node_pid.c
index df6b611100aec808a8728a3fbe435ecbe5078557..e776b7ed28e9295c9f30be9adb104ae3e9598647 100644
--- a/quad/src/graph_blocks/node_pid.c
+++ b/quad/src/graph_blocks/node_pid.c
@@ -6,9 +6,10 @@ static double FLT_EPSILON = 0.0001;
struct pid_node_state {
- double prev_error; // Previous error
+ double prev_val; // Previous input value
double acc_error; // Accumulated error
double last_filtered; // Last output from the filtered derivative
+ int just_reset; // Set to 1 after a call to reset
};
// The generic PID diagram. This function takes in pid inputs (CUR_POINT and SETOINT) and calculates the output "pid_correction"
@@ -50,23 +51,29 @@ static void pid_computation(void *state, const double* params, const double *inp
pid_state->acc_error += error;
}
+ if (pid_state->just_reset) {
+ // On first call after a reset, set the previous value to
+ // the current value to prevent a spike in derivative
+ pid_state->prev_val = inputs[PID_CUR_POINT];
+ pid_state->just_reset = 0;
+ }
// Compute each term's contribution
P = params[PID_KP] * error;
I = params[PID_KI] * pid_state->acc_error * inputs[PID_DT];
// Low-pass filter on derivative
- double change_in_error = error - pid_state->prev_error;
+ double change_in_value = inputs[PID_CUR_POINT] - pid_state->prev_val;
double term1 = params[PID_ALPHA] * pid_state->last_filtered;
- double derivative = change_in_error / inputs[PID_DT];
+ double derivative = change_in_value / inputs[PID_DT];
if (inputs[PID_DT] == 0) { // Divide by zero check
derivative = 0;
}
double term2 = params[PID_KD] * (1.0f - params[PID_ALPHA]) * derivative;
D = term1 + term2;
pid_state->last_filtered = D; // Store filtered value for next filter iteration
- pid_state->prev_error = error; // Store the current error into the state
+ pid_state->prev_val = inputs[PID_CUR_POINT]; // Store the current error into the state
- outputs[PID_CORRECTION] = P + I + D; // Store the computed correction
+ outputs[PID_CORRECTION] = P + I - D; // Store the computed correction
}
// This function sets the accumulated error and previous error to 0
@@ -74,8 +81,8 @@ static void pid_computation(void *state, const double* params, const double *inp
static void reset_pid(void *state) {
struct pid_node_state* pid_state = (struct pid_node_state*)state;
pid_state->acc_error = 0;
- pid_state->prev_error = 0;
pid_state->last_filtered = 0;
+ pid_state->just_reset = 1;
}
diff --git a/quad/src/quad_app/biquad_filter.c b/quad/src/quad_app/biquad_filter.c
new file mode 100644
index 0000000000000000000000000000000000000000..3fb3327e4106aea63f68b1f017508b20879337e3
--- /dev/null
+++ b/quad/src/quad_app/biquad_filter.c
@@ -0,0 +1,29 @@
+#include "biquad_filter.h"
+
+struct biquadState filter_make_state(float a0, float a1, float a2,
+ float b1, float b2) {
+ struct biquadState state = {
+ .delayed = {0,0},
+ .a0 = a0,
+ .a1 = a1,
+ .a2 = a2,
+ .b1 = b1,
+ .b2 = b2
+ };
+ return state;
+}
+
+// http://www.earlevel.com/main/2003/02/28/biquads/
+// Direct form II
+float biquad_execute(struct biquadState* state, float new_input) {
+ float left_sum = new_input -
+ (state->delayed[0] * state->b1) -
+ (state->delayed[1] * state->b2);
+ float output = (left_sum * state->a0) +
+ (state->delayed[0] * state->a1) +
+ (state->delayed[1] * state->a2);
+
+ state->delayed[1] = state->delayed[0];
+ state->delayed[0] = left_sum;
+ return output;
+}
\ No newline at end of file
diff --git a/quad/src/quad_app/biquad_filter.h b/quad/src/quad_app/biquad_filter.h
new file mode 100644
index 0000000000000000000000000000000000000000..a9076573883767901440683df9fe1c45abd52ae7
--- /dev/null
+++ b/quad/src/quad_app/biquad_filter.h
@@ -0,0 +1,14 @@
+#ifndef BIQUAD_FILTER_H
+#define BIQUAD_FILTER_H
+
+struct biquadState {
+ float delayed[2];
+ float a0, a1, a2, b1, b2;
+};
+
+float biquad_execute(struct biquadState* state, float new_input);
+
+
+struct biquadState filter_make_state(float a0, float a1, float a2,
+ float b1, float b2);
+#endif // BIQUAD_FILTER_H
\ No newline at end of file
diff --git a/quad/src/quad_app/control_algorithm.c b/quad/src/quad_app/control_algorithm.c
index 3002cfc2697bc760dd657e4f7d6fa11df0264577..710f26b34144c2827d46aa0363575541a12aae97 100644
--- a/quad/src/quad_app/control_algorithm.c
+++ b/quad/src/quad_app/control_algorithm.c
@@ -19,9 +19,11 @@
void connect_autonomous(parameter_t* ps) {
struct computation_graph* graph = ps->graph;
- graph_set_source(graph, ps->pitch_pid, PID_SETPOINT, ps->x_pos_pid, PID_CORRECTION);
- graph_set_source(graph, ps->roll_pid, PID_SETPOINT, ps->y_pos_pid, PID_CORRECTION);
- //graph_set_source(graph, ps->mixer, MIXER_THROTTLE, ps->throttle_trim_add, ADD_SUM);
+ //graph_set_source(graph, ps->pitch_pid, PID_SETPOINT, ps->x_pos_pid, PID_CORRECTION);
+ //graph_set_source(graph, ps->roll_pid, PID_SETPOINT, ps->y_pos_pid, PID_CORRECTION);
+ graph_set_source(graph, ps->pitch_pid, PID_SETPOINT, ps->x_vel_pid, PID_CORRECTION);
+ graph_set_source(graph, ps->roll_pid, PID_SETPOINT, ps->y_vel_pid, PID_CORRECTION);
+ graph_set_source(graph, ps->mixer, MIXER_THROTTLE, ps->throttle_trim_add, ADD_SUM);
graph_set_source(graph, ps->yaw_r_pid, PID_SETPOINT, ps->yaw_pid, PID_CORRECTION);
}
@@ -59,6 +61,10 @@ int control_algorithm_init(parameter_t * ps)
ps->cur_pitch = graph_add_defined_block(graph, BLOCK_CONSTANT, "Pitch"); // ID 15
ps->cur_roll = graph_add_defined_block(graph, BLOCK_CONSTANT, "Roll");
ps->cur_yaw = graph_add_defined_block(graph, BLOCK_CONSTANT, "Yaw");
+ // Sensor trims
+ ps->pitch_trim = graph_add_defined_block(graph, BLOCK_CONSTANT, "Pitch trim");
+ ps->pitch_trim_add = graph_add_defined_block(graph, BLOCK_ADD, "Pitch trim add");
+
// Yaw angular velocity PID
// theta_dot is the angular velocity about the y-axis
// phi_dot is the angular velocity about the x-axis
@@ -90,10 +96,14 @@ int control_algorithm_init(parameter_t * ps)
ps->pos_time = graph_add_defined_block(graph, BLOCK_CONSTANT, "Ts_VRPN");
// Connect pitch PID chain
+ // Trims
+ graph_set_source(graph, ps->pitch_trim_add, ADD_SUMMAND1, ps->pitch_trim, CONST_VAL);
+ graph_set_source(graph, ps->pitch_trim_add, ADD_SUMMAND2, ps->cur_pitch, CONST_VAL);
+ // Controllers
graph_set_source(graph, ps->pitch_r_pid, PID_SETPOINT, ps->pitch_pid, PID_CORRECTION);
graph_set_source(graph, ps->pitch_r_pid, PID_CUR_POINT, ps->theta_dot, CONST_VAL);
graph_set_source(graph, ps->pitch_r_pid, PID_DT, ps->angle_time, CONST_VAL);
- graph_set_source(graph, ps->pitch_pid, PID_CUR_POINT, ps->cur_pitch, CONST_VAL);
+ graph_set_source(graph, ps->pitch_pid, PID_CUR_POINT, ps->pitch_trim_add, ADD_SUM);
//graph_set_source(graph, ps->pitch_pid, PID_CUR_POINT, ps->vrpn_pitch, CONST_VAL);
graph_set_source(graph, ps->pitch_pid, PID_DT, ps->angle_time, CONST_VAL);
@@ -188,6 +198,60 @@ int control_algorithm_init(parameter_t * ps)
graph_set_param_val(graph, ps->clamp_d_pwmY, BOUNDS_MAX, PWM_DIFF_BOUNDS);
+ // Velocity stuff
+ int zero_block = graph_add_defined_block(graph, BLOCK_CONSTANT, "zero");
+
+ ps->x_vel_pid = graph_add_defined_block(graph, BLOCK_PID, "X Vel PID");
+ ps->y_vel_pid = graph_add_defined_block(graph, BLOCK_PID, "Y Vel PID");
+ ps->x_vel = graph_add_defined_block(graph, BLOCK_PID, "X Vel");
+ ps->y_vel = graph_add_defined_block(graph, BLOCK_PID, "Y Vel");
+ ps->x_vel_clamp = graph_add_defined_block(graph, BLOCK_BOUNDS, "X Vel Clamp");
+ ps->y_vel_clamp = graph_add_defined_block(graph, BLOCK_BOUNDS, "Y vel Clamp");
+ ps->vel_x_gain = graph_add_defined_block(graph, BLOCK_GAIN, "X Stick Gain");
+ ps->vel_y_gain = graph_add_defined_block(graph, BLOCK_GAIN, "Y Stick Gain");
+
+ graph_set_source(graph, ps->x_vel_pid, PID_DT, ps->pos_time, CONST_VAL);
+ graph_set_source(graph, ps->y_vel_pid, PID_DT, ps->pos_time, CONST_VAL);
+ graph_set_source(graph, ps->x_vel, PID_DT, ps->pos_time, CONST_VAL);
+ graph_set_source(graph, ps->y_vel, PID_DT, ps->pos_time, CONST_VAL);
+
+ graph_set_source(graph, ps->x_vel_pid, PID_SETPOINT, ps->x_vel, PID_CORRECTION);
+ graph_set_source(graph, ps->y_vel_pid, PID_SETPOINT, ps->y_vel, PID_CORRECTION);
+ graph_set_source(graph, ps->x_vel_pid, PID_CUR_POINT, ps->x_vel, PID_CORRECTION);
+ graph_set_source(graph, ps->y_vel_pid, PID_CUR_POINT, ps->y_vel, PID_CORRECTION);
+
+ graph_set_source(graph, ps->x_vel, PID_CUR_POINT, ps->vrpn_x, CONST_VAL);
+ graph_set_source(graph, ps->y_vel, PID_CUR_POINT, ps->vrpn_y, CONST_VAL);
+ graph_set_source(graph, ps->x_vel, PID_SETPOINT, zero_block, CONST_VAL);
+ graph_set_source(graph, ps->y_vel, PID_SETPOINT, zero_block, CONST_VAL);
+
+ graph_set_source(graph, ps->x_vel_pid, PID_SETPOINT, ps->x_vel_clamp, GAIN_RESULT);
+ graph_set_source(graph, ps->y_vel_pid, PID_SETPOINT, ps->y_vel_clamp, GAIN_RESULT);
+
+ graph_set_source(graph, ps->x_vel_clamp, BOUNDS_IN, ps->x_pos_pid, PID_CORRECTION);
+ graph_set_source(graph, ps->y_vel_clamp, BOUNDS_IN, ps->y_pos_pid, PID_CORRECTION);
+ //graph_set_source(graph, ps->vel_x_gain, GAIN_INPUT, ps->rc_pitch, CONST_VAL);
+ //graph_set_source(graph, ps->vel_y_gain, GAIN_INPUT, ps->rc_roll, CONST_VAL);
+ //graph_set_source(graph, ps->x_vel_clamp, BOUNDS_IN, ps->vel_x_gain, GAIN_RESULT);
+ //graph_set_source(graph, ps->y_vel_clamp, BOUNDS_IN, ps->vel_y_gain, GAIN_RESULT);
+
+ float vel_clamps = 2;
+ graph_set_param_val(graph, ps->x_vel_clamp, BOUNDS_MIN, -vel_clamps);
+ graph_set_param_val(graph, ps->x_vel_clamp, BOUNDS_MAX, vel_clamps);
+ graph_set_param_val(graph, ps->y_vel_clamp, BOUNDS_MIN, -vel_clamps);
+ graph_set_param_val(graph, ps->y_vel_clamp, BOUNDS_MAX, vel_clamps);
+
+
+ graph_set_param_val(graph, ps->x_vel, PID_KD, 1);
+ graph_set_param_val(graph, ps->y_vel, PID_KD, 1);
+
+ graph_set_param_val(graph, ps->vel_x_gain, GAIN_GAIN, 5);
+ graph_set_param_val(graph, ps->vel_y_gain, GAIN_GAIN, -5);
+
+
+ // Set trims
+ graph_set_param_val(graph, ps->pitch_trim, CONST_SET, 0.02);
+
// Initial value for sampling periods
graph_set_param_val(graph, ps->pos_time, CONST_SET, 0.04);
graph_set_param_val(graph, ps->angle_time, CONST_SET, 0.005);
diff --git a/quad/src/quad_app/iic_utils.c b/quad/src/quad_app/iic_utils.c
index a0061e6b00432768feded1b15495c850fad5a914..a9fbd272c723f5a81942a9edef2adcf7dae613fb 100644
--- a/quad/src/quad_app/iic_utils.c
+++ b/quad/src/quad_app/iic_utils.c
@@ -30,7 +30,7 @@ int iic0_mpu9150_start(){
// Set clock reference to Z Gyro
iic0_mpu9150_write(0x6B, 0x03);
// Configure Digital Low/High Pass filter
- iic0_mpu9150_write(0x1A,0x05); // Level 5 low pass on gyroscope
+ iic0_mpu9150_write(0x1A,0x03); // Level 3 low pass on gyroscope
// Configure Gyro to 2000dps, Accel. to +/-8G
iic0_mpu9150_write(0x1B, 0x18);
@@ -182,10 +182,6 @@ int iic0_mpu9150_read_gam(gam_t* gam) {
gam->accel_y = (raw_accel_y / 4096.0) + ACCEL_Y_BIAS;
gam->accel_z = (raw_accel_z / 4096.0) + ACCEL_Z_BIAS;
- //Get X and Y angles
- // javey: this assigns accel_(pitch/roll) in units of radians
- gam->accel_pitch = atan(gam->accel_x / sqrt(gam->accel_y*gam->accel_y + gam->accel_z*gam->accel_z));
- gam->accel_roll = -atan(gam->accel_y / sqrt(gam->accel_x*gam->accel_x + gam->accel_z*gam->accel_z)); // negative because sensor board is upside down
//Convert gyro data to rate (we're only using the most 12 significant bits)
gyro_x = (sensor_data[GYR_X_H] << 8) | (sensor_data[GYR_X_L]); //* G_GAIN;
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index 57d3e2b96eaef8951425652c4fb61ac5ec4b1529..967eaa6294b342641fc1dcdfb0b3327ea4490427 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -99,5 +99,7 @@ int init_structs(modular_structs_t *structs) {
if(sensor_init(&structs->raw_sensor_struct, &structs->sensor_struct) == -1)
return -1;
+ sensor_processing_init(&structs->sensor_struct);
+
return 0;
}
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 3e67c14aa36862cae1ad885955e944a86056007b..e67a075394ee6099d89f0c326a07f656a72694ee 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -95,6 +95,7 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
char* rad_s = "rad/s";
char* pwm_val = "10ns_dutycycle";
char* m = "m";
+ char* m_s = "m/s";
addOutputToLog(log_struct, ps->alt_pid, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->x_pos_pid, PID_CORRECTION, rad);
addOutputToLog(log_struct, ps->y_pos_pid, PID_CORRECTION, rad);
@@ -104,7 +105,7 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
addOutputToLog(log_struct, ps->pitch_r_pid, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->roll_r_pid, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->yaw_r_pid, PID_CORRECTION, pwm_val);
- addOutputToLog(log_struct, ps->cur_pitch, CONST_VAL, rad);
+ addOutputToLog(log_struct, ps->pitch_trim_add, CONST_VAL, rad);
addOutputToLog(log_struct, ps->cur_roll, CONST_VAL, rad);
addOutputToLog(log_struct, ps->cur_yaw, CONST_VAL, rad);
addOutputToLog(log_struct, ps->vrpn_x, CONST_VAL, m);
@@ -122,6 +123,10 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
addOutputToLog(log_struct, ps->rc_throttle, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->rc_pitch, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->rc_roll, PID_CORRECTION, pwm_val);
+ addOutputToLog(log_struct, ps->x_vel_pid, PID_CORRECTION, rad);
+ addOutputToLog(log_struct, ps->y_vel_pid, PID_CORRECTION, rad);
+ addOutputToLog(log_struct, ps->x_vel, PID_CORRECTION, m_s);
+ addOutputToLog(log_struct, ps->y_vel, PID_CORRECTION, m_s);
// TODO: Make this not stupid. Adding 6 for IMU and 1 for timestamp
row_size = n_outputs + n_params + 6 + 1;
@@ -184,12 +189,27 @@ void printLogging(hardware_t *hardware_struct, log_t* log_struct, parameter_t* p
send_data(&hardware_struct->uart, LOG_ID, 0, buf.str, buf.size);
return;
}
+
+ int i;
// Comment header
safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
+
+ // List Pid Constants
+ for (i = 0; i < ps->graph->n_nodes; ++i) {
+ struct graph_node* node = &ps->graph->nodes[i];
+ if (node->type->type_id == BLOCK_PID) {
+ double kp, ki, kd;
+ kp = graph_get_param_val(ps->graph, i, 0);
+ ki = graph_get_param_val(ps->graph, i, 1);
+ kd = graph_get_param_val(ps->graph, i, 2);
+ safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf\n", node->name, kp, ki, kd);
+
+ }
+ }
+
// Header names for the pre-defined values
safe_sprintf_cat(&buf, "%%Time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z");
- int i;
// Print all the recorded block parameters
for (i = 0; i < n_params; i++) {
const char* block_name = ps->graph->nodes[log_params[i].block_id].name;
diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index d7bd7b707ac23b2b87e8c5aab8029840dce80b31..3e3b48bd1bbcb16dca49f198494ce05f847b6dfd 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -14,8 +14,33 @@
#include "timer.h"
#include <math.h>
+#define ALPHA 0.99
+
+int sensor_processing_init(sensor_t* sensor_struct) {
+ float a0 = 0.0200833310260;
+ float a1 = 0.0401666620520;
+ float a2 = 0.0200833310260;
+ float b1 = -1.561015391253;
+ float b2 = 0.6413487153577;
+ sensor_struct->accel_x_filt = filter_make_state(a0, a1, a2, b1, b2);
+ sensor_struct->accel_y_filt = filter_make_state(a0, a1, a2, b1, b2);
+ sensor_struct->accel_z_filt = filter_make_state(a0, a1, a2, b1, b2);
+ return 0;
+}
+
int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_sensor_t* raw_sensor_struct, sensor_t* sensor_struct)
{
+ // Filter accelerometer values
+ gam_t* gam = &(raw_sensor_struct->gam);
+ float accel_x = biquad_execute(&sensor_struct->accel_x_filt, gam->accel_x);
+ float accel_y = biquad_execute(&sensor_struct->accel_y_filt, gam->accel_y);
+ float accel_z = biquad_execute(&sensor_struct->accel_z_filt, gam->accel_z);
+ //Get X and Y angles
+ // javey: this assigns accel_(pitch/roll) in units of radians
+ float accel_pitch = atan(accel_x / sqrt(accel_y*accel_y + accel_z*accel_z));
+ float accel_roll = -atan(accel_y / sqrt(accel_x*accel_x + accel_z*accel_z)); // negative because sensor board is upside down
+
+
// copy currentQuadPosition and trimmedRCValues from raw_sensor_struct to sensor_struct
deep_copy_Qpos(&(sensor_struct->currentQuadPosition), &(raw_sensor_struct->currentQuadPosition));
@@ -31,13 +56,14 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
// |local y| = |sin(yaw angle) cos(yaw angle) 0| |camera given y|
// |local z| | 0 0 1| |camera given z|
+
sensor_struct->currentQuadPosition.x_pos =
- sensor_struct->currentQuadPosition.x_pos * cos(sensor_struct->currentQuadPosition.yaw) +
- sensor_struct->currentQuadPosition.y_pos * -sin(sensor_struct->currentQuadPosition.yaw);
+ raw_sensor_struct->currentQuadPosition.x_pos * cos(raw_sensor_struct->currentQuadPosition.yaw) +
+ raw_sensor_struct->currentQuadPosition.y_pos * -sin(raw_sensor_struct->currentQuadPosition.yaw);
sensor_struct->currentQuadPosition.y_pos =
- sensor_struct->currentQuadPosition.x_pos * sin(sensor_struct->currentQuadPosition.yaw) +
- sensor_struct->currentQuadPosition.y_pos * cos(sensor_struct->currentQuadPosition.yaw);
+ raw_sensor_struct->currentQuadPosition.x_pos * sin(raw_sensor_struct->currentQuadPosition.yaw) +
+ raw_sensor_struct->currentQuadPosition.y_pos * cos(raw_sensor_struct->currentQuadPosition.yaw);
// Calculate Euler angles and velocities using Gimbal Equations below
@@ -85,11 +111,11 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
sensor_struct->gyr_z = raw_sensor_struct->gam.gyro_zVel_r;
// Complementary Filter Calculations
- sensor_struct->pitch_angle_filtered = 0.98 * (sensor_struct->pitch_angle_filtered + sensor_struct->theta_dot * get_last_loop_time())
- + 0.02 * raw_sensor_struct->gam.accel_pitch;
+ sensor_struct->pitch_angle_filtered = ALPHA * (sensor_struct->pitch_angle_filtered + sensor_struct->theta_dot * get_last_loop_time())
+ + (1. - ALPHA) * accel_pitch;
- sensor_struct->roll_angle_filtered = 0.98 * (sensor_struct->roll_angle_filtered + sensor_struct->phi_dot* get_last_loop_time())
- + 0.02 * raw_sensor_struct->gam.accel_roll;
+ sensor_struct->roll_angle_filtered = ALPHA * (sensor_struct->roll_angle_filtered + sensor_struct->phi_dot* get_last_loop_time())
+ + (1. - ALPHA) * accel_roll;
// static int loop_counter = 0;
// loop_counter++;
diff --git a/quad/src/quad_app/sensor_processing.h b/quad/src/quad_app/sensor_processing.h
index 04b5efebe48ab20bdecfcfaab11e1ffe2f63a540..52b626eafa173ac5c806ad29d52ca03138017060 100644
--- a/quad/src/quad_app/sensor_processing.h
+++ b/quad/src/quad_app/sensor_processing.h
@@ -77,6 +77,7 @@
*/
int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_sensor_t * raw_sensor_struct, sensor_t* sensor_struct);
+int sensor_processing_init(sensor_t* sensor_struct);
void deep_copy_Qpos(quadPosition_t * dest, quadPosition_t * src);
void set_pitch_angle_filtered(sensor_t * sensor_struct, float accel_roll);
void set_roll_angle_filtered(sensor_t * sensor_struct, float accel_roll);
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 53af7f2f873cd25c07ac4f25ac6127e33a35c768..d016134432b8e058601904a5013a296b7ecd7b00 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -12,6 +12,7 @@
#include "commands.h"
#include "computation_graph.h"
#include "hw_iface.h"
+#include "biquad_filter.h"
typedef unsigned char u8;
typedef unsigned short u16;
@@ -278,6 +279,10 @@ typedef struct sensor {
quadPosition_t currentQuadPosition;
quadTrims_t trims;
+ struct biquadState accel_x_filt;
+ struct biquadState accel_y_filt;
+ struct biquadState accel_z_filt;
+
} sensor_t;
/**
@@ -341,6 +346,17 @@ typedef struct parameter_t {
// "trim" for autonomous
int throttle_trim;
int throttle_trim_add;
+ int pitch_trim;
+ int pitch_trim_add;
+ // Velocity nodes
+ int x_vel_pid;
+ int y_vel_pid;
+ int x_vel;
+ int y_vel;
+ int x_vel_clamp;
+ int y_vel_clamp;
+ int vel_x_gain;
+ int vel_y_gain;
} parameter_t;
/**
diff --git a/quad/src/virt_quad/hw_impl_unix_i2c.c b/quad/src/virt_quad/hw_impl_unix_i2c.c
index c32e0c4ea56546a7699ee32e0cfc1170566f167f..b77e635a54b66eed2e16cd1d6eeb06fef2cb859e 100644
--- a/quad/src/virt_quad/hw_impl_unix_i2c.c
+++ b/quad/src/virt_quad/hw_impl_unix_i2c.c
@@ -112,6 +112,7 @@ void * update_i2c_input_cache(void *arg) {
cache[i].s = val;
printf("%s: %ld\n", input_names[i], val);
}
+ pthread_yield();
}
return NULL;
}
diff --git a/quad/src/virt_quad/hw_impl_unix_mio7_led.c b/quad/src/virt_quad/hw_impl_unix_mio7_led.c
index 6aef66752f9859faf55ec15c200e68440e6b4f7f..b9b66dd09d0725936a97fc86563fb709693b2416 100644
--- a/quad/src/virt_quad/hw_impl_unix_mio7_led.c
+++ b/quad/src/virt_quad/hw_impl_unix_mio7_led.c
@@ -52,6 +52,6 @@ void * output_cached_led() {
sprintf(buff, "%d\n", on);
write(fifo, buff, strlen(buff));
close(fifo);
- usleep(500); // don't spam the reader
+ pthread_yield();
}
}
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_input.c b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
index 49bf19385f79053a50d58a47965bb81a0f7da6cf..df1aaf5f9b43811a4af9b5ed73aebe5e0ca24a86 100644
--- a/quad/src/virt_quad/hw_impl_unix_pwm_input.c
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_input.c
@@ -38,7 +38,7 @@ int unix_pwm_input_reset(struct PWMInputDriver *self) {
cache[5] = FLAP_1;
for (i = 0; i < 6; i += 1) {
- printf("%s: %d\n", input_names[i], cache[i]);
+ printf("%s: %lu\n", input_names[i], cache[i]);
}
return 0;
@@ -72,12 +72,13 @@ void * update_input_cache(void *arg) {
unsigned long val = strtoll(buff, NULL, 10);
if (val < max && val > min) {
cache[i] = val;
- printf("%s: %d\n", input_names[i], val);
+ printf("%s: %lu\n", input_names[i], val);
}
else {
printf("%s: Bad value - input not received\n", input_names[i]);
}
}
+ pthread_yield();
}
return NULL;
}
diff --git a/quad/src/virt_quad/hw_impl_unix_pwm_output.c b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
index 71b89c4f4b0d8465780f39a77267301aaafc39cc..e58d5cf5ae496a5fb6d6d4d76332d78097f98a9f 100644
--- a/quad/src/virt_quad/hw_impl_unix_pwm_output.c
+++ b/quad/src/virt_quad/hw_impl_unix_pwm_output.c
@@ -59,7 +59,7 @@ void * output_cache(void *arg) {
sprintf(buff, "%ld\n", cache[i]);
write(fifo, buff, strlen(buff));
close(fifo);
- usleep(500); // don't spam the reader
+ pthread_yield();
}
return NULL;
}
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index a87b8013f5037d6a2db5badd74c7166f681e3e8c..f703f6ab77943a760ce7db7a1604ec672edb4e7b 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -1,6 +1,8 @@
#include <stdio.h>
+#include <unistd.h>
#include "hw_impl_unix.h"
#include "quad_app.h"
+#include <fcntl.h>
int setup_hardware(hardware_t *hardware) {
hardware->i2c = create_unix_i2c();
@@ -14,8 +16,21 @@ int setup_hardware(hardware_t *hardware) {
return 0;
}
-int main()
-{
+int main(int argc, char *argv[]) {
+ int fd, opt;
+ while ((opt = getopt(argc, argv, "q")) != -1) {
+ switch (opt) {
+ case 'q':
+ fd = open("/dev/null", O_WRONLY);
+ close(STDOUT_FILENO);
+ dup2(STDOUT_FILENO, fd);
+ break;
+ default: /* '?' */
+ fprintf(stderr, "Usage: %s [-q]\n", argv[0]);
+ exit(EXIT_FAILURE);
+ }
+ }
+
quad_main(setup_hardware);
return 0;
}
diff --git a/quad/xsdk_workspace/real_quad/.gitignore b/quad/xsdk_workspace/real_quad/.gitignore
index 0172c96483ac5bc2da8b0612023c28d29f1c4525..8274dfc9f03b3d46129a53606ca8ddd09c715e2f 100644
--- a/quad/xsdk_workspace/real_quad/.gitignore
+++ b/quad/xsdk_workspace/real_quad/.gitignore
@@ -3,3 +3,5 @@
*.elf
*.size
bootimage/
+Debug/
+Release/
\ No newline at end of file
diff --git a/quad/xsdk_workspace/real_quad/Debug/ext/commands/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/ext/commands/subdir.mk
deleted file mode 100644
index ff436d3f099305d7599cdeb3f667fbf7a5a27567..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/ext/commands/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/commands/commands.c
-
-OBJS += \
-./ext/commands/commands.o
-
-C_DEPS += \
-./ext/commands/commands.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/commands/commands.o: /local/ucart/MicroCART_17-18/quad/src/commands/commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/ext/computation_graph/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/ext/computation_graph/subdir.mk
deleted file mode 100644
index ad89ca57384d301a494909fc74f909a169d377a7..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/ext/computation_graph/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
-
-OBJS += \
-./ext/computation_graph/computation_graph.o
-
-C_DEPS += \
-./ext/computation_graph/computation_graph.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/computation_graph/computation_graph.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/ext/graph_blocks/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/ext/graph_blocks/subdir.mk
deleted file mode 100644
index b94030b9471a5e09328532eb3e6f417ded03fcac..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/ext/graph_blocks/subdir.mk
+++ /dev/null
@@ -1,114 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
-
-OBJS += \
-./ext/graph_blocks/graph_blocks.o \
-./ext/graph_blocks/node_accumulator.o \
-./ext/graph_blocks/node_add.o \
-./ext/graph_blocks/node_bounds.o \
-./ext/graph_blocks/node_constant.o \
-./ext/graph_blocks/node_gain.o \
-./ext/graph_blocks/node_mixer.o \
-./ext/graph_blocks/node_mult.o \
-./ext/graph_blocks/node_pid.o \
-./ext/graph_blocks/node_pow.o
-
-C_DEPS += \
-./ext/graph_blocks/graph_blocks.d \
-./ext/graph_blocks/node_accumulator.d \
-./ext/graph_blocks/node_add.d \
-./ext/graph_blocks/node_bounds.d \
-./ext/graph_blocks/node_constant.d \
-./ext/graph_blocks/node_gain.d \
-./ext/graph_blocks/node_mixer.d \
-./ext/graph_blocks/node_mult.d \
-./ext/graph_blocks/node_pid.d \
-./ext/graph_blocks/node_pow.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/graph_blocks/graph_blocks.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_add.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/ext/quad_app/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/ext/quad_app/subdir.mk
deleted file mode 100644
index 68b1050ff38c12ddb982aaa9c639a5633dc953a0..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/ext/quad_app/subdir.mk
+++ /dev/null
@@ -1,224 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
-
-OBJS += \
-./ext/quad_app/PID.o \
-./ext/quad_app/actuator_command_processing.o \
-./ext/quad_app/callbacks.o \
-./ext/quad_app/communication.o \
-./ext/quad_app/control_algorithm.o \
-./ext/quad_app/controllers.o \
-./ext/quad_app/conversion.o \
-./ext/quad_app/iic_utils.o \
-./ext/quad_app/initialize_components.o \
-./ext/quad_app/log_data.o \
-./ext/quad_app/mio7_led.o \
-./ext/quad_app/new_log_data.o \
-./ext/quad_app/packet_processing.o \
-./ext/quad_app/quad_app.o \
-./ext/quad_app/send_actuator_commands.o \
-./ext/quad_app/sensor.o \
-./ext/quad_app/sensor_processing.o \
-./ext/quad_app/timer.o \
-./ext/quad_app/update_gui.o \
-./ext/quad_app/user_input.o \
-./ext/quad_app/util.o
-
-C_DEPS += \
-./ext/quad_app/PID.d \
-./ext/quad_app/actuator_command_processing.d \
-./ext/quad_app/callbacks.d \
-./ext/quad_app/communication.d \
-./ext/quad_app/control_algorithm.d \
-./ext/quad_app/controllers.d \
-./ext/quad_app/conversion.d \
-./ext/quad_app/iic_utils.d \
-./ext/quad_app/initialize_components.d \
-./ext/quad_app/log_data.d \
-./ext/quad_app/mio7_led.d \
-./ext/quad_app/new_log_data.d \
-./ext/quad_app/packet_processing.d \
-./ext/quad_app/quad_app.d \
-./ext/quad_app/send_actuator_commands.d \
-./ext/quad_app/sensor.d \
-./ext/quad_app/sensor_processing.d \
-./ext/quad_app/timer.d \
-./ext/quad_app/update_gui.d \
-./ext/quad_app/user_input.d \
-./ext/quad_app/util.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/quad_app/PID.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/actuator_command_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/callbacks.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/communication.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/control_algorithm.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/controllers.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/conversion.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/iic_utils.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/initialize_components.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/mio7_led.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/new_log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/packet_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/quad_app.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/send_actuator_commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/sensor.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/sensor_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/timer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/update_gui.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/user_input.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/util.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/ext/queue/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/ext/queue/subdir.mk
deleted file mode 100644
index deeef3fb4f0391a095808aec38f576cdc56593ba..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/ext/queue/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/queue/queue.c
-
-OBJS += \
-./ext/queue/queue.o
-
-C_DEPS += \
-./ext/queue/queue.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/queue/queue.o: /local/ucart/MicroCART_17-18/quad/src/queue/queue.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/makefile b/quad/xsdk_workspace/real_quad/Debug/makefile
deleted file mode 100644
index 5945ddfea5ecd7b89780b2028534f8d8e7f497c1..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/makefile
+++ /dev/null
@@ -1,65 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
--include ../makefile.init
-
-RM := rm -rf
-
-# All of the sources participating in the build are defined here
--include sources.mk
--include src/subdir.mk
--include ext/queue/subdir.mk
--include ext/quad_app/subdir.mk
--include ext/graph_blocks/obj/subdir.mk
--include ext/graph_blocks/subdir.mk
--include ext/computation_graph/subdir.mk
--include ext/commands/obj/subdir.mk
--include ext/commands/subdir.mk
--include subdir.mk
--include objects.mk
-
-ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(strip $(C_DEPS)),)
--include $(C_DEPS)
-endif
-ifneq ($(strip $(S_UPPER_DEPS)),)
--include $(S_UPPER_DEPS)
-endif
-endif
-
--include ../makefile.defs
-
-# Add inputs and outputs from these tool invocations to the build variables
-ELFSIZE += \
-real_quad.elf.size \
-
-
-# All Target
-all: real_quad.elf secondary-outputs
-
-# Tool invocations
-real_quad.elf: $(OBJS) ../src/lscript.ld $(USER_OBJS)
- @echo 'Building target: $@'
- @echo 'Invoking: ARM gcc linker'
- arm-xilinx-eabi-gcc -Wl,-T -Wl,../src/lscript.ld -L../../system_bsp/ps7_cortexa9_0/lib -o "real_quad.elf" $(OBJS) $(USER_OBJS) $(LIBS)
- @echo 'Finished building target: $@'
- @echo ' '
-
-real_quad.elf.size: real_quad.elf
- @echo 'Invoking: ARM Print Size'
- arm-xilinx-eabi-size real_quad.elf |tee "real_quad.elf.size"
- @echo 'Finished building: $@'
- @echo ' '
-
-# Other Targets
-clean:
- -$(RM) $(OBJS)$(C_DEPS)$(EXECUTABLES)$(ELFSIZE)$(S_UPPER_DEPS) real_quad.elf
- -@echo ' '
-
-secondary-outputs: $(ELFSIZE)
-
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
diff --git a/quad/xsdk_workspace/real_quad/Debug/objects.mk b/quad/xsdk_workspace/real_quad/Debug/objects.mk
deleted file mode 100644
index 24a8ef289ae38ceeb8f8ff8531c9bd851e7a09d0..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/objects.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-USER_OBJS :=
-
-LIBS := -lm -Wl,--start-group,-lxil,-lgcc,-lc,--end-group
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/sources.mk b/quad/xsdk_workspace/real_quad/Debug/sources.mk
deleted file mode 100644
index a348160cd8d8953fc1ffec339408ec2ffa5c610b..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/sources.mk
+++ /dev/null
@@ -1,27 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-O_SRCS :=
-C_SRCS :=
-LD_SRCS :=
-S_UPPER_SRCS :=
-S_SRCS :=
-OBJ_SRCS :=
-OBJS :=
-C_DEPS :=
-EXECUTABLES :=
-ELFSIZE :=
-S_UPPER_DEPS :=
-
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-src \
-ext/queue \
-ext/quad_app \
-ext/graph_blocks/obj \
-ext/graph_blocks \
-ext/computation_graph \
-ext/commands/obj \
-ext/commands \
-
diff --git a/quad/xsdk_workspace/real_quad/Debug/src/subdir.mk b/quad/xsdk_workspace/real_quad/Debug/src/subdir.mk
deleted file mode 100644
index 1f5040b185481f1161a1a24a990fb13cdee7ca54..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Debug/src/subdir.mk
+++ /dev/null
@@ -1,60 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-../src/hw_impl_zybo.c \
-../src/hw_impl_zybo_axi_timer.c \
-../src/hw_impl_zybo_global_timer.c \
-../src/hw_impl_zybo_i2c.c \
-../src/hw_impl_zybo_mio7_led.c \
-../src/hw_impl_zybo_pwm_input.c \
-../src/hw_impl_zybo_pwm_output.c \
-../src/hw_impl_zybo_system.c \
-../src/hw_impl_zybo_tests.c \
-../src/hw_impl_zybo_uart.c \
-../src/main.c \
-../src/platform.c
-
-LD_SRCS += \
-../src/lscript.ld
-
-OBJS += \
-./src/hw_impl_zybo.o \
-./src/hw_impl_zybo_axi_timer.o \
-./src/hw_impl_zybo_global_timer.o \
-./src/hw_impl_zybo_i2c.o \
-./src/hw_impl_zybo_mio7_led.o \
-./src/hw_impl_zybo_pwm_input.o \
-./src/hw_impl_zybo_pwm_output.o \
-./src/hw_impl_zybo_system.o \
-./src/hw_impl_zybo_tests.o \
-./src/hw_impl_zybo_uart.o \
-./src/main.o \
-./src/platform.o
-
-C_DEPS += \
-./src/hw_impl_zybo.d \
-./src/hw_impl_zybo_axi_timer.d \
-./src/hw_impl_zybo_global_timer.d \
-./src/hw_impl_zybo_i2c.d \
-./src/hw_impl_zybo_mio7_led.d \
-./src/hw_impl_zybo_pwm_input.d \
-./src/hw_impl_zybo_pwm_output.d \
-./src/hw_impl_zybo_system.d \
-./src/hw_impl_zybo_tests.d \
-./src/hw_impl_zybo_uart.d \
-./src/main.d \
-./src/platform.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-src/%.o: ../src/%.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -Wall -O0 -g3 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/ext/commands/subdir.mk b/quad/xsdk_workspace/real_quad/Release/ext/commands/subdir.mk
deleted file mode 100644
index 8cdbd185e5ccf1c0be99a0d8fa96060a34e2b513..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/ext/commands/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/commands/commands.c
-
-OBJS += \
-./ext/commands/commands.o
-
-C_DEPS += \
-./ext/commands/commands.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/commands/commands.o: /local/ucart/MicroCART_17-18/quad/src/commands/commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/ext/computation_graph/subdir.mk b/quad/xsdk_workspace/real_quad/Release/ext/computation_graph/subdir.mk
deleted file mode 100644
index b7232693ee94ab6bc1248c568cabec7ff1c42604..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/ext/computation_graph/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
-
-OBJS += \
-./ext/computation_graph/computation_graph.o
-
-C_DEPS += \
-./ext/computation_graph/computation_graph.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/computation_graph/computation_graph.o: /local/ucart/MicroCART_17-18/quad/src/computation_graph/computation_graph.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/ext/graph_blocks/subdir.mk b/quad/xsdk_workspace/real_quad/Release/ext/graph_blocks/subdir.mk
deleted file mode 100644
index eb92d2e47df69bfc075f7f9f5e9eecc8d7a9f365..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/ext/graph_blocks/subdir.mk
+++ /dev/null
@@ -1,114 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c \
-/local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
-
-OBJS += \
-./ext/graph_blocks/graph_blocks.o \
-./ext/graph_blocks/node_accumulator.o \
-./ext/graph_blocks/node_add.o \
-./ext/graph_blocks/node_bounds.o \
-./ext/graph_blocks/node_constant.o \
-./ext/graph_blocks/node_gain.o \
-./ext/graph_blocks/node_mixer.o \
-./ext/graph_blocks/node_mult.o \
-./ext/graph_blocks/node_pid.o \
-./ext/graph_blocks/node_pow.o
-
-C_DEPS += \
-./ext/graph_blocks/graph_blocks.d \
-./ext/graph_blocks/node_accumulator.d \
-./ext/graph_blocks/node_add.d \
-./ext/graph_blocks/node_bounds.d \
-./ext/graph_blocks/node_constant.d \
-./ext/graph_blocks/node_gain.d \
-./ext/graph_blocks/node_mixer.d \
-./ext/graph_blocks/node_mult.d \
-./ext/graph_blocks/node_pid.d \
-./ext/graph_blocks/node_pow.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/graph_blocks/graph_blocks.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/graph_blocks.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_accumulator.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_accumulator.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_add.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_add.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_bounds.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_bounds.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_constant.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_constant.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_gain.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_gain.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_mixer.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mixer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_mult.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_mult.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_pid.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pid.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/graph_blocks/node_pow.o: /local/ucart/MicroCART_17-18/quad/src/graph_blocks/node_pow.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/ext/quad_app/subdir.mk b/quad/xsdk_workspace/real_quad/Release/ext/quad_app/subdir.mk
deleted file mode 100644
index d549e80dffda190f971af055c1a0540a81b5d411..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/ext/quad_app/subdir.mk
+++ /dev/null
@@ -1,224 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c \
-/local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
-
-OBJS += \
-./ext/quad_app/PID.o \
-./ext/quad_app/actuator_command_processing.o \
-./ext/quad_app/callbacks.o \
-./ext/quad_app/communication.o \
-./ext/quad_app/control_algorithm.o \
-./ext/quad_app/controllers.o \
-./ext/quad_app/conversion.o \
-./ext/quad_app/iic_utils.o \
-./ext/quad_app/initialize_components.o \
-./ext/quad_app/log_data.o \
-./ext/quad_app/mio7_led.o \
-./ext/quad_app/new_log_data.o \
-./ext/quad_app/packet_processing.o \
-./ext/quad_app/quad_app.o \
-./ext/quad_app/send_actuator_commands.o \
-./ext/quad_app/sensor.o \
-./ext/quad_app/sensor_processing.o \
-./ext/quad_app/timer.o \
-./ext/quad_app/update_gui.o \
-./ext/quad_app/user_input.o \
-./ext/quad_app/util.o
-
-C_DEPS += \
-./ext/quad_app/PID.d \
-./ext/quad_app/actuator_command_processing.d \
-./ext/quad_app/callbacks.d \
-./ext/quad_app/communication.d \
-./ext/quad_app/control_algorithm.d \
-./ext/quad_app/controllers.d \
-./ext/quad_app/conversion.d \
-./ext/quad_app/iic_utils.d \
-./ext/quad_app/initialize_components.d \
-./ext/quad_app/log_data.d \
-./ext/quad_app/mio7_led.d \
-./ext/quad_app/new_log_data.d \
-./ext/quad_app/packet_processing.d \
-./ext/quad_app/quad_app.d \
-./ext/quad_app/send_actuator_commands.d \
-./ext/quad_app/sensor.d \
-./ext/quad_app/sensor_processing.d \
-./ext/quad_app/timer.d \
-./ext/quad_app/update_gui.d \
-./ext/quad_app/user_input.d \
-./ext/quad_app/util.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/quad_app/PID.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/PID.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/actuator_command_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/actuator_command_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/callbacks.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/callbacks.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/communication.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/communication.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/control_algorithm.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/control_algorithm.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/controllers.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/controllers.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/conversion.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/conversion.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/iic_utils.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/iic_utils.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/initialize_components.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/initialize_components.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/log_data.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/mio7_led.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/mio7_led.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/new_log_data.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/new_log_data.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/packet_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/packet_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/quad_app.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/quad_app.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/send_actuator_commands.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/send_actuator_commands.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/sensor.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/sensor_processing.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/sensor_processing.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/timer.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/timer.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/update_gui.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/update_gui.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/user_input.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/user_input.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-ext/quad_app/util.o: /local/ucart/MicroCART_17-18/quad/src/quad_app/util.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/ext/queue/subdir.mk b/quad/xsdk_workspace/real_quad/Release/ext/queue/subdir.mk
deleted file mode 100644
index a595cf53e1bd98da9251d9166acf07f43e6f6651..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/ext/queue/subdir.mk
+++ /dev/null
@@ -1,24 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-/local/ucart/MicroCART_17-18/quad/src/queue/queue.c
-
-OBJS += \
-./ext/queue/queue.o
-
-C_DEPS += \
-./ext/queue/queue.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-ext/queue/queue.o: /local/ucart/MicroCART_17-18/quad/src/queue/queue.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-
diff --git a/quad/xsdk_workspace/real_quad/Release/makefile b/quad/xsdk_workspace/real_quad/Release/makefile
deleted file mode 100644
index 2038c020623a84db9fa6fd917bf0a8727ed2011f..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/makefile
+++ /dev/null
@@ -1,63 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
--include ../makefile.init
-
-RM := rm -rf
-
-# All of the sources participating in the build are defined here
--include sources.mk
--include src/subdir.mk
--include ext/queue/subdir.mk
--include ext/quad_app/subdir.mk
--include ext/graph_blocks/subdir.mk
--include ext/computation_graph/subdir.mk
--include ext/commands/subdir.mk
--include subdir.mk
--include objects.mk
-
-ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(strip $(C_DEPS)),)
--include $(C_DEPS)
-endif
-ifneq ($(strip $(S_UPPER_DEPS)),)
--include $(S_UPPER_DEPS)
-endif
-endif
-
--include ../makefile.defs
-
-# Add inputs and outputs from these tool invocations to the build variables
-ELFSIZE += \
-real_quad.elf.size \
-
-
-# All Target
-all: real_quad.elf secondary-outputs
-
-# Tool invocations
-real_quad.elf: $(OBJS) ../src/lscript.ld $(USER_OBJS)
- @echo 'Building target: $@'
- @echo 'Invoking: ARM gcc linker'
- arm-xilinx-eabi-gcc -Wl,-T -Wl,../src/lscript.ld -L../../system_bsp/ps7_cortexa9_0/lib -o "real_quad.elf" $(OBJS) $(USER_OBJS) $(LIBS)
- @echo 'Finished building target: $@'
- @echo ' '
-
-real_quad.elf.size: real_quad.elf
- @echo 'Invoking: ARM Print Size'
- arm-xilinx-eabi-size real_quad.elf |tee "real_quad.elf.size"
- @echo 'Finished building: $@'
- @echo ' '
-
-# Other Targets
-clean:
- -$(RM) $(OBJS)$(C_DEPS)$(EXECUTABLES)$(ELFSIZE)$(S_UPPER_DEPS) real_quad.elf
- -@echo ' '
-
-secondary-outputs: $(ELFSIZE)
-
-.PHONY: all clean dependents
-.SECONDARY:
-
--include ../makefile.targets
diff --git a/quad/xsdk_workspace/real_quad/Release/objects.mk b/quad/xsdk_workspace/real_quad/Release/objects.mk
deleted file mode 100644
index 24a8ef289ae38ceeb8f8ff8531c9bd851e7a09d0..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/objects.mk
+++ /dev/null
@@ -1,8 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-USER_OBJS :=
-
-LIBS := -lm -Wl,--start-group,-lxil,-lgcc,-lc,--end-group
-
diff --git a/quad/xsdk_workspace/real_quad/Release/sources.mk b/quad/xsdk_workspace/real_quad/Release/sources.mk
deleted file mode 100644
index 9b76509427183193e779ddad577b92f06904d6a9..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/sources.mk
+++ /dev/null
@@ -1,25 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-O_SRCS :=
-C_SRCS :=
-LD_SRCS :=
-S_UPPER_SRCS :=
-S_SRCS :=
-OBJ_SRCS :=
-OBJS :=
-C_DEPS :=
-EXECUTABLES :=
-ELFSIZE :=
-S_UPPER_DEPS :=
-
-# Every subdirectory with source files must be described here
-SUBDIRS := \
-src \
-ext/queue \
-ext/quad_app \
-ext/graph_blocks \
-ext/computation_graph \
-ext/commands \
-
diff --git a/quad/xsdk_workspace/real_quad/Release/src/subdir.mk b/quad/xsdk_workspace/real_quad/Release/src/subdir.mk
deleted file mode 100644
index d73a8e4edf8f1be1d1cb7bbc2866698e8091f6d0..0000000000000000000000000000000000000000
--- a/quad/xsdk_workspace/real_quad/Release/src/subdir.mk
+++ /dev/null
@@ -1,60 +0,0 @@
-################################################################################
-# Automatically-generated file. Do not edit!
-################################################################################
-
-# Add inputs and outputs from these tool invocations to the build variables
-C_SRCS += \
-../src/hw_impl_zybo.c \
-../src/hw_impl_zybo_axi_timer.c \
-../src/hw_impl_zybo_global_timer.c \
-../src/hw_impl_zybo_i2c.c \
-../src/hw_impl_zybo_mio7_led.c \
-../src/hw_impl_zybo_pwm_input.c \
-../src/hw_impl_zybo_pwm_output.c \
-../src/hw_impl_zybo_system.c \
-../src/hw_impl_zybo_tests.c \
-../src/hw_impl_zybo_uart.c \
-../src/main.c \
-../src/platform.c
-
-LD_SRCS += \
-../src/lscript.ld
-
-OBJS += \
-./src/hw_impl_zybo.o \
-./src/hw_impl_zybo_axi_timer.o \
-./src/hw_impl_zybo_global_timer.o \
-./src/hw_impl_zybo_i2c.o \
-./src/hw_impl_zybo_mio7_led.o \
-./src/hw_impl_zybo_pwm_input.o \
-./src/hw_impl_zybo_pwm_output.o \
-./src/hw_impl_zybo_system.o \
-./src/hw_impl_zybo_tests.o \
-./src/hw_impl_zybo_uart.o \
-./src/main.o \
-./src/platform.o
-
-C_DEPS += \
-./src/hw_impl_zybo.d \
-./src/hw_impl_zybo_axi_timer.d \
-./src/hw_impl_zybo_global_timer.d \
-./src/hw_impl_zybo_i2c.d \
-./src/hw_impl_zybo_mio7_led.d \
-./src/hw_impl_zybo_pwm_input.d \
-./src/hw_impl_zybo_pwm_output.d \
-./src/hw_impl_zybo_system.d \
-./src/hw_impl_zybo_tests.d \
-./src/hw_impl_zybo_uart.d \
-./src/main.d \
-./src/platform.d
-
-
-# Each subdirectory must supply rules for building sources it contributes
-src/%.o: ../src/%.c
- @echo 'Building file: $<'
- @echo 'Invoking: ARM gcc compiler'
- arm-xilinx-eabi-gcc -DNDEBUG=1 -Wall -O2 -I../../system_bsp/ps7_cortexa9_0/include -I"/local/ucart/MicroCART_17-18/quad/src/computation_graph" -I"/local/ucart/MicroCART_17-18/quad/src/quad_app" -I"/local/ucart/MicroCART_17-18/quad/src/queue" -I"/local/ucart/MicroCART_17-18/quad/src/commands" -I"/local/ucart/MicroCART_17-18/quad/src/graph_blocks" -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o "$@" "$<"
- @echo 'Finished building: $<'
- @echo ' '
-
-