From 3b4ab490b64fddd2318f418a4dc079f2dd5b36c1 Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Tue, 4 Apr 2017 18:48:29 -0500
Subject: [PATCH] Updated version of the model and model parameters, also
pushed r2015A version
---
controls/model/Quadcopter_Model_R2015_A.mdl | 19459 +++++++++++-----
.../model/{loggingAnalysis => }/logAnalysis.m | 70 +-
.../logFiles/Fri_Mar_24_18-08-27_2017.txt | 7618 ------
.../loggingAnalysis/logFiles/logData.csv | 404 -
.../loggingAnalysis/logFiles/logData1.csv | 846 -
.../EMLReport/sL897IXghI8zmc3H8vRBKxD.mat | Bin 3399 -> 0 bytes
.../test_model/_self/sfun/info/binfo.mat | Bin 2269 -> 0 bytes
.../_self/sfun/src/c15_test_model.c | 1605 --
.../_self/sfun/src/c15_test_model.h | 62 -
.../_self/sfun/src/c15_test_model.obj | Bin 39180 -> 0 bytes
.../_self/sfun/src/c_controller.obj | Bin 12043 -> 0 bytes
.../ji/late_c15_sL897IXghI8zmc3H8vRBKxD.mat | Bin 427 -> 0 bytes
.../_self/sfun/src/multiword_types.h | 283 -
.../test_model/_self/sfun/src/node_add.obj | Bin 1376 -> 0 bytes
.../test_model/_self/sfun/src/node_bounds.obj | Bin 1388 -> 0 bytes
.../_self/sfun/src/node_constant.obj | Bin 1341 -> 0 bytes
.../test_model/_self/sfun/src/node_mixer.obj | Bin 1852 -> 0 bytes
.../test_model/_self/sfun/src/node_pid.obj | Bin 1698 -> 0 bytes
.../test_model/_self/sfun/src/rtwtypes.h | 59 -
.../_self/sfun/src/rtwtypeschksum.mat | Bin 1474 -> 0 bytes
.../_self/sfun/src/test_model_sfun.bat | 15 -
.../_self/sfun/src/test_model_sfun.c | 362 -
.../_self/sfun/src/test_model_sfun.gmk | 95 -
.../_self/sfun/src/test_model_sfun.h | 52 -
.../_self/sfun/src/test_model_sfun.mol | 27 -
.../_self/sfun/src/test_model_sfun.obj | Bin 6847 -> 0 bytes
.../sfun/src/test_model_sfun_debug_macros.h | 466 -
.../_self/sfun/src/test_model_sfun_registry.c | 287 -
.../sfun/src/test_model_sfun_registry.obj | Bin 33746 -> 0 bytes
controls/model/modelParameters.m | 79 +-
controls/model/test_model.slx | Bin 64607 -> 67203 bytes
31 files changed, 14069 insertions(+), 17720 deletions(-)
rename controls/model/{loggingAnalysis => }/logAnalysis.m (78%)
delete mode 100644 controls/model/loggingAnalysis/logFiles/Fri_Mar_24_18-08-27_2017.txt
delete mode 100644 controls/model/loggingAnalysis/logFiles/logData.csv
delete mode 100644 controls/model/loggingAnalysis/logFiles/logData1.csv
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/EMLReport/sL897IXghI8zmc3H8vRBKxD.mat
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/info/binfo.mat
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.c
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.h
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c15_test_model.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/c_controller.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/ji/late_c15_sL897IXghI8zmc3H8vRBKxD.mat
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/multiword_types.h
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_add.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_bounds.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_constant.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_mixer.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/node_pid.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypes.h
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypeschksum.mat
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.bat
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.c
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.gmk
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.h
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.mol
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun.obj
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_debug_macros.h
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.c
delete mode 100644 controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/test_model_sfun_registry.obj
diff --git a/controls/model/Quadcopter_Model_R2015_A.mdl b/controls/model/Quadcopter_Model_R2015_A.mdl
index 1ce880409..dc185578f 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 {
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- $ObjectID 25
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, 'Rotor 0 Duty Cycle', 'texmode', 'on');\nport_label('input', 2, 'Rotor 1 Dut"
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- "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"
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- PaperPositionMode "auto"
- PaperType "usletter"
- PaperUnits "inches"
- TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
- TiledPageScale 1
- ShowPageBoundaries off
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- 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
- EnableBusSupport on
- Port {
- PortNumber 2
- Name "Vb_eff"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Terminator
- Name " Terminator "
- SID "547::37"
- Position [460, 241, 480, 259]
- ZOrder 18
+ Line {
+ ZOrder 7
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "VR Sink"
+ DstPort 1
}
- Block {
- BlockType Outport
- Name "Vb_eff"
- SID "547::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
+ Line {
+ ZOrder 8
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Gain"
+ DstPort 1
}
Line {
- ZOrder 1
- SrcBlock "rotor_0_duty_cycle"
- SrcPort 1
- DstBlock " SFunction "
+ ZOrder 9
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [80, 0]
+ DstBlock "Gain2"
DstPort 1
}
Line {
- ZOrder 2
- SrcBlock "rotor_1_duty_cycle"
+ ZOrder 10
+ SrcBlock "Bus\nCreator1"
SrcPort 1
- 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
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 3
+ Points [0, -10; 75, 0]
+ DstBlock "Bus\nCreator"
+ DstPort 2
}
Line {
- Name "Vb_eff"
- ZOrder 5
+ Name "<theta>"
+ ZOrder 13
Labels [0, 0]
- SrcBlock " SFunction "
+ SrcBlock "Bus\nSelector"
SrcPort 2
- DstBlock "Vb_eff"
+ Points [30, 0; 0, -25]
+ DstBlock "Bus\nCreator"
DstPort 1
}
Line {
- ZOrder 6
- SrcBlock " Demux "
+ ZOrder 14
+ SrcBlock "Gain1"
SrcPort 1
- DstBlock " Terminator "
+ DstBlock "Rate Transition1"
DstPort 1
}
Line {
- ZOrder 7
- SrcBlock " SFunction "
- SrcPort 1
- DstBlock " Demux "
- DstPort 1
- }
- }
- }
- Block {
- BlockType SubSystem
- Name "\n\n\n\n"
- SID "548"
- Ports [0, 1]
- Position [335, 664, 485, 786]
- ZOrder 96
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
- RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
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- Object {
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- $ObjectID 26
- $ClassName "Simulink.Mask"
- Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
- }
- System {
- Name "\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"
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- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "100"
- SIDHighWatermark "30"
- Block {
- BlockType Demux
- Name " Demux "
- SID "548::28"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 19
- Outputs "1"
- }
- Block {
- BlockType Ground
- Name " Ground "
- SID "548::30"
- Position [20, 121, 40, 139]
- ZOrder 21
- }
- Block {
- BlockType S-Function
- Name " SFunction "
- SID "548::27"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 1"
- Ports [1, 2]
- Position [180, 100, 230, 160]
- ZOrder 18
- FunctionName "sf_sfun"
- Parameters "g,m"
- PortCounts "[1 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
- Port {
- PortNumber 2
- Name "E_Fg"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- }
- Block {
- BlockType Terminator
- Name " Terminator "
- SID "548::29"
- Position [460, 241, 480, 259]
- ZOrder 20
- }
- Block {
- BlockType Outport
- Name "E_Fg"
- SID "548::5"
- Position [460, 101, 480, 119]
- ZOrder -5
- IconDisplay "Port number"
+ Name "psi"
+ ZOrder 15
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Bus\nCreator2"
+ DstPort 3
}
Line {
- Name "E_Fg"
- ZOrder 1
+ Name "theta"
+ ZOrder 16
Labels [0, 0]
- SrcBlock " SFunction "
+ SrcBlock "Demux1"
SrcPort 2
- DstBlock "E_Fg"
+ DstBlock "Bus\nCreator2"
+ DstPort 2
+ }
+ Line {
+ Name "phi"
+ ZOrder 17
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Bus\nCreator2"
DstPort 1
}
Line {
- ZOrder 2
- SrcBlock " Ground "
+ ZOrder 18
+ SrcBlock "Euler Angles"
SrcPort 1
- DstBlock " SFunction "
+ DstBlock "Demux1"
DstPort 1
}
Line {
- ZOrder 3
- SrcBlock " Demux "
+ ZOrder 19
+ SrcBlock "Bus\nCreator"
SrcPort 1
- DstBlock " Terminator "
+ DstBlock "MATLAB Function"
DstPort 1
}
Line {
- ZOrder 4
- SrcBlock " SFunction "
+ ZOrder 20
+ SrcBlock "MATLAB Function"
SrcPort 1
- DstBlock " Demux "
+ DstBlock "Rate Transition"
DstPort 1
}
}
}
Block {
BlockType SubSystem
- Name "\n\n\n\n\n\n\n"
- SID "549"
- Ports [2, 1]
- Position [1395, 499, 1630, 706]
- ZOrder 75
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
+ Name "3D Graphical Simulation1"
+ SID "714"
+ Ports [2]
+ Position [1900, 1435, 2050, 1495]
+ ZOrder 290
+ Commented "on"
RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 27
+ $ObjectID 26
$ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
- "');\nport_label('output', 1, '^Er_o', 'texmode', 'on');\ndisp('L_{EB}', 'texmode', 'on');"
+ Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
}
System {
- Name "\n\n\n\n\n\n\n"
- Location [223, 338, 826, 833]
+ Name "3D Graphical Simulation1"
+ Location [-8, -8, 1928, 1048]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1549,366 +1756,523 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
- SIDHighWatermark "31"
Block {
BlockType Inport
- Name "B_vo"
- SID "549::24"
- Position [20, 101, 40, 119]
- ZOrder 15
+ Name "Euler Angles\n"
+ SID "715"
+ Position [180, 108, 210, 122]
+ ZOrder -1
IconDisplay "Port number"
}
Block {
BlockType Inport
- Name "euler_angles"
- SID "549::28"
- Position [20, 136, 40, 154]
- ZOrder 19
+ Name "Displacement"
+ SID "716"
+ Position [180, 218, 210, 232]
+ ZOrder -2
Port "2"
IconDisplay "Port number"
}
Block {
- BlockType Demux
- Name " Demux "
- SID "549::30"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 21
- Outputs "1"
+ BlockType BusCreator
+ Name "Bus\nCreator"
+ SID "717"
+ 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 "549::29"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 2"
- Ports [2, 2]
- Position [180, 100, 230, 160]
- ZOrder 20
- FunctionName "sf_sfun"
- PortCounts "[2 2]"
- SFunctionDeploymentMode off
- EnableBusSupport on
+ BlockType BusCreator
+ Name "Bus\nCreator1"
+ SID "718"
+ 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 "719"
+ 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 "720"
+ 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 "E_ro"
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
- }
- Block {
- BlockType Terminator
- Name " Terminator "
- SID "549::31"
- Position [460, 241, 480, 259]
- ZOrder 22
- }
- Block {
- BlockType Outport
- Name "E_ro"
- SID "549::26"
- Position [460, 101, 480, 119]
- ZOrder 17
- IconDisplay "Port number"
- }
- Line {
- ZOrder 1
- SrcBlock "B_vo"
- SrcPort 1
- Points [120, 0]
- DstBlock " SFunction "
- DstPort 1
- }
- Line {
- ZOrder 2
- SrcBlock "euler_angles"
- SrcPort 1
- DstBlock " SFunction "
- DstPort 2
- }
- Line {
- Name "E_ro"
- ZOrder 3
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 2
- DstBlock "E_ro"
- DstPort 1
- }
- Line {
- ZOrder 4
- SrcBlock " Demux "
- SrcPort 1
- DstBlock " Terminator "
- DstPort 1
- }
- Line {
- ZOrder 5
- SrcBlock " SFunction "
- SrcPort 1
- DstBlock " Demux "
- DstPort 1
- }
- }
- }
- Block {
- BlockType SubSystem
- Name "\n\n\n\n\n\n\n\n"
- SID "550"
- Ports [5, 2]
- Position [950, 281, 1150, 519]
- ZOrder 52
- ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
- TreatAsAtomicUnit on
- RequestExecContextInheritance off
- SFBlockType "MATLAB Function"
- Variant off
- Object {
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- $ObjectID 28
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '\\alpha', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', '"
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- "port_label('input', 5, '^Bv_o', 'texmode', 'on');\nport_label('output', 1, '^Bd\\Omega/dt', 'texmode', 'on');\npo"
- "rt_label('output', 2, '^Bdv_o/dt', 'texmode', 'on');\ndisp('Rotor System', 'texmode', 'on');"
- }
- System {
- Name "\n\n\n\n\n\n\n\n"
- Location [223, 338, 826, 833]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
- ScreenColor "white"
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- TiledPageScale 1
- ShowPageBoundaries off
- ZoomFactor "100"
- SIDHighWatermark "50"
- Block {
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- Name "angular_acceleration"
- SID "550::27"
- Position [20, 101, 40, 119]
- ZOrder 18
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "angular_velocity"
- SID "550::28"
- Position [20, 136, 40, 154]
- ZOrder 19
- Port "2"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_Fg"
- SID "550::47"
- Position [20, 171, 40, 189]
- ZOrder 20
- Port "3"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_omega"
- SID "550::25"
- Position [20, 206, 40, 224]
- ZOrder 16
- Port "4"
- IconDisplay "Port number"
- }
- Block {
- BlockType Inport
- Name "B_vo"
- SID "550::24"
- Position [20, 246, 40, 264]
- ZOrder 15
- Port "5"
- IconDisplay "Port number"
}
Block {
BlockType Demux
- Name " Demux "
- SID "550::49"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 22
- Outputs "1"
+ Name "Demux"
+ SID "721"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
}
Block {
- BlockType S-Function
- Name " SFunction "
- SID "550::48"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 6"
- Ports [5, 3]
- Position [180, 100, 230, 220]
- ZOrder 21
- FunctionName "sf_sfun"
- Parameters "Jreq,Jxx,Jyy,Jzz,Kd,Kt,m,rhx,rhy,rhz"
- PortCounts "[5 3]"
- SFunctionDeploymentMode off
- EnableBusSupport on
+ BlockType Demux
+ Name "Demux1"
+ SID "722"
+ 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 "B_omega_dot"
+ Name "theta"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
PortNumber 3
- Name "B_vo_dot"
+ Name "psi"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
- BlockType Terminator
- Name " Terminator "
- SID "550::50"
- Position [460, 241, 480, 259]
- ZOrder 23
+ BlockType Gain
+ Name "Gain"
+ SID "723"
+ 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 Outport
- Name "B_omega_dot"
- SID "550::22"
- Position [460, 101, 480, 119]
- ZOrder 13
- IconDisplay "Port number"
+ BlockType Gain
+ Name "Gain1"
+ SID "724"
+ 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 Outport
- Name "B_vo_dot"
- SID "550::5"
- Position [460, 136, 480, 154]
- ZOrder -5
- Port "2"
- IconDisplay "Port number"
+ BlockType Gain
+ Name "Gain2"
+ SID "725"
+ 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 "726"
+ 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 "726::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "726::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "726::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 3"
+ 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 "726::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "y"
+ SID "726::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 "727"
+ Position [755, 94, 795, 136]
+ ZOrder -13
+ NamePlacement "alternate"
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ SID "728"
+ Position [745, 210, 780, 250]
+ ZOrder -14
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType Reference
+ Name "VR Sink"
+ SID "729"
+ 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 "angular_acceleration"
+ SrcBlock "Bus\nCreator2"
SrcPort 1
- DstBlock " SFunction "
+ DstBlock "Bus\nSelector"
DstPort 1
}
Line {
ZOrder 2
- SrcBlock "angular_velocity"
+ SrcBlock "Demux"
SrcPort 1
- DstBlock " SFunction "
- DstPort 2
+ Points [40, 0; 0, 40; 120, 0]
+ DstBlock "Bus\nCreator1"
+ DstPort 3
}
Line {
ZOrder 3
- SrcBlock "B_Fg"
+ SrcBlock "Gain"
SrcPort 1
- DstBlock " SFunction "
- DstPort 3
+ Points [5, 0; 0, -25]
+ DstBlock "Bus\nCreator1"
+ DstPort 2
}
Line {
ZOrder 4
- SrcBlock "B_omega"
+ SrcBlock "Gain2"
SrcPort 1
- DstBlock " SFunction "
- DstPort 4
+ DstBlock "Bus\nCreator1"
+ DstPort 1
}
Line {
ZOrder 5
- SrcBlock "B_vo"
+ SrcBlock "Rate Transition1"
SrcPort 1
- DstBlock " SFunction "
- DstPort 5
+ Points [25, 0; 0, -35]
+ DstBlock "VR Sink"
+ DstPort 2
}
Line {
- Name "B_omega_dot"
ZOrder 6
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 2
- DstBlock "B_omega_dot"
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "VR Sink"
DstPort 1
}
Line {
- Name "B_vo_dot"
ZOrder 7
- Labels [0, 0]
- SrcBlock " SFunction "
+ SrcBlock "Demux"
SrcPort 3
- DstBlock "B_vo_dot"
+ DstBlock "Gain"
DstPort 1
}
Line {
ZOrder 8
- SrcBlock " Demux "
- SrcPort 1
- DstBlock " Terminator "
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [80, 0]
+ DstBlock "Gain2"
DstPort 1
}
Line {
ZOrder 9
- SrcBlock " SFunction "
+ SrcBlock "Bus\nCreator1"
SrcPort 1
- Points [20, 0]
- DstBlock " Demux "
+ DstBlock "Gain1"
DstPort 1
}
- }
- }
- Block {
- BlockType SubSystem
- Name "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- SID "551"
- Ports [2, 1]
- Position [1395, 303, 1630, 452]
- ZOrder 81
- 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, '^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]
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Block {
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DstPort 1
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DstPort 1
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DstPort 1
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}
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DstPort 1
}
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- SrcPort 1
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DstPort 1
}
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DstPort 1
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- DstPort 2
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- SrcBlock "Ground1"
- SrcPort 1
- Points [5, 0]
- DstBlock "Sum3"
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+ DstBlock "Demux2"
DstPort 1
}
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- SrcBlock "B_vo_dot"
- SrcPort 1
- DstBlock "\n\n\n\n\n\n\n"
- DstPort 1
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}
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- SrcPort 1
- DstBlock "\n\n\n\n\n\n\n"
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+ Points [-787, 0; 0, -97]
+ DstBlock "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
DstPort 2
}
- Line {
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- ZOrder 19
- SrcBlock "r_oc"
- SrcPort 1
- DstBlock "\n\n\n\n\n\n\n"
- DstPort 5
- }
}
}
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+ SrcBlock "P"
+ SrcPort 1
+ DstBlock "ESC System"
+ DstPort 1
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+ SrcPort 1
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+ Points [0, -70]
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+ DstPort 1
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+ DstPort 2
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+ Branch {
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+ DstBlock "Rotor System\n\n\n\n\n\n\n\n"
+ DstPort 2
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+ Branch {
+ ZOrder 291
+ Points [0, -110]
+ DstBlock "Scope2"
+ DstPort 1
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+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Communication System"
+ SID "582"
+ Ports [0, 1]
+ Position [515, 432, 570, 478]
+ ZOrder 70
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Block {
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- Port {
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Block {
- BlockType Terminator
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Block {
- BlockType Outport
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- ZOrder -5
- IconDisplay "Port number"
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IconDisplay "Port number"
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+ " margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-h"
+ "eight:100%;\"><span style=\" font-family:'Helvetica'; font-size:10px;\">1) Add </span><a href=\"matlab://addvsscho"
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+ "olor:#0000ff;\">Subsystem</span></a><span style=\" font-family:'Helvetica'; font-size:10px;\"> or </span><a href=\""
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+ "ecoration: underline; color:#0000ff;\">Model</span></a><span style=\" font-family:'Helvetica'; font-size:10px;\"> "
+ "blocks as valid variant choices.</span></p>\n<p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margi"
+ "n-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;\"><span style=\" font-family:'Helvetica'; font"
+ "-size:10px;\">2) You cannot connect blocks at this level. At simulation, connectivity is automatically </span></p>"
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+ BlockType Outport
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+ Points [0, 55]
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DstPort 1
}
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- SrcPort 2
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DstPort 1
}
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+ ZOrder 785
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DstPort 1
}
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- SrcBlock " SFunction "
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DstPort 1
}
}
+ Branch {
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- Name "Rate Transition"
- SID "924"
- Position [755, 94, 795, 136]
- ZOrder -13
- NamePlacement "alternate"
- OutPortSampleTime "0.06"
+ Line {
+ ZOrder 784
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}
- Block {
- BlockType RateTransition
- Name "Rate Transition1"
- SID "925"
- Position [735, 210, 770, 250]
- ZOrder -14
- OutPortSampleTime "0.06"
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}
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- VideoDimensions "[]"
- AllowVariableSize off
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+ DstPort 1
}
Line {
- ZOrder 1
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+ ZOrder 1501
+ SrcBlock "PID Controller4"
SrcPort 1
- DstBlock "Demux"
+ Points [11, 0]
+ Branch {
+ ZOrder 1591
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Branch {
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+ DstPort 1
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+ Branch {
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+ DstBlock "Scope2"
+ DstPort 1
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+ Branch {
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+ DstPort 2
+ }
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+ Line {
+ ZOrder 1163
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+ SrcPort 1
+ DstBlock "Yaw Controller Input"
DstPort 1
}
Line {
- ZOrder 2
- SrcBlock "Bus\nCreator2"
+ ZOrder 1500
+ SrcBlock "Yaw Controller Input"
SrcPort 1
- DstBlock "Bus\nSelector"
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DstPort 1
}
Line {
- ZOrder 3
- SrcBlock "Demux"
+ ZOrder 1190
+ SrcBlock "Sum2"
SrcPort 1
- Points [40, 0; 0, 40; 120, 0]
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- DstPort 3
+ 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
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+ 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]
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- DstPort 2
+ DstBlock "Pitch Controller Input"
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}
Line {
- ZOrder 7
- SrcBlock "Rate Transition"
+ ZOrder 1612
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SrcPort 1
- DstBlock "VR Sink"
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DstPort 1
}
Line {
- ZOrder 8
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DstPort 1
}
Line {
- ZOrder 9
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- SrcPort 2
- Points [80, 0]
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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"
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}
Line {
- Name "<psi>"
- ZOrder 12
- Labels [0, 0]
- SrcBlock "Bus\nSelector"
- SrcPort 3
- Points [0, -10; 75, 0]
- DstBlock "Bus\nCreator"
- DstPort 2
+ ZOrder 1201
+ SrcBlock "Sum9"
+ SrcPort 1
+ 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"
+ SrcPort 1
+ DstBlock "Altitude Controller Input"
+ DstPort 1
}
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"
+ Points [16, 0]
+ Branch {
+ ZOrder 1602
+ Points [0, -60]
+ DstBlock "To Workspace5"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 1601
+ DstBlock "Saturation2"
+ DstPort 1
+ }
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+ Line {
+ ZOrder 1701
+ SrcBlock "Saturation2"
+ SrcPort 1
+ 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"
+ ZOrder 1768
+ SrcBlock "Saturation"
SrcPort 1
- DstBlock "Rate Transition"
+ DstBlock "yaw_controlled"
DstPort 1
}
}
}
+ Block {
+ BlockType Reference
+ Name "Counter\nFree-Running"
+ SID "899"
+ Ports [0, 1]
+ Position [275, 955, 305, 985]
+ ZOrder 59
+ LibraryVersion "1.388"
+ SourceBlock "simulink/Sources/Counter\nFree-Running"
+ SourceType "Counter Free-Running"
+ ContentPreviewEnabled off
+ NumBits "32"
+ tsamp "Tc"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "586"
+ Ports [1, 4]
+ Position [300, 319, 305, 416]
+ ZOrder 13
+ ShowName off
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "639"
+ Ports [1, 3]
+ Position [300, 494, 305, 566]
+ ZOrder 32
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "588"
+ Ports [1, 3]
+ Position [285, 419, 290, 491]
+ ZOrder 15
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux3"
+ SID "1422"
+ Ports [1, 4]
+ Position [1650, 511, 1655, 549]
+ ZOrder 321
+ ShowName off
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "640"
+ Ports [1, 3]
+ Position [275, 569, 280, 641]
+ ZOrder 33
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
Block {
BlockType SubSystem
- Name "3D Graphical Simulation1"
- SID "936"
- Ports [2]
- Position [2635, 815, 2785, 875]
- ZOrder 290
+ Name "MATLAB Function1"
+ SID "887"
+ Ports [15, 6]
+ Position [390, 687, 530, 1013]
+ ZOrder 47
+ Commented "on"
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ SystemSampleTime "Tq"
RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 39
+ $ObjectID 80
$ClassName "Simulink.Mask"
- Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
+ Display "port_label('input', 1, '^{E}r_{x,setpoint}', 'texmode', 'on');\nport_label('input', 2, '^{E}r_{y,se"
+ "tpoint}', 'texmode', 'on');\nport_label('input', 3, '^{E}r_{z,setpoint}', 'texmode', 'on');\nport_label('input', "
+ "4, '\\psi_{setpoint}', 'texmode', 'on');\nport_label('input', 5, '^{E}r_x', 'texmode', 'on');\nport_label('input'"
+ ", 6, '^{E}r_y', 'texmode', 'on');\nport_label('input', 7, '^{E}r_z', 'texmode', 'on');\nport_label('input', 8, '\\"
+ "phi', 'texmode', 'on');\nport_label('input', 9, '\\theta', 'texmode', 'on');\nport_label('input', 10, '\\psi', 't"
+ "exmode', 'on');\nport_label('input', 11, 'd\\phi/dt', 'texmode', 'on');\nport_label('input', 12, 'd\\theta/dt', '"
+ "texmode', 'on');\nport_label('input', 13, 'd\\psi/dt', 'texmode', 'on');\nport_label('input', 14, 'VRPN ID', 'tex"
+ "mode', 'on');\nport_label('input', 15, '\\tau_c', 'texmode', 'on');\nport_label('output', 1, 'u_T', 'texmode', 'o"
+ "n');\nport_label('output', 2, 'u_A', 'texmode', 'on');\nport_label('output', 3, 'u_E', 'texmode', 'on');\nport_la"
+ "bel('output', 4, 'u_R', 'texmode', 'on');\nport_label('output', 5, 'PID y out', 'texmode', 'on');\nport_label('ou"
+ "tput', 6, 'PID roll out', 'texmode', 'on');\ndisp('C Controller', 'texmode', 'on');"
}
System {
- Name "3D Graphical Simulation1"
- Location [-8, -8, 1928, 1048]
+ Name "MATLAB Function1"
+ Location [223, 338, 826, 833]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -5281,687 +12455,647 @@ Model {
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"
- Ports [1, 3]
- Position [500, 77, 505, 153]
- ZOrder -6
- ShowName off
- OutputSignals "phi,theta,psi"
- Port {
- PortNumber 1
- Name "<phi>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 2
- Name "<theta>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
- Port {
- PortNumber 3
- Name "<psi>"
- RTWStorageClass "Auto"
- DataLoggingNameMode "SignalName"
- }
+ 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"
- SID "943"
- Ports [1, 3]
- Position [440, 183, 450, 267]
- ZOrder -7
- BackgroundColor "black"
- ShowName off
- Outputs "3"
- DisplayOption "bar"
+ 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"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_psi"
+ SID "887::30"
+ Position [20, 426, 40, 444]
+ ZOrder 21
+ Port "10"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_phi_d"
+ SID "887::31"
+ Position [20, 461, 40, 479]
+ ZOrder 22
+ Port "11"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_theta_d"
+ SID "887::32"
+ Position [20, 496, 40, 514]
+ ZOrder 23
+ Port "12"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "cur_psi_d"
+ SID "887::33"
+ Position [20, 531, 40, 549]
+ ZOrder 24
+ Port "13"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "vrpn_id"
+ SID "887::37"
+ Position [20, 566, 40, 584]
+ ZOrder 28
+ Port "14"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Tc"
+ SID "887::41"
+ Position [20, 606, 40, 624]
+ ZOrder 31
+ Port "15"
+ IconDisplay "Port number"
}
Block {
BlockType Demux
- Name "Demux1"
- SID "944"
- Ports [1, 3]
- Position [290, 75, 295, 155]
- ZOrder -8
- ShowName off
- Outputs "3"
- DisplayOption "bar"
+ Name " Demux "
+ SID "887::20"
+ Ports [1, 1]
+ Position [270, 350, 320, 390]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "887::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 15"
+ Ports [15, 7]
+ Position [180, 110, 230, 430]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[15 7]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "z_corr"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
Port {
- PortNumber 1
- Name "phi"
+ PortNumber 3
+ Name "y_cor"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
- PortNumber 2
- Name "theta"
+ PortNumber 4
+ Name "x_corr"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
Port {
- PortNumber 3
- Name "psi"
+ PortNumber 5
+ Name "yaw_corr"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 6
+ Name "pid_y_out"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 7
+ Name "pid_roll_out"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Block {
- BlockType Gain
- Name "Gain"
- SID "945"
- Position [550, 240, 580, 270]
- ZOrder -10
- Gain "-1"
- ParamDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
+ BlockType Terminator
+ Name " Terminator "
+ SID "887::21"
+ Position [460, 361, 480, 379]
+ ZOrder 12
}
Block {
- BlockType Gain
- Name "Gain1"
- SID "946"
- 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
+ BlockType Outport
+ Name "z_corr"
+ SID "887::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
}
Block {
- BlockType Gain
- Name "Gain2"
- SID "947"
- Position [550, 190, 580, 220]
- ZOrder -12
- Gain "-1"
- ParamDataTypeStr "Inherit: Inherit via internal rule"
- OutDataTypeStr "Inherit: Inherit via internal rule"
- SaturateOnIntegerOverflow off
+ BlockType Outport
+ Name "y_cor"
+ SID "887::34"
+ Position [460, 136, 480, 154]
+ ZOrder 25
+ Port "2"
+ IconDisplay "Port number"
}
Block {
- BlockType SubSystem
- Name "MATLAB Function"
- SID "948"
- 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 "948::1"
- Position [20, 101, 40, 119]
- ZOrder -1
- IconDisplay "Port number"
- }
- Block {
- BlockType Demux
- Name " Demux "
- SID "948::20"
- Ports [1, 1]
- Position [270, 230, 320, 270]
- ZOrder 11
- Outputs "1"
- }
- Block {
- BlockType S-Function
- Name " SFunction "
- SID "948::19"
- Tag "Stateflow S-Function Quadcopter_Model_R2015_A 3"
- 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 "948::21"
- Position [460, 241, 480, 259]
- ZOrder 12
- }
- Block {
- BlockType Outport
- Name "y"
- SID "948::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
- }
- }
+ BlockType Outport
+ Name "x_corr"
+ SID "887::35"
+ Position [460, 171, 480, 189]
+ ZOrder 26
+ Port "3"
+ IconDisplay "Port number"
}
Block {
- BlockType RateTransition
- Name "Rate Transition"
- SID "949"
- Position [755, 94, 795, 136]
- ZOrder -13
- NamePlacement "alternate"
- OutPortSampleTime "0.06"
+ 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"
- 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
+ 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 {
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- axes1 "%<SignalLabel>"
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- List {
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- 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]"
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- 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"
+ SID "647::22"
+ Position [20, 171, 40, 189]
+ ZOrder 13
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "yaw_controlled"
+ SID "647::24"
+ Position [20, 206, 40, 224]
+ ZOrder 15
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "647::20"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 11
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "647::19"
+ Tag "Stateflow S-Function Quadcopter_Model_R2015_A 14"
+ Ports [4, 2]
+ Position [180, 107, 230, 208]
+ ZOrder 10
+ FunctionName "sf_sfun"
+ PortCounts "[4 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "P"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "647::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "P"
+ SID "647::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 105
+ SrcBlock "height_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
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+ Line {
+ ZOrder 106
+ SrcBlock "y_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 107
+ SrcBlock "x_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 108
+ SrcBlock "yaw_controlled"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ Name "P"
+ ZOrder 109
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "P"
+ DstPort 1
+ }
+ Line {
+ ZOrder 110
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 111
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
}
- Location [1 76 1909 1039]
}
Block {
- BlockType S-Function
- Name "Soft Real Time"
- SID "927"
- Ports []
- Position [2033, 1185, 2120, 1216]
- ZOrder 288
+ BlockType Sum
+ Name "Sum"
+ SID "748"
+ Ports [2, 1]
+ Position [665, 350, 685, 370]
+ ZOrder 36
ShowName off
- Commented "on"
- FunctionName "sfun_time"
- Parameters "x"
- SFunctionDeploymentMode off
- EnableBusSupport off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum1"
+ SID "749"
+ Ports [2, 1]
+ Position [665, 430, 685, 450]
+ ZOrder 37
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum2"
+ SID "750"
+ Ports [2, 1]
+ Position [665, 510, 685, 530]
+ ZOrder 38
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ SID "751"
+ Ports [2, 1]
+ Position [665, 590, 685, 610]
+ ZOrder 39
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType SubSystem
+ Name "Throttle Command Input"
+ SID "1278"
+ Ports [1, 1]
+ Position [740, 337, 895, 383]
+ ZOrder 318
+ ForegroundColor "magenta"
+ ShowName off
+ RequestExecContextInheritance off
+ Variant on
Object {
$PropName "MaskObject"
- $ObjectID 40
+ $ObjectID 85
$ClassName "Simulink.Mask"
- Display "color('red')\ndisp('Soft Real Time')\n"
- Object {
- $PropName "Parameters"
- $ObjectID 41
- $ClassName "Simulink.MaskParameter"
- Type "edit"
- Name "x"
- Prompt "Time Scaling Factor"
- Value "1"
+ Display "disp('Throttle Command', 'texmode', 'on');"
+ }
+ System {
+ Name "Throttle Command Input"
+ 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 "1279"
+ Position [85, 118, 115, 132]
+ ZOrder 288
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Feedback"
+ SID "1280"
+ Ports [1, 1]
+ Position [185, 153, 345, 187]
+ ZOrder 287
+ ShowName off
+ RequestExecContextInheritance off
+ Variant off
+ VariantControl "logAnalysisToggle==0"
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 86
+ $ClassName "Simulink.Mask"
+ Display "disp('Throttle 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 "1281"
+ Position [105, 103, 135, 117]
+ ZOrder 2
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "z_command"
+ SID "1282"
+ 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 "Throttle Command"
+ SID "1283"
+ Ports [0, 1]
+ Position [210, 75, 320, 105]
+ ZOrder 279
+ ShowName off
+ RequestExecContextInheritance off
+ Variant off
+ VariantControl "logAnalysisToggle==1"
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 87
+ $ClassName "Simulink.Mask"
+ Display "disp('Throttle Command', 'texmode', 'on');"
+ }
+ System {
+ Name "Throttle 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 "175"
+ Block {
+ BlockType FromWorkspace
+ Name "From\nWorkspace5"
+ SID "1284"
+ Position [-35, 17, 80, 43]
+ ZOrder 210
+ VariableName "throttle_command"
+ SampleTime "Tq"
+ ZeroCross on
+ }
+ Block {
+ BlockType Outport
+ Name "z_command"
+ SID "1285"
+ 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 "1286"
+ Position [410, 118, 440, 132]
+ ZOrder -2
+ ForegroundColor "magenta"
+ IconDisplay "Port number"
+ }
+ Annotation {
+ SID "1287"
+ 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
}
}
}
Block {
- BlockType Outport
- Name "euler_angles_filtered"
- SID "901"
- Position [2540, 638, 2570, 652]
- ZOrder 262
- IconDisplay "Port number"
+ BlockType ToWorkspace
+ Name "To Workspace3"
+ SID "1207"
+ Ports [1]
+ Position [1445, 380, 1555, 410]
+ ZOrder 228
+ ShowName off
+ VariableName "motorCommands"
+ MaxDataPoints "inf"
+ SaveFormat "Structure With Time"
+ Save2DSignal "3-D array (concatenate along third dimension)"
+ FixptAsFi on
+ SampleTime "Tq"
}
Block {
- BlockType Outport
- Name "euler_rates"
- SID "904"
- Position [2005, 903, 2035, 917]
- ZOrder 259
- Port "2"
- IconDisplay "Port number"
+ BlockType Constant
+ Name "height_controlled_o"
+ SID "752"
+ Position [615, 380, 645, 410]
+ ZOrder 40
+ Value "height_controlled_o"
+ SampleTime "Tc"
+ }
+ Block {
+ BlockType Constant
+ Name "x_controlled_o"
+ SID "754"
+ Position [615, 545, 645, 575]
+ ZOrder 42
+ Value "x_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "y_controlled_o"
+ SID "753"
+ Position [615, 465, 645, 495]
+ ZOrder 41
+ Value "y_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "yaw_controlled_o"
+ SID "755"
+ Position [615, 630, 645, 660]
+ ZOrder 43
+ Value "yaw_controlled_o"
}
Block {
BlockType Outport
- Name "current_position"
- SID "928"
- Position [2335, 963, 2365, 977]
- ZOrder 289
- Port "3"
+ Name "P"
+ SID "578"
+ Position [1665, 473, 1695, 487]
+ ZOrder -2
IconDisplay "Port number"
}
Line {
- ZOrder 170
- SrcBlock "\n\n\n\n\n\n\n\n\n\n"
+ ZOrder 1
+ SrcBlock "setpoints"
SrcPort 1
- Points [23, 0]
- Branch {
- ZOrder 199
- Points [0, -70]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n1"
- DstPort 1
- }
- Branch {
- ZOrder 198
- Points [0, 25]
- DstBlock "Scope1"
- DstPort 1
- }
+ DstBlock "Demux"
+ DstPort 1
}
Line {
- ZOrder 173
- SrcBlock "\n\n\n\n\n\n\n\n\n\n"
- SrcPort 2
- Points [15, 0]
- Branch {
- ZOrder 172
- Points [0, -35]
- DstBlock "Scope"
- DstPort 1
- }
- Branch {
- ZOrder 171
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 1
- }
+ ZOrder 30
+ SrcBlock "euler_angles_filtered"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
}
Line {
- ZOrder 174
- SrcBlock "B_vo_dot"
+ ZOrder 3
+ SrcBlock "current_position"
SrcPort 1
- DstBlock "\n\n\n\n\n\n\n\n\n\n"
+ DstBlock "Demux2"
DstPort 1
}
Line {
- ZOrder 175
- SrcBlock "B_vo"
+ ZOrder 34
+ SrcBlock "euler_rates"
SrcPort 1
- DstBlock "\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
+ DstBlock "Demux4"
+ DstPort 1
}
Line {
- ZOrder 176
- SrcBlock "B_Omega"
+ ZOrder 27
+ SrcBlock "Demux"
SrcPort 1
- DstBlock "\n\n\n\n\n\n\n\n\n\n"
+ DstBlock "Controller"
+ DstPort 1
+ }
+ Line {
+ ZOrder 28
+ SrcBlock "Demux"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 2
+ }
+ Line {
+ ZOrder 29
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Controller"
DstPort 3
}
Line {
- ZOrder 177
- SrcBlock "B_g"
+ ZOrder 40
+ SrcBlock "Demux2"
SrcPort 1
- DstBlock "\n\n\n\n\n\n\n\n\n\n"
- DstPort 4
+ DstBlock "Controller"
+ DstPort 5
}
Line {
- ZOrder 197
- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n1"
+ ZOrder 41
+ SrcBlock "Demux2"
SrcPort 2
- Points [17, 0]
- Branch {
- ZOrder 207
- Points [0, 60]
- DstBlock "Delay1"
- DstPort 1
- }
- Branch {
- ZOrder 202
- Points [31, 0]
- Branch {
- ZOrder 201
- DstBlock "\n\n\n\n\n\n\n\n"
- DstPort 2
- }
- Branch {
- ZOrder 180
- Points [0, -35]
- DstBlock "Scope7"
- DstPort 1
- }
- }
+ DstBlock "Controller"
+ DstPort 6
}
Line {
- ZOrder 195
- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n1"
- SrcPort 1
- Points [47, 0]
- Branch {
- ZOrder 205
- DstBlock "\n\n\n\n\n\n\n\n"
- DstPort 1
- }
- Branch {
- ZOrder 183
- Points [0, -35]
- DstBlock "Scope6"
- DstPort 1
- }
+ ZOrder 42
+ SrcBlock "Demux2"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 7
}
Line {
- ZOrder 209
- SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- SrcPort 1
- Points [58, 0]
- Branch {
- ZOrder 221
- Points [0, 160]
- DstBlock "euler_rates"
- DstPort 1
- }
- Branch {
- ZOrder 220
- Points [0, -80]
- DstBlock "\n\n\n\n\n\n\n\n"
- DstPort 3
- }
+ ZOrder 68
+ SrcBlock "Controller"
+ SrcPort 2
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 72
+ SrcBlock "Controller"
+ SrcPort 4
+ DstBlock "Sum3"
+ DstPort 1
}
Line {
- ZOrder 208
- SrcBlock "Delay"
+ ZOrder 77
+ SrcBlock "y_controlled_o"
SrcPort 1
- Points [-102, 0]
- Branch {
- ZOrder 191
- Points [0, -115]
- DstBlock "\n\n\n\n\n\n\n\n"
- DstPort 4
- }
- Branch {
- ZOrder 190
- Points [-566, 0; 0, -80]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
- }
+ Points [25, 0]
+ DstBlock "Sum1"
+ DstPort 2
}
Line {
- ZOrder 204
- SrcBlock "Delay1"
+ ZOrder 78
+ SrcBlock "x_controlled_o"
SrcPort 1
- Points [-199, 0; 0, -60]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n1"
+ Points [25, 0]
+ DstBlock "Sum2"
DstPort 2
}
Line {
- ZOrder 211
- SrcBlock "euler_angles"
+ ZOrder 79
+ SrcBlock "yaw_controlled_o"
SrcPort 1
- Points [23, 0]
- Branch {
- ZOrder 332
- Points [0, 70]
- DstBlock "3D Graphical Simulation"
- DstPort 2
- }
- Branch {
- ZOrder 293
- DstBlock "Demux"
- DstPort 1
- }
+ Points [25, 0]
+ DstBlock "Sum3"
+ DstPort 2
}
Line {
- ZOrder 189
- SrcBlock "\n\n\n\n\n\n\n\n"
+ ZOrder 80
+ SrcBlock "Signal Mixer"
SrcPort 1
- Points [16, 0]
- Branch {
- ZOrder 327
- DstBlock "Demux1"
- DstPort 1
- }
- Branch {
- ZOrder 216
- Points [0, 225]
- DstBlock "Delay"
- DstPort 1
- }
- Branch {
- ZOrder 187
- Points [0, -85]
- DstBlock "Scope3"
- DstPort 1
- }
+ DstBlock "Saturation"
+ DstPort 1
}
Line {
- ZOrder 243
- SrcBlock "First-Order\nHold"
+ ZOrder 84
+ SrcBlock "Demux1"
SrcPort 1
- Points [50, 0]
- DstBlock "3D Graphical Simulation1"
- DstPort 1
+ DstBlock "Controller"
+ DstPort 8
}
Line {
- ZOrder 212
- SrcBlock "E_ro"
+ ZOrder 86
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 9
+ }
+ Line {
+ ZOrder 90
+ SrcBlock "Demux4"
SrcPort 1
- Points [196, 0]
- Branch {
- ZOrder 331
- Points [0, 120]
- DstBlock "3D Graphical Simulation"
- DstPort 1
- }
- Branch {
- ZOrder 304
- DstBlock "\n\n "
- DstPort 1
- }
+ DstBlock "Controller"
+ DstPort 11
+ }
+ Line {
+ ZOrder 91
+ SrcBlock "Demux4"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 12
+ }
+ Line {
+ ZOrder 93
+ SrcBlock "Demux4"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 13
}
Line {
- ZOrder 305
+ ZOrder 94
SrcBlock "Demux"
+ SrcPort 4
+ DstBlock "Controller"
+ DstPort 4
+ }
+ Line {
+ ZOrder 95
+ SrcBlock "Demux1"
SrcPort 3
- Points [23, 0; 0, -55]
- DstBlock "\n\n "
- DstPort 2
+ DstBlock "Controller"
+ DstPort 10
}
Line {
- ZOrder 290
- SrcBlock "First-Order\nHold1"
+ ZOrder 131
+ SrcBlock "Controller"
+ SrcPort 3
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 205
+ SrcBlock "Counter\nFree-Running"
SrcPort 1
- Points [30, 0; 0, -30]
- DstBlock "3D Graphical Simulation1"
- DstPort 2
+ DstBlock "MATLAB Function1"
+ DstPort 14
}
Line {
- ZOrder 333
- SrcBlock "Demux1"
+ ZOrder 235
+ SrcBlock "Constant"
SrcPort 1
- DstBlock "Mux"
- DstPort 1
+ Points [43, 0; 0, -45]
+ DstBlock "MATLAB Function1"
+ DstPort 15
}
Line {
- ZOrder 334
- SrcBlock "Demux1"
- SrcPort 2
- DstBlock "Mux"
+ ZOrder 501
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "Signal Mixer"
DstPort 2
}
Line {
- ZOrder 335
- SrcBlock "\n\n "
- SrcPort 2
- Points [195, 0; 0, -345]
- DstBlock "Mux"
+ ZOrder 500
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "Signal Mixer"
DstPort 3
}
Line {
- ZOrder 336
- SrcBlock "Mux"
+ ZOrder 499
+ SrcBlock "Sum3"
SrcPort 1
- Points [21, 0]
- Branch {
- ZOrder 339
- Points [0, 150]
- DstBlock "First-Order\nHold"
- DstPort 1
- }
- Branch {
- ZOrder 338
- DstBlock "euler_angles_filtered"
- DstPort 1
- }
+ DstBlock "Signal Mixer"
+ DstPort 4
+ }
+ Line {
+ ZOrder 495
+ SrcBlock "Throttle Command Input"
+ SrcPort 1
+ DstBlock "Signal Mixer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 519
+ SrcBlock "Controller"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 520
+ SrcBlock "height_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum"
+ DstPort 2
}
Line {
- ZOrder 306
- SrcBlock "\n\n "
+ ZOrder 521
+ SrcBlock "Motor Commands"
SrcPort 1
- Points [70, 0]
+ Points [42, 0]
Branch {
- ZOrder 341
- Points [0, -80]
- DstBlock "First-Order\nHold1"
+ ZOrder 540
+ Points [0, 50]
+ DstBlock "Demux3"
DstPort 1
}
Branch {
- ZOrder 340
- DstBlock "current_position"
+ ZOrder 539
+ DstBlock "P"
DstPort 1
}
}
- }
- }
- Block {
- BlockType SubSystem
- Name " \n"
- SID "583"
- Ports [4, 4]
- Position [895, 478, 1075, 712]
- ZOrder 65
- RequestExecContextInheritance off
- Variant off
- Object {
- $PropName "MaskObject"
- $ObjectID 42
- $ClassName "Simulink.Mask"
- 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 b240f0dcb..c4f3a1f36 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 b1442f2a4..000000000
--- 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
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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 ec82bdd63..000000000
--- 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 b824bc492..000000000
--- 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/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 57f63efc7..000000000
--- 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 4286ef724..000000000
--- 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
GIT binary patch
literal 0
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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 5aad425d0..000000000
--- 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;
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deleted file mode 100644
index 4e712c275..000000000
--- a/controls/model/loggingAnalysis/slprj/_sfprj/test_model/_self/sfun/src/rtwtypes.h
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-#define RTWTYPES_H
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-#include "simstruc_types.h"
-#ifndef POINTER_T
-# define POINTER_T
-
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-
-#endif
-
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-# ifndef false
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-# endif
-
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-# endif
-#endif
-
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-#define INT64_T
-
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-
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-
-#ifndef UINT64_T
-#define UINT64_T
-
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-
-#endif
-
-/*===========================================================================*
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- *===========================================================================*/
-#ifndef CINT64_T
-#define CINT64_T
-
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-} cint64_T;
-
-#endif
-
-#ifndef CUINT64_T
-#define CUINT64_T
-
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- uint64_T im;
-} cuint64_T;
-
-#endif
-#endif /* RTWTYPES_H */
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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 718fd6ff8..000000000
--- 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 37a282f37..000000000
--- 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 7f268eea6..000000000
--- 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 5670253ff..000000000
--- 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 6b339f36e..000000000
--- 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
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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 bd991d4b8..000000000
--- 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 6bcda9213..000000000
--- 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
GIT binary patch
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diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 42bf4b89f..20dad9510 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
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--
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