From 7200e73fe225e704fc26d46a959d03dc310a9db5 Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Wed, 8 Feb 2017 12:08:00 -0600
Subject: [PATCH] Added a R2015A version of the development model
---
controls/model/test_model_R2015A.mdl | 12335 +++++++++++++++++++++++++
1 file changed, 12335 insertions(+)
create mode 100644 controls/model/test_model_R2015A.mdl
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
new file mode 100644
index 000000000..bdec86fe7
--- /dev/null
+++ b/controls/model/test_model_R2015A.mdl
@@ -0,0 +1,12335 @@
+Model {
+ Name "test_model_R2015A"
+ Version 8.5
+ SavedCharacterEncoding "windows-1252"
+ GraphicalInterface {
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+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.1926"
+ NumModelReferences 0
+ NumTestPointedSignals 0
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+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime on
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+ DataTypeOverride "UseLocalSettings"
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+ Created "Thu Nov 03 18:34:52 2016"
+ Creator "Andy"
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+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ ShowSaturationPort off
+ ShowStatePort off
+ IgnoreLimit off
+ StateMustResolveToSignalObject off
+ RTWStateStorageClass "Auto"
+ }
+ Block {
+ BlockType Gain
+ Gain "1"
+ Multiplication "Element-wise(K.*u)"
+ ParamMin "[]"
+ ParamMax "[]"
+ ParamDataTypeStr "Inherit: Same as input"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Ground
+ }
+ Block {
+ BlockType Inport
+ Port "1"
+ OutputFunctionCall off
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ LatchByDelayingOutsideSignal off
+ LatchInputForFeedbackSignals off
+ Interpolate on
+ }
+ Block {
+ BlockType Integrator
+ ExternalReset "none"
+ InitialConditionSource "internal"
+ InitialCondition "0"
+ LimitOutput off
+ UpperSaturationLimit "inf"
+ LowerSaturationLimit "-inf"
+ WrapState off
+ WrappedStateUpperValue "pi"
+ WrappedStateLowerValue "-pi"
+ ShowSaturationPort off
+ ShowStatePort off
+ AbsoluteTolerance "auto"
+ IgnoreLimit off
+ ZeroCross on
+ ContinuousStateAttributes "''"
+ }
+ Block {
+ BlockType Mux
+ Inputs "4"
+ DisplayOption "none"
+ UseBusObject off
+ BusObject "BusObject"
+ NonVirtualBus off
+ }
+ Block {
+ BlockType Outport
+ Port "1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ SourceOfInitialOutputValue "Dialog"
+ OutputWhenDisabled "held"
+ InitialOutput "[]"
+ }
+ Block {
+ BlockType Quantizer
+ QuantizationInterval "0.5"
+ LinearizeAsGain on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType RandomNumber
+ Mean "0"
+ Variance "1"
+ Seed "0"
+ SampleTime "-1"
+ VectorParams1D on
+ }
+ Block {
+ BlockType RateTransition
+ Integrity on
+ Deterministic on
+ X0 "0"
+ OutPortSampleTimeOpt "Specify"
+ OutPortSampleTimeMultiple "1"
+ OutPortSampleTime "-1"
+ }
+ Block {
+ BlockType S-Function
+ FunctionName "system"
+ 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
+ }
+ Block {
+ BlockType Step
+ Time "1"
+ Before "0"
+ After "1"
+ SampleTime "-1"
+ VectorParams1D on
+ ZeroCross on
+ }
+ Block {
+ BlockType SubSystem
+ ShowPortLabels "FromPortIcon"
+ Permissions "ReadWrite"
+ PermitHierarchicalResolution "All"
+ TreatAsAtomicUnit off
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ SystemSampleTime "-1"
+ RTWSystemCode "Auto"
+ RTWFcnNameOpts "Auto"
+ RTWFileNameOpts "Auto"
+ FunctionInterfaceSpec "void_void"
+ FunctionWithSeparateData off
+ RTWMemSecFuncInitTerm "Inherit from model"
+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ SimViewingDevice off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ Opaque off
+ MaskHideContents off
+ SFBlockType "NONE"
+ GeneratePreprocessorConditionals off
+ PropagateVariantConditions off
+ TreatAsGroupedWhenPropagatingVariantConditions on
+ ContentPreviewEnabled off
+ IsWebBlock off
+ }
+ Block {
+ BlockType Sum
+ IconShape "rectangular"
+ Inputs "++"
+ CollapseMode "All dimensions"
+ CollapseDim "1"
+ InputSameDT on
+ AccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as first input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Terminator
+ }
+ Block {
+ BlockType ZeroOrderHold
+ SampleTime "1"
+ }
+ }
+ System {
+ Name "test_model_R2015A"
+ 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"
+ ReportName "simulink-default.rpt"
+ SIDHighWatermark "864"
+ Block {
+ BlockType SubSystem
+ Name " Sensors "
+ SID "650"
+ Ports [6, 3]
+ Position [1300, 422, 1520, 658]
+ ZOrder 73
+ ShowName off
+ Commented "on"
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 22
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
+ "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
+ "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
+ "', 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 " Sensors "
+ 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 "100"
+ Block {
+ BlockType Inport
+ Name "B_Omega"
+ SID "651"
+ Position [1015, 678, 1045, 692]
+ ZOrder 265
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "652"
+ Position [1720, 1043, 1750, 1057]
+ ZOrder 266
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo"
+ SID "653"
+ Position [1015, 613, 1045, 627]
+ ZOrder 267
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "E_ro"
+ SID "654"
+ Position [1720, 963, 1750, 977]
+ ZOrder 268
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo_dot"
+ SID "655"
+ Position [1015, 548, 1045, 562]
+ ZOrder 269
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_g"
+ SID "656"
+ Position [1015, 743, 1045, 757]
+ ZOrder 273
+ Port "6"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "3D Graphical Simulation"
+ SID "698"
+ Ports [2]
+ Position [2005, 1075, 2155, 1135]
+ ZOrder 287
+ Commented "on"
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 23
+ $ClassName "Simulink.Mask"
+ Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
+ }
+ System {
+ Name "3D Graphical Simulation"
+ Location [-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 "100"
+ Block {
+ BlockType Inport
+ Name "Displacement"
+ SID "699"
+ Position [110, 218, 140, 232]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Euler Angles"
+ SID "700"
+ Position [125, 108, 155, 122]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ 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 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 "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ 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 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"
+ }
+ }
+ 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 test_model_R2015A 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 "Bus\nCreator2"
+ SrcPort 1
+ DstBlock "Bus\nSelector"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [40, 0; 0, 40; 120, 0]
+ DstBlock "Bus\nCreator1"
+ DstPort 3
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "Gain"
+ SrcPort 1
+ Points [5, 0; 0, -25]
+ DstBlock "Bus\nCreator1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "Gain2"
+ SrcPort 1
+ DstBlock "Bus\nCreator1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 6
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [35, 0; 0, -35]
+ DstBlock "VR Sink"
+ DstPort 2
+ }
+ Line {
+ ZOrder 7
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "VR Sink"
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [80, 0]
+ DstBlock "Gain2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 10
+ SrcBlock "Bus\nCreator1"
+ SrcPort 1
+ DstBlock "Gain1"
+ DstPort 1
+ }
+ Line {
+ Name "<phi>"
+ ZOrder 11
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 1
+ Points [0, -10; 45, 0; 0, 60]
+ DstBlock "Bus\nCreator"
+ DstPort 3
+ }
+ Line {
+ Name "<psi>"
+ ZOrder 12
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 3
+ Points [0, -10; 75, 0]
+ DstBlock "Bus\nCreator"
+ DstPort 2
+ }
+ Line {
+ Name "<theta>"
+ ZOrder 13
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 2
+ Points [30, 0; 0, -25]
+ DstBlock "Bus\nCreator"
+ DstPort 1
+ }
+ Line {
+ ZOrder 14
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Line {
+ Name "psi"
+ ZOrder 15
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Bus\nCreator2"
+ DstPort 3
+ }
+ Line {
+ Name "theta"
+ ZOrder 16
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Bus\nCreator2"
+ DstPort 2
+ }
+ Line {
+ Name "phi"
+ ZOrder 17
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Bus\nCreator2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock "Euler Angles"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 19
+ SrcBlock "Bus\nCreator"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 20
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "3D Graphical Simulation1"
+ SID "714"
+ Ports [2]
+ Position [2635, 815, 2785, 875]
+ ZOrder 290
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 24
+ $ClassName "Simulink.Mask"
+ Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
+ }
+ System {
+ Name "3D Graphical Simulation1"
+ 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 "100"
+ Block {
+ BlockType Inport
+ Name "Euler Angles\n"
+ SID "715"
+ Position [180, 108, 210, 122]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Displacement"
+ SID "716"
+ Position [180, 218, 210, 232]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ 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 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 "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "721"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ 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 "theta"
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+ Display "port_label('input', 1, 'Rotor Duty Cycles', 'texmode', 'on');\nport_label('output', 1, '^{B}Omega', 'texmo"
+ "de', 'on');\nport_label('output', 2, '\\Theta', 'texmode', 'on');\nport_label('output', 3, '^{B}v_o', 'texmode', 'on'"
+ ");\nport_label('output', 4, '^{E}r_o', 'texmode', 'on');\nport_label('output', 5, '^{B}dv_o/dt', 'texmode', 'on');\np"
+ "ort_label('output', 6, '^{B}g', 'texmode', 'on');\ndisp('Actuation', 'texmode', 'on'); "
+ }
+ System {
+ Name "Actuation"
+ 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 "60"
+ Block {
+ BlockType Inport
+ Name "Rotor Duty Cycles"
+ SID "437"
+ Position [-20, 393, 10, 407]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Aeb\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ SID "446"
+ Ports [2, 1]
+ Position [1395, 303, 1630, 452]
+ ZOrder 81
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 34
+ $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 "Aeb\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"
+ SIDHighWatermark "25"
+ Block {
+ BlockType Inport
+ Name "B_omega"
+ SID "446::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "446::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "446::24"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 15
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "446::23"
+ Tag "Stateflow S-Function test_model_R2015A 7"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 14
+ FunctionName "sf_sfun"
+ PortCounts "[2 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "euler_rates"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "446::25"
+ Position [460, 241, 480, 259]
+ ZOrder 16
+ }
+ Block {
+ BlockType Outport
+ Name "euler_rates"
+ SID "446::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "B_omega"
+ SrcPort 1
+ Points [120, 0]
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "euler_angles"
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+ DstBlock " SFunction "
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+ Line {
+ Name "euler_rates"
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+ Labels [0, 0]
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+ DstBlock "euler_rates"
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+ Line {
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+ }
+ Block {
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+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "x position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 2
+ Name "y position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "z position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "450"
+ Ports [1, 3]
+ Position [1830, 301, 1835, 349]
+ ZOrder 109
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Roll"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Pitch"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "Yaw"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Demux
+ Name "Demux3"
+ SID "451"
+ Ports [1, 3]
+ Position [1830, 406, 1835, 454]
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+ ShowName off
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+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body x velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 2
+ Name "Body y velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ Port {
+ PortNumber 3
+ Name "Body z velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "452"
+ Ports [1, 3]
+ Position [1830, 161, 1835, 209]
+ ZOrder 115
+ ShowName off
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+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body roll velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body pitch velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body yaw velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux5"
+ SID "453"
+ Ports [1, 3]
+ Position [1830, 641, 1835, 689]
+ ZOrder 119
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body x acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body y acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body z acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "ESC System"
+ SID "442"
+ Ports [1, 1]
+ Position [55, 282, 290, 518]
+ ZOrder 36
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
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+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
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+ $ObjectID 35
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
+ "texmode', 'on');\ndisp('ESC System');"
+ }
+ System {
+ Name "ESC System"
+ 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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+ ShowPageBoundaries off
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+ BlockType Inport
+ Name "rotor_duty_cycles"
+ SID "442::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "442::36"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 17
+ Outputs "1"
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+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "442::35"
+ Tag "Stateflow S-Function test_model_R2015A 4"
+ Ports [1, 2]
+ Position [180, 105, 230, 165]
+ ZOrder 16
+ FunctionName "sf_sfun"
+ Parameters "Pmax,Pmin,Vb"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "Vb_eff"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "442::37"
+ Position [460, 241, 480, 259]
+ ZOrder 18
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+ Block {
+ BlockType Outport
+ Name "Vb_eff"
+ SID "442::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "rotor_duty_cycles"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ Name "Vb_eff"
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+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "Vb_eff"
+ DstPort 1
+ }
+ Line {
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+ DstPort 1
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+ Line {
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+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
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+ Block {
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+ Name "Gravity\n\n"
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+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
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+ $ObjectID 36
+ $ClassName "Simulink.Mask"
+ Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
+ }
+ System {
+ Name "Gravity\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
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+ Name " Demux "
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+ Position [270, 230, 320, 270]
+ ZOrder 19
+ Outputs "1"
+ }
+ Block {
+ BlockType Ground
+ Name " Ground "
+ SID "443::30"
+ Position [20, 121, 40, 139]
+ ZOrder 21
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "443::27"
+ Tag "Stateflow S-Function test_model_R2015A 1"
+ Ports [1, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 18
+ FunctionName "sf_sfun"
+ Parameters "g,m"
+ PortCounts "[1 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
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+ PortNumber 2
+ Name "E_Fg"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
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+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
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+ Position [460, 241, 480, 259]
+ ZOrder 20
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+ Block {
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+ Name "E_Fg"
+ SID "443::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
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+ SrcBlock " SFunction "
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+ DstPort 1
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+ Block {
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+ Name "Integrator"
+ SID "454"
+ Ports [1, 1]
+ Position [730, 340, 760, 370]
+ ZOrder 49
+ InitialCondition "[omega_o, omega_o, omega_o, omega_o]"
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+ Block {
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+ Name "Integrator1"
+ SID "455"
+ Ports [1, 1]
+ Position [1225, 445, 1255, 475]
+ ZOrder 53
+ InitialCondition "[0; 0; 0]"
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+ Name "Integrator2"
+ SID "456"
+ Ports [1, 1]
+ Position [1225, 325, 1255, 355]
+ ZOrder 54
+ InitialCondition "[0; 0; 0]"
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+ Block {
+ BlockType Integrator
+ Name "Integrator3"
+ SID "457"
+ Ports [1, 1]
+ Position [1685, 590, 1715, 620]
+ ZOrder 98
+ InitialCondition "[0; 0; 0]"
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+ Block {
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+ Name "Integrator4"
+ SID "458"
+ Ports [1, 1]
+ Position [1685, 365, 1715, 395]
+ ZOrder 77
+ InitialCondition "[0; 0; 0]"
+ ContinuousStateAttributes "['phi' 'theta' 'psi']"
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+ Block {
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+ Name "Lbe\n\n\n\n\n\n"
+ SID "444"
+ Ports [2, 1]
+ Position [1395, 499, 1630, 706]
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+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 37
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
+ "');\nport_label('output', 1, '^Ev_o', 'texmode', 'on');\ndisp('L_{EB}', 'texmode', 'on');"
+ }
+ System {
+ Name "Lbe\n\n\n\n\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"
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+ ShowPageBoundaries off
+ ZoomFactor "100"
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+ Name "B_vo"
+ SID "444::24"
+ Position [20, 101, 40, 119]
+ ZOrder 15
+ IconDisplay "Port number"
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+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "444::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "444::30"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 21
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "444::29"
+ Tag "Stateflow S-Function test_model_R2015A 2"
+ Ports [2, 2]
+ Position [180, 100, 230, 160]
+ ZOrder 20
+ FunctionName "sf_sfun"
+ PortCounts "[2 2]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "E_ro"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "444::31"
+ Position [460, 241, 480, 259]
+ ZOrder 22
+ }
+ Block {
+ BlockType Outport
+ Name "E_ro"
+ SID "444::26"
+ Position [460, 101, 480, 119]
+ ZOrder 17
+ IconDisplay "Port number"
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+ Line {
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+ SrcBlock "B_vo"
+ SrcPort 1
+ Points [120, 0]
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+ Line {
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+ DstBlock " SFunction "
+ DstPort 2
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+ Line {
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+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "E_ro"
+ DstPort 1
+ }
+ Line {
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+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
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+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
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+ Name "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ SID "447"
+ Ports [2, 2]
+ Position [600, 694, 770, 816]
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+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 38
+ $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');"
+ }
+ System {
+ Name "Lbe\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
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+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
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+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
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+ Block {
+ BlockType Inport
+ Name "E_Fg"
+ SID "447::24"
+ Position [20, 101, 40, 119]
+ ZOrder 15
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "euler_angles"
+ SID "447::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "447::30"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 21
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "447::29"
+ Tag "Stateflow S-Function test_model_R2015A 8"
+ Ports [2, 3]
+ Position [180, 100, 230, 180]
+ ZOrder 20
+ FunctionName "sf_sfun"
+ Parameters "m"
+ PortCounts "[2 3]"
+ SFunctionDeploymentMode off
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "B_Fg"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "B_g"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "447::31"
+ Position [460, 241, 480, 259]
+ ZOrder 22
+ }
+ Block {
+ BlockType Outport
+ Name "B_Fg"
+ SID "447::26"
+ Position [460, 101, 480, 119]
+ ZOrder 17
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "B_g"
+ SID "447::32"
+ Position [460, 136, 480, 154]
+ ZOrder 23
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "E_Fg"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "euler_angles"
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+ DstBlock " SFunction "
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+ Line {
+ Name "B_Fg"
+ ZOrder 3
+ Labels [0, 0]
+ SrcBlock " SFunction "
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+ DstBlock "B_Fg"
+ DstPort 1
+ }
+ Line {
+ Name "B_g"
+ ZOrder 4
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "B_g"
+ DstPort 1
+ }
+ Line {
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+ SrcBlock " Demux "
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+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 6
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Motor System"
+ SID "441"
+ Ports [2, 1]
+ Position [420, 280, 640, 520]
+ ZOrder 48
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 39
+ $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"
+ }
+ System {
+ Name "Motor System"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "35"
+ Block {
+ BlockType Inport
+ Name "Vb_eff"
+ SID "441::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "angular_velocity"
+ SID "441::35"
+ Position [20, 136, 40, 154]
+ ZOrder 20
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "441::32"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 17
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "441::31"
+ Tag "Stateflow S-Function test_model_R2015A 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
+ Port {
+ PortNumber 2
+ Name "angular_acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "441::33"
+ Position [460, 241, 480, 259]
+ ZOrder 18
+ }
+ Block {
+ BlockType Outport
+ Name "angular_acceleration"
+ SID "441::23"
+ Position [460, 101, 480, 119]
+ ZOrder 14
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 33
+ SrcBlock "Vb_eff"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "angular_velocity"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ Name "angular_acceleration"
+ ZOrder 35
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "angular_acceleration"
+ DstPort 1
+ }
+ Line {
+ ZOrder 36
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 37
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Rotor System\n\n\n\n\n\n\n\n"
+ SID "758"
+ Ports [5, 2]
+ Position [945, 281, 1145, 519]
+ ZOrder 122
+ ShowName off
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ParametersOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 40
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '\\alpha', 'texmode', 'on');\nport_label('input', 2, '\\omega', 'texmode', '"
+ "on');\nport_label('input', 3, '^BF_g', 'texmode', 'on');\nport_label('input', 4, '^B\\Omega', 'texmode', 'on');\n"
+ "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 "Rotor System\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 "50"
+ Block {
+ BlockType Inport
+ Name "angular_acceleration"
+ SID "758::27"
+ Position [20, 101, 40, 119]
+ ZOrder 18
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "angular_velocity"
+ SID "758::28"
+ Position [20, 136, 40, 154]
+ ZOrder 19
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_Fg"
+ SID "758::47"
+ Position [20, 171, 40, 189]
+ ZOrder 20
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_omega"
+ SID "758::25"
+ Position [20, 206, 40, 224]
+ ZOrder 16
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "B_vo"
+ SID "758::24"
+ Position [20, 246, 40, 264]
+ ZOrder 15
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "758::49"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 22
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "758::48"
+ Tag "Stateflow S-Function test_model_R2015A 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
+ Port {
+ PortNumber 2
+ Name "B_omega_dot"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "B_vo_dot"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "758::50"
+ Position [460, 241, 480, 259]
+ ZOrder 23
+ }
+ Block {
+ BlockType Outport
+ Name "B_omega_dot"
+ SID "758::22"
+ Position [460, 101, 480, 119]
+ ZOrder 13
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "B_vo_dot"
+ SID "758::5"
+ Position [460, 136, 480, 154]
+ ZOrder -5
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "angular_acceleration"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "angular_velocity"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "B_Fg"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "B_omega"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "B_vo"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 5
+ }
+ Line {
+ Name "B_omega_dot"
+ ZOrder 6
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "B_omega_dot"
+ DstPort 1
+ }
+ Line {
+ Name "B_vo_dot"
+ ZOrder 7
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "B_vo_dot"
+ DstPort 1
+ }
+ Line {
+ ZOrder 8
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock " SFunction "
+ SrcPort 1
+ Points [20, 0]
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "459"
+ Ports [1]
+ Position [350, 279, 380, 311]
+ ZOrder 46
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData
+ YMin 5.92023
+ YMax 7.92023
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "460"
+ Ports [1]
+ Position [740, 229, 770, 261]
+ ZOrder 50
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
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+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData1
+ YMin -10513.81558
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+ List {
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+ axes1 "%<SignalLabel>"
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+ }
+ Location [1 76 1909 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope10"
+ SID "461"
+ Ports [3]
+ Position [1935, 303, 1975, 347]
+ ZOrder 108
+ NumInputPorts "3"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
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+ MaxDataPoints 5000
+ SaveToWorkspace off
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+ YMin -60.66007~-1.00000~-1.00000
+ YMax 18.5091~1.00000~1.00000
+ SampleInput off
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+ List {
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+ axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
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+ List {
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+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
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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 [1 76 1909 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope11"
+ SID "462"
+ Ports [3]
+ Position [1935, 163, 1975, 207]
+ ZOrder 114
+ NumInputPorts "3"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData3
+ YMin -3.00603~-1.00000~-1.00000
+ YMax 4.56766~1.00000~1.00000
+ SampleInput off
+ SampleTime -1
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+ List {
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope2"
+ SID "463"
+ Ports [1]
+ Position [890, 229, 920, 261]
+ ZOrder 51
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+ Open off
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+ YMin -88.20659
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+ Block {
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+ ZOrder 116
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
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+ Name "Scope4"
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+ Position [1935, 643, 1975, 687]
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+ SaveName ScopeData4
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+ YMax 1049.2638~1049.2638~1049.2638
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+ List {
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+ axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
+ }
+ List {
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+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
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+ Name "Scope6"
+ SID "466"
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+ Position [1935, 528, 1975, 572]
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+ }
+ Location [1 76 1921 1039]
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+ Block {
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+ Name "B_omega"
+ SID "471"
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+ ZOrder 61
+ IconDisplay "Port number"
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+ Block {
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+ Name "euler_angles"
+ SID "472"
+ Position [1870, 373, 1900, 387]
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+ Port "2"
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+ Block {
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+ Position [1815, 468, 1845, 482]
+ ZOrder 58
+ Port "3"
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+ Name "E_ro"
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+ SID "475"
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+ Block {
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+ SID "476"
+ Position [1830, 778, 1860, 792]
+ ZOrder 104
+ Port "6"
+ IconDisplay "Port number"
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+ Line {
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+ Points [23, 0; 0, -59]
+ Branch {
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+ ZOrder 43
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum4"
+ SID "603"
+ Ports [2, 1]
+ Position [490, 400, 510, 420]
+ ZOrder 44
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum5"
+ SID "618"
+ Ports [2, 1]
+ Position [215, 400, 235, 420]
+ ZOrder 56
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum6"
+ SID "619"
+ Ports [2, 1]
+ Position [210, 245, 230, 265]
+ ZOrder 57
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum7"
+ SID "620"
+ Ports [2, 1]
+ Position [210, 125, 230, 145]
+ ZOrder 58
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum8"
+ SID "648"
+ Ports [2, 1]
+ Position [210, 550, 230, 570]
+ ZOrder 104
+ ShowName off
+ IconShape "round"
+ Inputs "|+-"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Outport
+ Name "height_controlled"
+ SID "606"
+ Position [655, 128, 685, 142]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "y_controlled"
+ SID "636"
+ Position [655, 248, 685, 262]
+ ZOrder 74
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "x_controlled"
+ SID "637"
+ Position [655, 403, 685, 417]
+ ZOrder 75
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "yaw_controlled"
+ SID "638"
+ Position [655, 553, 685, 567]
+ ZOrder 76
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 283
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "PID Controller2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 43
+ SrcBlock "pitch"
+ SrcPort 1
+ Points [9, 0]
+ Branch {
+ ZOrder 233
+ Points [0, 25]
+ DstBlock "Scope7"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 232
+ Points [1, 0]
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 42
+ SrcBlock "roll"
+ SrcPort 1
+ Points [15, 0]
+ Branch {
+ ZOrder 218
+ DstBlock "Scope4"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 215
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 48
+ SrcBlock "pitch_rate"
+ SrcPort 1
+ Points [40, 0]
+ Branch {
+ ZOrder 229
+ DstBlock "Sum4"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 228
+ Points [0, 25]
+ DstBlock "Scope6"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 47
+ SrcBlock "roll_rate"
+ SrcPort 1
+ Points [40, 0]
+ Branch {
+ ZOrder 123
+ Points [0, 30]
+ DstBlock "Scope3"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 122
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 49
+ SrcBlock "yaw_rate"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 173
+ Points [0, 50]
+ DstBlock "Scope"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 87
+ DstBlock "Sum"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 26
+ SrcBlock "z_setpoint"
+ SrcPort 1
+ DstBlock "Sum7"
+ DstPort 1
+ }
+ Line {
+ ZOrder 28
+ SrcBlock "y_setpoint"
+ SrcPort 1
+ DstBlock "Sum6"
+ DstPort 1
+ }
+ Line {
+ ZOrder 31
+ SrcBlock "x_position"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 237
+ DstBlock "Sum5"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 236
+ Points [0, 25]
+ DstBlock "Scope8"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 32
+ SrcBlock "x_setpoint"
+ SrcPort 1
+ DstBlock "Sum5"
+ DstPort 1
+ }
+ Line {
+ ZOrder 33
+ SrcBlock "y_position"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ ZOrder 241
+ Points [0, 30]
+ DstBlock "Scope5"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 128
+ DstBlock "Sum6"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "z_position"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 108
+ DstBlock "Scope2"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 107
+ DstBlock "Sum7"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 100
+ SrcBlock "yaw"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ ZOrder 172
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 102
+ DstBlock "Sum8"
+ DstPort 2
+ }
+ }
+ Line {
+ ZOrder 98
+ SrcBlock "yaw_setpoint"
+ SrcPort 1
+ DstBlock "Sum8"
+ DstPort 1
+ }
+ Line {
+ ZOrder 207
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "PID Controller5"
+ DstPort 1
+ }
+ Line {
+ ZOrder 212
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "PID Controller8"
+ DstPort 1
+ }
+ Line {
+ ZOrder 216
+ SrcBlock "PID Controller5"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 243
+ SrcBlock "PID Controller9"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 244
+ SrcBlock "Sum6"
+ SrcPort 1
+ DstBlock "PID Controller9"
+ DstPort 1
+ }
+ Line {
+ ZOrder 247
+ SrcBlock "Sum5"
+ SrcPort 1
+ DstBlock "PID Controller1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 281
+ SrcBlock "Sum7"
+ SrcPort 1
+ DstBlock "PID Controller11"
+ DstPort 1
+ }
+ Line {
+ ZOrder 285
+ SrcBlock "Sum8"
+ SrcPort 1
+ DstBlock "PID Controller10"
+ DstPort 1
+ }
+ Line {
+ ZOrder 349
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "PID Controller4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 388
+ SrcBlock "Sum4"
+ SrcPort 1
+ DstBlock "PID Controller7"
+ DstPort 1
+ }
+ Line {
+ ZOrder 401
+ SrcBlock "PID Controller10"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 404
+ SrcBlock "PID Controller7"
+ SrcPort 1
+ DstBlock "x_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 408
+ SrcBlock "PID Controller4"
+ SrcPort 1
+ DstBlock "Sum4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 409
+ SrcBlock "PID Controller1"
+ SrcPort 1
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "586"
+ Ports [1, 4]
+ Position [300, 309, 305, 406]
+ ZOrder 13
+ ShowName off
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "639"
+ Ports [1, 3]
+ Position [300, 484, 305, 556]
+ ZOrder 32
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "588"
+ Ports [1, 3]
+ Position [285, 409, 290, 481]
+ ZOrder 15
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "640"
+ Ports [1, 3]
+ Position [275, 559, 280, 631]
+ ZOrder 33
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType SubSystem
+ Name "MATLAB Function"
+ SID "647"
+ Ports [4, 1]
+ Position [715, 308, 915, 632]
+ ZOrder 35
+ 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 "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 test_model_R2015A 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 "motorCommands"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "647::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "motorCommands"
+ 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
+ }
+ 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 "motorCommands"
+ ZOrder 109
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "motorCommands"
+ DstPort 1
+ }
+ Line {
+ ZOrder 110
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 111
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation"
+ SID "756"
+ Ports [1, 1]
+ Position [960, 455, 990, 485]
+ ZOrder 44
+ InputPortMap "u0"
+ UpperLimit "Pmax*ones(4,1)"
+ LowerLimit "Pmin*ones(4,1)"
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "794"
+ Ports [1]
+ Position [1080, 564, 1110, 596]
+ ZOrder 46
+ NumInputPorts "1"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends off
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData4
+ YMin 87500.00000
+ YMax 212500.00000
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ Location [1 76 1921 1039]
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ SID "748"
+ Ports [2, 1]
+ Position [655, 340, 675, 360]
+ ZOrder 36
+ ShowName 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 [655, 420, 675, 440]
+ 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 [655, 500, 675, 520]
+ 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 [655, 580, 675, 600]
+ ZOrder 39
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Constant
+ Name "height_controlled_o"
+ SID "752"
+ Position [605, 375, 635, 405]
+ ZOrder 40
+ Value "height_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "x_controlled_o"
+ SID "754"
+ Position [605, 535, 635, 565]
+ ZOrder 42
+ Value "x_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "y_controlled_o"
+ SID "753"
+ Position [605, 455, 635, 485]
+ ZOrder 41
+ Value "y_controlled_o"
+ }
+ Block {
+ BlockType Constant
+ Name "yaw_controlled_o"
+ SID "755"
+ Position [605, 620, 635, 650]
+ ZOrder 43
+ Value "yaw_controlled_o"
+ }
+ Block {
+ BlockType Outport
+ Name "Motor Commands"
+ SID "578"
+ Position [1055, 463, 1085, 477]
+ ZOrder -2
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "setpoints"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ ZOrder 30
+ SrcBlock "euler_angles_filtered"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "current_position"
+ SrcPort 1
+ DstBlock "Demux2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 34
+ SrcBlock "euler_rates"
+ SrcPort 1
+ DstBlock "Demux4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 27
+ SrcBlock "Demux"
+ SrcPort 1
+ 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 40
+ SrcBlock "Demux2"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 5
+ }
+ Line {
+ ZOrder 41
+ SrcBlock "Demux2"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 6
+ }
+ Line {
+ ZOrder 42
+ SrcBlock "Demux2"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 7
+ }
+ Line {
+ ZOrder 68
+ SrcBlock "Controller"
+ SrcPort 2
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 69
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 2
+ }
+ Line {
+ ZOrder 71
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 3
+ }
+ Line {
+ ZOrder 72
+ SrcBlock "Controller"
+ SrcPort 4
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Line {
+ ZOrder 73
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 4
+ }
+ Line {
+ ZOrder 74
+ SrcBlock "Controller"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 75
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 77
+ SrcBlock "y_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 78
+ SrcBlock "x_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ Line {
+ ZOrder 79
+ SrcBlock "yaw_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ Line {
+ ZOrder 80
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "Saturation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 81
+ SrcBlock "Saturation"
+ SrcPort 1
+ Points [21, 0]
+ Branch {
+ ZOrder 122
+ Points [0, 110]
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 121
+ DstBlock "Motor Commands"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 84
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 8
+ }
+ Line {
+ ZOrder 86
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Controller"
+ DstPort 9
+ }
+ Line {
+ ZOrder 90
+ SrcBlock "Demux4"
+ SrcPort 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 94
+ SrcBlock "Demux"
+ SrcPort 4
+ DstBlock "Controller"
+ DstPort 4
+ }
+ Line {
+ ZOrder 95
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Controller"
+ DstPort 10
+ }
+ Line {
+ ZOrder 131
+ SrcBlock "Controller"
+ SrcPort 3
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 133
+ SrcBlock "height_controlled_o"
+ SrcPort 1
+ Points [25, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ }
+ }
+ Line {
+ 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 186
+ SrcBlock "Actuation"
+ SrcPort 2
+ Points [9, 0; 0, 192; -583, 0; 0, -162]
+ DstBlock "Control System"
+ DstPort 2
+ }
+ Line {
+ ZOrder 187
+ SrcBlock "Actuation"
+ SrcPort 1
+ Points [2, 0; 0, 246; -590, 0; 0, -121]
+ DstBlock "Control System"
+ DstPort 3
+ }
+ Line {
+ ZOrder 188
+ SrcBlock "Actuation"
+ SrcPort 4
+ Points [23, 0; 0, 140; -604, 0; 0, -80]
+ DstBlock "Control System"
+ DstPort 4
+ }
+ }
+}
+#Finite State Machines
+#
+# Stateflow 80000010
+#
+#
+Stateflow {
+ machine {
+ id 1
+ name "test_model_R2015A"
+ created "03-Nov-2016 18:34:53"
+ isLibrary 0
+ sfVersion 80000006
+ firstTarget 145
+ }
+ 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
+ }
+ 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
+ }
+ 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]
+ }
+ dst {
+ id 15
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 10
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 10
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ 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"
+ }
+ 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]"
+ }
+ }
+ 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
+ }
+ 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
+ }
+ 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]
+ }
+ dst {
+ id 22
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ 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]
+ }
+ instance {
+ id 24
+ machine 1
+ name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ chart 18
+ }
+ chart {
+ id 25
+ machine 1
+ 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 26 0 0]
+ viewObj 25
+ ssIdHighWaterMark 18
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 4
+ disableImplicitCasting 1
+ eml {
+ name "ESC"
+ }
+ firstData 27
+ firstTransition 33
+ firstJunction 32
+ }
+ 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_duty_cycles, Pmin, Pmax, Vb)\n\nrotor_0_duty_cycle = rotor_duty_cyc"
+ "les(1);\nrotor_1_duty_cycle = rotor_duty_cycles(2);\nrotor_2_duty_cycle = rotor_duty_cycles(3);\nrotor_3_duty_cy"
+ "cle = rotor_duty_cycles(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 = (rotor_0_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P1 = (rotor_1_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P"
+ "2 = (rotor_2_duty_cycle - Pmin) / (Pmax - Pmin);\nu_P3 = (rotor_3_duty_cycle - Pmin) / (Pmax - Pmin);\n\n\n% Det"
+ "ermine the effective battery voltage from each ESC\nVb_eff_0 = u_P0 * Vb;\nVb_eff_1 = u_P1 * Vb;\nVb_eff_2 = u_P"
+ "2 * 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 27
+ ssIdNumber 4
+ name "rotor_duty_cycles"
+ 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 "Vb_eff"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "1,4"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [25 27 29]
+ }
+ data {
+ id 29
+ ssIdNumber 16
+ name "Pmin"
+ 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 [25 28 30]
+ }
+ data {
+ id 30
+ ssIdNumber 17
+ name "Pmax"
+ 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 [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 32
+ position [23.5747 49.5747 7]
+ chart 25
+ subviewer 25
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [25 0 0]
+ }
+ transition {
+ id 33
+ 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 32
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 25
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 25
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [25 0 0]
+ }
+ instance {
+ id 34
+ machine 1
+ name "Actuation/ESC System"
+ chart 25
+ }
+ chart {
+ id 35
+ machine 1
+ 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 36 0 0]
+ viewObj 35
+ ssIdHighWaterMark 16
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 5
+ disableImplicitCasting 1
+ eml {
+ name "motor"
+ }
+ firstData 37
+ firstTransition 47
+ firstJunction 46
+ }
+ state {
+ id 36
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 35
+ treeNode [35 0 0 0]
+ superState SUBCHART
+ subviewer 35
+ 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% De"
+ "fine each motors effective battery voltage\nVb_eff_0 = Vb_eff(1);\nVb_eff_1 = Vb_eff(2);\nVb_eff_2 = Vb_eff(3);\n"
+ "Vb_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% w_0 = (-1 + sqrt(1 - "
+ "4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_0)))/2*Rm*Kv*Kq*Kd;\n% w_1 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_"
+ "eff_1)))/2*Rm*Kv*Kq*Kd;\n% w_2 = (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_2)))/2*Rm*Kv*Kq*Kd;\n% w_3 ="
+ " (-1 + sqrt(1 - 4*Rm*Kv*Kq*Kd*(Kv*Rm*If - Kv*Vb_eff_3)))/2*Rm*Kv*Kq*Kd;\n% angular_velocity = [w_0, w_1, w_2, w_"
+ "3];\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/(J"
+ "req*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_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\n\n\nangular_acceleration = [w_0_dot, w_1_dot, w_2_dot, w_3_dot]; "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ 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 "angular_velocity"
+ 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 [35 37 39]
+ }
+ data {
+ id 39
+ ssIdNumber 7
+ name "angular_acceleration"
+ 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 "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 {
+ 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 43 45]
+ }
+ data {
+ id 45
+ ssIdNumber 14
+ name "Jreq"
+ 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 [35 44 0]
+ }
+ junction {
+ id 46
+ position [23.5747 49.5747 7]
+ chart 35
+ subviewer 35
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [35 0 0]
+ }
+ transition {
+ id 47
+ 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 46
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 35
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 35
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [35 0 0]
+ }
+ instance {
+ id 48
+ machine 1
+ name "Actuation/Motor System"
+ chart 35
+ }
+ chart {
+ id 49
+ machine 1
+ 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 50 0 0]
+ viewObj 49
+ ssIdHighWaterMark 30
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 6
+ disableImplicitCasting 1
+ eml {
+ name "rotor"
+ }
+ firstData 51
+ firstTransition 69
+ firstJunction 68
+ }
+ state {
+ id 50
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 49
+ treeNode [49 0 0 0]
+ superState SUBCHART
+ subviewer 49
+ 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"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 51
+ ssIdNumber 6
+ name "B_omega_dot"
+ 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 [49 0 52]
+ }
+ data {
+ id 52
+ ssIdNumber 10
+ name "angular_acceleration"
+ 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 51 53]
+ }
+ data {
+ id 53
+ ssIdNumber 11
+ name "angular_velocity"
+ 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]
+ }
+ 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
+ }
+ 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
+ }
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [49 55 57]
+ }
+ data {
+ id 57
+ 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 [49 56 58]
+ }
+ data {
+ id 58
+ ssIdNumber 12
+ name "m"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 6
+ 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 57 59]
+ }
+ 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 60
+ ssIdNumber 13
+ name "Kd"
+ 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 [49 59 61]
+ }
+ data {
+ id 61
+ ssIdNumber 15
+ name "rhx"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 7
+ 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 60 62]
+ }
+ data {
+ id 62
+ ssIdNumber 16
+ name "rhy"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 8
+ 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 61 63]
+ }
+ data {
+ id 63
+ ssIdNumber 17
+ name "rhz"
+ scope PARAMETER_DATA
+ paramIndexForInitFromWorkspace 9
+ 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 62 64]
+ }
+ data {
+ id 64
+ ssIdNumber 18
+ name "Jreq"
+ 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 [49 63 65]
+ }
+ data {
+ id 65
+ ssIdNumber 19
+ name "Jxx"
+ 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 [49 64 66]
+ }
+ data {
+ id 66
+ ssIdNumber 20
+ name "Jyy"
+ 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 [49 65 67]
+ }
+ data {
+ id 67
+ ssIdNumber 21
+ name "Jzz"
+ 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 [49 66 0]
+ }
+ junction {
+ id 68
+ position [23.5747 49.5747 7]
+ chart 49
+ subviewer 49
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [49 0 0]
+ }
+ transition {
+ id 69
+ 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 68
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 49
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 49
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [49 0 0]
+ }
+ instance {
+ id 70
+ machine 1
+ name "Actuation/Rotor System\n\n\n\n\n\n\n\n"
+ chart 49
+ }
+ chart {
+ id 71
+ machine 1
+ 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 72 0 0]
+ viewObj 71
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 7
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 73
+ firstTransition 77
+ firstJunction 76
+ }
+ state {
+ id 72
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 71
+ treeNode [71 0 0 0]
+ superState SUBCHART
+ subviewer 71
+ 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 "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 73
+ ssIdNumber 4
+ name "B_omega"
+ 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 [71 0 74]
+ }
+ data {
+ id 74
+ ssIdNumber 5
+ name "euler_rates"
+ 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 [71 73 75]
+ }
+ data {
+ id 75
+ ssIdNumber 6
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ 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 81
+ ssIdNumber 7
+ name "E_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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [79 0 82]
+ }
+ data {
+ id 82
+ ssIdNumber 11
+ name "euler_angles"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "3"
+ }
+ 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 [79 81 83]
+ }
+ data {
+ id 83
+ ssIdNumber 9
+ name "B_Fg"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "3"
+ }
+ 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 [79 82 84]
+ }
+ data {
+ id 84
+ ssIdNumber 12
+ name "B_g"
+ 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 [79 83 85]
+ }
+ data {
+ id 85
+ ssIdNumber 13
+ name "m"
+ 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 [79 84 0]
+ }
+ junction {
+ id 86
+ position [23.5747 49.5747 7]
+ chart 79
+ subviewer 79
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [79 0 0]
+ }
+ transition {
+ id 87
+ 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 86
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 79
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 79
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [79 0 0]
+ }
+ instance {
+ id 88
+ machine 1
+ 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 89
+ machine 1
+ name " Sensors /Complimentary Filter\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 90 0 0]
+ viewObj 89
+ ssIdHighWaterMark 16
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 9
+ disableImplicitCasting 1
+ eml {
+ name "complimentaryFilter"
+ }
+ firstData 91
+ firstTransition 96
+ firstJunction 95
+ }
+ state {
+ id 90
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 89
+ treeNode [89 0 0 0]
+ superState SUBCHART
+ subviewer 89
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ 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_angles_gyro"
+ ")\n\n% LOOP_TIME = 5*10^-3;\n% \n% prev_phi = prev_euler_angles_IMU(1);\n% prev_theta = prev_euler_angles_IMU(2)"
+ ";\n% \n% phi_dot_gyro = euler_angles_gyro(1);\n% theta_dot_gyro = euler_angles_gyro(2);\n\n% phi = 0.98 * ( prev"
+ "_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\n% theta = 0.98 * ( prev_theta + theta_dot_gyro * LOOP_TI"
+ "ME) + 0.02 * accel_pitch;\nk_gyro = 1; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_acc"
+ "el * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi;"
+ " theta];\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 91
+ ssIdNumber 4
+ name "accel_pitch"
+ 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 [89 0 92]
+ }
+ data {
+ id 92
+ 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 [89 91 93]
+ }
+ data {
+ id 93
+ ssIdNumber 5
+ name "euler_angles_IMU"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "[2,1]"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [89 92 94]
+ }
+ data {
+ id 94
+ ssIdNumber 6
+ name "euler_angles_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 [89 93 0]
+ }
+ junction {
+ id 95
+ position [23.5747 49.5747 7]
+ chart 89
+ subviewer 89
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [89 0 0]
+ }
+ transition {
+ id 96
+ 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 95
+ 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 97
+ machine 1
+ name " Sensors /Complimentary Filter\n\n\n\n\n\n\n\n"
+ chart 89
+ }
+ chart {
+ id 98
+ machine 1
+ 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 99 0 0]
+ viewObj 98
+ ssIdHighWaterMark 15
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 10
+ disableImplicitCasting 1
+ eml {
+ name "idealIMU"
+ }
+ firstData 100
+ firstTransition 109
+ firstJunction 108
+ }
+ state {
+ id 99
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 98
+ treeNode [98 0 0 0]
+ superState SUBCHART
+ subviewer 98
+ 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 100
+ ssIdNumber 4
+ name "B_vo_dot"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 0 101]
+ }
+ data {
+ id 101
+ ssIdNumber 9
+ name "B_vo"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 100 102]
+ }
+ data {
+ id 102
+ ssIdNumber 5
+ name "accelReading"
+ 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 [98 101 103]
+ }
+ data {
+ id 103
+ ssIdNumber 6
+ name "B_Omega"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 102 104]
+ }
+ data {
+ id 104
+ ssIdNumber 7
+ name "B_g"
+ 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 [98 103 105]
+ }
+ data {
+ id 105
+ ssIdNumber 8
+ name "gyroReading"
+ 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 [98 104 106]
+ }
+ data {
+ id 106
+ ssIdNumber 10
+ name "r_oc"
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [98 105 107]
+ }
+ data {
+ id 107
+ ssIdNumber 12
+ 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 [98 106 0]
+ }
+ junction {
+ id 108
+ position [23.5747 49.5747 7]
+ chart 98
+ subviewer 98
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [98 0 0]
+ }
+ transition {
+ id 109
+ 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 108
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 98
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 98
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [98 0 0]
+ }
+ instance {
+ id 110
+ machine 1
+ name " Sensors /IMU\n\n\n\n\n\n/\n\n\n\n\n\n\n"
+ chart 98
+ }
+ chart {
+ id 111
+ 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 [0 112 0 0]
+ viewObj 111
+ ssIdHighWaterMark 5
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 11
+ disableImplicitCasting 1
+ eml {
+ name "eigenaxis_ucart"
+ }
+ firstData 113
+ firstTransition 116
+ firstJunction 115
+ }
+ state {
+ id 112
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 111
+ treeNode [111 0 0 0]
+ superState SUBCHART
+ subviewer 111
+ 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 113
+ 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 [111 0 114]
+ }
+ data {
+ id 114
+ 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
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [111 113 0]
+ }
+ junction {
+ id 115
+ position [23.5747 49.5747 7]
+ chart 111
+ subviewer 111
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [111 0 0]
+ }
+ transition {
+ id 116
+ 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 115
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 111
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 111
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [111 0 0]
+ }
+ instance {
+ id 117
+ machine 1
+ name " Sensors /3D Graphical Simulation/MATLAB Function"
+ chart 111
+ }
+ chart {
+ id 118
+ 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 [0 119 0 0]
+ viewObj 118
+ ssIdHighWaterMark 6
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 12
+ disableImplicitCasting 1
+ eml {
+ name "angular_body_earth_conversion"
+ }
+ firstData 120
+ firstTransition 124
+ firstJunction 123
+ }
+ state {
+ id 119
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 118
+ treeNode [118 0 0 0]
+ superState SUBCHART
+ subviewer 118
+ 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 "
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 120
+ ssIdNumber 4
+ name "gyro_reading"
+ 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 [118 0 121]
+ }
+ data {
+ id 121
+ ssIdNumber 5
+ name "euler_rates_IMU"
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "[3,1]"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ linkNode [118 120 122]
+ }
+ data {
+ id 122
+ ssIdNumber 6
+ name "euler_angles_IMU"
+ 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 [118 121 0]
+ }
+ junction {
+ id 123
+ position [23.5747 49.5747 7]
+ chart 118
+ subviewer 118
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [118 0 0]
+ }
+ transition {
+ id 124
+ 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 123
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 118
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 118
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [118 0 0]
+ }
+ instance {
+ id 125
+ machine 1
+ name " Sensors /Aeb\n\n\n\n\n\n\n\n\n\n"
+ chart 118
+ }
+ chart {
+ id 126
+ machine 1
+ name " Sensors /Calculate Pitch and Roll\n\n\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 [0 127 0 0]
+ viewObj 126
+ ssIdHighWaterMark 10
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 13
+ disableImplicitCasting 1
+ eml {
+ name "getPitchAndRoll"
+ }
+ firstData 128
+ firstTransition 133
+ firstJunction 132
+ }
+ state {
+ id 127
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 126
+ treeNode [126 0 0 0]
+ superState SUBCHART
+ subviewer 126
+ 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"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 128
+ ssIdNumber 4
+ name "accel_reading"
+ 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 [126 0 129]
+ }
+ data {
+ id 129
+ ssIdNumber 5
+ name "accel_pitch"
+ 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 [126 128 130]
+ }
+ data {
+ id 130
+ ssIdNumber 6
+ name "accel_roll"
+ 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 [126 129 131]
+ }
+ data {
+ id 131
+ ssIdNumber 7
+ name "accel_roll_prev"
+ 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 0]
+ }
+ junction {
+ id 132
+ position [23.5747 49.5747 7]
+ chart 126
+ subviewer 126
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [126 0 0]
+ }
+ transition {
+ id 133
+ 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 132
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 126
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 126
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [126 0 0]
+ }
+ instance {
+ id 134
+ machine 1
+ name " Sensors /Calculate Pitch and Roll\n\n\n\n\n\n\n\n\n\n\n\n1"
+ chart 126
+ }
+ chart {
+ id 135
+ machine 1
+ name "Control System/MATLAB Function"
+ windowPosition [422 539.941 189 413]
+ viewLimits [0 156.75 0 153.75]
+ screen [1 1 3600 1200 1.180555555555556]
+ treeNode [0 136 0 0]
+ viewObj 135
+ ssIdHighWaterMark 11
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ chartFileNumber 14
+ disableImplicitCasting 1
+ eml {
+ name "signal_mixer"
+ }
+ firstData 137
+ firstTransition 143
+ firstJunction 142
+ }
+ state {
+ id 136
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 135
+ treeNode [135 0 0 0]
+ superState SUBCHART
+ subviewer 135
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function motorCommands = signal_mixer(height_controlled, y_controlled, x_controlled, yaw_control"
+ "led)\n\ncontroller_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\nmotorCommands = signal_mixer * controller_out"
+ "puts;\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 137
+ ssIdNumber 4
+ name "height_controlled"
+ 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 [135 0 138]
+ }
+ data {
+ id 138
+ 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 [135 137 139]
+ }
+ data {
+ id 139
+ ssIdNumber 5
+ name "motorCommands"
+ 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 [135 138 140]
+ }
+ data {
+ id 140
+ ssIdNumber 6
+ 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 [135 139 141]
+ }
+ data {
+ id 141
+ ssIdNumber 8
+ name "yaw_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 [135 140 0]
+ }
+ junction {
+ id 142
+ position [23.5747 49.5747 7]
+ chart 135
+ subviewer 135
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ linkNode [135 0 0]
+ }
+ transition {
+ id 143
+ 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 142
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 135
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 135
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ linkNode [135 0 0]
+ }
+ instance {
+ id 144
+ machine 1
+ name "Control System/MATLAB Function"
+ chart 135
+ }
+ target {
+ id 145
+ machine 1
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ linkNode [1 0 0]
+ }
+}
--
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