From 9145a53c00f2a2981c1dc73dd25af5170801bf61 Mon Sep 17 00:00:00 2001
From: Rich <m87rich@iastate.edu>
Date: Sat, 18 Feb 2017 00:23:41 -0600
Subject: [PATCH] Accurate sampling time enforcement added to model.
---
controls/model/test_model_R2015A.mdl | 1750 +++++++++++--------------
controls/model/test_model_R2015Ax.slx | Bin 0 -> 44942 bytes
2 files changed, 769 insertions(+), 981 deletions(-)
create mode 100644 controls/model/test_model_R2015Ax.slx
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
index e9f89ef15..dc5c49d25 100644
--- a/controls/model/test_model_R2015A.mdl
+++ b/controls/model/test_model_R2015A.mdl
@@ -1,17 +1,18 @@
Model {
Name "test_model_R2015A"
Version 8.5
+ MdlSubVersion 0
SavedCharacterEncoding "windows-1252"
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.1990"
+ ComputedModelVersion "1.1992"
NumModelReferences 0
NumTestPointedSignals 0
}
ScopeRefreshTime 0.035000
- OverrideScopeRefreshTime on
+ OverrideScopeRefreshTime off
DisableAllScopes off
DataTypeOverride "UseLocalSettings"
DataTypeOverrideAppliesTo "AllNumericTypes"
@@ -28,7 +29,7 @@ Model {
$ObjectID 2
$ClassName "Simulink.WindowInfo"
IsActive [1]
- Location [-8.0, -8.0, 1936.0, 1056.0]
+ Location [108.0, 36.0, 1742.0, 940.0]
Object {
$PropName "ModelBrowserInfo"
$ObjectID 3
@@ -43,7 +44,7 @@ Model {
$PropName "ExplorerBarInfo"
$ObjectID 4
$ClassName "Simulink.ExplorerBarInfo"
- Visible [0]
+ Visible [1]
}
Object {
$PropName "EditorsInfo"
@@ -52,9 +53,9 @@ Model {
IsActive [1]
ViewObjType "SimulinkSubsys"
LoadSaveID "604"
- Extents [1755.0, 906.0]
+ Extents [1692.0, 765.0]
ZoomFactor [1.25]
- Offset [-66.504761904761608, 11.616666666666674]
+ Offset [-66.304761904761563, 99.416666666666686]
}
}
}
@@ -62,13 +63,13 @@ Model {
Creator "Andy"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
- LastModifiedBy "Andy"
+ LastModifiedBy "m87rich"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Fri Feb 17 19:24:55 2017"
- RTWModifiedTimeStamp 409260295
- ModelVersionFormat "1.%<AutoIncrement:1990>"
+ LastModifiedDate "Sat Feb 18 00:09:36 2017"
+ RTWModifiedTimeStamp 409277344
+ ModelVersionFormat "1.%<AutoIncrement:1992>"
ConfigurationManager "none"
- SampleTimeColors off
+ SampleTimeColors on
SampleTimeAnnotations off
LibraryLinkDisplay "disabled"
WideLines off
@@ -107,7 +108,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 7
+ $ObjectID 6
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "test_model_R2015A"
overrideMode_ [0.0]
@@ -172,13 +173,13 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 8
+ $ObjectID 7
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 9
+ $ObjectID 8
Version "1.15.0"
StartTime "0.0"
StopTime "20"
@@ -199,8 +200,8 @@ Model {
SolverMode "SingleTasking"
EnableConcurrentExecution off
ConcurrentTasks off
- Solver ode45
- SolverName ode45
+ Solver "ode45"
+ SolverName "ode45"
SolverJacobianMethodControl "auto"
ShapePreserveControl "DisableAll"
ZeroCrossControl "UseLocalSettings"
@@ -213,7 +214,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 10
+ $ObjectID 9
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -246,7 +247,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 11
+ $ObjectID 10
Version "1.15.0"
Array {
Type "Cell"
@@ -303,7 +304,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 12
+ $ObjectID 11
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -331,6 +332,7 @@ Model {
IgnoredZcDiagnostic "warning"
SolverPrmCheckMsg "none"
InheritedTsInSrcMsg "warning"
+ DiscreteInheritContinuousMsg "warning"
MultiTaskDSMMsg "error"
MultiTaskCondExecSysMsg "error"
MultiTaskRateTransMsg "error"
@@ -391,7 +393,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 13
+ $ObjectID 12
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -431,7 +433,7 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 14
+ $ObjectID 13
Version "1.15.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
@@ -446,8 +448,9 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 15
+ $ObjectID 14
Version "1.15.0"
+ SFSimOverflowDetection on
SFSimEcho on
SimCtrlC on
SimIntegrity on
@@ -458,7 +461,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 16
+ $ObjectID 15
Version "1.15.0"
Array {
Type "Cell"
@@ -484,8 +487,10 @@ Model {
MakeCommand "make_rtw"
GenerateMakefile on
PackageGeneratedCodeAndArtifacts off
+ PackageName ""
TemplateMakefile "grt_default_tmf"
PostCodeGenCommand ""
+ Description ""
GenerateReport off
SaveLog off
RTWVerbose on
@@ -496,6 +501,13 @@ Model {
TLCAssert off
RTWUseLocalCustomCode off
RTWUseSimCustomCode off
+ CustomSourceCode ""
+ CustomHeaderCode ""
+ CustomInclude ""
+ CustomSource ""
+ CustomLibrary ""
+ CustomInitializer ""
+ CustomTerminator ""
Toolchain "Automatically locate an installed toolchain"
BuildConfiguration "Faster Builds"
IncludeHyperlinkInReport off
@@ -526,7 +538,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 17
+ $ObjectID 16
Version "1.15.0"
Array {
Type "Cell"
@@ -599,7 +611,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 18
+ $ObjectID 17
Version "1.15.0"
Array {
Type "Cell"
@@ -689,17 +701,17 @@ Model {
}
Name "Configuration"
CurrentDlgPage "Diagnostics"
- ConfigPrmDlgPosition [ 195, 142, 1085, 882 ]
+ ConfigPrmDlgPosition [ 195, 142, 1085, 882 ]
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 8
+ $ObjectID 7
}
Object {
$PropName "DataTransfer"
- $ObjectID 20
+ $ObjectID 18
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -761,9 +773,11 @@ Model {
BlockParameterDefaults {
Block {
BlockType BusCreator
+ Inputs "4"
DisplayOption "none"
OutDataTypeStr "Inherit: auto"
NonVirtualBus off
+ InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -830,6 +844,8 @@ Model {
IgnoreLimit off
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
+ ICPrevOutput "DiscIntNeverNeededParam"
+ ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType Gain
@@ -938,6 +954,8 @@ Model {
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
+ SFunctionDeploymentMode off
+ EnableBusSupport off
}
Block {
BlockType Saturate
@@ -956,7 +974,23 @@ Model {
}
Block {
BlockType Scope
- Floating off
+ ModelBased off
+ TickLabels "OneTimeTick"
+ ZoomMode "on"
+ Grid "on"
+ ShowLegends off
+ TimeRange "auto"
+ YMin "-5"
+ YMax "5"
+ SaveToWorkspace off
+ SaveName "ScopeData"
+ DataFormat "Array"
+ LimitDataPoints on
+ MaxDataPoints "5000"
+ Decimation "1"
+ SampleInput off
+ SampleTime "-1"
+ ScrollMode off
}
Block {
BlockType Step
@@ -975,6 +1009,7 @@ Model {
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
+ CheckFcnCallInpInsideContextMsg off
SystemSampleTime "-1"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
@@ -993,9 +1028,8 @@ Model {
Opaque off
MaskHideContents off
SFBlockType "NONE"
+ Variant off
GeneratePreprocessorConditionals off
- PropagateVariantConditions off
- TreatAsGroupedWhenPropagatingVariantConditions on
ContentPreviewEnabled off
IsWebBlock off
}
@@ -1025,7 +1059,7 @@ Model {
}
System {
Name "test_model_R2015A"
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1039,20 +1073,19 @@ Model {
ShowPageBoundaries off
ZoomFactor "125"
ReportName "simulink-default.rpt"
- SIDHighWatermark "876"
+ SIDHighWatermark "885"
Block {
BlockType SubSystem
Name " Sensors "
SID "650"
Ports [6, 3]
- Position [1300, 422, 1520, 658]
+ Position [1195, 272, 1415, 508]
ZOrder 73
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 21
+ $ObjectID 19
$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"
@@ -1062,7 +1095,7 @@ Model {
}
System {
Name " Sensors "
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1074,7 +1107,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "B_Omega"
@@ -1087,7 +1120,7 @@ Model {
BlockType Inport
Name "euler_angles"
SID "652"
- Position [1720, 1043, 1750, 1057]
+ Position [1440, 1043, 1470, 1057]
ZOrder 266
Port "2"
IconDisplay "Port number"
@@ -1105,7 +1138,7 @@ Model {
BlockType Inport
Name "E_ro"
SID "654"
- Position [1720, 963, 1750, 977]
+ Position [1440, 963, 1470, 977]
ZOrder 268
Port "4"
IconDisplay "Port number"
@@ -1133,14 +1166,13 @@ Model {
Name "3D Graphical Simulation"
SID "698"
Ports [2]
- Position [2005, 1075, 2155, 1135]
+ Position [1725, 1075, 1875, 1135]
ZOrder 287
Commented "on"
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 22
+ $ObjectID 20
$ClassName "Simulink.Mask"
Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
@@ -1186,7 +1218,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1198,7 +1229,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1210,7 +1240,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -1323,11 +1352,10 @@ Model {
Position [655, 92, 725, 138]
ZOrder 5
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
System {
Name "MATLAB Function"
Location [223, 338, 826, 833]
@@ -1371,7 +1399,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -1451,7 +1478,7 @@ Model {
Ports [2]
Position [865, 76, 1055, 234]
ZOrder -15
- LibraryVersion "1.36"
+ LibraryVersion "1.34"
SourceBlock "vrlib/VR Sink"
SourceType "Virtual Reality Sink"
InstantiateOnLoad on
@@ -1634,16 +1661,15 @@ Model {
Position [2635, 815, 2785, 875]
ZOrder 290
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 23
+ $ObjectID 21
$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]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1683,7 +1709,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1695,7 +1720,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1707,7 +1731,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -1820,11 +1843,10 @@ Model {
Position [655, 92, 725, 138]
ZOrder 5
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
System {
Name "MATLAB Function"
Location [223, 338, 826, 833]
@@ -1868,7 +1890,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -1948,7 +1969,7 @@ Model {
Ports [2]
Position [865, 76, 1055, 234]
ZOrder -15
- LibraryVersion "1.36"
+ LibraryVersion "1.34"
SourceBlock "vrlib/VR Sink"
SourceType "Virtual Reality Sink"
InstantiateOnLoad on
@@ -1961,6 +1982,17 @@ Model {
AutoView on
VideoDimensions "[]"
AllowVariableSize off
+ FigureProperties "{'Position', 'Name', 'Viewpoint', 'CameraBound', 'CameraDirection', 'CameraPosition', '"
+ "CameraUpVector', 'ZoomFactor', 'Antialiasing', 'Headlight', 'Lighting', 'NavPanel', 'Sound', 'StatusBar', 'Ster"
+ "eo3D', 'Stereo3DCameraOffset', 'Stereo3DHIT', 'ToolBar', 'Textures', 'Transparency', 'Triad', 'Wireframe', 'Nav"
+ "Zones', 'NavMode', 'NavSpeed', 'CaptureFileFormat', 'CaptureFileName', 'Record2DCompressMethod', 'Record2DCompr"
+ "essQuality', 'Record2D', 'Record2DFileName', 'Record2DFPS'; [5.0000000000000000e+00 9.2000000000000000e+01 "
+ "5.7600000000000000e+02 3.8000000000000000e+02], '', '_untitled_1', 'on', [0.0000000000000000e+00 0.00000000"
+ "00000000e+00 -1.0000000000000000e+00], [0.0000000000000000e+00 0.0000000000000000e+00 0.0000000000000000e+"
+ "00], [0.0000000000000000e+00 1.0000000000000000e+00 0.0000000000000000e+00], [1.0000000000000000e+00], 'on'"
+ ", 'on', 'on', 'halfbar', 'on', 'on', 'off', [1.0000000149011612e-01], [0.0000000000000000e+00], 'on', 'on', 'on"
+ "', 'none', 'off', 'off', 'fly', 'normal', 'tif', '%f_anim_%n.tif', 'auto', [7.5000000000000000e+01], 'off', '%f"
+ "_anim_%n.avi', 'auto'} "
}
Line {
ZOrder 1
@@ -2132,14 +2164,13 @@ Model {
ZOrder 275
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 22
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Gyroscope Reading', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{IMU"
"}', 'texmode', 'on');\nport_label('output', 1, 'd\\Theta_{Gyro}/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode',"
@@ -2197,7 +2228,6 @@ Model {
ZOrder 14
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2270,14 +2300,13 @@ Model {
ZOrder 284
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 25
+ $ObjectID 23
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Accelerometer Reading', 'texmode', 'on');\nport_label('output', 1, '\\theta"
"_{accel}', 'texmode', 'on');\nport_label('output', 2, '\\phi_{accel}', 'texmode', 'on');\ndisp('Calculate Pitch a"
@@ -2335,7 +2364,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[2 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2431,14 +2459,13 @@ Model {
ZOrder 274
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 26
+ $ObjectID 24
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('input', 2, '\\phi_{accel}'"
", 'texmode', 'on');\nport_label('input', 3, '\\Theta_{Gyro}', 'texmode', 'on');\n%port_label('input', 4, '\\Theta"
@@ -2506,7 +2533,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[3 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2600,13 +2626,36 @@ Model {
InputPortMap "u0"
DelayLength "1"
InitialCondition "0"
+ SampleTime "5e-3"
+ }
+ Block {
+ BlockType Delay
+ Name "Delay3"
+ SID "881"
+ Ports [1, 1]
+ Position [2055, 953, 2090, 987]
+ ZOrder 313
+ InputPortMap "u0"
+ DelayLength "6"
+ SampleTime "0.01"
+ }
+ Block {
+ BlockType Delay
+ Name "Delay4"
+ SID "882"
+ Ports [1, 1]
+ Position [2100, 998, 2135, 1032]
+ ZOrder 314
+ InputPortMap "u0"
+ DelayLength "6"
+ SampleTime "0.01"
}
Block {
BlockType Demux
Name "Demux"
SID "732"
Ports [1, 3]
- Position [1810, 1023, 1815, 1077]
+ Position [1530, 1023, 1535, 1077]
ZOrder 294
ShowName off
Outputs "3"
@@ -2623,6 +2672,16 @@ Model {
Outputs "2"
DisplayOption "bar"
}
+ Block {
+ BlockType DiscreteIntegrator
+ Name "Discrete-Time\nIntegrator"
+ SID "877"
+ Ports [1, 1]
+ Position [1935, 732, 1970, 768]
+ ZOrder 309
+ InitialConditionSetting "State (most efficient)"
+ SampleTime "5e-3"
+ }
Block {
BlockType Reference
Name "First-Order\nHold"
@@ -2630,7 +2689,7 @@ Model {
Ports [1, 1]
Position [2530, 780, 2565, 810]
ZOrder 292
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
SourceType "First-Order Hold"
@@ -2644,7 +2703,7 @@ Model {
Ports [1, 1]
Position [2530, 875, 2565, 905]
ZOrder 296
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
SourceType "First-Order Hold"
@@ -2660,10 +2719,9 @@ Model {
ZOrder 272
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 27
+ $ObjectID 25
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode'"
", 'on')\nport_label('input', 3, '^{B}\\Omega', 'texmode', 'on')\nport_label('input', 4, '^{B}g', 'texmode', 'on')"
@@ -2672,7 +2730,7 @@ Model {
}
System {
Name "IMU\n\n\n\n\n\n"
- Location [-8, -8, 1928, 1048]
+ Location [163, 69, 1905, 1009]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -2729,14 +2787,13 @@ Model {
ZOrder 1
LibraryVersion "1.32"
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 28
+ $ObjectID 26
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{B}dv_o/dt', 'texmode', 'on')\nport_label('input', 2, '^{B}v_o', 'texmode', 'on'"
")\nport_label('input', 3, '^{B}\\Omega', 'texmode', 'on')\nport_label('input', 4, '^{B}g', 'texmode', 'on')\nport_la"
@@ -2823,7 +2880,6 @@ Model {
FunctionName "sf_sfun"
Parameters "g"
PortCounts "[5 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2940,8 +2996,6 @@ Model {
ZOrder 30
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
@@ -2952,8 +3006,6 @@ Model {
ZOrder 32
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
@@ -2964,8 +3016,6 @@ Model {
ZOrder 34
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
@@ -2976,8 +3026,6 @@ Model {
ZOrder 36
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType Ground
@@ -3008,23 +3056,10 @@ Model {
Ports [1]
Position [805, 374, 835, 406]
ZOrder 31
- NumInputPorts "1"
+ Floating off
+ Location [680, 330, 1240, 750]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -0.0001
- YMax 0.00021
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3039,7 +3074,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [680 330 1240 750]
+ YMin "-0.0001"
+ YMax "0.00021"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3048,23 +3087,10 @@ Model {
Ports [1]
Position [990, 344, 1020, 376]
ZOrder 33
- NumInputPorts "1"
+ Floating off
+ Location [306, 114, 866, 534]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -0.0001
- YMax 0.00021
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3079,7 +3105,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [306 114 866 534]
+ YMin "-0.0001"
+ YMax "0.00021"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3088,23 +3118,10 @@ Model {
Ports [1]
Position [1030, 249, 1060, 281]
ZOrder 35
- NumInputPorts "1"
+ Floating off
+ Location [680, 330, 1240, 750]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -1.00000
- YMax 1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3119,7 +3136,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [680 330 1240 750]
+ YMin "-1.00000"
+ YMax "1.00000"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3128,23 +3149,10 @@ Model {
Ports [1]
Position [655, 439, 685, 471]
ZOrder 37
- NumInputPorts "1"
+ Floating off
+ Location [306, 114, 866, 534]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData4
- YMin -1.00000
- YMax 1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3159,7 +3167,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [306 114 866 534]
+ YMin "-1.00000"
+ YMax "1.00000"
+ SaveName "ScopeData4"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3168,23 +3180,10 @@ Model {
Ports [1]
Position [580, 389, 610, 421]
ZOrder 38
- NumInputPorts "1"
+ Floating off
+ Location [306, 114, 866, 534]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData5
- YMin -0.00912
- YMax 0.01325
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3199,7 +3198,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [306 114 866 534]
+ YMin "-0.00912"
+ YMax "0.01325"
+ SaveName "ScopeData5"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3208,23 +3211,10 @@ Model {
Ports [1]
Position [295, 359, 325, 391]
ZOrder 40
- NumInputPorts "1"
+ Floating off
+ Location [306, 114, 866, 534]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData6
- YMin -1.00000
- YMax 1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3239,7 +3229,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [306 114 866 534]
+ YMin "-1.00000"
+ YMax "1.00000"
+ SaveName "ScopeData6"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Sum
@@ -3609,14 +3603,6 @@ Model {
}
}
}
- Block {
- BlockType Integrator
- Name "Integrator"
- SID "776"
- Ports [1, 1]
- Position [1945, 735, 1975, 765]
- ZOrder 307
- }
Block {
BlockType Mux
Name "Mux"
@@ -3633,14 +3619,13 @@ Model {
Name "OptiTrack Camera System\n\n "
SID "681"
Ports [2, 2]
- Position [1990, 946, 2230, 1039]
+ Position [1710, 946, 1950, 1039]
ZOrder 299
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 29
+ $ObjectID 27
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{E}r_o', 'texmode', 'on');\nport_label('input', 2, '\\psi', 'texmode', 'on"
"');\nport_label('output', 1, '^{E}r_o camera', 'texmode', 'on');\nport_label('output', 2, '\\psi camera', 'texmod"
@@ -3648,7 +3633,7 @@ Model {
}
System {
Name "OptiTrack Camera System\n\n "
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -3687,7 +3672,7 @@ Model {
Mean "zeros(3,1)"
Variance "[ 7.9664e-10 ; 1.1928e-10 ; 5.0636e-10 ] "
Seed "[0,1,2]"
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Quantizer
@@ -3703,7 +3688,7 @@ Model {
SID "686"
Position [410, 230, 445, 260]
ZOrder 38
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Ground
@@ -3782,7 +3767,7 @@ Model {
Position [545, 365, 575, 395]
ZOrder 46
Variance "1.0783e-9"
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Quantizer
@@ -3798,7 +3783,7 @@ Model {
SID "695"
Position [410, 330, 445, 360]
ZOrder 54
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Outport
@@ -3928,23 +3913,10 @@ Model {
Ports [1]
Position [1385, 669, 1415, 701]
ZOrder 270
- NumInputPorts "1"
+ Floating off
+ Location [680, 330, 1240, 750]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -0.00277
- YMax 0.00209
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3959,7 +3931,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [680 330 1240 750]
+ YMin "-0.00277"
+ YMax "0.00209"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -3968,23 +3944,10 @@ Model {
Ports [1]
Position [1385, 599, 1415, 631]
ZOrder 271
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1909, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -2.04337
- YMax 0.22704
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -3999,7 +3962,11 @@ Model {
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]
+ YMin "-2.04337"
+ YMax "0.22704"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -4008,23 +3975,10 @@ Model {
Ports [1]
Position [2550, 534, 2580, 566]
ZOrder 308
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData7
- YMin -182.40701
- YMax 117.99145
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -4039,7 +3993,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-182.40701"
+ YMax "117.99145"
+ SaveName "ScopeData7"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -4048,23 +4006,10 @@ Model {
Ports [1]
Position [2255, 534, 2285, 566]
ZOrder 278
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData4
- YMin -0.05134
- YMax 0.44242
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat Array
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -4079,7 +4024,10 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.05134"
+ YMax "0.44242"
+ SaveName "ScopeData4"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -4088,23 +4036,10 @@ Model {
Ports [1]
Position [1955, 469, 1985, 501]
ZOrder 280
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1909, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData5
- YMin -1.00000
- YMax 1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -4119,7 +4054,11 @@ Model {
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]
+ YMin "-1.00000"
+ YMax "1.00000"
+ SaveName "ScopeData5"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -4128,23 +4067,10 @@ Model {
Ports [1]
Position [1955, 544, 1985, 576]
ZOrder 281
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1909, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData6
- YMin -1.00000
- YMax 1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -4159,29 +4085,31 @@ Model {
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]
+ YMin "-1.00000"
+ YMax "1.00000"
+ SaveName "ScopeData6"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType S-Function
Name "Soft Real Time"
SID "742"
Ports []
- Position [2033, 1185, 2120, 1216]
+ Position [2618, 735, 2705, 766]
ZOrder 288
ShowName off
Commented "on"
FunctionName "sfun_time"
Parameters "x"
- SFunctionDeploymentMode off
- EnableBusSupport off
Object {
$PropName "MaskObject"
- $ObjectID 30
+ $ObjectID 28
$ClassName "Simulink.Mask"
Display "color('red')\ndisp('Soft Real Time')\n"
Object {
$PropName "Parameters"
- $ObjectID 31
+ $ObjectID 29
$ClassName "Simulink.MaskParameter"
Type "edit"
Name "x"
@@ -4436,9 +4364,8 @@ Model {
ZOrder 41
SrcBlock "OptiTrack Camera System\n\n "
SrcPort 2
- Points [195, 0; 0, -345]
- DstBlock "Mux"
- DstPort 3
+ DstBlock "Delay4"
+ DstPort 1
}
Line {
ZOrder 42
@@ -4467,18 +4394,8 @@ Model {
ZOrder 45
SrcBlock "OptiTrack Camera System\n\n "
SrcPort 1
- Points [43, 0]
- Branch {
- ZOrder 100
- Points [0, -80]
- DstBlock "First-Order\nHold1"
- DstPort 1
- }
- Branch {
- ZOrder 99
- DstBlock "current_position"
- DstPort 1
- }
+ DstBlock "Delay3"
+ DstPort 1
}
Line {
ZOrder 62
@@ -4495,20 +4412,45 @@ Model {
DstPort 1
}
Line {
- ZOrder 73
+ ZOrder 202
SrcBlock "Aeb\n\n\n\n\n\n\n\n\n\n"
SrcPort 1
- DstBlock "Integrator"
+ DstBlock "Discrete-Time\nIntegrator"
DstPort 1
}
Line {
- ZOrder 74
- SrcBlock "Integrator"
+ ZOrder 201
+ SrcBlock "Discrete-Time\nIntegrator"
SrcPort 1
- Points [15, 0; 0, -15]
+ Points [20, 0; 0, -15]
DstBlock "Complimentary Filter\n\n\n\n\n\n\n\n"
DstPort 3
}
+ Line {
+ ZOrder 203
+ SrcBlock "Delay3"
+ SrcPort 1
+ Points [183, 0]
+ Branch {
+ ZOrder 100
+ Points [0, -80]
+ DstBlock "First-Order\nHold1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 99
+ DstBlock "current_position"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 204
+ SrcBlock "Delay4"
+ SrcPort 1
+ Points [290, 0; 0, -345]
+ DstBlock "Mux"
+ DstPort 3
+ }
}
}
Block {
@@ -4516,14 +4458,13 @@ Model {
Name "Actuation"
SID "436"
Ports [1, 6]
- Position [955, 426, 1205, 654]
+ Position [850, 276, 1100, 504]
ZOrder 71
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 32
+ $ObjectID 30
$ClassName "Simulink.Mask"
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'"
@@ -4532,7 +4473,7 @@ Model {
}
System {
Name "Actuation"
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -4544,12 +4485,12 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "50"
+ ZoomFactor "80"
Block {
BlockType Inport
Name "Rotor Duty Cycles"
SID "437"
- Position [-20, 393, 10, 407]
+ Position [20, 393, 50, 407]
ZOrder -1
IconDisplay "Port number"
}
@@ -4558,18 +4499,17 @@ Model {
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]
+ Position [1435, 303, 1670, 452]
ZOrder 81
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 33
+ $ObjectID 31
$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');"
@@ -4626,7 +4566,6 @@ Model {
ZOrder 14
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -4695,7 +4634,7 @@ Model {
Name "Demux1"
SID "449"
Ports [1, 3]
- Position [1830, 526, 1835, 574]
+ Position [1870, 526, 1875, 574]
ZOrder 107
ShowName off
Outputs "3"
@@ -4724,7 +4663,7 @@ Model {
Name "Demux2"
SID "450"
Ports [1, 3]
- Position [1830, 301, 1835, 349]
+ Position [1870, 301, 1875, 349]
ZOrder 109
ShowName off
Outputs "3"
@@ -4753,7 +4692,7 @@ Model {
Name "Demux3"
SID "451"
Ports [1, 3]
- Position [1830, 406, 1835, 454]
+ Position [1870, 406, 1875, 454]
ZOrder 117
ShowName off
Outputs "3"
@@ -4782,7 +4721,7 @@ Model {
Name "Demux4"
SID "452"
Ports [1, 3]
- Position [1830, 161, 1835, 209]
+ Position [1870, 161, 1875, 209]
ZOrder 115
ShowName off
Outputs "3"
@@ -4811,7 +4750,7 @@ Model {
Name "Demux5"
SID "453"
Ports [1, 3]
- Position [1830, 641, 1835, 689]
+ Position [1870, 641, 1875, 689]
ZOrder 119
ShowName off
Outputs "3"
@@ -4840,18 +4779,17 @@ Model {
Name "ESC System"
SID "442"
Ports [1, 1]
- Position [55, 282, 290, 518]
+ Position [95, 282, 330, 518]
ZOrder 36
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 34
+ $ObjectID 32
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
"texmode', 'on');\ndisp('ESC System');"
@@ -4900,7 +4838,6 @@ Model {
FunctionName "sf_sfun"
Parameters "Pmax,Pmin,Vb"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -4961,18 +4898,17 @@ Model {
Name "Gravity\n\n"
SID "443"
Ports [0, 1]
- Position [335, 664, 485, 786]
+ Position [375, 664, 525, 786]
ZOrder 96
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 35
+ $ObjectID 33
$ClassName "Simulink.Mask"
Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
}
@@ -5019,7 +4955,6 @@ Model {
FunctionName "sf_sfun"
Parameters "g,m"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5080,7 +5015,7 @@ Model {
Name "Integrator"
SID "454"
Ports [1, 1]
- Position [730, 340, 760, 370]
+ Position [770, 340, 800, 370]
ZOrder 49
InitialCondition "[omega_o, omega_o, omega_o, omega_o]"
}
@@ -5089,7 +5024,7 @@ Model {
Name "Integrator1"
SID "455"
Ports [1, 1]
- Position [1225, 445, 1255, 475]
+ Position [1265, 445, 1295, 475]
ZOrder 53
InitialCondition "[0; 0; 0]"
}
@@ -5098,7 +5033,7 @@ Model {
Name "Integrator2"
SID "456"
Ports [1, 1]
- Position [1225, 325, 1255, 355]
+ Position [1265, 325, 1295, 355]
ZOrder 54
InitialCondition "[0; 0; 0]"
}
@@ -5107,7 +5042,7 @@ Model {
Name "Integrator3"
SID "457"
Ports [1, 1]
- Position [1685, 590, 1715, 620]
+ Position [1725, 590, 1755, 620]
ZOrder 98
InitialCondition "[0; 0; 0]"
}
@@ -5116,7 +5051,7 @@ Model {
Name "Integrator4"
SID "458"
Ports [1, 1]
- Position [1685, 365, 1715, 395]
+ Position [1725, 365, 1755, 395]
ZOrder 77
InitialCondition "[0; 0; 0]"
ContinuousStateAttributes "['phi' 'theta' 'psi']"
@@ -5126,18 +5061,17 @@ Model {
Name "Lbe\n\n\n\n\n\n"
SID "444"
Ports [2, 1]
- Position [1395, 499, 1630, 706]
+ Position [1435, 499, 1670, 706]
ZOrder 75
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 36
+ $ObjectID 34
$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');"
@@ -5194,7 +5128,6 @@ Model {
ZOrder 20
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5263,18 +5196,17 @@ Model {
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]
+ Position [640, 694, 810, 816]
ZOrder 97
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 37
+ $ObjectID 35
$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');"
@@ -5332,7 +5264,6 @@ Model {
FunctionName "sf_sfun"
Parameters "m"
PortCounts "[2 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5424,18 +5355,17 @@ Model {
Name "Motor System"
SID "441"
Ports [2, 1]
- Position [420, 280, 640, 520]
+ Position [460, 280, 680, 520]
ZOrder 48
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 38
+ $ObjectID 36
$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"
@@ -5493,7 +5423,6 @@ Model {
FunctionName "sf_sfun"
Parameters "If,Jreq,Kd,Kq,Kv,Rm"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5561,18 +5490,17 @@ Model {
Name "Rotor System\n\n\n\n\n\n\n\n"
SID "758"
Ports [5, 2]
- Position [945, 281, 1145, 519]
+ Position [985, 281, 1185, 519]
ZOrder 122
ShowName off
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 39
+ $ObjectID 37
$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"
@@ -5659,7 +5587,6 @@ Model {
FunctionName "sf_sfun"
Parameters "Jreq,Jxx,Jyy,Jzz,Kd,Kt,m,rhx,rhy,rhz"
PortCounts "[5 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5773,25 +5700,12 @@ Model {
Name "Scope"
SID "459"
Ports [1]
- Position [350, 279, 380, 311]
+ Position [390, 279, 420, 311]
ZOrder 46
- NumInputPorts "1"
+ Floating off
+ Location [188, 365, 512, 604]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData
- YMin -1.3875
- YMax 12.4875
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5806,32 +5720,22 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 431.666666666667 1281 1039]
+ YMin "-1.3875"
+ YMax "12.4875"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope1"
SID "460"
Ports [1]
- Position [740, 229, 770, 261]
+ Position [780, 229, 810, 261]
ZOrder 50
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1909, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends on
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -10513.81558
- YMax 11401.07279
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5846,32 +5750,24 @@ Model {
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]
+ ShowLegends on
+ YMin "-10513.81558"
+ YMax "11401.07279"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope10"
SID "461"
Ports [3]
- Position [1935, 303, 1975, 347]
+ Position [1975, 303, 2015, 347]
ZOrder 108
- NumInputPorts "3"
+ Floating off
+ Location [1, 76, 1909, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends on
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -60.66007~-1.00000~-1.00000
- YMax 18.5091~1.00000~1.00000
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "3"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5888,32 +5784,24 @@ Model {
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]
+ ShowLegends on
+ YMin "-60.66007~-1.00000~-1.00000"
+ YMax "18.5091~1.00000~1.00000"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope11"
SID "462"
Ports [3]
- Position [1935, 163, 1975, 207]
+ Position [1975, 163, 2015, 207]
ZOrder 114
- NumInputPorts "3"
+ Floating off
+ Location [1, 76, 1921, 1039]
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
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "3"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5930,32 +5818,24 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ ShowLegends on
+ YMin "-3.00603~-1.00000~-1.00000"
+ YMax "4.56766~1.00000~1.00000"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope2"
SID "463"
Ports [1]
- Position [890, 229, 920, 261]
+ Position [930, 229, 960, 261]
ZOrder 51
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -88.20659
- YMax 679.8109
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5970,32 +5850,23 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-88.20659"
+ YMax "679.8109"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope3"
SID "464"
Ports [3]
- Position [1935, 408, 1975, 452]
+ Position [1975, 408, 2015, 452]
ZOrder 116
- NumInputPorts "3"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends on
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -1.00000~-71.40595~-81.80792
- YMax 1.00000~93.1255~67.47699
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "3"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6012,32 +5883,24 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ ShowLegends on
+ YMin "-1.00000~-71.40595~-81.80792"
+ YMax "1.00000~93.1255~67.47699"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope4"
SID "465"
Ports [3]
- Position [1935, 643, 1975, 687]
+ Position [1975, 643, 2015, 687]
ZOrder 118
- NumInputPorts "3"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends on
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData4
- YMin -1019.9483~-1019.9483~-1019.9483
- YMax 1049.2638~1049.2638~1049.2638
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "3"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6054,32 +5917,24 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ ShowLegends on
+ YMin "-1019.9483~-1019.9483~-1019.9483"
+ YMax "1049.2638~1049.2638~1049.2638"
+ SaveName "ScopeData4"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope6"
SID "466"
Ports [3]
- Position [1935, 528, 1975, 572]
+ Position [1975, 528, 2015, 572]
ZOrder 79
- NumInputPorts "3"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends on
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData4
- YMin -1.00000~-1.00000~-0.09265
- YMax 1.00000~1.00000~0.0667
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "3"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6096,32 +5951,24 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ ShowLegends on
+ YMin "-1.00000~-1.00000~-0.09265"
+ YMax "1.00000~1.00000~0.0667"
+ SaveName "ScopeData4"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope7"
SID "467"
Ports [1]
- Position [535, 644, 565, 676]
+ Position [575, 644, 605, 676]
ZOrder 99
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -1.45924
- YMax 13.13314
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6136,32 +5983,23 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-1.45924"
+ YMax "13.13314"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope8"
SID "468"
Ports [1]
- Position [820, 629, 850, 661]
+ Position [860, 629, 890, 661]
ZOrder 100
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -14.59237
- YMax 14.59237
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6176,32 +6014,23 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-14.59237"
+ YMax "14.59237"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope9"
SID "469"
Ports [1]
- Position [1225, 229, 1255, 261]
+ Position [1265, 229, 1295, 261]
ZOrder 102
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -9.72639
- YMax 9.72632
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -6216,13 +6045,17 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-9.72639"
+ YMax "9.72632"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Outport
Name "B_omega"
SID "471"
- Position [1815, 238, 1845, 252]
+ Position [1855, 238, 1885, 252]
ZOrder 61
IconDisplay "Port number"
}
@@ -6230,7 +6063,7 @@ Model {
BlockType Outport
Name "euler_angles"
SID "472"
- Position [1870, 373, 1900, 387]
+ Position [1910, 373, 1940, 387]
ZOrder 91
Port "2"
IconDisplay "Port number"
@@ -6239,7 +6072,7 @@ Model {
BlockType Outport
Name "B_vo"
SID "473"
- Position [1815, 468, 1845, 482]
+ Position [1855, 468, 1885, 482]
ZOrder 58
Port "3"
IconDisplay "Port number"
@@ -6248,7 +6081,7 @@ Model {
BlockType Outport
Name "E_ro"
SID "474"
- Position [1830, 598, 1860, 612]
+ Position [1870, 598, 1900, 612]
ZOrder 88
Port "4"
IconDisplay "Port number"
@@ -6257,7 +6090,7 @@ Model {
BlockType Outport
Name "B_vo_dot"
SID "475"
- Position [1830, 718, 1860, 732]
+ Position [1870, 718, 1900, 732]
ZOrder 103
Port "5"
IconDisplay "Port number"
@@ -6266,7 +6099,7 @@ Model {
BlockType Outport
Name "B_g"
SID "476"
- Position [1830, 778, 1860, 792]
+ Position [1870, 778, 1900, 792]
ZOrder 104
Port "6"
IconDisplay "Port number"
@@ -6717,19 +6550,18 @@ Model {
Name "Communication System"
SID "582"
Ports [0, 1]
- Position [510, 432, 565, 478]
+ Position [405, 282, 460, 328]
ZOrder 70
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 40
+ $ObjectID 38
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
System {
Name "Communication System"
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6741,7 +6573,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "400"
+ ZoomFactor "250"
Block {
BlockType Step
Name "Step"
@@ -6751,7 +6583,7 @@ Model {
Time "0"
Before "[0; 0; 0; 0]"
After "[1; 1; 1; 0]"
- SampleTime "0"
+ SampleTime "0.1"
}
Block {
BlockType Outport
@@ -6775,14 +6607,13 @@ Model {
Name "Control System"
SID "573"
Ports [4, 1]
- Position [645, 425, 900, 650]
+ Position [540, 275, 795, 500]
ZOrder 69
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 41
+ $ObjectID 39
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Setpoints', 'texmode', 'on');\nport_label('input', 2, '\\Theta_{filtered}', 'texmo"
"de', 'on');\nport_label('input', 3, 'd\\Theta_{gyro}/dt', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmo"
@@ -6790,7 +6621,7 @@ Model {
}
System {
Name "Control System"
- Location [-8, -8, 1928, 1048]
+ Location [108, 36, 1850, 976]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6846,10 +6677,9 @@ Model {
Position [395, 307, 530, 633]
ZOrder 31
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 42
+ $ObjectID 40
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^{E}r_{x,setpoint}', 'texmode', 'on');\nport_label('input', 2, '^{E}r_{y,se"
"tpoint}', 'texmode', 'on');\nport_label('input', 3, '^{E}r_{z,setpoint}', 'texmode', 'on');\nport_label('input', "
@@ -6863,8 +6693,8 @@ Model {
}
System {
Name "Controller"
- Location [-8, -8, 1928, 1048]
- Open off
+ Location [108, 36, 1850, 976]
+ Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -7001,13 +6831,13 @@ Model {
Ports [1, 1]
Position [545, 392, 585, 428]
ZOrder 142
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
@@ -7125,21 +6955,21 @@ Model {
Ports [1, 1]
Position [260, 542, 300, 578]
ZOrder 122
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "0.1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
- P "18.2047089970703"
- I "41.2370914044818"
- D "0.164227327211332"
+ P "12.7"
+ I "14.1"
+ D "0"
N "17.8214030142826"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
@@ -7249,17 +7079,17 @@ Model {
Ports [1, 1]
Position [260, 117, 300, 153]
ZOrder 123
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "0.1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
P "-3138.91816077077"
I "-320.189162634817"
@@ -7373,13 +7203,13 @@ Model {
Ports [1, 1]
Position [405, 541, 445, 579]
ZOrder 121
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
@@ -7497,13 +7327,13 @@ Model {
Ports [1, 1]
Position [405, 392, 445, 428]
ZOrder 143
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
@@ -7621,17 +7451,17 @@ Model {
Ports [1, 1]
Position [260, 392, 300, 428]
ZOrder 145
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "0.1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
P "-0.0367011843201958"
I "-0.000988506276189655"
@@ -7745,17 +7575,17 @@ Model {
Ports [1, 1]
Position [260, 237, 300, 273]
ZOrder 136
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PID"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "0.1"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
P "0.0367011843201958"
I "0.000988506276189655"
@@ -7869,13 +7699,13 @@ Model {
Ports [1, 1]
Position [405, 237, 445, 273]
ZOrder 137
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
@@ -7883,7 +7713,7 @@ Model {
ControllerParametersSource "internal"
P "7.19768640475995"
I "35.1207902652377"
- D "0.410623594074865"
+ D "0.2"
N "40.0107970227961"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
@@ -7993,13 +7823,13 @@ Model {
Ports [1, 1]
Position [545, 237, 585, 273]
ZOrder 138
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
TimeDomain "Discrete-time"
- SampleTime "-1"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
@@ -8117,23 +7947,10 @@ Model {
Ports [1]
Position [410, 649, 440, 681]
ZOrder 97
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -4.53199
- YMax 5.80666
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8148,7 +7965,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-4.53199"
+ YMax "5.80666"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8157,23 +7978,10 @@ Model {
Ports [1]
Position [235, 649, 265, 681]
ZOrder 106
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1926, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -0.00426
- YMax 0.00536
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8188,7 +7996,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.00426"
+ YMax "0.00536"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8197,28 +8009,29 @@ Model {
Ports [1]
Position [265, 174, 295, 206]
ZOrder 107
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1926, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData5
- YMin -0.14356
- YMax 1.29207
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
- Location [1 76 1921 1039]
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ YMin "-0.14356"
+ YMax "1.29207"
+ SaveName "ScopeData5"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8227,23 +8040,10 @@ Model {
Ports [1]
Position [550, 334, 580, 366]
ZOrder 109
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1926, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -0.13447
- YMax 1.21019
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8258,7 +8058,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.13447"
+ YMax "1.21019"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8267,23 +8071,10 @@ Model {
Ports [1]
Position [365, 334, 395, 366]
ZOrder 110
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1926, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -0.08847
- YMax 0.24078
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8298,7 +8089,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.2"
+ YMax "0.5"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8307,28 +8102,29 @@ Model {
Ports [1]
Position [240, 334, 270, 366]
ZOrder 111
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1926, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -8.5404
- YMax 73.19137
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
- Location [1 76 1921 1039]
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.5 0.5 0.5]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[1 1 1]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ YMin "-8.5404"
+ YMax "73.19137"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8337,23 +8133,10 @@ Model {
Ports [1]
Position [550, 484, 580, 516]
ZOrder 117
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData1
- YMin -0.48276
- YMax 2.87086
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8368,7 +8151,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.48276"
+ YMax "2.87086"
+ SaveName "ScopeData1"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8377,23 +8164,10 @@ Model {
Ports [1]
Position [365, 484, 395, 516]
ZOrder 118
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData2
- YMin -0.04704
- YMax 0.39309
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8408,7 +8182,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1921 1039]
+ YMin "-0.04704"
+ YMax "0.39309"
+ SaveName "ScopeData2"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
@@ -8417,28 +8195,19 @@ Model {
Ports [1]
Position [245, 484, 275, 516]
ZOrder 119
- NumInputPorts "1"
+ Floating off
+ Location [1, 76, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -36.42496
- YMax 11.06872
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
- Location [1 76 1921 1039]
+ YMin "-36.42496"
+ YMax "11.06872"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Sum
@@ -8892,6 +8661,20 @@ Model {
DstBlock "y_controlled"
DstPort 1
}
+ Line {
+ ZOrder 473
+ SrcBlock "PID Controller11"
+ SrcPort 1
+ DstBlock "height_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 478
+ SrcBlock "PID Controller2"
+ SrcPort 1
+ DstBlock "yaw_controlled"
+ DstPort 1
+ }
}
}
Block {
@@ -8942,14 +8725,13 @@ Model {
Name "MATLAB Function"
SID "647"
Ports [4, 1]
- Position [715, 308, 915, 632]
+ Position [725, 308, 925, 632]
ZOrder 35
ErrorFcn "Stateflow.Translate.translate"
- PermitHierarchicalResolution "ParametersOnly"
+ PermitHierarchicalResolution "ExplicitOnly"
TreatAsAtomicUnit on
RequestExecContextInheritance off
SFBlockType "MATLAB Function"
- Variant off
System {
Name "MATLAB Function"
Location [223, 338, 826, 833]
@@ -9020,7 +8802,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[4 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -9115,23 +8896,10 @@ Model {
Ports [1]
Position [1080, 564, 1110, 596]
ZOrder 46
- NumInputPorts "1"
+ Floating off
+ Location [188, 365, 512, 604]
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
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -9146,7 +8914,11 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 431.666666666667 1281 1039]
+ YMin "87500.00000"
+ YMax "212500.00000"
+ SaveName "ScopeData4"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Sum
@@ -9211,6 +8983,7 @@ Model {
Position [605, 375, 635, 405]
ZOrder 40
Value "height_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9219,6 +8992,7 @@ Model {
Position [605, 535, 635, 565]
ZOrder 42
Value "x_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9227,6 +9001,7 @@ Model {
Position [605, 455, 635, 485]
ZOrder 41
Value "y_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9235,6 +9010,7 @@ Model {
Position [605, 620, 635, 650]
ZOrder 43
Value "yaw_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Outport
@@ -9537,7 +9313,7 @@ Model {
ZOrder 195
SrcBlock " Sensors "
SrcPort 3
- Points [9, 0; 0, 52; -903, 0; 0, -52]
+ Points [9, 0; 0, 160; -903, 0; 0, -160]
DstBlock "Control System"
DstPort 4
}
@@ -9545,7 +9321,7 @@ Model {
ZOrder 196
SrcBlock " Sensors "
SrcPort 2
- Points [16, 0; 0, 146; -924, 0; 0, -121]
+ Points [16, 0; 0, 272; -924, 0; 0, -247]
DstBlock "Control System"
DstPort 3
}
@@ -9553,7 +9329,7 @@ Model {
ZOrder 197
SrcBlock " Sensors "
SrcPort 1
- Points [23, 0; 0, 240; -940, 0; 0, -190]
+ Points [23, 0; 0, 370; -940, 0; 0, -320]
DstBlock "Control System"
DstPort 2
}
@@ -9561,7 +9337,7 @@ Model {
}
#Finite State Machines
#
-# Stateflow 80000010
+# Stateflow 80000005
#
#
Stateflow {
@@ -9570,29 +9346,29 @@ Stateflow {
name "test_model_R2015A"
created "03-Nov-2016 18:34:53"
isLibrary 0
- sfVersion 80000006
firstTarget 145
+ sfVersion 80000005
}
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]
+ firstTransition 8
+ firstJunction 7
viewObj 2
+ machine 1
ssIdHighWaterMark 7
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 4
chartFileNumber 1
disableImplicitCasting 1
eml {
name "gravity"
}
- firstData 4
- firstTransition 8
- firstJunction 7
}
state {
id 3
@@ -9616,6 +9392,7 @@ Stateflow {
id 4
ssIdNumber 5
name "E_Fg"
+ linkNode [2 0 5]
scope OUTPUT_DATA
machine 1
props {
@@ -9630,12 +9407,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [2 0 5]
}
data {
id 5
ssIdNumber 6
name "m"
+ linkNode [2 4 6]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -9653,12 +9430,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [2 4 6]
}
data {
id 6
ssIdNumber 7
name "g"
+ linkNode [2 5 0]
scope PARAMETER_DATA
machine 1
props {
@@ -9675,16 +9452,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [2 5 0]
}
junction {
id 7
position [23.5747 49.5747 7]
chart 2
+ linkNode [2 0 0]
subviewer 2
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [2 0 0]
}
transition {
id 8
@@ -9700,6 +9476,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 2
+ linkNode [2 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 2
drawStyle SMART
@@ -9708,34 +9485,33 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [2 0 0]
}
instance {
id 9
- machine 1
name "Actuation/Gravity\n\n"
+ machine 1
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]
+ firstTransition 16
+ firstJunction 15
viewObj 10
+ machine 1
ssIdHighWaterMark 11
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 12
chartFileNumber 2
disableImplicitCasting 1
eml {
name "linear_body_earth_conversion"
}
- firstData 12
- firstTransition 16
- firstJunction 15
}
state {
id 11
@@ -9764,6 +9540,7 @@ Stateflow {
id 12
ssIdNumber 7
name "B_vo"
+ linkNode [10 0 13]
scope INPUT_DATA
machine 1
props {
@@ -9780,12 +9557,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [10 0 13]
}
data {
id 13
ssIdNumber 11
name "euler_angles"
+ linkNode [10 12 14]
scope INPUT_DATA
machine 1
props {
@@ -9802,12 +9579,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [10 12 14]
}
data {
id 14
ssIdNumber 9
name "E_ro"
+ linkNode [10 13 0]
scope OUTPUT_DATA
machine 1
props {
@@ -9824,16 +9601,15 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [10 13 0]
}
junction {
id 15
position [23.5747 49.5747 7]
chart 10
+ linkNode [10 0 0]
subviewer 10
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [10 0 0]
}
transition {
id 16
@@ -9849,6 +9625,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 10
+ linkNode [10 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 10
drawStyle SMART
@@ -9857,34 +9634,33 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [10 0 0]
}
instance {
id 17
- machine 1
name "Actuation/Lbe\n\n\n\n\n\n"
+ machine 1
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]
+ firstTransition 23
+ firstJunction 22
viewObj 18
+ machine 1
ssIdHighWaterMark 5
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 20
chartFileNumber 3
disableImplicitCasting 1
eml {
name "eigenaxis_ucart"
}
- firstData 20
- firstTransition 23
- firstJunction 22
}
state {
id 19
@@ -9914,6 +9690,7 @@ Stateflow {
id 20
ssIdNumber 4
name "u"
+ linkNode [18 0 21]
scope INPUT_DATA
machine 1
props {
@@ -9927,12 +9704,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [18 0 21]
}
data {
id 21
ssIdNumber 5
name "y"
+ linkNode [18 20 0]
scope OUTPUT_DATA
machine 1
props {
@@ -9947,16 +9724,15 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [18 20 0]
}
junction {
id 22
position [23.5747 49.5747 7]
chart 18
+ linkNode [18 0 0]
subviewer 18
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [18 0 0]
}
transition {
id 23
@@ -9972,6 +9748,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 18
+ linkNode [18 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 18
drawStyle SMART
@@ -9980,34 +9757,36 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [18 0 0]
}
instance {
id 24
- machine 1
name " Sensors /3D Graphical Simulation1/MATLAB Function"
+ machine 1
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]
+ firstTransition 33
+ firstJunction 32
viewObj 25
+ visible 1
+ machine 1
+ subviewS {
+ }
ssIdHighWaterMark 18
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 27
chartFileNumber 4
disableImplicitCasting 1
eml {
name "ESC"
}
- firstData 27
- firstTransition 33
- firstJunction 32
}
state {
id 26
@@ -10039,6 +9818,7 @@ Stateflow {
id 27
ssIdNumber 4
name "rotor_duty_cycles"
+ linkNode [25 0 28]
scope INPUT_DATA
machine 1
props {
@@ -10052,12 +9832,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 0 28]
}
data {
id 28
ssIdNumber 5
name "Vb_eff"
+ linkNode [25 27 29]
scope OUTPUT_DATA
machine 1
props {
@@ -10072,12 +9852,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [25 27 29]
}
data {
id 29
ssIdNumber 16
name "Pmin"
+ linkNode [25 28 30]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -10095,12 +9875,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 28 30]
}
data {
id 30
ssIdNumber 17
name "Pmax"
+ linkNode [25 29 31]
scope PARAMETER_DATA
machine 1
props {
@@ -10117,12 +9897,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 29 31]
}
data {
id 31
ssIdNumber 18
name "Vb"
+ linkNode [25 30 0]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 2
machine 1
@@ -10140,16 +9920,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [25 30 0]
}
junction {
id 32
position [23.5747 49.5747 7]
chart 25
+ linkNode [25 0 0]
subviewer 25
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [25 0 0]
}
transition {
id 33
@@ -10165,6 +9944,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 25
+ linkNode [25 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 25
drawStyle SMART
@@ -10173,34 +9953,33 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [25 0 0]
}
instance {
id 34
- machine 1
name "Actuation/ESC System"
+ machine 1
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]
+ firstTransition 47
+ firstJunction 46
viewObj 35
+ machine 1
ssIdHighWaterMark 16
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 37
chartFileNumber 5
disableImplicitCasting 1
eml {
name "motor"
}
- firstData 37
- firstTransition 47
- firstJunction 46
}
state {
id 36
@@ -10235,6 +10014,7 @@ Stateflow {
id 37
ssIdNumber 4
name "Vb_eff"
+ linkNode [35 0 38]
scope INPUT_DATA
machine 1
props {
@@ -10248,12 +10028,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 0 38]
}
data {
id 38
ssIdNumber 16
name "angular_velocity"
+ linkNode [35 37 39]
scope INPUT_DATA
machine 1
props {
@@ -10270,12 +10050,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 37 39]
}
data {
id 39
ssIdNumber 7
name "angular_acceleration"
+ linkNode [35 38 40]
scope OUTPUT_DATA
machine 1
props {
@@ -10292,12 +10072,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [35 38 40]
}
data {
id 40
ssIdNumber 9
name "Rm"
+ linkNode [35 39 41]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 5
machine 1
@@ -10315,12 +10095,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 39 41]
}
data {
id 41
ssIdNumber 10
name "Kv"
+ linkNode [35 40 42]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 4
machine 1
@@ -10338,12 +10118,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 40 42]
}
data {
id 42
ssIdNumber 11
name "Kq"
+ linkNode [35 41 43]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 3
machine 1
@@ -10361,12 +10141,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 41 43]
}
data {
id 43
ssIdNumber 12
name "Kd"
+ linkNode [35 42 44]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 2
machine 1
@@ -10384,12 +10164,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 42 44]
}
data {
id 44
ssIdNumber 13
name "If"
+ linkNode [35 43 45]
scope PARAMETER_DATA
machine 1
props {
@@ -10406,12 +10186,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 43 45]
}
data {
id 45
ssIdNumber 14
name "Jreq"
+ linkNode [35 44 0]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -10429,16 +10209,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [35 44 0]
}
junction {
id 46
position [23.5747 49.5747 7]
chart 35
+ linkNode [35 0 0]
subviewer 35
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [35 0 0]
}
transition {
id 47
@@ -10454,6 +10233,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 35
+ linkNode [35 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 35
drawStyle SMART
@@ -10462,34 +10242,33 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [35 0 0]
}
instance {
id 48
- machine 1
name "Actuation/Motor System"
+ machine 1
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]
+ firstTransition 69
+ firstJunction 68
viewObj 49
+ machine 1
ssIdHighWaterMark 30
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 51
chartFileNumber 6
disableImplicitCasting 1
eml {
name "rotor"
}
- firstData 51
- firstTransition 69
- firstJunction 68
}
state {
id 50
@@ -10545,6 +10324,7 @@ Stateflow {
id 51
ssIdNumber 6
name "B_omega_dot"
+ linkNode [49 0 52]
scope OUTPUT_DATA
machine 1
props {
@@ -10561,12 +10341,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [49 0 52]
}
data {
id 52
ssIdNumber 10
name "angular_acceleration"
+ linkNode [49 51 53]
scope INPUT_DATA
machine 1
props {
@@ -10583,12 +10363,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 51 53]
}
data {
id 53
ssIdNumber 11
name "angular_velocity"
+ linkNode [49 52 54]
scope INPUT_DATA
machine 1
props {
@@ -10605,12 +10385,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 52 54]
}
data {
id 54
ssIdNumber 30
name "B_Fg"
+ linkNode [49 53 55]
scope INPUT_DATA
machine 1
props {
@@ -10627,12 +10407,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 53 55]
}
data {
id 55
ssIdNumber 8
name "B_omega"
+ linkNode [49 54 56]
scope INPUT_DATA
machine 1
props {
@@ -10649,12 +10429,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 54 56]
}
data {
id 56
ssIdNumber 5
name "B_vo_dot"
+ linkNode [49 55 57]
scope OUTPUT_DATA
machine 1
props {
@@ -10669,12 +10449,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [49 55 57]
}
data {
id 57
ssIdNumber 7
name "B_vo"
+ linkNode [49 56 58]
scope INPUT_DATA
machine 1
props {
@@ -10691,12 +10471,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 56 58]
}
data {
id 58
ssIdNumber 12
name "m"
+ linkNode [49 57 59]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 6
machine 1
@@ -10714,12 +10494,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 57 59]
}
data {
id 59
ssIdNumber 14
name "Kt"
+ linkNode [49 58 60]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 5
machine 1
@@ -10737,12 +10517,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 58 60]
}
data {
id 60
ssIdNumber 13
name "Kd"
+ linkNode [49 59 61]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 4
machine 1
@@ -10760,12 +10540,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 59 61]
}
data {
id 61
ssIdNumber 15
name "rhx"
+ linkNode [49 60 62]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 7
machine 1
@@ -10783,12 +10563,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 60 62]
}
data {
id 62
ssIdNumber 16
name "rhy"
+ linkNode [49 61 63]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 8
machine 1
@@ -10806,12 +10586,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 61 63]
}
data {
id 63
ssIdNumber 17
name "rhz"
+ linkNode [49 62 64]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 9
machine 1
@@ -10829,12 +10609,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 62 64]
}
data {
id 64
ssIdNumber 18
name "Jreq"
+ linkNode [49 63 65]
scope PARAMETER_DATA
machine 1
props {
@@ -10851,12 +10631,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 63 65]
}
data {
id 65
ssIdNumber 19
name "Jxx"
+ linkNode [49 64 66]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 1
machine 1
@@ -10874,12 +10654,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 64 66]
}
data {
id 66
ssIdNumber 20
name "Jyy"
+ linkNode [49 65 67]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 2
machine 1
@@ -10897,12 +10677,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 65 67]
}
data {
id 67
ssIdNumber 21
name "Jzz"
+ linkNode [49 66 0]
scope PARAMETER_DATA
paramIndexForInitFromWorkspace 3
machine 1
@@ -10920,16 +10700,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [49 66 0]
}
junction {
id 68
position [23.5747 49.5747 7]
chart 49
+ linkNode [49 0 0]
subviewer 49
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [49 0 0]
}
transition {
id 69
@@ -10945,6 +10724,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 49
+ linkNode [49 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 49
drawStyle SMART
@@ -10953,34 +10733,33 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 77
+ firstJunction 76
viewObj 71
+ machine 1
ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 73
chartFileNumber 7
disableImplicitCasting 1
eml {
name "angular_body_earth_conversion"
}
- firstData 73
- firstTransition 77
- firstJunction 76
}
state {
id 72
@@ -11007,6 +10786,7 @@ Stateflow {
id 73
ssIdNumber 4
name "B_omega"
+ linkNode [71 0 74]
scope INPUT_DATA
machine 1
props {
@@ -11020,12 +10800,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [71 0 74]
}
data {
id 74
ssIdNumber 5
name "euler_rates"
+ linkNode [71 73 75]
scope OUTPUT_DATA
machine 1
props {
@@ -11040,12 +10820,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [71 73 75]
}
data {
id 75
ssIdNumber 6
name "euler_angles"
+ linkNode [71 74 0]
scope INPUT_DATA
machine 1
props {
@@ -11062,16 +10842,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [71 74 0]
}
junction {
id 76
position [23.5747 49.5747 7]
chart 71
+ linkNode [71 0 0]
subviewer 71
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [71 0 0]
}
transition {
id 77
@@ -11087,6 +10866,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 71
+ linkNode [71 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 71
drawStyle SMART
@@ -11095,34 +10875,33 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 87
+ firstJunction 86
viewObj 79
+ machine 1
ssIdHighWaterMark 13
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 81
chartFileNumber 8
disableImplicitCasting 1
eml {
name "linear_earth_body_conversion"
}
- firstData 81
- firstTransition 87
- firstJunction 86
}
state {
id 80
@@ -11151,6 +10930,7 @@ Stateflow {
id 81
ssIdNumber 7
name "E_Fg"
+ linkNode [79 0 82]
scope INPUT_DATA
machine 1
props {
@@ -11167,12 +10947,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [79 0 82]
}
data {
id 82
ssIdNumber 11
name "euler_angles"
+ linkNode [79 81 83]
scope INPUT_DATA
machine 1
props {
@@ -11189,12 +10969,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [79 81 83]
}
data {
id 83
ssIdNumber 9
name "B_Fg"
+ linkNode [79 82 84]
scope OUTPUT_DATA
machine 1
props {
@@ -11211,12 +10991,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [79 82 84]
}
data {
id 84
ssIdNumber 12
name "B_g"
+ linkNode [79 83 85]
scope OUTPUT_DATA
machine 1
props {
@@ -11233,12 +11013,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [79 83 85]
}
data {
id 85
ssIdNumber 13
name "m"
+ linkNode [79 84 0]
scope PARAMETER_DATA
machine 1
props {
@@ -11255,16 +11035,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [79 84 0]
}
junction {
id 86
position [23.5747 49.5747 7]
chart 79
+ linkNode [79 0 0]
subviewer 79
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [79 0 0]
}
transition {
id 87
@@ -11280,6 +11059,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 79
+ linkNode [79 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 79
drawStyle SMART
@@ -11288,34 +11068,36 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 96
+ firstJunction 95
viewObj 89
+ visible 1
+ machine 1
+ subviewS {
+ }
ssIdHighWaterMark 16
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 91
chartFileNumber 9
disableImplicitCasting 1
eml {
name "complimentaryFilter"
}
- firstData 91
- firstTransition 96
- firstJunction 95
}
state {
id 90
@@ -11346,6 +11128,7 @@ Stateflow {
id 91
ssIdNumber 4
name "accel_pitch"
+ linkNode [89 0 92]
scope INPUT_DATA
machine 1
props {
@@ -11359,12 +11142,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [89 0 92]
}
data {
id 92
ssIdNumber 13
name "accel_roll"
+ linkNode [89 91 93]
scope INPUT_DATA
machine 1
props {
@@ -11381,12 +11164,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [89 91 93]
}
data {
id 93
ssIdNumber 5
name "euler_angles_IMU"
+ linkNode [89 92 94]
scope OUTPUT_DATA
machine 1
props {
@@ -11401,12 +11184,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [89 92 94]
}
data {
id 94
ssIdNumber 6
name "euler_angles_gyro"
+ linkNode [89 93 0]
scope INPUT_DATA
machine 1
props {
@@ -11423,16 +11206,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [89 93 0]
}
junction {
id 95
position [23.5747 49.5747 7]
chart 89
+ linkNode [89 0 0]
subviewer 89
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [89 0 0]
}
transition {
id 96
@@ -11448,6 +11230,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 89
+ linkNode [89 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 89
drawStyle SMART
@@ -11456,34 +11239,33 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 109
+ firstJunction 108
viewObj 98
+ machine 1
ssIdHighWaterMark 15
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 100
chartFileNumber 10
disableImplicitCasting 1
eml {
name "idealIMU"
}
- firstData 100
- firstTransition 109
- firstJunction 108
}
state {
id 99
@@ -11509,6 +11291,7 @@ Stateflow {
id 100
ssIdNumber 4
name "B_vo_dot"
+ linkNode [98 0 101]
scope INPUT_DATA
machine 1
props {
@@ -11522,12 +11305,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 0 101]
}
data {
id 101
ssIdNumber 9
name "B_vo"
+ linkNode [98 100 102]
scope INPUT_DATA
machine 1
props {
@@ -11544,12 +11327,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 100 102]
}
data {
id 102
ssIdNumber 5
name "accelReading"
+ linkNode [98 101 103]
scope OUTPUT_DATA
machine 1
props {
@@ -11564,12 +11347,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [98 101 103]
}
data {
id 103
ssIdNumber 6
name "B_Omega"
+ linkNode [98 102 104]
scope INPUT_DATA
machine 1
props {
@@ -11586,12 +11369,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 102 104]
}
data {
id 104
ssIdNumber 7
name "B_g"
+ linkNode [98 103 105]
scope INPUT_DATA
machine 1
props {
@@ -11608,12 +11391,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 103 105]
}
data {
id 105
ssIdNumber 8
name "gyroReading"
+ linkNode [98 104 106]
scope OUTPUT_DATA
machine 1
props {
@@ -11630,12 +11413,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [98 104 106]
}
data {
id 106
ssIdNumber 10
name "r_oc"
+ linkNode [98 105 107]
scope INPUT_DATA
machine 1
props {
@@ -11652,12 +11435,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 105 107]
}
data {
id 107
ssIdNumber 12
name "g"
+ linkNode [98 106 0]
scope PARAMETER_DATA
machine 1
props {
@@ -11674,16 +11457,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [98 106 0]
}
junction {
id 108
position [23.5747 49.5747 7]
chart 98
+ linkNode [98 0 0]
subviewer 98
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [98 0 0]
}
transition {
id 109
@@ -11699,6 +11481,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 98
+ linkNode [98 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 98
drawStyle SMART
@@ -11707,34 +11490,33 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 116
+ firstJunction 115
viewObj 111
+ machine 1
ssIdHighWaterMark 5
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 113
chartFileNumber 11
disableImplicitCasting 1
eml {
name "eigenaxis_ucart"
}
- firstData 113
- firstTransition 116
- firstJunction 115
}
state {
id 112
@@ -11764,6 +11546,7 @@ Stateflow {
id 113
ssIdNumber 4
name "u"
+ linkNode [111 0 114]
scope INPUT_DATA
machine 1
props {
@@ -11777,12 +11560,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [111 0 114]
}
data {
id 114
ssIdNumber 5
name "y"
+ linkNode [111 113 0]
scope OUTPUT_DATA
machine 1
props {
@@ -11797,16 +11580,15 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [111 113 0]
}
junction {
id 115
position [23.5747 49.5747 7]
chart 111
+ linkNode [111 0 0]
subviewer 111
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [111 0 0]
}
transition {
id 116
@@ -11822,6 +11604,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 111
+ linkNode [111 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 111
drawStyle SMART
@@ -11830,34 +11613,33 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [111 0 0]
}
instance {
id 117
- machine 1
name " Sensors /3D Graphical Simulation/MATLAB Function"
+ machine 1
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]
+ firstTransition 124
+ firstJunction 123
viewObj 118
+ machine 1
ssIdHighWaterMark 6
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 120
chartFileNumber 12
disableImplicitCasting 1
eml {
name "angular_body_earth_conversion"
}
- firstData 120
- firstTransition 124
- firstJunction 123
}
state {
id 119
@@ -11884,6 +11666,7 @@ Stateflow {
id 120
ssIdNumber 4
name "gyro_reading"
+ linkNode [118 0 121]
scope INPUT_DATA
machine 1
props {
@@ -11897,12 +11680,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [118 0 121]
}
data {
id 121
ssIdNumber 5
name "euler_rates_IMU"
+ linkNode [118 120 122]
scope OUTPUT_DATA
machine 1
props {
@@ -11917,12 +11700,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [118 120 122]
}
data {
id 122
ssIdNumber 6
name "euler_angles_IMU"
+ linkNode [118 121 0]
scope INPUT_DATA
machine 1
props {
@@ -11939,16 +11722,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [118 121 0]
}
junction {
id 123
position [23.5747 49.5747 7]
chart 118
+ linkNode [118 0 0]
subviewer 118
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [118 0 0]
}
transition {
id 124
@@ -11964,6 +11746,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 118
+ linkNode [118 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 118
drawStyle SMART
@@ -11972,34 +11755,36 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 133
+ firstJunction 132
viewObj 126
+ visible 1
+ machine 1
+ subviewS {
+ }
ssIdHighWaterMark 10
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 128
chartFileNumber 13
disableImplicitCasting 1
eml {
name "getPitchAndRoll"
}
- firstData 128
- firstTransition 133
- firstJunction 132
}
state {
id 127
@@ -12028,6 +11813,7 @@ Stateflow {
id 128
ssIdNumber 4
name "accel_reading"
+ linkNode [126 0 129]
scope INPUT_DATA
machine 1
props {
@@ -12041,12 +11827,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [126 0 129]
}
data {
id 129
ssIdNumber 5
name "accel_pitch"
+ linkNode [126 128 130]
scope OUTPUT_DATA
machine 1
props {
@@ -12061,12 +11847,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [126 128 130]
}
data {
id 130
ssIdNumber 6
name "accel_roll"
+ linkNode [126 129 131]
scope OUTPUT_DATA
machine 1
props {
@@ -12083,12 +11869,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [126 129 131]
}
data {
id 131
ssIdNumber 7
name "accel_roll_prev"
+ linkNode [126 130 0]
scope INPUT_DATA
machine 1
props {
@@ -12105,16 +11891,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [126 130 0]
}
junction {
id 132
position [23.5747 49.5747 7]
chart 126
+ linkNode [126 0 0]
subviewer 126
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [126 0 0]
}
transition {
id 133
@@ -12130,6 +11915,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 126
+ linkNode [126 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 126
drawStyle SMART
@@ -12138,34 +11924,36 @@ Stateflow {
}
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"
+ machine 1
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]
+ firstTransition 143
+ firstJunction 142
viewObj 135
+ visible 1
+ machine 1
+ subviewS {
+ }
ssIdHighWaterMark 11
decomposition CLUSTER_CHART
type EML_CHART
+ firstData 137
chartFileNumber 14
disableImplicitCasting 1
eml {
name "signal_mixer"
}
- firstData 137
- firstTransition 143
- firstJunction 142
}
state {
id 136
@@ -12194,6 +11982,7 @@ Stateflow {
id 137
ssIdNumber 4
name "height_controlled"
+ linkNode [135 0 138]
scope INPUT_DATA
machine 1
props {
@@ -12207,12 +11996,12 @@ Stateflow {
complexity SF_COMPLEX_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [135 0 138]
}
data {
id 138
ssIdNumber 7
name "y_controlled"
+ linkNode [135 137 139]
scope INPUT_DATA
machine 1
props {
@@ -12229,12 +12018,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [135 137 139]
}
data {
id 139
ssIdNumber 5
name "motorCommands"
+ linkNode [135 138 140]
scope OUTPUT_DATA
machine 1
props {
@@ -12249,12 +12038,12 @@ Stateflow {
frame SF_FRAME_NO
}
dataType "Inherit: Same as Simulink"
- linkNode [135 138 140]
}
data {
id 140
ssIdNumber 6
name "x_controlled"
+ linkNode [135 139 141]
scope INPUT_DATA
machine 1
props {
@@ -12271,12 +12060,12 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [135 139 141]
}
data {
id 141
ssIdNumber 8
name "yaw_controlled"
+ linkNode [135 140 0]
scope INPUT_DATA
machine 1
props {
@@ -12293,16 +12082,15 @@ Stateflow {
frame SF_FRAME_INHERITED
}
dataType "Inherit: Same as Simulink"
- linkNode [135 140 0]
}
junction {
id 142
position [23.5747 49.5747 7]
chart 135
+ linkNode [135 0 0]
subviewer 135
ssIdNumber 3
type CONNECTIVE_JUNCTION
- linkNode [135 0 0]
}
transition {
id 143
@@ -12318,6 +12106,7 @@ Stateflow {
}
midPoint [23.5747 24.9468]
chart 135
+ linkNode [135 0 0]
dataLimits [21.175 25.975 14.625 42.575]
subviewer 135
drawStyle SMART
@@ -12326,19 +12115,18 @@ Stateflow {
}
executionOrder 1
ssIdNumber 2
- linkNode [135 0 0]
}
instance {
id 144
- machine 1
name "Control System/MATLAB Function"
+ machine 1
chart 135
}
target {
id 145
- machine 1
name "sfun"
description "Default Simulink S-Function Target."
+ machine 1
linkNode [1 0 0]
}
}
diff --git a/controls/model/test_model_R2015Ax.slx b/controls/model/test_model_R2015Ax.slx
new file mode 100644
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--
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