diff --git a/controls/.gitignore b/controls/.gitignore
index 21229f76b17b687525514038ec23a451ae85a716..8b19222b04b8afacb65b2cf3b41651efc7b162e0 100644
--- a/controls/.gitignore
+++ b/controls/.gitignore
@@ -1 +1,2 @@
-*.asv
\ No newline at end of file
+*.asv
+*.autosave
\ No newline at end of file
diff --git a/controls/MATLAB/IMU/accelerometer_noise_analysis.m b/controls/MATLAB/IMU/accelerometer_noise_analysis.m
index ee2514e517e516399d7b305eeed170caec4a5f44..9e0b040576e1a549cd6061df09d00829da1e2c4b 100644
--- a/controls/MATLAB/IMU/accelerometer_noise_analysis.m
+++ b/controls/MATLAB/IMU/accelerometer_noise_analysis.m
@@ -14,6 +14,11 @@ gz = data.gz;
% analyze the noise (deviation from mean) on each axis and compare the
% emperical distribution to one generated from a quantized Gaussian
% distrubtuion with the same variance.
-quantized_accel_noise_gauss_anal( ax , 'x-axis')
-quantized_accel_noise_gauss_anal( ay , 'y-axis')
-quantized_accel_noise_gauss_anal( az , 'z-axis')
\ No newline at end of file
+quantized_noise_gauss_anal( ax , 'Accelerometer' , 'x-axis' , 'gs' )
+quantized_noise_gauss_anal( ay , 'Accelerometer' , 'y-axis', 'gs' )
+quantized_noise_gauss_anal( az , 'Accelerometer' , 'z-axis', 'gs' )
+
+
+quantized_noise_gauss_anal( gx , 'Gyroscope' , 'x-axis' , 'rad/s')
+quantized_noise_gauss_anal( gy , 'Gyroscope' , 'y-axis' , 'rad/s' )
+quantized_noise_gauss_anal( gz , 'Gyroscope' , 'z-axis' , 'rad/s' )
\ No newline at end of file
diff --git a/controls/MATLAB/IMU/microcart_imu_analysis_1.m b/controls/MATLAB/IMU/microcart_imu_analysis_1.m
index 09315ae94fb91c26c66b80f0296f7c01c9b7a281..0315cd6cdbf10f924d18aa6753ad04a1a92b2841 100644
--- a/controls/MATLAB/IMU/microcart_imu_analysis_1.m
+++ b/controls/MATLAB/IMU/microcart_imu_analysis_1.m
@@ -88,7 +88,7 @@ stem(bins,h);
legend(['Quantized Gaussian Noise: N(0,',num2str(vx),')'],'Emperical Distribution')
-quantized_accel_noise_gauss_anal( ax )
+% quantized_accel_noise_gauss_anal( ax )
diff --git a/controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m b/controls/MATLAB/IMU/quantized_noise_gauss_anal.m
similarity index 59%
rename from controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m
rename to controls/MATLAB/IMU/quantized_noise_gauss_anal.m
index 229a09da924c719d0353479db7e16e227690d50f..17c1756c4c2927acca33f55a218c261c81c000bc 100644
--- a/controls/MATLAB/IMU/quantized_accel_noise_gauss_anal.m
+++ b/controls/MATLAB/IMU/quantized_noise_gauss_anal.m
@@ -1,16 +1,18 @@
-function varargout = quantized_accel_noise_gauss_anal( a , axis )
-% quantized_accel_noise_gauss_anal analysis for quantized acelerometer data
+function varargout = quantized_noise_gauss_anal( a , sensor_name, axis , units )
+% quantized_noise_gauss_anal analysis for quantized sensor data
%
%SYNTAX
-% quantized_accel_noise_gauss_anal( a , axis )
+% quantized_noise_gauss_anal(a , sensor_name, axis , units )
%
%DESCRIPTION
% ...to be written...
%
%
%Inputs:
-% a - vector of a single axis accelerometer reading
-% axis - string specifying the axis label
+% a - vector of a single axis accelerometer reading
+% sensor_name - string specifying the axis label
+% axis - string specifying the axis label
+% units - string specifying the physical units on that axis
%
%Options:
% none
@@ -37,6 +39,10 @@ function varargout = quantized_accel_noise_gauss_anal( a , axis )
% Initial bare bones function.
% - Matt Rich 11-15-2016
%
+% Change funcdtion name and code to not specify what sensor it is for so it
+% can be used for any sensor producing quantized output
+% - Matt Rich 11-16-2016
+%
mu = mean(a);
v = var(a);
@@ -59,14 +65,14 @@ cgauss_left = normcdf(bins_left,mue,sigma);
emp_dist = length(ea)*(cgauss_right-cgauss_left);
stairs(bins_left,emp_dist,'r','LineWidth',1) ;
-xlabel('Error From Mean (gs)');
+xlabel(['Error From Mean (',units,')']);
ylabel('Occurences');
grid;
hold on;
h = hist(ea,bins);
stem(bins,h);
legend(['Quantized Gaussian Noise: N(',num2str(mue),',',num2str(v),')'],'Emperical Distribution');
-title(['Accelerometer deviation from mean on ',axis]);
+title([sensor_name,' deviation from mean on ',axis]);
end
diff --git a/controls/model/IMU_prototype.mdl b/controls/model/IMU_prototype.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..0719120da90753a997289c717475134c7fd8b8eb
--- /dev/null
+++ b/controls/model/IMU_prototype.mdl
@@ -0,0 +1,1857 @@
+Model {
+ Name "IMU_prototype"
+ Version 8.5
+ MdlSubVersion 0
+ SavedCharacterEncoding "windows-1252"
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+ ComputedModelVersion "1.7"
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+ NumTestPointedSignals 0
+ }
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+ OverrideScopeRefreshTime on
+ DisableAllScopes on
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+ MaxMDLFileLineLength 120
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+ Created "Wed Nov 16 14:00:52 2016"
+ Creator "m87rich"
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+ GeneratePreprocessorConditionals "Disable all"
+ CombineOutputUpdateFcns on
+ CombineSignalStateStructs off
+ SuppressErrorStatus off
+ ERTFirstTimeCompliant off
+ IncludeFileDelimiter "Auto"
+ ERTCustomFileBanners off
+ SupportAbsoluteTime on
+ LogVarNameModifier "rt_"
+ MatFileLogging on
+ MultiInstanceERTCode off
+ CodeInterfacePackaging "Nonreusable function"
+ SupportNonFinite on
+ SupportComplex on
+ PurelyIntegerCode off
+ SupportContinuousTime on
+ SupportNonInlinedSFcns on
+ SupportVariableSizeSignals off
+ ParenthesesLevel "Nominal"
+ CastingMode "Nominal"
+ MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization"
+ ModelStepFunctionPrototypeControlCompliant off
+ CPPClassGenCompliant on
+ AutosarCompliant off
+ GRTInterface off
+ GenerateAllocFcn off
+ GenerateSharedConstants on
+ UseMalloc off
+ ExtMode off
+ ExtModeStaticAlloc off
+ ExtModeTesting off
+ ExtModeStaticAllocSize 1000000
+ ExtModeTransport 0
+ ExtModeMexFile "ext_comm"
+ ExtModeIntrfLevel "Level1"
+ RTWCAPISignals off
+ RTWCAPIParams off
+ RTWCAPIStates off
+ RTWCAPIRootIO off
+ GenerateASAP2 off
+ MultiInstanceErrorCode "Error"
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+ PropName "Components"
+ }
+ }
+ PropName "Components"
+ }
+ Name "Configuration"
+ CurrentDlgPage "Solver"
+ ConfigPrmDlgPosition [ 228, 112, 1308, 752 ]
+ }
+ PropName "ConfigurationSets"
+ }
+ Simulink.ConfigSet {
+ $PropName "ActiveConfigurationSet"
+ $ObjectID 7
+ }
+ Object {
+ $PropName "DataTransfer"
+ $ObjectID 18
+ $ClassName "Simulink.GlobalDataTransfer"
+ DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
+ DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
+ DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)"
+ DefaultExtrapolationMethodBetweenContTasks "None"
+ AutoInsertRateTranBlk [0]
+ }
+ ExplicitPartitioning off
+ BlockDefaults {
+ ForegroundColor "black"
+ BackgroundColor "white"
+ DropShadow off
+ NamePlacement "normal"
+ FontName "Helvetica"
+ FontSize 10
+ FontWeight "normal"
+ FontAngle "normal"
+ ShowName on
+ BlockRotation 0
+ BlockMirror off
+ }
+ AnnotationDefaults {
+ HorizontalAlignment "center"
+ VerticalAlignment "middle"
+ ForegroundColor "black"
+ BackgroundColor "white"
+ DropShadow off
+ FontName "Helvetica"
+ FontSize 10
+ FontWeight "normal"
+ FontAngle "normal"
+ UseDisplayTextAsClickCallback off
+ }
+ LineDefaults {
+ FontName "Helvetica"
+ FontSize 9
+ FontWeight "normal"
+ FontAngle "normal"
+ }
+ MaskDefaults {
+ SelfModifiable "off"
+ IconFrame "on"
+ IconOpaque "on"
+ RunInitForIconRedraw "off"
+ IconRotate "none"
+ PortRotate "default"
+ IconUnits "autoscale"
+ }
+ MaskParameterDefaults {
+ Evaluate "on"
+ Tunable "on"
+ NeverSave "off"
+ Internal "off"
+ ReadOnly "off"
+ Enabled "on"
+ Visible "on"
+ ToolTip "on"
+ }
+ BlockParameterDefaults {
+ Block {
+ BlockType Constant
+ Value "1"
+ VectorParams1D on
+ SamplingMode "Sample based"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Inherit from 'Constant value'"
+ LockScale off
+ SampleTime "inf"
+ FramePeriod "inf"
+ PreserveConstantTs off
+ }
+ Block {
+ BlockType Demux
+ Outputs "4"
+ DisplayOption "none"
+ BusSelectionMode off
+ }
+ Block {
+ BlockType Ground
+ }
+ Block {
+ BlockType Inport
+ Port "1"
+ OutputFunctionCall off
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ LatchByDelayingOutsideSignal off
+ LatchInputForFeedbackSignals off
+ Interpolate on
+ }
+ Block {
+ BlockType Outport
+ Port "1"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ SourceOfInitialOutputValue "Dialog"
+ OutputWhenDisabled "held"
+ InitialOutput "[]"
+ }
+ Block {
+ BlockType Quantizer
+ QuantizationInterval "0.5"
+ LinearizeAsGain on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType RandomNumber
+ Mean "0"
+ Variance "1"
+ Seed "0"
+ SampleTime "-1"
+ VectorParams1D on
+ }
+ Block {
+ BlockType S-Function
+ FunctionName "system"
+ SFunctionModules "''"
+ PortCounts "[]"
+ SFunctionDeploymentMode off
+ EnableBusSupport off
+ }
+ Block {
+ BlockType Scope
+ 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 SubSystem
+ ShowPortLabels "FromPortIcon"
+ Permissions "ReadWrite"
+ PermitHierarchicalResolution "All"
+ TreatAsAtomicUnit off
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ CheckFcnCallInpInsideContextMsg off
+ SystemSampleTime "-1"
+ RTWSystemCode "Auto"
+ RTWFcnNameOpts "Auto"
+ RTWFileNameOpts "Auto"
+ FunctionInterfaceSpec "void_void"
+ FunctionWithSeparateData off
+ RTWMemSecFuncInitTerm "Inherit from model"
+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ SimViewingDevice off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ Opaque off
+ MaskHideContents off
+ SFBlockType "NONE"
+ Variant off
+ GeneratePreprocessorConditionals off
+ ContentPreviewEnabled off
+ IsWebBlock off
+ }
+ Block {
+ BlockType Sum
+ IconShape "rectangular"
+ Inputs "++"
+ CollapseMode "All dimensions"
+ CollapseDim "1"
+ InputSameDT on
+ AccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as first input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Terminator
+ }
+ Block {
+ BlockType ZeroOrderHold
+ SampleTime "1"
+ }
+ }
+ System {
+ Name "IMU_prototype"
+ Location [750, 139, 1812, 842]
+ Open on
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ ReportName "simulink-default.rpt"
+ SIDHighWatermark "33"
+ Block {
+ BlockType Constant
+ Name "Constant"
+ SID "5"
+ Position [20, 75, 50, 105]
+ ZOrder 5
+ Value "zeros(3,1)"
+ SampleTime "0"
+ }
+ Block {
+ BlockType SubSystem
+ Name "IMU"
+ SID "20"
+ Ports [4, 2]
+ Position [365, 81, 550, 174]
+ ZOrder 20
+ RequestExecContextInheritance off
+ System {
+ Name "IMU"
+ Location [750, 139, 1812, 842]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "dv"
+ SID "21"
+ Position [110, 173, 140, 187]
+ ZOrder 17
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "v"
+ SID "29"
+ Position [110, 208, 140, 222]
+ ZOrder 25
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Omega"
+ SID "30"
+ Position [110, 243, 140, 257]
+ ZOrder 26
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "g"
+ SID "31"
+ Position [110, 278, 140, 292]
+ ZOrder 27
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Ground
+ Name "Ground"
+ SID "27"
+ Position [500, 460, 520, 480]
+ ZOrder 23
+ }
+ Block {
+ BlockType Ground
+ Name "Ground1"
+ SID "28"
+ Position [500, 30, 520, 50]
+ ZOrder 24
+ }
+ Block {
+ BlockType SubSystem
+ Name "MATLAB Function"
+ SID "1"
+ Ports [5, 2]
+ Position [250, 165, 445, 335]
+ ZOrder 1
+ LibraryVersion "1.32"
+ ErrorFcn "Stateflow.Translate.translate"
+ PermitHierarchicalResolution "ExplicitOnly"
+ TreatAsAtomicUnit on
+ RequestExecContextInheritance off
+ SFBlockType "MATLAB Function"
+ System {
+ Name "MATLAB Function"
+ Location [223, 338, 826, 833]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ SIDHighWatermark "23"
+ Block {
+ BlockType Inport
+ Name "dv"
+ SID "1::1"
+ Position [20, 101, 40, 119]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "v"
+ SID "1::22"
+ Position [20, 136, 40, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Omega"
+ SID "1::19"
+ Position [20, 171, 40, 189]
+ ZOrder 10
+ Port "3"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "g"
+ SID "1::20"
+ Position [20, 206, 40, 224]
+ ZOrder 11
+ Port "4"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "r_oc"
+ SID "1::23"
+ Position [20, 246, 40, 264]
+ ZOrder 14
+ Port "5"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Demux
+ Name " Demux "
+ SID "1::17"
+ Ports [1, 1]
+ Position [270, 230, 320, 270]
+ ZOrder 8
+ Outputs "1"
+ }
+ Block {
+ BlockType S-Function
+ Name " SFunction "
+ SID "1::16"
+ Tag "Stateflow S-Function IMU_prototype 2"
+ Ports [5, 3]
+ Position [180, 105, 230, 225]
+ ZOrder 7
+ FunctionName "sf_sfun"
+ PortCounts "[5 3]"
+ EnableBusSupport on
+ Port {
+ PortNumber 2
+ Name "accel_reading"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "gyro_reading"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Terminator
+ Name " Terminator "
+ SID "1::18"
+ Position [460, 241, 480, 259]
+ ZOrder 9
+ }
+ Block {
+ BlockType Outport
+ Name "accel_reading"
+ SID "1::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "gyro_reading"
+ SID "1::21"
+ Position [460, 136, 480, 154]
+ ZOrder 12
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 43
+ SrcBlock "dv"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 44
+ SrcBlock "v"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ ZOrder 45
+ SrcBlock "Omega"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 3
+ }
+ Line {
+ ZOrder 46
+ SrcBlock "g"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 4
+ }
+ Line {
+ ZOrder 47
+ SrcBlock "r_oc"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 5
+ }
+ Line {
+ Name "accel_reading"
+ ZOrder 48
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "accel_reading"
+ DstPort 1
+ }
+ Line {
+ Name "gyro_reading"
+ ZOrder 49
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "gyro_reading"
+ DstPort 1
+ }
+ Line {
+ ZOrder 50
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 51
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ SID "7"
+ Ports [2, 1]
+ Position [690, 285, 710, 305]
+ ZOrder 7
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum1"
+ SID "8"
+ Ports [2, 1]
+ Position [690, 200, 710, 220]
+ ZOrder 8
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum2"
+ SID "11"
+ Ports [2, 1]
+ Position [570, 285, 590, 305]
+ ZOrder 11
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ SID "12"
+ Ports [2, 1]
+ Position [570, 200, 590, 220]
+ ZOrder 12
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType RandomNumber
+ Name "accelerometer_noise"
+ SID "2"
+ Position [630, 140, 660, 170]
+ ZOrder 2
+ Mean "zeros(3,1)"
+ Variance "[ 3e-7 ; 3.3e-7 ; 7.2e-7 ] "
+ Seed "[0,1,2]"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "accelerometer_quantizer"
+ SID "9"
+ Position [770, 195, 800, 225]
+ ZOrder 9
+ QuantizationInterval "2.4400e-04"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "accelerometer_sampling"
+ SID "15"
+ Position [495, 195, 530, 225]
+ ZOrder 15
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType RandomNumber
+ Name "gyroscope_noise"
+ SID "6"
+ Position [630, 315, 660, 345]
+ ZOrder 6
+ Mean "zeros(3,1)"
+ Variance "[ 2.2e-8 ; 1.1e-7 ; 2.4e-8 ]"
+ Seed "[0,1,2]"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "gyroscope_qunatizer"
+ SID "10"
+ Position [770, 280, 800, 310]
+ ZOrder 10
+ QuantizationInterval "1.1e-3"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "gyroscope_sampling"
+ SID "16"
+ Position [495, 280, 530, 310]
+ ZOrder 16
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Constant
+ Name "r_oc"
+ SID "32"
+ Position [95, 307, 160, 333]
+ ZOrder 28
+ Value "zeros(3,1)"
+ }
+ Block {
+ BlockType Outport
+ Name "accelerometer"
+ SID "33"
+ Position [885, 203, 915, 217]
+ ZOrder 29
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "gyroscope"
+ SID "25"
+ Position [885, 288, 915, 302]
+ ZOrder 21
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 51
+ SrcBlock "gyroscope_qunatizer"
+ SrcPort 1
+ DstBlock "gyroscope"
+ DstPort 1
+ }
+ Line {
+ ZOrder 61
+ SrcBlock "accelerometer_quantizer"
+ SrcPort 1
+ DstBlock "accelerometer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "accelerometer_noise"
+ SrcPort 1
+ Points [35, 0]
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 22
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "gyroscope_qunatizer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 24
+ SrcBlock "Sum2"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 25
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 23
+ SrcBlock "MATLAB Function"
+ SrcPort 2
+ DstBlock "gyroscope_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock "gyroscope_noise"
+ SrcPort 1
+ Points [35, 0]
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Line {
+ ZOrder 26
+ SrcBlock "MATLAB Function"
+ SrcPort 1
+ DstBlock "accelerometer_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 21
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "accelerometer_quantizer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 31
+ SrcBlock "gyroscope_sampling"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 30
+ SrcBlock "accelerometer_sampling"
+ SrcPort 1
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ Line {
+ ZOrder 52
+ SrcBlock "Ground"
+ SrcPort 1
+ Points [55, 0]
+ DstBlock "Sum2"
+ DstPort 2
+ }
+ Line {
+ ZOrder 53
+ SrcBlock "Ground1"
+ SrcPort 1
+ Points [55, 0]
+ DstBlock "Sum3"
+ DstPort 1
+ }
+ Line {
+ ZOrder 56
+ SrcBlock "dv"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 1
+ }
+ Line {
+ ZOrder 57
+ SrcBlock "v"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 2
+ }
+ Line {
+ ZOrder 58
+ SrcBlock "Omega"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 3
+ }
+ Line {
+ ZOrder 59
+ SrcBlock "g"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 4
+ }
+ Line {
+ ZOrder 60
+ SrcBlock "r_oc"
+ SrcPort 1
+ DstBlock "MATLAB Function"
+ DstPort 5
+ }
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope"
+ SID "3"
+ Ports [1]
+ Position [635, 134, 665, 166]
+ ZOrder 3
+ Floating off
+ Location [1, 55, 1921, 1029]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ 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"
+ }
+ }
+ Block {
+ BlockType Scope
+ Name "Scope1"
+ SID "13"
+ Ports [1]
+ Position [590, 89, 620, 121]
+ ZOrder 13
+ Floating off
+ Location [188, 365, 512, 604]
+ Open off
+ NumInputPorts "1"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ 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"
+ }
+ SaveName "ScopeData1"
+ }
+ Line {
+ ZOrder 55
+ SrcBlock "IMU"
+ SrcPort 1
+ DstBlock "Scope1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 47
+ SrcBlock "Constant"
+ SrcPort 1
+ Points [261, 0]
+ Branch {
+ ZOrder 50
+ Points [0, 25; 1, 0]
+ Branch {
+ ZOrder 52
+ Points [0, 25; 3, 0]
+ Branch {
+ ZOrder 54
+ Points [0, 25]
+ DstBlock "IMU"
+ DstPort 4
+ }
+ Branch {
+ ZOrder 53
+ DstBlock "IMU"
+ DstPort 3
+ }
+ }
+ Branch {
+ ZOrder 51
+ DstBlock "IMU"
+ DstPort 2
+ }
+ }
+ Branch {
+ ZOrder 49
+ DstBlock "IMU"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 56
+ SrcBlock "IMU"
+ SrcPort 2
+ DstBlock "Scope"
+ DstPort 1
+ }
+ }
+}
+#Finite State Machines
+#
+# Stateflow 80000005
+#
+#
+Stateflow {
+ machine {
+ id 1
+ name "IMU_prototype"
+ created "16-Nov-2016 14:11:28"
+ isLibrary 0
+ firstTarget 14
+ sfVersion 80000005
+ }
+ chart {
+ id 2
+ name "IMU/MATLAB Function"
+ 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 12
+ firstJunction 11
+ viewObj 2
+ visible 1
+ machine 1
+ subviewS {
+ }
+ ssIdHighWaterMark 10
+ decomposition CLUSTER_CHART
+ type EML_CHART
+ firstData 4
+ chartFileNumber 2
+ disableImplicitCasting 1
+ eml {
+ name "fcn"
+ }
+ }
+ state {
+ id 3
+ labelString "eML_blk_kernel()"
+ position [18 64.5 118 66]
+ fontSize 12
+ chart 2
+ treeNode [2 0 0 0]
+ superState SUBCHART
+ subviewer 2
+ ssIdNumber 1
+ type FUNC_STATE
+ decomposition CLUSTER_STATE
+ eml {
+ isEML 1
+ script "function [accel_reading,gyro_reading] = fcn(dv,v,Omega,g,r_oc)\n%#codegen\n\na = dv + cross(Omega"
+ ",v) ; % body frame acceleration \n\naccel_reading = a - g ; % accelerometer reading (ideal)\n\ngyro_reading = Om"
+ "ega ; % gyroscope reading (ideal) \n\nend\n\n"
+ editorLayout "100 M4x1[10 5 700 500]"
+ }
+ }
+ data {
+ id 4
+ ssIdNumber 4
+ name "dv"
+ linkNode [2 0 5]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 5
+ ssIdNumber 9
+ name "v"
+ linkNode [2 4 6]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 6
+ ssIdNumber 5
+ name "accel_reading"
+ linkNode [2 5 7]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 7
+ ssIdNumber 6
+ name "Omega"
+ linkNode [2 6 8]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 8
+ ssIdNumber 7
+ name "g"
+ linkNode [2 7 9]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 9
+ ssIdNumber 8
+ name "gyro_reading"
+ linkNode [2 8 10]
+ scope OUTPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_NO
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ data {
+ id 10
+ ssIdNumber 10
+ name "r_oc"
+ linkNode [2 9 0]
+ scope INPUT_DATA
+ machine 1
+ props {
+ array {
+ size "-1"
+ }
+ type {
+ method SF_INHERITED_TYPE
+ primitive SF_DOUBLE_TYPE
+ isSigned 1
+ wordLength "16"
+ }
+ complexity SF_COMPLEX_INHERITED
+ frame SF_FRAME_INHERITED
+ }
+ dataType "Inherit: Same as Simulink"
+ }
+ junction {
+ id 11
+ position [23.5747 49.5747 7]
+ chart 2
+ linkNode [2 0 0]
+ subviewer 2
+ ssIdNumber 3
+ type CONNECTIVE_JUNCTION
+ }
+ transition {
+ id 12
+ labelString "{eML_blk_kernel();}"
+ labelPosition [28.125 13.875 102.544 14.964]
+ fontSize 12
+ src {
+ intersection [0 0 1 0 23.5747 14.625 0 0]
+ }
+ dst {
+ id 11
+ intersection [1 0 -1 0 23.5747 42.5747 0 0]
+ }
+ midPoint [23.5747 24.9468]
+ chart 2
+ linkNode [2 0 0]
+ dataLimits [21.175 25.975 14.625 42.575]
+ subviewer 2
+ drawStyle SMART
+ slide {
+ sticky BOTH_STICK
+ }
+ executionOrder 1
+ ssIdNumber 2
+ }
+ instance {
+ id 13
+ name "IMU/MATLAB Function"
+ machine 1
+ chart 2
+ }
+ target {
+ id 14
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}