diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 8e53db85b2bd85578843ca3e3b47eb59afdeb927..13bc283c77c88eead0b0297c5069e468205ce552 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,10 +1,10 @@
build:
stage: build
script:
- - echo "It works."
+ - bash ci-build.sh
# run tests using the binary built before
test:
stage: test
script:
- - bash test-ci.sh
+ - bash ci-test.sh
diff --git a/ci-build.sh b/ci-build.sh
new file mode 100644
index 0000000000000000000000000000000000000000..af6f06ee2b0ac51bbf2ca42d1819684979dd267e
--- /dev/null
+++ b/ci-build.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+PROJECT_ROOT=$(pwd)
+export PROJECT_ROOT
+
+# Quad
+bash quad/ci-build.sh || exit 1
diff --git a/test-ci.sh b/ci-test.sh
similarity index 66%
rename from test-ci.sh
rename to ci-test.sh
index 8278c93522978d69a943fbc608444196fe58b5ec..5542a1b99fad91c60197f1aa8189a780316b94ff 100644
--- a/test-ci.sh
+++ b/ci-test.sh
@@ -4,4 +4,4 @@ PROJECT_ROOT=$(pwd)
export PROJECT_ROOT
# Quad
-bash quad/test-ci.sh || exit 1
+bash quad/ci-test.sh || exit 1
diff --git a/controls/MATLAB/momentOfInertia/J_calc_bifilar.m b/controls/MATLAB/momentOfInertia/J_calc_bifilar.m
new file mode 100644
index 0000000000000000000000000000000000000000..9f52a69ec50752c0c2b2b644f1a5b373ccc74bcb
--- /dev/null
+++ b/controls/MATLAB/momentOfInertia/J_calc_bifilar.m
@@ -0,0 +1,36 @@
+function J = J_calc_bifilar( m , g, D, L, t, n , varargin)
+%UNTITLED Summary of this function goes here
+% Detailed explanation goes here
+
+average_strings = {'average','mean','ave'};
+least_squares_strings = {'least squares','ls'};
+
+mode = 0;
+if ~isempty(varargin)
+ for k = 1:length(varargin)
+ if any(strcmpi(varargin{k},average_strings))
+ mode = 0;
+ end
+ if any(strcmpi(varargin{k},least_squares_strings))
+ mode = 1;
+ end
+ end
+end
+
+if mode == 0 %averge
+ N = length(t);
+ Js = zeros(1,N);
+ for k = 1:N
+ Js(k) = m(k)*g*D(k)^2/(16*pi^2*L(k))*(t(k)/n(k))^2;
+ end
+ J = mean(Js);
+end
+
+if mode == 1 %least squares
+ J = (16*pi^2*L./(m*g.*D.^2))\(t./n).^2 ;
+end
+
+
+
+end
+
diff --git a/controls/MATLAB/momentOfInertia/J_calc_bifilar_script.m b/controls/MATLAB/momentOfInertia/J_calc_bifilar_script.m
new file mode 100644
index 0000000000000000000000000000000000000000..5eb3ce5744009130baa1ca91115140fd5bb20889
--- /dev/null
+++ b/controls/MATLAB/momentOfInertia/J_calc_bifilar_script.m
@@ -0,0 +1,39 @@
+
+% inches2meters = 0.0254 ;
+
+%%
+% %Jxx
+% m = 1.244*ones(5,1);
+% D = (12+3/8)*inches2meters*ones(5,1);
+% L = (81+3/4)*inches2meters*ones(5,1);
+% t = [ 94.58 ; 93.91 ; 93.81 ; 94.16 ; 94.04 ] ;
+% n = 50*ones(5,1);
+
+% %Jyy
+% m = 1.244*ones(5,1);
+% D = (12+3/8)*inches2meters*ones(5,1);
+% L = (91+3/4)*inches2meters*ones(5,1);
+% t = [ 103.31 ; 103.15 ; 103.31 ; 103.47 ; 103.13 ] ;
+% n = 50*ones(5,1);
+
+
+% %Jzz
+% m = 1.244*ones(5,1);
+% D = (19+3/16)*inches2meters*ones(5,1);
+% L = (96+1/4)*inches2meters*ones(5,1);
+% t = [ 96.64 ; 97.47 ; 97.75 ; 97.35 ; 97.78 ] ;
+% n = 50*ones(5,1);
+
+load .\git_repos\microCART_17-18\controls\dataCollection\bifilar_inertia_2_18_2017\MicroCART_bifilar_Jxx_2_18_2017 ;
+Jxx_a = J_calc_bifilar( m , g, D, L, t, n , 'average')
+Jxx_ls = J_calc_bifilar( m , g, D, L, t, n , 'least squares')
+
+clear D L m n t
+load .\git_repos\microCART_17-18\controls\dataCollection\bifilar_inertia_2_18_2017\MicroCART_bifilar_Jyy_2_18_2017 ;
+Jyy_a = J_calc_bifilar( m , g, D, L, t, n , 'average')
+Jyy_ls = J_calc_bifilar( m , g, D, L, t, n , 'least squares')
+
+clear D L m n t
+load .\git_repos\microCART_17-18\controls\dataCollection\bifilar_inertia_2_18_2017\MicroCART_bifilar_Jzz_2_18_2017 ;
+Jzz_a = J_calc_bifilar( m , g, D, L, t, n , 'average')
+Jzz_ls = J_calc_bifilar( m , g, D, L, t, n , 'least squares')
diff --git a/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jxx_2_18_2017.mat b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jxx_2_18_2017.mat
new file mode 100644
index 0000000000000000000000000000000000000000..48cb1e16636289e804e0c1200d9edd36a70fa57e
Binary files /dev/null and b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jxx_2_18_2017.mat differ
diff --git a/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jyy_2_18_2017.mat b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jyy_2_18_2017.mat
new file mode 100644
index 0000000000000000000000000000000000000000..2842eacc1c1fa3724f45532d9bb9e76dc645e831
Binary files /dev/null and b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jyy_2_18_2017.mat differ
diff --git a/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jzz_2_18_2017.mat b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jzz_2_18_2017.mat
new file mode 100644
index 0000000000000000000000000000000000000000..0d71dc977e35ad7dd86cb73038c729e6f97e11f2
Binary files /dev/null and b/controls/dataCollection/bifilar_inertia_2_18_2017/MicroCART_bifilar_Jzz_2_18_2017.mat differ
diff --git a/controls/dataCollection/bifilar_inertia_2_18_2017/info.txt b/controls/dataCollection/bifilar_inertia_2_18_2017/info.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/controls/model/modelParameters.m b/controls/model/modelParameters.m
index 37f6b9b12cf17c951f9f626c0c895fd39687b4c2..e457e0332bd2705446dba5aa74145ebb9f26aeb0 100644
--- a/controls/model/modelParameters.m
+++ b/controls/model/modelParameters.m
@@ -1,11 +1,12 @@
% Model Parameters
- m = 1.19; % Quadrotor + battery mass
+ m = 1.244; % Quadrotor + battery mass
g = 9.81; % Acceleration of gravity
- %Jxx = 0.0218; % Quadrotor and battery motor of inertia around bx (pitch)
- %Jyy = 0.0277; % Quadrotor and battery motor of inertia around by (roll)
- Jxx = 0.0277;
- Jyy = 0.0218;
- Jzz = 0.0332; % Quadrotor and battery motor of inertia around bz (yaw)
+% Jxx = 0.0277; % Quadrotor and battery motor of inertia around bx (pitch)
+% Jyy = 0.0218; % Quadrotor and battery motor of inertia around by (roll)
+% Jzz = 0.0332; % Quadrotor and battery motor of inertia around bz (yaw)
+ Jxx = 0.0130; % Quadrotor and battery motor of inertia around bx (pitch)
+ Jyy = 0.0140; % Quadrotor and battery motor of inertia around by (roll)
+ Jzz = 0.0285; % Quadrotor and battery motor of inertia around bz (yaw)
Jreq = 4.2012e-05; % Rotor and motor moment of inertia around axis of rotation
Kt = 8.6519e-6; % Rotor thrust constant
Kh = 0; % Rotor in-plane drag constant
diff --git a/controls/model/test_model.slx b/controls/model/test_model.slx
index 182f6644f67548ea7dab7135d8914658033a7ad7..805e43a9e1d83040c87b713476195126ca17d371 100644
Binary files a/controls/model/test_model.slx and b/controls/model/test_model.slx differ
diff --git a/controls/model/test_model_R2015A.mdl b/controls/model/test_model_R2015A.mdl
index bdec86fe72075d99163046fc48e26d1eb4ad7931..ce48e8a27d8d691a51c7680ee7430230795f463d 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 "1.1926"
+ ComputedModelVersion "1.2002"
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 [69.0, 48.0, 1743.0, 940.0]
Object {
$PropName "ModelBrowserInfo"
$ObjectID 3
@@ -43,28 +44,28 @@ Model {
$PropName "ExplorerBarInfo"
$ObjectID 4
$ClassName "Simulink.ExplorerBarInfo"
- Visible [0]
+ Visible [1]
}
Array {
Type "Simulink.EditorInfo"
Dimension 2
Object {
$ObjectID 5
- IsActive [0]
+ IsActive [1]
ViewObjType "SimulinkTopLevel"
LoadSaveID "0"
- Extents [1755.0, 904.0]
+ Extents [1693.0, 762.0]
ZoomFactor [1.25]
- Offset [317.9000000000002, 148.73333824475606]
+ Offset [113.60000000000002, 92.0]
}
Object {
$ObjectID 6
- IsActive [1]
+ IsActive [0]
ViewObjType "SimulinkSubsys"
- LoadSaveID "573"
- Extents [1755.0, 904.0]
- ZoomFactor [1.5]
- Offset [135.31666666666638, 158.93095238095214]
+ LoadSaveID "658"
+ Extents [1693.0, 762.0]
+ ZoomFactor [1.0]
+ Offset [0.0, 0.0]
}
PropName "EditorsInfo"
}
@@ -74,13 +75,13 @@ Model {
Creator "Andy"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
- LastModifiedBy "Andy"
+ LastModifiedBy "m87rich"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Wed Feb 08 12:06:59 2017"
- RTWModifiedTimeStamp 408456418
- ModelVersionFormat "1.%<AutoIncrement:1926>"
+ LastModifiedDate "Sun Feb 19 17:01:58 2017"
+ RTWModifiedTimeStamp 409366141
+ ModelVersionFormat "1.%<AutoIncrement:2002>"
ConfigurationManager "none"
- SampleTimeColors off
+ SampleTimeColors on
SampleTimeAnnotations off
LibraryLinkDisplay "disabled"
WideLines off
@@ -119,7 +120,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 8
+ $ObjectID 7
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "test_model_R2015A"
overrideMode_ [0.0]
@@ -184,16 +185,16 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 9
+ $ObjectID 8
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 10
+ $ObjectID 9
Version "1.15.0"
StartTime "0.0"
- StopTime "10"
+ StopTime "20"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
@@ -211,8 +212,8 @@ Model {
SolverMode "SingleTasking"
EnableConcurrentExecution off
ConcurrentTasks off
- Solver ode45
- SolverName ode45
+ Solver "ode45"
+ SolverName "ode45"
SolverJacobianMethodControl "auto"
ShapePreserveControl "DisableAll"
ZeroCrossControl "UseLocalSettings"
@@ -225,7 +226,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 11
+ $ObjectID 10
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -258,7 +259,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 12
+ $ObjectID 11
Version "1.15.0"
Array {
Type "Cell"
@@ -315,7 +316,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 13
+ $ObjectID 12
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -343,6 +344,7 @@ Model {
IgnoredZcDiagnostic "warning"
SolverPrmCheckMsg "none"
InheritedTsInSrcMsg "warning"
+ DiscreteInheritContinuousMsg "warning"
MultiTaskDSMMsg "error"
MultiTaskCondExecSysMsg "error"
MultiTaskRateTransMsg "error"
@@ -403,7 +405,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 14
+ $ObjectID 13
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -443,7 +445,7 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 15
+ $ObjectID 14
Version "1.15.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
@@ -458,8 +460,9 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 16
+ $ObjectID 15
Version "1.15.0"
+ SFSimOverflowDetection on
SFSimEcho on
SimCtrlC on
SimIntegrity on
@@ -470,7 +473,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 17
+ $ObjectID 16
Version "1.15.0"
Array {
Type "Cell"
@@ -496,8 +499,10 @@ Model {
MakeCommand "make_rtw"
GenerateMakefile on
PackageGeneratedCodeAndArtifacts off
+ PackageName ""
TemplateMakefile "grt_default_tmf"
PostCodeGenCommand ""
+ Description ""
GenerateReport off
SaveLog off
RTWVerbose on
@@ -508,6 +513,13 @@ 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
@@ -538,7 +550,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 18
+ $ObjectID 17
Version "1.15.0"
Array {
Type "Cell"
@@ -611,7 +623,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 19
+ $ObjectID 18
Version "1.15.0"
Array {
Type "Cell"
@@ -701,17 +713,17 @@ Model {
}
Name "Configuration"
CurrentDlgPage "Diagnostics"
- ConfigPrmDlgPosition [ 195, 142, 1085, 882 ]
+ ConfigPrmDlgPosition [ 195, 142, 1085, 882 ]
}
PropName "ConfigurationSets"
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 9
+ $ObjectID 8
}
Object {
$PropName "DataTransfer"
- $ObjectID 21
+ $ObjectID 19
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -773,9 +785,11 @@ Model {
BlockParameterDefaults {
Block {
BlockType BusCreator
+ Inputs "4"
DisplayOption "none"
OutDataTypeStr "Inherit: auto"
NonVirtualBus off
+ InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -842,6 +856,43 @@ Model {
IgnoreLimit off
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
+ ICPrevOutput "DiscIntNeverNeededParam"
+ ICPrevScaledInput "DiscIntNeverNeededParam"
+ }
+ Block {
+ BlockType DiscreteTransferFcn
+ NumeratorSource "Dialog"
+ Numerator "[1]"
+ DenominatorSource "Dialog"
+ Denominator "[1 0.5]"
+ InitialStatesSource "Dialog"
+ InitialStates "0"
+ InputProcessing "Elements as channels (sample based)"
+ ExternalReset "None"
+ InitialDenominatorStates "0"
+ FilterStructure "Direct form II"
+ SampleTime "-1"
+ a0EqualsOne off
+ NumCoefMin "[]"
+ NumCoefMax "[]"
+ DenCoefMin "[]"
+ DenCoefMax "[]"
+ OutMin "[]"
+ OutMax "[]"
+ StateDataTypeStr "Inherit: Same as input"
+ MultiplicandDataTypeStr "Inherit: Same as input"
+ NumCoefDataTypeStr "Inherit: Inherit via internal rule"
+ DenCoefDataTypeStr "Inherit: Inherit via internal rule"
+ NumProductDataTypeStr "Inherit: Inherit via internal rule"
+ DenProductDataTypeStr "Inherit: Inherit via internal rule"
+ NumAccumDataTypeStr "Inherit: Inherit via internal rule"
+ DenAccumDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow off
+ StateMustResolveToSignalObject off
+ RTWStateStorageClass "Auto"
}
Block {
BlockType Gain
@@ -950,6 +1001,8 @@ Model {
FunctionName "system"
SFunctionModules "''"
PortCounts "[]"
+ SFunctionDeploymentMode off
+ EnableBusSupport off
}
Block {
BlockType Saturate
@@ -968,7 +1021,23 @@ 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
@@ -987,6 +1056,7 @@ Model {
TreatAsAtomicUnit off
MinAlgLoopOccurrences off
PropExecContextOutsideSubsystem off
+ CheckFcnCallInpInsideContextMsg off
SystemSampleTime "-1"
RTWSystemCode "Auto"
RTWFcnNameOpts "Auto"
@@ -1005,9 +1075,8 @@ Model {
Opaque off
MaskHideContents off
SFBlockType "NONE"
+ Variant off
GeneratePreprocessorConditionals off
- PropagateVariantConditions off
- TreatAsGroupedWhenPropagatingVariantConditions on
ContentPreviewEnabled off
IsWebBlock off
}
@@ -1037,8 +1106,8 @@ Model {
}
System {
Name "test_model_R2015A"
- Location [-8, -8, 1928, 1048]
- Open off
+ Location [69, 48, 1812, 988]
+ Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -1051,21 +1120,20 @@ Model {
ShowPageBoundaries off
ZoomFactor "125"
ReportName "simulink-default.rpt"
- SIDHighWatermark "864"
+ SIDHighWatermark "904"
Block {
BlockType SubSystem
Name " Sensors "
SID "650"
- Ports [6, 3]
- Position [1300, 422, 1520, 658]
+ Ports [6, 4]
+ Position [1195, 272, 1415, 508]
ZOrder 73
+ ForegroundColor "yellow"
ShowName off
- Commented "on"
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 22
+ $ObjectID 20
$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"
@@ -1075,7 +1143,7 @@ Model {
}
System {
Name " Sensors "
- Location [-8, -8, 1928, 1048]
+ Location [69, 48, 1812, 988]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -1087,7 +1155,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "B_Omega"
@@ -1100,7 +1168,7 @@ 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"
@@ -1118,7 +1186,7 @@ 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"
@@ -1146,14 +1214,13 @@ 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 23
+ $ObjectID 21
$ClassName "Simulink.Mask"
Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
@@ -1199,7 +1266,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1211,7 +1277,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1223,7 +1288,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -1336,11 +1400,10 @@ 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]
@@ -1384,7 +1447,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -1464,7 +1526,7 @@ 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
@@ -1646,17 +1708,17 @@ Model {
Ports [2]
Position [2635, 815, 2785, 875]
ZOrder 290
+ Commented "on"
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 22
$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
@@ -1696,7 +1758,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1708,7 +1769,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusCreator
@@ -1720,7 +1780,6 @@ Model {
ShowName off
Inputs "3"
DisplayOption "bar"
- InheritFromInputs on
}
Block {
BlockType BusSelector
@@ -1833,11 +1892,10 @@ 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]
@@ -1881,7 +1939,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -1961,7 +2018,7 @@ 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
@@ -2145,14 +2202,13 @@ 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 25
+ $ObjectID 23
$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',"
@@ -2210,7 +2266,6 @@ Model {
ZOrder 14
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2283,14 +2338,13 @@ 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 26
+ $ObjectID 24
$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"
@@ -2348,7 +2402,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[2 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2444,14 +2497,13 @@ 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 27
+ $ObjectID 25
$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"
@@ -2519,7 +2571,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[3 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2613,13 +2664,36 @@ 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"
@@ -2636,6 +2710,27 @@ Model {
Outputs "2"
DisplayOption "bar"
}
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "903"
+ Ports [1, 3]
+ Position [2275, 1038, 2280, 1092]
+ ZOrder 316
+ ShowName off
+ Outputs "3"
+ 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"
@@ -2643,7 +2738,8 @@ Model {
Ports [1, 1]
Position [2530, 780, 2565, 810]
ZOrder 292
- LibraryVersion "1.388"
+ Commented "on"
+ LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
SourceType "First-Order Hold"
@@ -2657,7 +2753,8 @@ Model {
Ports [1, 1]
Position [2530, 875, 2565, 905]
ZOrder 296
- LibraryVersion "1.388"
+ Commented "on"
+ LibraryVersion "1.356"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
SourceType "First-Order Hold"
@@ -2673,10 +2770,9 @@ Model {
ZOrder 272
ShowName off
RequestExecContextInheritance off
- 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')"
@@ -2685,8 +2781,8 @@ Model {
}
System {
Name "IMU\n\n\n\n\n\n"
- Location [-8, -8, 1928, 1048]
- Open off
+ Location [239, 71, 1982, 1011]
+ Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
@@ -2742,14 +2838,13 @@ 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 29
+ $ObjectID 27
$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"
@@ -2836,7 +2931,6 @@ Model {
FunctionName "sf_sfun"
Parameters "g"
PortCounts "[5 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -2944,66 +3038,102 @@ Model {
}
}
}
+ Block {
+ BlockType Delay
+ Name "Delay"
+ SID "899"
+ Ports [1, 1]
+ Position [605, 193, 640, 227]
+ ZOrder 45
+ InputPortMap "u0"
+ DelayLength "4"
+ }
+ Block {
+ BlockType Delay
+ Name "Delay1"
+ SID "900"
+ Ports [1, 1]
+ Position [605, 278, 640, 312]
+ ZOrder 46
+ InputPortMap "u0"
+ DelayLength "4"
+ }
+ Block {
+ BlockType DiscreteTransferFcn
+ Name "Discrete\nTransfer Fcn"
+ SID "897"
+ Ports [1, 1]
+ Position [490, 187, 570, 233]
+ ZOrder 43
+ InputPortMap "u0"
+ Numerator "[0.02469]"
+ Denominator "[1 -0.9752]"
+ SampleTime "5e-3"
+ }
+ Block {
+ BlockType DiscreteTransferFcn
+ Name "Discrete\nTransfer Fcn1"
+ SID "898"
+ Ports [1, 1]
+ Position [490, 272, 570, 318]
+ ZOrder 44
+ InputPortMap "u0"
+ Numerator "[0.02469]"
+ Denominator "[1 -0.9752]"
+ SampleTime "5e-3"
+ }
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator"
SID "835"
Ports [1, 1]
- Position [725, 372, 760, 408]
+ Position [985, 372, 1020, 408]
ZOrder 30
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator1"
SID "837"
Ports [1, 1]
- Position [910, 342, 945, 378]
+ Position [1170, 342, 1205, 378]
ZOrder 32
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator2"
SID "839"
Ports [1, 1]
- Position [950, 247, 985, 283]
+ Position [1210, 247, 1245, 283]
ZOrder 34
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType DiscreteIntegrator
Name "Discrete-Time\nIntegrator3"
SID "841"
Ports [1, 1]
- Position [575, 437, 610, 473]
+ Position [835, 437, 870, 473]
ZOrder 36
InitialConditionSetting "State (most efficient)"
SampleTime "-1"
- ICPrevOutput "DiscIntNeverNeededParam"
- ICPrevScaledInput "DiscIntNeverNeededParam"
}
Block {
BlockType Ground
Name "Ground"
SID "664"
- Position [550, 340, 570, 360]
+ Position [810, 340, 830, 360]
ZOrder 23
}
Block {
BlockType Ground
Name "Ground1"
SID "665"
- Position [550, 145, 570, 165]
+ Position [810, 145, 830, 165]
ZOrder 24
}
Block {
@@ -3019,25 +3149,12 @@ Model {
Name "Scope"
SID "836"
Ports [1]
- Position [805, 374, 835, 406]
+ Position [1065, 374, 1095, 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>"
@@ -3052,32 +3169,23 @@ 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
Name "Scope1"
SID "838"
Ports [1]
- Position [990, 344, 1020, 376]
+ Position [1250, 344, 1280, 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>"
@@ -3092,32 +3200,23 @@ 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
Name "Scope2"
SID "840"
Ports [1]
- Position [1030, 249, 1060, 281]
+ Position [1290, 249, 1320, 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>"
@@ -3132,32 +3231,23 @@ 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
Name "Scope3"
SID "842"
Ports [1]
- Position [655, 439, 685, 471]
+ Position [915, 439, 945, 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>"
@@ -3172,32 +3262,23 @@ 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
Name "Scope4"
SID "843"
Ports [1]
- Position [580, 389, 610, 421]
+ Position [840, 389, 870, 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>"
@@ -3212,7 +3293,11 @@ 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
@@ -3221,23 +3306,10 @@ 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>"
@@ -3252,14 +3324,18 @@ 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
Name "Sum"
SID "666"
Ports [2, 1]
- Position [690, 285, 710, 305]
+ Position [950, 285, 970, 305]
ZOrder 7
ShowName off
IconShape "round"
@@ -3273,7 +3349,7 @@ Model {
Name "Sum1"
SID "667"
Ports [2, 1]
- Position [690, 200, 710, 220]
+ Position [950, 200, 970, 220]
ZOrder 8
ShowName off
IconShape "round"
@@ -3287,7 +3363,7 @@ Model {
Name "Sum2"
SID "668"
Ports [2, 1]
- Position [570, 285, 590, 305]
+ Position [830, 285, 850, 305]
ZOrder 11
ShowName off
IconShape "round"
@@ -3301,7 +3377,7 @@ Model {
Name "Sum3"
SID "669"
Ports [2, 1]
- Position [570, 200, 590, 220]
+ Position [830, 200, 850, 220]
ZOrder 12
ShowName off
IconShape "round"
@@ -3314,7 +3390,7 @@ Model {
BlockType RandomNumber
Name "accelerometer_noise"
SID "670"
- Position [630, 140, 660, 170]
+ Position [890, 140, 920, 170]
ZOrder 2
Mean "zeros(3,1)"
Variance "[ 3e-7 ; 3.3e-7 ; 7.2e-7 ] "
@@ -3325,7 +3401,7 @@ Model {
BlockType Quantizer
Name "accelerometer_quantizer"
SID "671"
- Position [770, 195, 800, 225]
+ Position [1030, 195, 1060, 225]
ZOrder 9
QuantizationInterval "2.4400e-04"
}
@@ -3333,7 +3409,7 @@ Model {
BlockType ZeroOrderHold
Name "accelerometer_sampling"
SID "672"
- Position [495, 195, 530, 225]
+ Position [755, 195, 790, 225]
ZOrder 15
SampleTime "5e-3"
}
@@ -3341,7 +3417,7 @@ Model {
BlockType RandomNumber
Name "gyroscope_noise"
SID "673"
- Position [630, 315, 660, 345]
+ Position [890, 315, 920, 345]
ZOrder 6
Mean "zeros(3,1)"
Variance "[ 2.2e-8 ; 1.1e-7 ; 2.4e-8 ]"
@@ -3352,7 +3428,7 @@ Model {
BlockType Quantizer
Name "gyroscope_qunatizer"
SID "674"
- Position [770, 280, 800, 310]
+ Position [1030, 280, 1060, 310]
ZOrder 10
QuantizationInterval "1.1e-3"
}
@@ -3360,7 +3436,7 @@ Model {
BlockType ZeroOrderHold
Name "gyroscope_sampling"
SID "675"
- Position [495, 280, 530, 310]
+ Position [755, 280, 790, 310]
ZOrder 16
SampleTime "5e-3"
}
@@ -3376,7 +3452,7 @@ Model {
BlockType Outport
Name "accelerometer"
SID "677"
- Position [840, 203, 870, 217]
+ Position [1100, 203, 1130, 217]
ZOrder 29
IconDisplay "Port number"
}
@@ -3384,7 +3460,7 @@ Model {
BlockType Outport
Name "gyroscope"
SID "678"
- Position [840, 288, 870, 302]
+ Position [1100, 288, 1130, 302]
ZOrder 21
Port "2"
IconDisplay "Port number"
@@ -3557,20 +3633,6 @@ Model {
DstBlock "\n\n\n\n\n\n\n"
DstPort 5
}
- Line {
- ZOrder 30
- SrcBlock "\n\n\n\n\n\n\n"
- SrcPort 2
- DstBlock "gyroscope_sampling"
- DstPort 1
- }
- Line {
- ZOrder 31
- SrcBlock "\n\n\n\n\n\n\n"
- SrcPort 1
- DstBlock "accelerometer_sampling"
- DstPort 1
- }
Line {
ZOrder 36
SrcBlock "Discrete-Time\nIntegrator"
@@ -3620,16 +3682,50 @@ Model {
DstBlock "accelerometer"
DstPort 1
}
+ Line {
+ ZOrder 79
+ SrcBlock "\n\n\n\n\n\n\n"
+ SrcPort 1
+ DstBlock "Discrete\nTransfer Fcn"
+ DstPort 1
+ }
+ Line {
+ ZOrder 80
+ SrcBlock "\n\n\n\n\n\n\n"
+ SrcPort 2
+ DstBlock "Discrete\nTransfer Fcn1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 81
+ SrcBlock "Discrete\nTransfer Fcn"
+ SrcPort 1
+ DstBlock "Delay"
+ DstPort 1
+ }
+ Line {
+ ZOrder 82
+ SrcBlock "Discrete\nTransfer Fcn1"
+ SrcPort 1
+ DstBlock "Delay1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 83
+ SrcBlock "Delay"
+ SrcPort 1
+ DstBlock "accelerometer_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 84
+ SrcBlock "Delay1"
+ SrcPort 1
+ DstBlock "gyroscope_sampling"
+ DstPort 1
+ }
}
}
- Block {
- BlockType Integrator
- Name "Integrator"
- SID "776"
- Ports [1, 1]
- Position [1945, 735, 1975, 765]
- ZOrder 307
- }
Block {
BlockType Mux
Name "Mux"
@@ -3646,14 +3742,13 @@ Model {
Name "OptiTrack Camera System\n\n "
SID "681"
Ports [2, 2]
- Position [1990, 946, 2230, 1039]
+ Position [1720, 906, 1950, 1039]
ZOrder 299
ShowName off
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 30
+ $ObjectID 28
$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"
@@ -3661,7 +3756,7 @@ Model {
}
System {
Name "OptiTrack Camera System\n\n "
- Location [-8, -8, 1928, 1048]
+ Location [69, 48, 1812, 988]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -3673,7 +3768,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "175"
+ ZoomFactor "150"
Block {
BlockType Inport
Name "E_ro"
@@ -3700,7 +3795,7 @@ 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
@@ -3716,7 +3811,7 @@ Model {
SID "686"
Position [410, 230, 445, 260]
ZOrder 38
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Ground
@@ -3794,8 +3889,9 @@ Model {
SID "693"
Position [545, 365, 575, 395]
ZOrder 46
- Variance "1.0783e-9"
- SampleTime "5e-3"
+ Mean "zeros(3,1)"
+ Variance "1.0783e-9*ones(3,1)"
+ SampleTime "0.01"
}
Block {
BlockType Quantizer
@@ -3811,7 +3907,7 @@ Model {
SID "695"
Position [410, 330, 445, 360]
ZOrder 54
- SampleTime "5e-3"
+ SampleTime "0.01"
}
Block {
BlockType Outport
@@ -3941,23 +4037,10 @@ 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>"
@@ -3972,7 +4055,11 @@ 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
@@ -3981,23 +4068,10 @@ Model {
Ports [1]
Position [1385, 599, 1415, 631]
ZOrder 271
- NumInputPorts "1"
+ Floating off
+ Location [10, 76, 1918, 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>"
@@ -4012,7 +4086,11 @@ 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
@@ -4021,23 +4099,10 @@ 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>"
@@ -4052,7 +4117,11 @@ 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
@@ -4061,23 +4130,10 @@ 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>"
@@ -4092,7 +4148,10 @@ 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
@@ -4101,23 +4160,10 @@ 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>"
@@ -4132,7 +4178,11 @@ 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
@@ -4141,23 +4191,10 @@ 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>"
@@ -4172,29 +4209,31 @@ 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 31
+ $ObjectID 29
$ClassName "Simulink.Mask"
Display "color('red')\ndisp('Soft Real Time')\n"
Object {
$PropName "Parameters"
- $ObjectID 32
+ $ObjectID 30
$ClassName "Simulink.MaskParameter"
Type "edit"
Name "x"
@@ -4230,6 +4269,15 @@ Model {
Port "3"
IconDisplay "Port number"
}
+ Block {
+ BlockType Outport
+ Name "camera_euler"
+ SID "904"
+ Position [2430, 1038, 2460, 1052]
+ ZOrder 317
+ Port "4"
+ IconDisplay "Port number"
+ }
Line {
ZOrder 1
SrcBlock "IMU\n\n\n\n\n\n"
@@ -4355,6 +4403,12 @@ Model {
SrcBlock "euler_angles"
SrcPort 1
Points [23, 0]
+ Branch {
+ ZOrder 210
+ Points [0, -45]
+ DstBlock "OptiTrack Camera System\n\n "
+ DstPort 2
+ }
Branch {
ZOrder 27
Points [0, 70]
@@ -4411,18 +4465,11 @@ Model {
}
Branch {
ZOrder 36
+ Points [0, -30]
DstBlock "OptiTrack Camera System\n\n "
DstPort 1
}
}
- Line {
- ZOrder 37
- SrcBlock "Demux"
- SrcPort 3
- Points [23, 0; 0, -55]
- DstBlock "OptiTrack Camera System\n\n "
- DstPort 2
- }
Line {
ZOrder 38
SrcBlock "First-Order\nHold1"
@@ -4449,9 +4496,9 @@ Model {
ZOrder 41
SrcBlock "OptiTrack Camera System\n\n "
SrcPort 2
- Points [195, 0; 0, -345]
- DstBlock "Mux"
- DstPort 3
+ Points [70, 0; 0, 10]
+ DstBlock "Delay4"
+ DstPort 1
}
Line {
ZOrder 42
@@ -4480,18 +4527,9 @@ 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
- }
+ Points [48, 0; 0, 30]
+ DstBlock "Delay3"
+ DstPort 1
}
Line {
ZOrder 62
@@ -4508,47 +4546,89 @@ 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
}
- }
- }
- Block {
- BlockType SubSystem
- Name "Actuation"
- SID "436"
- Ports [1, 6]
- Position [950, 426, 1200, 654]
- ZOrder 71
- ShowName off
- RequestExecContextInheritance off
- Variant off
- Object {
- $PropName "MaskObject"
- $ObjectID 33
- $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'"
- ");\nport_label('output', 4, '^{E}r_o', 'texmode', 'on');\nport_label('output', 5, '^{B}dv_o/dt', 'texmode', 'on');\np"
- "ort_label('output', 6, '^{B}g', 'texmode', 'on');\ndisp('Actuation', 'texmode', 'on'); "
- }
- System {
- Name "Actuation"
- Location [-8, -8, 1928, 1048]
- Open off
- ModelBrowserVisibility off
- ModelBrowserWidth 200
+ 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 211
+ SrcBlock "Delay4"
+ SrcPort 1
+ Points [81, 0; 0, 16]
+ Branch {
+ ZOrder 214
+ Points [144, 0; 0, 14]
+ DstBlock "camera_euler"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 213
+ Points [0, 34]
+ DstBlock "Demux2"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 212
+ SrcBlock "Demux2"
+ SrcPort 3
+ Points [14, 0; 0, -415]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "Actuation"
+ SID "436"
+ Ports [1, 6]
+ Position [850, 276, 1100, 504]
+ ZOrder 71
+ ShowName off
+ RequestExecContextInheritance off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 31
+ $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'"
+ ");\nport_label('output', 4, '^{E}r_o', 'texmode', 'on');\nport_label('output', 5, '^{B}dv_o/dt', 'texmode', 'on');\np"
+ "ort_label('output', 6, '^{B}g', 'texmode', 'on');\ndisp('Actuation', 'texmode', 'on'); "
+ }
+ System {
+ Name "Actuation"
+ Location [108, 36, 1850, 976]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
@@ -4557,12 +4637,12 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "60"
+ 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"
}
@@ -4571,18 +4651,17 @@ 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 34
+ $ObjectID 32
$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');"
@@ -4639,7 +4718,6 @@ Model {
ZOrder 14
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -4708,7 +4786,7 @@ Model {
Name "Demux1"
SID "449"
Ports [1, 3]
- Position [1830, 526, 1835, 574]
+ Position [1870, 526, 1875, 574]
ZOrder 107
ShowName off
Outputs "3"
@@ -4737,7 +4815,7 @@ Model {
Name "Demux2"
SID "450"
Ports [1, 3]
- Position [1830, 301, 1835, 349]
+ Position [1870, 301, 1875, 349]
ZOrder 109
ShowName off
Outputs "3"
@@ -4766,7 +4844,7 @@ Model {
Name "Demux3"
SID "451"
Ports [1, 3]
- Position [1830, 406, 1835, 454]
+ Position [1870, 406, 1875, 454]
ZOrder 117
ShowName off
Outputs "3"
@@ -4795,7 +4873,7 @@ Model {
Name "Demux4"
SID "452"
Ports [1, 3]
- Position [1830, 161, 1835, 209]
+ Position [1870, 161, 1875, 209]
ZOrder 115
ShowName off
Outputs "3"
@@ -4824,7 +4902,7 @@ Model {
Name "Demux5"
SID "453"
Ports [1, 3]
- Position [1830, 641, 1835, 689]
+ Position [1870, 641, 1875, 689]
ZOrder 119
ShowName off
Outputs "3"
@@ -4853,18 +4931,17 @@ 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 35
+ $ObjectID 33
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor Duty Cycle', 'texmode', 'on');\nport_label('output', 1, 'Vb_{eff}', '"
"texmode', 'on');\ndisp('ESC System');"
@@ -4913,7 +4990,6 @@ Model {
FunctionName "sf_sfun"
Parameters "Pmax,Pmin,Vb"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -4974,18 +5050,17 @@ 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 36
+ $ObjectID 34
$ClassName "Simulink.Mask"
Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
}
@@ -5032,7 +5107,6 @@ Model {
FunctionName "sf_sfun"
Parameters "g,m"
PortCounts "[1 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5093,7 +5167,7 @@ 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]"
}
@@ -5102,7 +5176,7 @@ Model {
Name "Integrator1"
SID "455"
Ports [1, 1]
- Position [1225, 445, 1255, 475]
+ Position [1265, 445, 1295, 475]
ZOrder 53
InitialCondition "[0; 0; 0]"
}
@@ -5111,7 +5185,7 @@ Model {
Name "Integrator2"
SID "456"
Ports [1, 1]
- Position [1225, 325, 1255, 355]
+ Position [1265, 325, 1295, 355]
ZOrder 54
InitialCondition "[0; 0; 0]"
}
@@ -5120,7 +5194,7 @@ Model {
Name "Integrator3"
SID "457"
Ports [1, 1]
- Position [1685, 590, 1715, 620]
+ Position [1725, 590, 1755, 620]
ZOrder 98
InitialCondition "[0; 0; 0]"
}
@@ -5129,7 +5203,7 @@ 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']"
@@ -5139,18 +5213,17 @@ 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 37
+ $ObjectID 35
$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');"
@@ -5207,7 +5280,6 @@ Model {
ZOrder 20
FunctionName "sf_sfun"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5276,18 +5348,17 @@ 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 38
+ $ObjectID 36
$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');"
@@ -5345,7 +5416,6 @@ Model {
FunctionName "sf_sfun"
Parameters "m"
PortCounts "[2 3]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5437,18 +5507,17 @@ 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 39
+ $ObjectID 37
$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"
@@ -5506,7 +5575,6 @@ Model {
FunctionName "sf_sfun"
Parameters "If,Jreq,Kd,Kq,Kv,Rm"
PortCounts "[2 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -5574,18 +5642,17 @@ 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 40
+ $ObjectID 38
$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"
@@ -5672,7 +5739,6 @@ 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
@@ -5786,25 +5852,12 @@ 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 5.92023
- YMax 7.92023
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -5819,32 +5872,22 @@ 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 "-1.3875"
+ 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>"
@@ -5859,32 +5902,24 @@ 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>"
@@ -5901,32 +5936,24 @@ 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>"
@@ -5943,32 +5970,24 @@ 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>"
@@ -5983,32 +6002,23 @@ 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>"
@@ -6025,32 +6035,24 @@ 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>"
@@ -6067,32 +6069,24 @@ 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>"
@@ -6109,32 +6103,24 @@ 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>"
@@ -6149,32 +6135,23 @@ 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>"
@@ -6189,32 +6166,23 @@ 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>"
@@ -6229,13 +6197,17 @@ 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"
}
@@ -6243,7 +6215,7 @@ 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"
@@ -6252,7 +6224,7 @@ 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"
@@ -6261,7 +6233,7 @@ 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"
@@ -6270,7 +6242,7 @@ 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"
@@ -6279,7 +6251,7 @@ 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"
@@ -6730,19 +6702,18 @@ 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 41
+ $ObjectID 39
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
System {
Name "Communication System"
- Location [-8, -8, 1928, 1048]
+ Location [126, 17, 1868, 957]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6761,10 +6732,9 @@ Model {
SID "583"
Position [925, 390, 955, 420]
ZOrder 32
- Time "0"
Before "[0; 0; 0; 0]"
After "[1; 0; 0; 0]"
- SampleTime "0"
+ SampleTime "0.1"
}
Block {
BlockType Outport
@@ -6788,14 +6758,13 @@ 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 42
+ $ObjectID 40
$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"
@@ -6803,7 +6772,7 @@ Model {
}
System {
Name "Control System"
- Location [-8, -8, 1928, 1048]
+ Location [69, 48, 1812, 988]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6815,7 +6784,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "setpoints"
@@ -6859,10 +6828,9 @@ Model {
Position [395, 307, 530, 633]
ZOrder 31
RequestExecContextInheritance off
- Variant off
Object {
$PropName "MaskObject"
- $ObjectID 43
+ $ObjectID 41
$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', "
@@ -6876,7 +6844,7 @@ Model {
}
System {
Name "Controller"
- Location [-8, -8, 1928, 1048]
+ Location [69, 48, 1812, 988]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -6888,7 +6856,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "x_setpoint"
@@ -6984,7 +6952,7 @@ Model {
BlockType Inport
Name "roll_rate"
SID "633"
- Position [425, 313, 455, 327]
+ Position [525, 313, 555, 327]
ZOrder 71
Port "11"
IconDisplay "Port number"
@@ -6993,7 +6961,7 @@ Model {
BlockType Inport
Name "pitch_rate"
SID "634"
- Position [425, 468, 455, 482]
+ Position [525, 468, 555, 482]
ZOrder 72
Port "12"
IconDisplay "Port number"
@@ -7007,29 +6975,73 @@ Model {
Port "13"
IconDisplay "Port number"
}
+ Block {
+ BlockType Gain
+ Name "Gain1"
+ SID "891"
+ Position [810, 117, 860, 153]
+ ZOrder 151
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain2"
+ SID "892"
+ Position [810, 237, 860, 273]
+ ZOrder 152
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain3"
+ SID "893"
+ Position [810, 392, 860, 428]
+ ZOrder 153
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain4"
+ SID "894"
+ Position [810, 542, 860, 578]
+ ZOrder 154
+ Gain "5e4"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
Block {
BlockType Reference
Name "PID Controller1"
- SID "590"
+ SID "873"
Ports [1, 1]
- Position [260, 392, 300, 428]
- ZOrder 32
- LibraryVersion "1.388"
+ Position [645, 392, 685, 428]
+ ZOrder 142
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ Controller "P"
+ TimeDomain "Discrete-time"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "-4.09881115615483"
- I "-0.786626898521519"
- D "-2.54021507170204"
- N "2907.76761508735"
+ P "0.015166894231541"
+ I "1575.82088970639"
+ D "504.111397357926"
+ N "244.660686071579"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7138,22 +7150,22 @@ 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 "Continuous-time"
- SampleTime "-1"
+ Controller "PD"
+ TimeDomain "Discrete-time"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
- P "9.8515811170609"
- I "10.3080265333453"
- D "1.32394710402659"
- N "7.32609641947859"
+ P "1.69332227925298"
+ I "0.373031053213692"
+ D "0.0846661139626488"
+ N "17.8214030142826"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7262,22 +7274,22 @@ 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 "Continuous-time"
- SampleTime "-1"
+ TimeDomain "Discrete-time"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
- P "-5.58*5"
- I "-0.323"
- D "-15.5*0.6"
- N "1/0.00106"
+ P "-0.0153859651723572"
+ I "-0.000331343308727455"
+ D "-0.178612271980841"
+ N "5.79502261645411"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7384,22 +7396,22 @@ Model {
Name "PID Controller2"
SID "832"
Ports [1, 1]
- Position [405, 541, 445, 579]
+ Position [645, 541, 685, 579]
ZOrder 121
- LibraryVersion "1.388"
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "P"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ Controller "PI"
+ TimeDomain "Discrete-time"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "-359098.201085257"
- I "-77.7"
+ P "0.137082785475467"
+ I "1.78239822850373"
D "2.32"
N "1/0.0818"
InitialConditionSource "internal"
@@ -7505,27 +7517,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller4"
- SID "854"
+ Name "PID Controller3"
+ SID "874"
Ports [1, 1]
- Position [405, 392, 445, 428]
- ZOrder 128
- LibraryVersion "1.388"
+ Position [505, 392, 545, 428]
+ ZOrder 143
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PD"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ Controller "P"
+ TimeDomain "Discrete-time"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "49.9288564716647"
+ P "1.37514874127105"
I "35.1207902652377"
- D "1.71644717082694"
- N "5320.80923448602"
+ D "0.410623594074865"
+ N "40.0107970227961"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7629,27 +7641,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller5"
- SID "594"
+ Name "PID Controller4"
+ SID "876"
Ports [1, 1]
- Position [405, 237, 445, 273]
- ZOrder 36
- LibraryVersion "1.388"
+ Position [260, 392, 300, 428]
+ ZOrder 145
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PD"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ TimeDomain "Discrete-time"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
- P "0.718*5"
- I "0"
- D "2.15"
- N "100"
+ P "-0.00209477698719004"
+ I "-5.49963745752816e-05"
+ D "-0.116816668948546"
+ N "16.9491526069154"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7753,27 +7765,27 @@ Model {
}
Block {
BlockType Reference
- Name "PID Controller7"
- SID "596"
+ Name "PID Controller6"
+ SID "867"
Ports [1, 1]
- Position [545, 392, 585, 428]
- ZOrder 133
- LibraryVersion "1.388"
+ Position [260, 237, 300, 273]
+ ZOrder 136
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "PD"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ TimeDomain "Discrete-time"
+ SampleTime "0.01"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
- UseFilter on
+ UseFilter off
ControllerParametersSource "internal"
- P "18237.343549923"
- I "1575.82088970639"
- D "674.387075196541"
- N "309.449971015086"
+ P "0.00209477698719004"
+ I "9.56340991394167e-06"
+ D "0.116816668948546"
+ N "16.9491526069154"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -7878,26 +7890,26 @@ Model {
Block {
BlockType Reference
Name "PID Controller8"
- SID "597"
+ SID "868"
Ports [1, 1]
- Position [545, 237, 585, 273]
- ZOrder 39
- LibraryVersion "1.388"
+ Position [505, 237, 545, 273]
+ ZOrder 137
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
Controller "P"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ TimeDomain "Discrete-time"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "20"
- I "0"
- D "0"
- N "100"
+ P "1.37514874127105"
+ I "35.1207902652377"
+ D "0.2"
+ N "40.0107970227961"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -8002,26 +8014,26 @@ Model {
Block {
BlockType Reference
Name "PID Controller9"
- SID "829"
+ SID "869"
Ports [1, 1]
- Position [260, 237, 300, 273]
- ZOrder 120
- LibraryVersion "1.388"
+ Position [645, 237, 685, 273]
+ ZOrder 138
+ LibraryVersion "1.356"
SourceBlock "simulink/Continuous/PID Controller"
SourceType "PID 1dof"
ContentPreviewEnabled off
- Controller "PID"
- TimeDomain "Continuous-time"
- SampleTime "-1"
+ Controller "P"
+ TimeDomain "Discrete-time"
+ SampleTime "5e-3"
IntegratorMethod "Forward Euler"
FilterMethod "Forward Euler"
Form "Parallel"
UseFilter on
ControllerParametersSource "internal"
- P "0.7"
- I "0.114"
- D "0.596"
- N "1/0.00195"
+ P "0.015166894231541"
+ I "1575.82088970639"
+ D "504.111397357926"
+ N "244.660686071579"
InitialConditionSource "internal"
InitialConditionForIntegrator "0"
InitialConditionForFilter "0"
@@ -8123,30 +8135,53 @@ Model {
DifferentiatorOutMax "[]"
DifferentiatorOutDataTypeStr "Inherit: Inherit via internal rule"
}
+ Block {
+ BlockType Saturate
+ Name "Saturation1"
+ SID "887"
+ Ports [1, 1]
+ Position [410, 240, 440, 270]
+ ZOrder 147
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation2"
+ SID "888"
+ Ports [1, 1]
+ Position [410, 395, 440, 425]
+ ZOrder 148
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
+ Block {
+ BlockType Saturate
+ Name "Saturation3"
+ SID "889"
+ Ports [1, 1]
+ Position [410, 545, 440, 575]
+ ZOrder 149
+ Commented "through"
+ InputPortMap "u0"
+ UpperLimit "20*pi/180"
+ LowerLimit "-20*pi/180"
+ }
Block {
BlockType Scope
Name "Scope"
SID "791"
Ports [1]
- Position [410, 649, 440, 681]
+ Position [510, 649, 540, 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>"
@@ -8161,7 +8196,11 @@ 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
@@ -8170,23 +8209,10 @@ 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 -6.26281
- YMax 31.28638
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8201,7 +8227,11 @@ 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
@@ -8210,63 +8240,41 @@ Model {
Ports [1]
Position [265, 174, 295, 206]
ZOrder 107
- NumInputPorts "1"
+ Floating off
+ Location [593, 266, 1926, 1046]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData5
- YMin -1.20714
- YMax 0.22148
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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"
}
- Location [1 76 1921 1039]
+ YMin "-0.14356"
+ YMax "1.29207"
+ SaveName "ScopeData5"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope3"
SID "797"
Ports [1]
- Position [550, 334, 580, 366]
+ Position [650, 334, 680, 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>"
@@ -8281,7 +8289,11 @@ 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
@@ -8290,23 +8302,10 @@ 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>"
@@ -8321,7 +8320,11 @@ 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
@@ -8330,63 +8333,41 @@ Model {
Ports [1]
Position [240, 334, 270, 366]
ZOrder 111
- NumInputPorts "1"
+ Floating off
+ Location [1, 49, 1921, 1039]
Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -0.14703
- YMax 1.31859
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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"
}
- Location [1 76 1921 1039]
+ YMin "-0.035"
+ YMax "0.03"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Scope
Name "Scope6"
SID "825"
Ports [1]
- Position [550, 484, 580, 516]
+ Position [650, 484, 680, 516]
ZOrder 117
- 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 -0.48276
- YMax 2.87086
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8401,7 +8382,11 @@ 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
@@ -8410,23 +8395,10 @@ Model {
Ports [1]
Position [365, 484, 395, 516]
ZOrder 118
- 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 -0.04704
- YMax 0.39309
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
+ NumInputPorts "1"
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
@@ -8441,7 +8413,11 @@ 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
@@ -8450,38 +8426,30 @@ Model {
Ports [1]
Position [245, 484, 275, 516]
ZOrder 119
+ Floating off
+ Location [2, 57, 1918, 1038]
+ Open on
NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints off
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -81.1648
- YMax 21.11528
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat StructureWithTime
- Decimation 1
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ FigureColor "[0.5 0.5 0.5]"
AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ 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"
}
- Location [1 76 1921 1039]
+ TimeRange "20"
+ YMin "2200"
+ YMax "4300"
+ SaveName "ScopeData3"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Sum
@@ -8516,7 +8484,7 @@ Model {
Name "Sum2"
SID "600"
Ports [2, 1]
- Position [490, 245, 510, 265]
+ Position [590, 245, 610, 265]
ZOrder 42
ShowName off
IconShape "round"
@@ -8544,7 +8512,7 @@ Model {
Name "Sum4"
SID "603"
Ports [2, 1]
- Position [490, 400, 510, 420]
+ Position [590, 400, 610, 420]
ZOrder 44
ShowName off
IconShape "round"
@@ -8613,7 +8581,7 @@ Model {
BlockType Outport
Name "height_controlled"
SID "606"
- Position [655, 128, 685, 142]
+ Position [925, 128, 955, 142]
ZOrder -2
IconDisplay "Port number"
}
@@ -8621,7 +8589,7 @@ Model {
BlockType Outport
Name "y_controlled"
SID "636"
- Position [655, 248, 685, 262]
+ Position [925, 248, 955, 262]
ZOrder 74
Port "2"
IconDisplay "Port number"
@@ -8630,7 +8598,7 @@ Model {
BlockType Outport
Name "x_controlled"
SID "637"
- Position [655, 403, 685, 417]
+ Position [925, 403, 955, 417]
ZOrder 75
Port "3"
IconDisplay "Port number"
@@ -8639,7 +8607,7 @@ Model {
BlockType Outport
Name "yaw_controlled"
SID "638"
- Position [655, 553, 685, 567]
+ Position [925, 553, 955, 567]
ZOrder 76
Port "4"
IconDisplay "Port number"
@@ -8648,7 +8616,7 @@ Model {
ZOrder 283
SrcBlock "Sum"
SrcPort 1
- DstBlock "PID Controller2"
+ DstBlock "Saturation3"
DstPort 1
}
Line {
@@ -8831,103 +8799,188 @@ Model {
DstPort 1
}
Line {
- ZOrder 207
- SrcBlock "Sum1"
+ ZOrder 434
+ SrcBlock "Sum2"
SrcPort 1
- DstBlock "PID Controller5"
+ DstBlock "PID Controller9"
DstPort 1
}
Line {
- ZOrder 212
- SrcBlock "Sum2"
+ ZOrder 416
+ SrcBlock "Sum6"
SrcPort 1
- DstBlock "PID Controller8"
+ DstBlock "PID Controller6"
DstPort 1
}
Line {
- ZOrder 216
- SrcBlock "PID Controller5"
+ ZOrder 461
+ SrcBlock "Sum5"
SrcPort 1
- DstBlock "Sum2"
+ DstBlock "PID Controller4"
DstPort 1
}
Line {
- ZOrder 243
- SrcBlock "PID Controller9"
+ ZOrder 281
+ SrcBlock "Sum7"
SrcPort 1
- DstBlock "Sum1"
+ DstBlock "PID Controller11"
DstPort 1
}
Line {
- ZOrder 244
- SrcBlock "Sum6"
+ ZOrder 285
+ SrcBlock "Sum8"
SrcPort 1
- DstBlock "PID Controller9"
+ DstBlock "PID Controller10"
DstPort 1
}
Line {
- ZOrder 247
- SrcBlock "Sum5"
+ ZOrder 451
+ SrcBlock "Sum4"
SrcPort 1
DstBlock "PID Controller1"
DstPort 1
}
Line {
- ZOrder 281
- SrcBlock "Sum7"
+ ZOrder 456
+ SrcBlock "PID Controller1"
SrcPort 1
- DstBlock "PID Controller11"
+ DstBlock "Gain3"
DstPort 1
}
Line {
- ZOrder 285
- SrcBlock "Sum8"
+ ZOrder 459
+ SrcBlock "Sum3"
SrcPort 1
- DstBlock "PID Controller10"
+ DstBlock "Saturation2"
DstPort 1
}
Line {
- ZOrder 349
- SrcBlock "Sum3"
+ ZOrder 462
+ SrcBlock "PID Controller4"
SrcPort 1
- DstBlock "PID Controller4"
+ DstBlock "Sum3"
DstPort 1
}
Line {
- ZOrder 388
- SrcBlock "Sum4"
+ ZOrder 464
+ SrcBlock "PID Controller9"
SrcPort 1
- DstBlock "PID Controller7"
+ DstBlock "Gain2"
DstPort 1
}
Line {
- ZOrder 401
- SrcBlock "PID Controller10"
+ ZOrder 473
+ SrcBlock "PID Controller11"
SrcPort 1
- DstBlock "Sum"
+ DstBlock "Gain1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 478
+ SrcBlock "PID Controller2"
+ SrcPort 1
+ DstBlock "Gain4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 482
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "Saturation1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 486
+ SrcBlock "Saturation2"
+ SrcPort 1
+ DstBlock "PID Controller3"
DstPort 1
}
Line {
- ZOrder 404
- SrcBlock "PID Controller7"
+ ZOrder 488
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "height_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 489
+ SrcBlock "Gain2"
+ SrcPort 1
+ DstBlock "y_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 490
+ SrcBlock "Gain3"
SrcPort 1
DstBlock "x_controlled"
DstPort 1
}
Line {
- ZOrder 408
- SrcBlock "PID Controller4"
+ ZOrder 491
+ SrcBlock "Gain4"
+ SrcPort 1
+ DstBlock "yaw_controlled"
+ DstPort 1
+ }
+ Line {
+ ZOrder 492
+ SrcBlock "PID Controller3"
SrcPort 1
DstBlock "Sum4"
DstPort 1
}
Line {
- ZOrder 409
- SrcBlock "PID Controller1"
+ ZOrder 493
+ SrcBlock "Saturation3"
SrcPort 1
- DstBlock "Sum3"
+ DstBlock "PID Controller2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 496
+ SrcBlock "Saturation1"
+ SrcPort 1
+ DstBlock "PID Controller8"
DstPort 1
}
+ Line {
+ ZOrder 498
+ SrcBlock "PID Controller10"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ ZOrder 500
+ SrcBlock "PID Controller8"
+ SrcPort 1
+ DstBlock "Sum2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 501
+ SrcBlock "PID Controller6"
+ SrcPort 1
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Annotation {
+ SID "901"
+ Name "<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\">"
+ "\n<html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\">\np, li { white-space: pre-wrap"
+ "; }\n</style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;"
+ "\">\n<p style=\"-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px;"
+ " -qt-block-indent:0; text-indent:0px;\"><br /></p></body></html>"
+ Position [264, 366, 266, 381]
+ InternalMargins [0, 0, 0, 0]
+ FixedHeight off
+ FixedWidth off
+ HorizontalAlignment "left"
+ VerticalAlignment "top"
+ Interpreter "rich"
+ }
}
}
Block {
@@ -8978,14 +9031,13 @@ 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]
@@ -9056,7 +9108,6 @@ Model {
ZOrder 10
FunctionName "sf_sfun"
PortCounts "[4 2]"
- SFunctionDeploymentMode off
EnableBusSupport on
Port {
PortNumber 2
@@ -9151,23 +9202,10 @@ 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>"
@@ -9182,7 +9220,11 @@ 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 "87500.00000"
+ YMax "212500.00000"
+ SaveName "ScopeData4"
+ DataFormat "StructureWithTime"
+ LimitDataPoints off
}
Block {
BlockType Sum
@@ -9247,6 +9289,7 @@ Model {
Position [605, 375, 635, 405]
ZOrder 40
Value "height_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9255,6 +9298,7 @@ Model {
Position [605, 535, 635, 565]
ZOrder 42
Value "x_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9263,6 +9307,7 @@ Model {
Position [605, 455, 635, 485]
ZOrder 41
Value "y_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Constant
@@ -9271,6 +9316,7 @@ Model {
Position [605, 620, 635, 650]
ZOrder 43
Value "yaw_controlled_o"
+ SampleTime "5e-3"
}
Block {
BlockType Outport
@@ -9528,34 +9574,76 @@ Model {
DstPort 1
}
Line {
- ZOrder 186
+ ZOrder 189
SrcBlock "Actuation"
- SrcPort 2
- Points [9, 0; 0, 192; -583, 0; 0, -162]
- DstBlock "Control System"
- DstPort 2
+ SrcPort 1
+ DstBlock " Sensors "
+ DstPort 1
}
Line {
- ZOrder 187
+ ZOrder 191
SrcBlock "Actuation"
- SrcPort 1
- Points [2, 0; 0, 246; -590, 0; 0, -121]
- DstBlock "Control System"
+ SrcPort 3
+ DstBlock " Sensors "
DstPort 3
}
Line {
- ZOrder 188
+ ZOrder 192
SrcBlock "Actuation"
SrcPort 4
- Points [23, 0; 0, 140; -604, 0; 0, -80]
+ DstBlock " Sensors "
+ DstPort 4
+ }
+ Line {
+ ZOrder 193
+ SrcBlock "Actuation"
+ SrcPort 5
+ DstBlock " Sensors "
+ DstPort 5
+ }
+ Line {
+ ZOrder 194
+ SrcBlock "Actuation"
+ SrcPort 6
+ DstBlock " Sensors "
+ DstPort 6
+ }
+ Line {
+ ZOrder 195
+ SrcBlock " Sensors "
+ SrcPort 3
+ Points [9, 0; 0, 210; -903, 0; 0, -160]
DstBlock "Control System"
DstPort 4
}
+ Line {
+ ZOrder 196
+ SrcBlock " Sensors "
+ SrcPort 2
+ Points [16, 0; 0, 302; -924, 0; 0, -247]
+ DstBlock "Control System"
+ DstPort 3
+ }
+ Line {
+ ZOrder 190
+ SrcBlock "Actuation"
+ SrcPort 2
+ DstBlock " Sensors "
+ DstPort 2
+ }
+ Line {
+ ZOrder 208
+ SrcBlock " Sensors "
+ SrcPort 4
+ Points [2, 0; 0, 42; -903, 0; 0, -162]
+ DstBlock "Control System"
+ DstPort 2
+ }
}
}
#Finite State Machines
#
-# Stateflow 80000010
+# Stateflow 80000005
#
#
Stateflow {
@@ -9564,29 +9652,29 @@ 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
@@ -9610,6 +9698,7 @@ Stateflow {
id 4
ssIdNumber 5
name "E_Fg"
+ linkNode [2 0 5]
scope OUTPUT_DATA
machine 1
props {
@@ -9624,12 +9713,12 @@ 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
@@ -9647,12 +9736,12 @@ 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 {
@@ -9669,16 +9758,15 @@ 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
@@ -9694,6 +9782,7 @@ 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
@@ -9702,34 +9791,33 @@ 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
@@ -9758,6 +9846,7 @@ Stateflow {
id 12
ssIdNumber 7
name "B_vo"
+ linkNode [10 0 13]
scope INPUT_DATA
machine 1
props {
@@ -9774,12 +9863,12 @@ 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 {
@@ -9796,12 +9885,12 @@ 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 {
@@ -9818,16 +9907,15 @@ 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
@@ -9843,6 +9931,7 @@ 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
@@ -9851,34 +9940,33 @@ 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
@@ -9908,6 +9996,7 @@ Stateflow {
id 20
ssIdNumber 4
name "u"
+ linkNode [18 0 21]
scope INPUT_DATA
machine 1
props {
@@ -9921,12 +10010,12 @@ 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 {
@@ -9941,16 +10030,15 @@ 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
@@ -9966,6 +10054,7 @@ 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
@@ -9974,34 +10063,33 @@ 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
+ machine 1
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
@@ -10033,6 +10121,7 @@ Stateflow {
id 27
ssIdNumber 4
name "rotor_duty_cycles"
+ linkNode [25 0 28]
scope INPUT_DATA
machine 1
props {
@@ -10046,12 +10135,12 @@ 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 {
@@ -10066,12 +10155,12 @@ 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
@@ -10089,12 +10178,12 @@ 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 {
@@ -10111,12 +10200,12 @@ 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
@@ -10134,16 +10223,15 @@ 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
@@ -10159,6 +10247,7 @@ 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
@@ -10167,34 +10256,33 @@ 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
@@ -10229,6 +10317,7 @@ Stateflow {
id 37
ssIdNumber 4
name "Vb_eff"
+ linkNode [35 0 38]
scope INPUT_DATA
machine 1
props {
@@ -10242,12 +10331,12 @@ 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 {
@@ -10264,12 +10353,12 @@ 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 {
@@ -10286,12 +10375,12 @@ 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
@@ -10309,12 +10398,12 @@ 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
@@ -10332,12 +10421,12 @@ 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
@@ -10355,12 +10444,12 @@ 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
@@ -10378,12 +10467,12 @@ 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 {
@@ -10400,12 +10489,12 @@ 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
@@ -10423,16 +10512,15 @@ 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
@@ -10448,6 +10536,7 @@ 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
@@ -10456,34 +10545,33 @@ 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
@@ -10500,35 +10588,38 @@ Stateflow {
eml {
isEML 1
script "function [B_omega_dot, B_vo_dot]= rotor(angular_acceleration, angular_velocity, B_Fg, B_omega, B_"
- "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\nB_vo_dot = zeros(3,1);\nB_omega_dot = zeros(3,1);\n\n% Cre"
- "ate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\nr"
- "h_0 = [-rhx; rhy; rhz];\nrh_1 = [rhx; rhy; rhz];\nrh_2 = [-rhx; -rhy; rhz];\nrh_3 = [rhx; -rhy; rhz];\n\n% Defin"
- "e vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = eye(3"
- ");\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\ngamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use this gam"
- "ma_omega vector\ngamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\n\n% Define angular vel"
- "ocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_velocity(2);\nw_2 = angular_velocity(3);\nw_3 "
- "= angular_velocity(4);\n\n% Define angular acceleration for each rotor\nw_0_dot = angular_acceleration(1);\nw_1_"
- "dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw_3_dot = angular_acceleration(4);\n\n% Defi"
- "ne the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * "
- "w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor "
- "forces in the z-direction from each vector to get the\n% total body force in the z-direction\nB_Fr = B_Fr_0 + B_"
- "Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced torque produced by each rotor\n B_Q_d0 = -1 * "
- "Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gamma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2"
- " * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n\n% Sum up the total in-plane drag and indu"
- "ced torque to get the total\n% in-plane drag and induced torque on the body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + "
- "B_Q_d3;\n\n% Define the force lever arm torque created from the force produced by each\n% rotor in the z-directi"
- "on\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\nB_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = "
- "cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n\n%Define the change in angular momentum t"
- "orque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w_0 * gamma_omega_03) + w_0_dot * gamma_ome"
- "ga_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) + w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -"
- "1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_omega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B"
- "_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum up the total change in angular momentum tor"
- "que produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;\n\n% Define the total rotor system torque"
- " as the sum of the in-plane drag and\n% induced torque, force lever arm torque, and change in angular momentum\n"
- "% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in the z-direction from each vector to get t"
- "he\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% Define the body frame linear velocities\nB_v"
- "o_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, br_oc)) ) );\n\n% Define the body frame an"
- "gular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B_omega) - cross(br_oc, B_F) );\n\n"
+ "vo, m, Kt, Kd, rhx, rhy, rhz, Jreq, Jxx, Jyy, Jzz)\n\n%B_vo_dot = zeros(3,1);\n%B_omega_dot = zeros(3,1);\n\n% C"
+ "reate J vector\nJ = [Jxx, 0 , 0 ; ...\n 0 , Jyy, 0 ; ...\n 0 , 0 , Jzz;];\n\n% Create r_hi vector\n"
+ "% rh_0 = [-rhx; rhy; rhz];\n% rh_1 = [rhx; rhy; rhz];\n% rh_2 = [-rhx; -rhy; rhz];\n% rh_3 = [rhx; -rhy; rhz];\n"
+ "rh_0 = [-rhx; rhy; -rhz];\nrh_1 = [rhx; rhy; -rhz];\nrh_2 = [-rhx; -rhy; -rhz];\nrh_3 = [rhx; -rhy; -rhz];\n\n% "
+ "Define vector from body frame origin to center of mass\nbr_oc = [0; 0; 0];\n\n% Define 3x3 Identity Matrix\nI = "
+ "eye(3);\n\n% Create gamma vectors\ngamma_Ti = [0; 0; -1];\n%gamma_omega_03 = [0; 0; -1]; %Rotors 0 and 3 use th"
+ "is gamma_omega vector\n%gamma_omega_12 = [0; 0; 1]; %Rotors 1 and 2 use this gamma_omega vector\ngamma_omega_03 "
+ "= [0; 0; 1]; %Rotors 0 and 3 use this gamma_omega vector\ngamma_omega_12 = [0; 0; -1]; %Rotors 1 and 2 use this"
+ " gamma_omega vector\n\n% Define angular velocities for each rotor\nw_0 = angular_velocity(1);\nw_1 = angular_vel"
+ "ocity(2);\nw_2 = angular_velocity(3);\nw_3 = angular_velocity(4);\n\n% Define angular acceleration for each roto"
+ "r\nw_0_dot = angular_acceleration(1);\nw_1_dot = angular_acceleration(2);\nw_2_dot = angular_acceleration(3);\nw"
+ "_3_dot = angular_acceleration(4);\n\n% Define the rotor force in the z-direction from each rotor\nB_Fr_0 = Kt * "
+ "w_0 * w_0 * gamma_Ti;\nB_Fr_1 = Kt * w_1 * w_1 * gamma_Ti;\nB_Fr_2 = Kt * w_2 * w_2 * gamma_Ti;\nB_Fr_3 = Kt * w"
+ "_3 * w_3 * gamma_Ti;\n\n% Sum up the rotor forces in the z-direction from each vector to get the\n% total body f"
+ "orce in the z-direction\nB_Fr = B_Fr_0 + B_Fr_1 + B_Fr_2 + B_Fr_3;\n\n% Define the in-plane drag and induced tor"
+ "que produced by each rotor\n B_Q_d0 = -1 * Kd * w_0 * w_0 * gamma_omega_03;\n B_Q_d1 = -1 * Kd * w_1 * w_1 * gam"
+ "ma_omega_12;\n B_Q_d2 = -1 * Kd * w_2 * w_2 * gamma_omega_12;\n B_Q_d3 = -1 * Kd * w_3 * w_3 * gamma_omega_03;\n"
+ "\n% Sum up the total in-plane drag and induced torque to get the total\n% in-plane drag and induced torque on th"
+ "e body\nB_Q_d = B_Q_d0 + B_Q_d1 + B_Q_d2 + B_Q_d3;\n\n% Define the force lever arm torque created from the force"
+ " produced by each\n% rotor in the z-direction\nB_Q_F0 = cross( rh_0, B_Fr_0 );\nB_Q_F1 = cross( rh_1, B_Fr_1 );\n"
+ "B_Q_F2 = cross( rh_2, B_Fr_2 );\nB_Q_F3 = cross( rh_3, B_Fr_3 );\n\nB_Q_F = B_Q_F0 + B_Q_F1 + B_Q_F2 + B_Q_F3;\n"
+ "\n%Define the change in angular momentum torque produced by each rotor \nB_Q_L0 = -1 * Jreq * ( cross(B_omega, w"
+ "_0 * gamma_omega_03) + w_0_dot * gamma_omega_03 );\nB_Q_L1 = -1 * Jreq * ( cross(B_omega, w_1 * gamma_omega_12) "
+ "+ w_1_dot * gamma_omega_12 ); \nB_Q_L2 = -1 * Jreq * ( cross(B_omega, w_2 * gamma_omega_12) + w_2_dot * gamma_om"
+ "ega_12 ); \nB_Q_L3 = -1 * Jreq * ( cross(B_omega, w_3 * gamma_omega_03) + w_3_dot * gamma_omega_03 );\n\n% Sum u"
+ "p the total change in angular momentum torque produced by each rotor\nB_Q_L = B_Q_L0 + B_Q_L1 + B_Q_L2 + B_Q_L3;"
+ "\n\n% Define the total rotor system torque as the sum of the in-plane drag and\n% induced torque, force lever ar"
+ "m torque, and change in angular momentum\n% torques\nB_Q = B_Q_d + B_Q_F + B_Q_L;\n\n% Define the body forces in"
+ " the z-direction from each vector to get the\n% total body force in the z-direction\nB_F = B_Fr + B_Fg; \n\n% De"
+ "fine the body frame linear velocities\nB_vo_dot = (m*I)^(-1) * ( B_F - cross( B_omega, m*(B_vo + cross(B_omega, "
+ "br_oc)) ) );\n\n% Define the body frame angular velocities\nB_omega_dot = J ^(-1) * ( B_Q - cross(B_omega, J * B"
+ "_omega) - cross(br_oc, B_F) );\n\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
@@ -10536,6 +10627,7 @@ Stateflow {
id 51
ssIdNumber 6
name "B_omega_dot"
+ linkNode [49 0 52]
scope OUTPUT_DATA
machine 1
props {
@@ -10552,12 +10644,12 @@ 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 {
@@ -10574,12 +10666,12 @@ 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 {
@@ -10596,12 +10688,12 @@ 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 {
@@ -10618,12 +10710,12 @@ 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 {
@@ -10640,12 +10732,12 @@ 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 {
@@ -10660,12 +10752,12 @@ 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 {
@@ -10682,12 +10774,12 @@ 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
@@ -10705,12 +10797,12 @@ 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
@@ -10728,12 +10820,12 @@ 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
@@ -10751,12 +10843,12 @@ 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
@@ -10774,12 +10866,12 @@ 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
@@ -10797,12 +10889,12 @@ 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
@@ -10820,12 +10912,12 @@ 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 {
@@ -10842,12 +10934,12 @@ 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
@@ -10865,12 +10957,12 @@ 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
@@ -10888,12 +10980,12 @@ 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
@@ -10911,16 +11003,15 @@ 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
@@ -10936,6 +11027,7 @@ 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
@@ -10944,34 +11036,33 @@ 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
@@ -10998,6 +11089,7 @@ Stateflow {
id 73
ssIdNumber 4
name "B_omega"
+ linkNode [71 0 74]
scope INPUT_DATA
machine 1
props {
@@ -11011,12 +11103,12 @@ 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 {
@@ -11031,12 +11123,12 @@ 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 {
@@ -11053,16 +11145,15 @@ 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
@@ -11078,6 +11169,7 @@ 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
@@ -11086,34 +11178,33 @@ 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
@@ -11142,6 +11233,7 @@ Stateflow {
id 81
ssIdNumber 7
name "E_Fg"
+ linkNode [79 0 82]
scope INPUT_DATA
machine 1
props {
@@ -11158,12 +11250,12 @@ 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 {
@@ -11180,12 +11272,12 @@ 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 {
@@ -11202,12 +11294,12 @@ 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 {
@@ -11224,12 +11316,12 @@ 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 {
@@ -11246,16 +11338,15 @@ 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
@@ -11271,6 +11362,7 @@ 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
@@ -11279,34 +11371,36 @@ 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
@@ -11327,9 +11421,9 @@ Stateflow {
")\n\n% LOOP_TIME = 5*10^-3;\n% \n% prev_phi = prev_euler_angles_IMU(1);\n% prev_theta = prev_euler_angles_IMU(2)"
";\n% \n% phi_dot_gyro = euler_angles_gyro(1);\n% theta_dot_gyro = euler_angles_gyro(2);\n\n% phi = 0.98 * ( prev"
"_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\n% theta = 0.98 * ( prev_theta + theta_dot_gyro * LOOP_TI"
- "ME) + 0.02 * accel_pitch;\nk_gyro = 1; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_acc"
- "el * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [phi;"
- " theta];\n"
+ "ME) + 0.02 * accel_pitch;\nk_gyro = 0.98; \nk_accel = 1-k_gyro; \n\nphi = k_gyro * ( euler_angles_gyro(1) ) + k_"
+ "accel * accel_roll;\ntheta = k_gyro * ( euler_angles_gyro(2) ) + k_accel * accel_pitch;\n\neuler_angles_IMU = [p"
+ "hi; theta];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
@@ -11337,6 +11431,7 @@ Stateflow {
id 91
ssIdNumber 4
name "accel_pitch"
+ linkNode [89 0 92]
scope INPUT_DATA
machine 1
props {
@@ -11350,12 +11445,12 @@ 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 {
@@ -11372,12 +11467,12 @@ 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 {
@@ -11392,12 +11487,12 @@ 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 {
@@ -11414,16 +11509,15 @@ 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
@@ -11439,6 +11533,7 @@ 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
@@ -11447,34 +11542,33 @@ 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
@@ -11500,6 +11594,7 @@ Stateflow {
id 100
ssIdNumber 4
name "B_vo_dot"
+ linkNode [98 0 101]
scope INPUT_DATA
machine 1
props {
@@ -11513,12 +11608,12 @@ 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 {
@@ -11535,12 +11630,12 @@ 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 {
@@ -11555,12 +11650,12 @@ 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 {
@@ -11577,12 +11672,12 @@ 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 {
@@ -11599,12 +11694,12 @@ 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 {
@@ -11621,12 +11716,12 @@ 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 {
@@ -11643,12 +11738,12 @@ 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 {
@@ -11665,16 +11760,15 @@ 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
@@ -11690,6 +11784,7 @@ 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
@@ -11698,34 +11793,33 @@ 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
@@ -11755,6 +11849,7 @@ Stateflow {
id 113
ssIdNumber 4
name "u"
+ linkNode [111 0 114]
scope INPUT_DATA
machine 1
props {
@@ -11768,12 +11863,12 @@ 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 {
@@ -11788,16 +11883,15 @@ 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
@@ -11813,6 +11907,7 @@ 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
@@ -11821,34 +11916,33 @@ 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
@@ -11875,6 +11969,7 @@ Stateflow {
id 120
ssIdNumber 4
name "gyro_reading"
+ linkNode [118 0 121]
scope INPUT_DATA
machine 1
props {
@@ -11888,12 +11983,12 @@ 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 {
@@ -11908,12 +12003,12 @@ 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 {
@@ -11930,16 +12025,15 @@ 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
@@ -11955,6 +12049,7 @@ 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
@@ -11963,34 +12058,33 @@ 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
+ machine 1
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
@@ -12019,6 +12113,7 @@ Stateflow {
id 128
ssIdNumber 4
name "accel_reading"
+ linkNode [126 0 129]
scope INPUT_DATA
machine 1
props {
@@ -12032,12 +12127,12 @@ 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 {
@@ -12052,12 +12147,12 @@ 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 {
@@ -12074,12 +12169,12 @@ 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 {
@@ -12096,16 +12191,15 @@ 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
@@ -12121,6 +12215,7 @@ 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
@@ -12129,34 +12224,36 @@ 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
@@ -12185,6 +12282,7 @@ Stateflow {
id 137
ssIdNumber 4
name "height_controlled"
+ linkNode [135 0 138]
scope INPUT_DATA
machine 1
props {
@@ -12198,12 +12296,12 @@ 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 {
@@ -12220,12 +12318,12 @@ 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 {
@@ -12240,12 +12338,12 @@ 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 {
@@ -12262,12 +12360,12 @@ 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 {
@@ -12284,16 +12382,15 @@ 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
@@ -12309,6 +12406,7 @@ 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
@@ -12317,19 +12415,18 @@ 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
index 0000000000000000000000000000000000000000..feb8b73e27a6546344f8e37555adce78811d6436
Binary files /dev/null and b/controls/model/test_model_R2015Ax.slx differ
diff --git a/quad/ci-build.sh b/quad/ci-build.sh
new file mode 100644
index 0000000000000000000000000000000000000000..36ff958b187383adb5a1007f85e6bffa1f5b09d2
--- /dev/null
+++ b/quad/ci-build.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+QUAD_ROOT=$PROJECT_ROOT/quad
+export QUAD_ROOT
+
+# Build Quad code
+cd $QUAD_ROOT/sw/modular_quad_pid/
+bash build.sh || exit 1
diff --git a/quad/test-ci.sh b/quad/ci-test.sh
similarity index 81%
rename from quad/test-ci.sh
rename to quad/ci-test.sh
index c35802b3984f5ba6dd4ba5984136340dec297e35..bb2cc16665d0687f7f3cdb553e2d39e8c1ff1b9c 100644
--- a/quad/test-ci.sh
+++ b/quad/ci-test.sh
@@ -3,9 +3,11 @@
QUAD_ROOT=$PROJECT_ROOT/quad
export QUAD_ROOT
+# Build Test Library
cd $QUAD_ROOT/lib/test
make || exit 1
+# Test UART buffer
cd $QUAD_ROOT/sw/modular_quad_pid/test
make || exit 1
./test_uart_buff || exit 1
diff --git a/quad/sw/modular_quad_pid/.build_app.tcl b/quad/sw/modular_quad_pid/.build_app.tcl
new file mode 100644
index 0000000000000000000000000000000000000000..ae51135bb7ea13e1f14bc28fda3da7f2c4751181
--- /dev/null
+++ b/quad/sw/modular_quad_pid/.build_app.tcl
@@ -0,0 +1,3 @@
+cd ..
+sdk set_workspace .
+sdk build_project -type app -name modular_quad_pid
diff --git a/quad/sw/modular_quad_pid/.build_bsp.tcl b/quad/sw/modular_quad_pid/.build_bsp.tcl
new file mode 100644
index 0000000000000000000000000000000000000000..6188f060ae618549d958ff723b7fc645778128c6
--- /dev/null
+++ b/quad/sw/modular_quad_pid/.build_bsp.tcl
@@ -0,0 +1,3 @@
+cd ..
+sdk set_workspace .
+sdk build_project -type bsp -name system_bsp
diff --git a/quad/sw/modular_quad_pid/.create_bsp.tcl b/quad/sw/modular_quad_pid/.create_bsp.tcl
new file mode 100644
index 0000000000000000000000000000000000000000..48668ef358b00c6a12098269411fe91a613053a1
--- /dev/null
+++ b/quad/sw/modular_quad_pid/.create_bsp.tcl
@@ -0,0 +1,3 @@
+cd ..
+sdk set_workspace .
+sdk create_bsp_project -name system_bsp -hwproject system_hw_platform -proc ps7_cortexa9_0 -os standalone
diff --git a/quad/sw/modular_quad_pid/build.sh b/quad/sw/modular_quad_pid/build.sh
new file mode 100644
index 0000000000000000000000000000000000000000..16f728e1c52a93f5b3996876765b2cc12919dc7c
--- /dev/null
+++ b/quad/sw/modular_quad_pid/build.sh
@@ -0,0 +1,40 @@
+#!/bin/bash
+
+source /remote/Xilinx/2015.4/SDK/2015.4/settings64.sh
+
+echo "Building modular_quad_pid"
+
+if [ ! -d ../.metadata ]; then
+ # Haven't configured XSDK environment yet. Do that now
+
+ ECLIPSE=/remote/Xilinx/2015.4/SDK/2015.4/eclipse/lnx64.o/eclipse
+ VM=/remote/Xilinx/2015.4/SDK/2015.4/tps/lnx64/jre/bin
+ WSPACE=$(dirname $0)/..
+ HW=$WSPACE/system_hw_platform
+ BSP=$WSPACE/system_bsp
+ APP=$WSPACE/modular_quad_pid
+
+ echo "Setting up dependencies for modular_quad_pid"
+
+ # Import the system_hw_platform into the workspace
+ $ECLIPSE -vm $VM -nosplash -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
+ -import $HW \
+ -data $WSPACE \
+ -vmargs -Dorg.eclipse.cdt.core.console=org.eclipse.cdt.core.systemConsole || exit 1
+
+ # Create the BSP
+ xsct .create_bsp.tcl || exit 1
+
+ # Import the system_bsp and modular_quad_pid into workspace
+ $ECLIPSE -vm $VM -nosplash -application org.eclipse.cdt.managedbuilder.core.headlessbuild \
+ -import $BSP \
+ -import $APP \
+ -data $WSPACE \
+ -vmargs -Dorg.eclipse.cdt.core.console=org.eclipse.cdt.core.systemConsole || exit 1
+
+ # Build the BSP
+ xsct .build_bsp.tcl || exit 1
+
+fi
+
+xsct .build_app.tcl || exit 1
diff --git a/quad/sw/modular_quad_pid/src/control_algorithm.c b/quad/sw/modular_quad_pid/src/control_algorithm.c
index 63ba756137739578a39f2609048a3728027266c7..202e035b3740c87ec7513938bb853c62ddec5946 100644
--- a/quad/sw/modular_quad_pid/src/control_algorithm.c
+++ b/quad/sw/modular_quad_pid/src/control_algorithm.c
@@ -10,7 +10,8 @@
#include "control_algorithm.h"
#include "communication.h"
-#define ROLL_PITCH_MAX_ANGLE 0.3490 // 20 degrees
+#define ROLL_PITCH_MAX_ANGLE 1.5708 // 90 degrees
+#define PWM_DIFF_BOUNDS 30000
int control_algorithm_init(parameter_t * parameter_struct)
{
@@ -184,13 +185,13 @@
parameter_struct->pid_controllers[PITCH_ID].current_point = sensor_struct->pitch_angle_filtered;
parameter_struct->pid_controllers[PITCH_ID].setpoint =
- /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim :*/ user_input_struct->pitch_angle_manual_setpoint;
+ (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+ (parameter_struct->pid_controllers[LOCAL_X_ID].pid_correction) + pitch_trim : user_input_struct->pitch_angle_manual_setpoint;
parameter_struct->pid_controllers[ROLL_ID].current_point = sensor_struct->roll_angle_filtered;
parameter_struct->pid_controllers[ROLL_ID].setpoint =
- /*(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
- (parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim :*/ user_input_struct->roll_angle_manual_setpoint;
+ (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)?
+ (parameter_struct->pid_controllers[LOCAL_Y_ID].pid_correction) + roll_trim : user_input_struct->roll_angle_manual_setpoint;
//logging and PID computation
@@ -232,15 +233,17 @@
memcpy(raw_actuator_struct->controller_corrected_motor_commands, user_input_struct->rc_commands, sizeof(int) * 6);
// don't use the PID corrections if the throttle is less than about 10% of its range
+ // NOTE!!!!!!!!!!!!!!!!!!!!!!
+ // re-enable the check for AUTO_FLIGHT_MODE when autonomous is fully enabled
if((user_input_struct->rc_commands[THROTTLE] >
- 118000) || (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE))
+ 118000))// || (user_defined_struct->flight_mode == AUTO_FLIGHT_MODE))
{
if(user_defined_struct->flight_mode == AUTO_FLIGHT_MODE)
{
//THROTTLE
- raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
- ((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
+ //raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] =
+ // ((int)(parameter_struct->pid_controllers[ALT_ID].pid_correction)) + sensor_struct->trims.throttle;
//ROLL
raw_actuator_struct->controller_corrected_motor_commands[ROLL] =
@@ -284,23 +287,23 @@
raw_actuator_struct->controller_corrected_motor_commands[THROTTLE] = 0;
//BOUNDS CHECKING
- if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] > 20000)
- raw_actuator_struct->controller_corrected_motor_commands[ROLL] = 20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] > PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[ROLL] = PWM_DIFF_BOUNDS;
- if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] < -20000)
- raw_actuator_struct->controller_corrected_motor_commands[ROLL] = -20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[ROLL] < -PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[ROLL] = -PWM_DIFF_BOUNDS;
- if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] > 20000)
- raw_actuator_struct->controller_corrected_motor_commands[PITCH] = 20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] > PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[PITCH] = PWM_DIFF_BOUNDS;
- if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] < -20000)
- raw_actuator_struct->controller_corrected_motor_commands[PITCH] = -20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[PITCH] < -PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[PITCH] = -PWM_DIFF_BOUNDS;
- if(raw_actuator_struct->controller_corrected_motor_commands[YAW] > 20000)
- raw_actuator_struct->controller_corrected_motor_commands[YAW] = 20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[YAW] > PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[YAW] = PWM_DIFF_BOUNDS;
- if(raw_actuator_struct->controller_corrected_motor_commands[YAW] < -20000)
- raw_actuator_struct->controller_corrected_motor_commands[YAW] = -20000;
+ if(raw_actuator_struct->controller_corrected_motor_commands[YAW] < -PWM_DIFF_BOUNDS)
+ raw_actuator_struct->controller_corrected_motor_commands[YAW] = -PWM_DIFF_BOUNDS;
}
else
diff --git a/quad/sw/modular_quad_pid/src/iic_utils.c b/quad/sw/modular_quad_pid/src/iic_utils.c
index 33a9228c2c66704cd2ed1ec8fda77b7260bbd522..cfa36829eefe5517c8647a183d8e87f75914f845 100644
--- a/quad/sw/modular_quad_pid/src/iic_utils.c
+++ b/quad/sw/modular_quad_pid/src/iic_utils.c
@@ -63,7 +63,7 @@ int iic0_mpu9150_start(){
// Set clock reference to Z Gyro
iic0_mpu9150_write(0x6B, 0x03);
// Configure Digital Low/High Pass filter
- iic0_mpu9150_write(0x1A,0x06); // Level 4 low pass on gyroscope
+ iic0_mpu9150_write(0x1A,0x06); // Level 6 low pass on gyroscope
// Configure Gyro to 2000dps, Accel. to +/-8G
iic0_mpu9150_write(0x1B, 0x18);
diff --git a/quad/sw/modular_quad_pid/src/initialize_components.c b/quad/sw/modular_quad_pid/src/initialize_components.c
index 9f62885187110efd6fa4f779274491e39d59349e..4a179a2f9d789b4d7fe9cbf6c9b22c98c0bf450a 100644
--- a/quad/sw/modular_quad_pid/src/initialize_components.c
+++ b/quad/sw/modular_quad_pid/src/initialize_components.c
@@ -24,13 +24,9 @@ int protection_loops(modular_structs_t *structs)
// wait until throttle is low and the gear switch is engaged (so you don't immediately break out of the main loop below)
// also wait for the flight mode to be set to manual
- while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP]))
- read_rec_all(rc_commands);
-
- // wait until the ground station has connected to the quad and acknowledged that its ready to start
- while (!structs->user_input_struct.receivedBeginUpdate) {
+ while(rc_commands[THROTTLE] > 125000 || read_kill(rc_commands[GEAR]) || !read_flap(rc_commands[FLAP])) {
process_received(structs);
- usleep(10000);
+ read_rec_all(rc_commands);
}
// let the pilot/observers know that the quad is now active
diff --git a/quad/sw/modular_quad_pid/src/log_data.c b/quad/sw/modular_quad_pid/src/log_data.c
index 2ab248cdda53c460527bf294e95a0091e5a47151..f49808bfe41b08122194e8e41055bb6a7a19733e 100644
--- a/quad/sw/modular_quad_pid/src/log_data.c
+++ b/quad/sw/modular_quad_pid/src/log_data.c
@@ -143,7 +143,7 @@ void printLogging(){
);
- strcat(buf,comments);
+ //strcat(buf,comments);
strcat(buf,header);
strcat(buf,units);
diff --git a/website/content/files/DesignDocument2.pdf b/website/content/files/DesignDocument2.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..47d0f3ddbbc7932a11648e67cb6e99fd7778713e
Binary files /dev/null and b/website/content/files/DesignDocument2.pdf differ
diff --git a/website/content/files/ProjectPlanVersion2.pdf b/website/content/files/ProjectPlanVersion2.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..6184e3cdca43aa993e65834e8c76a502ebe5a320
Binary files /dev/null and b/website/content/files/ProjectPlanVersion2.pdf differ
diff --git a/website/content/files/ProjectPlanVersion3.pdf b/website/content/files/ProjectPlanVersion3.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..1fae9579d90ea554545736495eb1c32db097ac56
Binary files /dev/null and b/website/content/files/ProjectPlanVersion3.pdf differ
diff --git a/website/content/pages/documents.md b/website/content/pages/documents.md
index 0d4864f0eadef51c3e7567473d8d9badc32bfb4b..26e6e6b37d8a52dacb5dab80fb95313a320b1057 100644
--- a/website/content/pages/documents.md
+++ b/website/content/pages/documents.md
@@ -4,11 +4,14 @@ sortorder: 005
## Project Plan
-[Project Plan 1](/files/ProjectPlan1Template.docx.pdf)
+[Project Plan 1](/files/ProjectPlan1Template.docx.pdf)
+[Project Plan 2](/files/ProjectPlanVersion2.pdf)
+[Project Plan 3](/files/ProjectPlanVersion3.pdf)
## Design Document
-[Design Document 1](/files/DesignDocument1.docx.pdf)
+[Design Document 1](/files/DesignDocument1.docx.pdf)
+[Design Document 2](/files/DesignDocument2.pdf)
## Weekly Reports
<iframe src="https://drive.google.com/embeddedfolderview?id=0BywzM7Q_7PUSeF8tdWpmMVN0eG8#list" width="100%" height="500" frameborder="0"></iframe>