diff --git a/controls/model/3D_Animation/eigenaxis_ucart.m b/controls/model/3D_Animation/eigenaxis_ucart.m
new file mode 100644
index 0000000000000000000000000000000000000000..4e951b32303e19fac8d0264e8902982dbfe2b4d7
--- /dev/null
+++ b/controls/model/3D_Animation/eigenaxis_ucart.m
@@ -0,0 +1,52 @@
+%**************************************************************************
+% Project : Autonomous Helicopter
+% Group : 05gr835
+% Created : 2005-04-28
+% Edited : 2005-05-25
+% -------------------------------------------------------------------------
+% The non-linear model contains the following files:
+%
+% thrusten.m : Main rotor thrust equations
+% rigid.m : Rigid body equations
+% parameters.m : Helicopter parameters
+% mrflap.m : Main rotor flapping equations
+% force_torque.m : Force and torque equations
+% eigenaxis.m : Eigen axis rotation for use in VR toolbox
+
+%**************************************************************************
+
+% eigenaxis.m : This file contains the eigen axis rotation
+%algorithm. This file is created by group 05gr830.
+
+function y = eigenaxis(u)
+
+
+if abs(u(1))< 0.0001
+ u(1) = 0.0001;
+end
+
+if abs(u(2))< 0.0001
+ u(2) = 0.0001;
+end
+
+if abs(u(3))< 0.0001
+ u(3) = 0.0001;
+end
+
+u = [ -u(1); -u(2); u(3) ];% [Pitch, Yaw, Roll]
+
+C11 = cos(u(2))*cos(u(3));
+C12 = cos(u(2))*sin(u(3));
+C13 = -sin(u(2));
+C21 = sin(u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));
+C22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));
+C23 = sin(u(1))*cos(u(2));
+C31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));
+C32 = cos(u(1))*sin(u(2))*sin(u(3))-sin(u(1))*cos(u(3));
+C33 = cos(u(1))*cos(u(2));
+
+theta = acos(0.5*(C11+C22+C33-1));
+
+e = [C23-C32; C31-C13; C12-C21]/(2*sin(theta));
+
+y = [e; theta];
diff --git a/controls/model/3D_Animation/license.txt b/controls/model/3D_Animation/license.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb7c123bee6023a3ffcdfa0e256c7a3223ef4ae0
--- /dev/null
+++ b/controls/model/3D_Animation/license.txt
@@ -0,0 +1,27 @@
+Copyright (c) 2009, The MathWorks, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in
+ the documentation and/or other materials provided with the distribution
+ * Neither the name of the The MathWorks, Inc. nor the names
+ of its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/controls/model/3D_Animation/quadrotor_world_ucart.wrl b/controls/model/3D_Animation/quadrotor_world_ucart.wrl
new file mode 100644
index 0000000000000000000000000000000000000000..eb0ece0c87dd94275cc01905e42ff20b87bd800c
--- /dev/null
+++ b/controls/model/3D_Animation/quadrotor_world_ucart.wrl
@@ -0,0 +1,1030 @@
+#VRML V2.0 utf8
+
+#Created with V-Realm Builder v2.0
+#Integrated Data Systems Inc.
+#www.ids-net.com
+
+
+PointLight {
+ location -0.8 1 1
+}
+PointLight {
+ location 1.1 1.1 0
+}
+DEF Viewport_heli Viewpoint {
+ fieldOfView 0.785398
+ orientation 1 0 0 0.188496
+ position 0.024 -0.191 11.9975
+}
+DEF Helicopter Transform {
+ translation 0 0 0
+ scale 0.108 0.108 0.108
+ children [
+ DEF Rotor_1 Transform {
+ translation 10 0 10
+ scale 1.00001 1.00001 1.00001
+ children Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.9551
+ diffuseColor 0.6163 0.6163 0.6163
+ shininess 0.3
+ specularColor 0.3 0.3 0.3
+ }
+
+ }
+
+ geometry IndexedFaceSet {
+ color NULL
+ coord DEF _v2%0 Coordinate {
+ point [ 1.87355 -2.12 -0.139033,
+ 0.783522 -2.076 0.446909,
+ 0.783515 -2.267 0.566909,
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+ 1.87352 -2.12 0.566967,
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+ -5.54956 0.044 1.92358,
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+ -0.744768 -0.234 5.94583,
+ 3.47927 -0.122 5.20305,
+ 3.47927 -0.183 5.20305,
+ 6.23667 0.341 -2.3568,
+ 6.23667 0.402 -2.3568,
+ 6.23644 0.044 1.9242,
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+ 0.614951 0.453 -7.7181,
+ 0.614995 0.757 -8.5551,
+ 0.529995 0.757 -8.5551,
+ -2.79173 -0.122 5.20272,
+ -2.79173 -0.183 5.20272 ]
+ }
+
+ creaseAngle 1
+ coordIndex [ 78, 171, 172, 63, -1, 74, 163, 164,
+ 67, -1, 62, 175, 63, 172, 64, 170,
+ 193, 65, 168, 66, 166, 67, 164, 68,
+ 162, 69, 70, 173, -1, 165, 74, 67,
+ 166, -1, 173, 70, 71, 174, -1, 175,
+ 62, 79, 176, -1, 167, 75, 66, 168,
+ -1, 175, 176, 78, 63, -1, 73, 161,
+ 162, 68, -1, 77, 169, 170, 64, -1,
+ 62, 173, 174, 79, -1, 75, 165, 166,
+ 66, -1, 174, 71, 72, 161, 73, 163,
+ 74, 165, 75, 167, 76, 192, 169, 77,
+ 171, 78, 176, 79, -1, 163, 73, 68,
+ 164, -1, 171, 77, 64, 172, -1, 192,
+ 76, 65, 193, -1, 169, 192, 193, 170,
+ -1, 161, 72, 69, 162, -1, 72, 71,
+ 70, 69, -1, 76, 167, 168, 65, -1,
+ -1 ]
+ colorIndex [ ]
+ }
+
+ }
+ }
+
+ DEF Rotor_2 Transform {
+ translation 10 0 -10
+ scale 0.999617 0.999617 0.999617
+ children Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.9551
+ diffuseColor 0.6163 0.6163 0.6163
+ shininess 0.3
+ specularColor 0.3 0.3 0.3
+ }
+
+ }
+
+ geometry IndexedFaceSet {
+ coord DEF _v2%0 Coordinate {
+ point [ 1.87355 -2.12 -0.139033,
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+ -5.55033 0.34 -2.35642,
+ -5.54956 0.105 1.92358,
+ -5.54956 0.044 1.92358,
+ -0.744768 -0.173 5.94583,
+ -0.744768 -0.234 5.94583,
+ 3.47927 -0.122 5.20305,
+ 3.47927 -0.183 5.20305,
+ 6.23667 0.341 -2.3568,
+ 6.23667 0.402 -2.3568,
+ 6.23644 0.044 1.9242,
+ 6.23644 0.105 1.9242,
+ 0.530062 -0.771 -9.83811,
+ 0.615062 -0.771 -9.8381,
+ 0.530039 -1.542 -9.3921,
+ 0.615039 -1.542 -9.3921,
+ 0.529995 -1.846 -8.5551,
+ 0.614995 -1.846 -8.5551,
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+ 0.529928 -0.771 -7.2731,
+ 0.614928 -0.771 -7.2731,
+ 0.614928 -0.319 -7.2731,
+ 0.529951 0.453 -7.7181,
+ 0.614951 0.453 -7.7181,
+ 0.614995 0.757 -8.5551,
+ 0.529995 0.757 -8.5551,
+ -2.79173 -0.122 5.20272,
+ -2.79173 -0.183 5.20272 ]
+ }
+
+ creaseAngle 1
+ coordIndex [ 78, 171, 172, 63, -1, 74, 163, 164,
+ 67, -1, 62, 175, 63, 172, 64, 170,
+ 193, 65, 168, 66, 166, 67, 164, 68,
+ 162, 69, 70, 173, -1, 165, 74, 67,
+ 166, -1, 173, 70, 71, 174, -1, 175,
+ 62, 79, 176, -1, 167, 75, 66, 168,
+ -1, 175, 176, 78, 63, -1, 73, 161,
+ 162, 68, -1, 77, 169, 170, 64, -1,
+ 62, 173, 174, 79, -1, 75, 165, 166,
+ 66, -1, 174, 71, 72, 161, 73, 163,
+ 74, 165, 75, 167, 76, 192, 169, 77,
+ 171, 78, 176, 79, -1, 163, 73, 68,
+ 164, -1, 171, 77, 64, 172, -1, 192,
+ 76, 65, 193, -1, 169, 192, 193, 170,
+ -1, 161, 72, 69, 162, -1, 72, 71,
+ 70, 69, -1, 76, 167, 168, 65, -1,
+ -1 ]
+ }
+
+ }
+ }
+ ]
+}
+Background {
+ groundAngle [ 0.9, 1.5, 1.57 ]
+ groundColor [ 0 0.8 0,
+ 0.174249 0.82 0.187362,
+ 0.467223 0.82 0.445801,
+ 0.621997 0.67 0.600279 ]
+ skyAngle [ 0.1, 1.2, 1.57 ]
+ skyColor [ 0.76238 0.8 0.1427,
+ 0.277798 0.219779 0.7,
+ 0.222549 0.390234 0.7,
+ 0.60094 0.662637 0.69 ]
+}
+DEF sqare_platform Transform {
+ translation 0 -0.432 0
+ scale 2 0.04 2
+ children [
+ Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.2
+ diffuseColor 0.8 0.407144 0.297047
+ }
+
+ }
+
+ geometry Box {
+ }
+
+ }
+
+ Transform {
+ translation 0 0.031 0
+ scale 0.5 1 0.5
+ children Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 0.8 0.613697 0.365273
+ }
+
+ }
+
+ geometry Cylinder {
+ }
+
+ }
+ }
+ ]
+}
diff --git a/controls/model/3D_Animation/sfun_time.c b/controls/model/3D_Animation/sfun_time.c
new file mode 100644
index 0000000000000000000000000000000000000000..09f87e5667471119c401f6c7b2436207fb81c9a3
--- /dev/null
+++ b/controls/model/3D_Animation/sfun_time.c
@@ -0,0 +1,101 @@
+#define S_FUNCTION_LEVEL 2
+#define S_FUNCTION_NAME sfun_time
+
+#define TIME_SCALE_FACTOR(S) ssGetSFcnParam(S,0)
+
+/*
+ * Need to include simstruc.h for the definition of the SimStruct and
+ * its associated macro definitions.
+ */
+#include "simstruc.h"
+
+/*
+ * Include the standard ANSI C header for handling time functions:
+ * ---------------------------------------------------------------
+ */
+#include <time.h>
+
+static void mdlInitializeSizes(SimStruct *S)
+{
+
+ ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
+
+ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
+
+ ssSetNumContStates(S, 0);
+ ssSetNumDiscStates(S, 0);
+
+ if (!ssSetNumInputPorts(S, 0)) return;
+
+ if (!ssSetNumOutputPorts(S, 0)) return;
+
+ ssSetNumSampleTimes(S, 1);
+ ssSetNumRWork(S, 1);
+ ssSetNumIWork(S, 0);
+ ssSetNumPWork(S, 0);
+ ssSetNumModes(S, 0);
+ ssSetNumNonsampledZCs(S, 0);
+ ssSetOptions(S, 0);
+}
+
+#define MDL_INITIALIZE_SAMPLE_TIMES
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
+ ssSetOffsetTime(S, 0, 0.0);
+}
+
+#define MDL_START
+static void mdlStart(SimStruct *S)
+{
+ ssSetRWorkValue(S,0,ssGetTStart(S));
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ real_T t_previousSimTime = ssGetRWorkValue(S,0);
+ const real_T *scaleFactor = mxGetPr(TIME_SCALE_FACTOR(S));
+ time_T t_SimTime = ssGetT(S);
+ real_T t_diff = 0.0;
+ real_T dt;
+ real_T t_current;
+ real_T t_0;
+ real_T t_previous;
+ real_T t_elapsed;
+
+ /* Desired Delta time */
+ dt = (t_SimTime - t_previousSimTime) * (scaleFactor[0]);
+ /* Get clock time at the beginning of this step*/
+ t_previous = (real_T)clock()/CLOCKS_PER_SEC;
+ t_0 = (real_T)clock()/CLOCKS_PER_SEC;
+
+ /* Wait to reach the desired time */
+ while (t_diff<dt){
+ t_current = (real_T) clock()/CLOCKS_PER_SEC;
+ /* Look for wrapup */
+ if (t_current<t_previous){
+ t_elapsed = t_previous - t_0;
+ t_0 = (real_T) clock()/CLOCKS_PER_SEC - t_elapsed;
+ }
+ t_diff = t_current - t_0;
+ t_previous = t_current;
+ }
+
+ /* Store current time to be used in next time step*/
+ ssSetRWorkValue(S, 0, t_SimTime);
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+ UNUSED_ARG(S); /* unused input argument */
+}
+
+/*
+ * Required S-function trailer:
+ * ----------------------------
+ */
+#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
+#include "simulink.c" /* MEX-file interface mechanism */
+#else
+#include "cg_sfun.h" /* Code generation registration function */
+#endif
diff --git a/controls/model/3D_Animation/sfun_time.mexw32 b/controls/model/3D_Animation/sfun_time.mexw32
new file mode 100644
index 0000000000000000000000000000000000000000..e5f03e158c0ce37e723f6bf43cd79b24286994a6
Binary files /dev/null and b/controls/model/3D_Animation/sfun_time.mexw32 differ
diff --git a/controls/model/3D_Animation/sfun_time.mexw64 b/controls/model/3D_Animation/sfun_time.mexw64
new file mode 100644
index 0000000000000000000000000000000000000000..c993c93128d86f7caa26ee652393c6d75a1c6fc0
Binary files /dev/null and b/controls/model/3D_Animation/sfun_time.mexw64 differ
diff --git a/controls/model/3D_Animation/ucart_graphical_animation.mdl b/controls/model/3D_Animation/ucart_graphical_animation.mdl
new file mode 100644
index 0000000000000000000000000000000000000000..e8caed96bbf11bc9f7c604680470cd80ae5a986d
--- /dev/null
+++ b/controls/model/3D_Animation/ucart_graphical_animation.mdl
@@ -0,0 +1,1372 @@
+Model {
+ Name "ucart_graphical_animation"
+ Version 8.5
+ MdlSubVersion 0
+ SavedCharacterEncoding "windows-1252"
+ GraphicalInterface {
+ NumRootInports 0
+ NumRootOutports 0
+ ParameterArgumentNames ""
+ ComputedModelVersion "1.2"
+ NumModelReferences 0
+ NumTestPointedSignals 0
+ }
+ ScopeRefreshTime 0.035000
+ OverrideScopeRefreshTime on
+ DisableAllScopes on
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ MinMaxOverflowArchiveMode "Overwrite"
+ FPTRunName "Run 1"
+ MaxMDLFileLineLength 120
+ Object {
+ $PropName "BdWindowsInfo"
+ $ObjectID 1
+ $ClassName "Simulink.BDWindowsInfo"
+ Object {
+ $PropName "WindowsInfo"
+ $ObjectID 2
+ $ClassName "Simulink.WindowInfo"
+ IsActive [1]
+ Location [371.0, 86.0, 1171.0, 547.0]
+ Object {
+ $PropName "ModelBrowserInfo"
+ $ObjectID 3
+ $ClassName "Simulink.ModelBrowserInfo"
+ Visible [0]
+ DockPosition "Left"
+ Width [50]
+ Height [50]
+ Filter [8]
+ }
+ Object {
+ $PropName "ExplorerBarInfo"
+ $ObjectID 4
+ $ClassName "Simulink.ExplorerBarInfo"
+ Visible [1]
+ }
+ Object {
+ $PropName "EditorsInfo"
+ $ObjectID 5
+ $ClassName "Simulink.EditorInfo"
+ IsActive [1]
+ ViewObjType "SimulinkTopLevel"
+ LoadSaveID "0"
+ Extents [1119.0, 345.0]
+ ZoomFactor [1.0]
+ Offset [0.0, 0.0]
+ }
+ }
+ }
+ Created "Thu Dec 01 14:57:20 2016"
+ Creator "m87rich"
+ UpdateHistory "UpdateHistoryNever"
+ ModifiedByFormat "%<Auto>"
+ LastModifiedBy "m87rich"
+ ModifiedDateFormat "%<Auto>"
+ LastModifiedDate "Thu Dec 01 15:14:58 2016"
+ RTWModifiedTimeStamp 402506046
+ ModelVersionFormat "1.%<AutoIncrement:2>"
+ ConfigurationManager "none"
+ SampleTimeColors off
+ SampleTimeAnnotations off
+ LibraryLinkDisplay "disabled"
+ WideLines off
+ ShowLineDimensions off
+ ShowPortDataTypes off
+ ShowDesignRanges off
+ ShowLoopsOnError on
+ IgnoreBidirectionalLines off
+ ShowStorageClass off
+ ShowTestPointIcons on
+ ShowSignalResolutionIcons on
+ ShowViewerIcons on
+ SortedOrder off
+ ExecutionContextIcon off
+ ShowLinearizationAnnotations on
+ ShowMarkup on
+ BlockNameDataTip off
+ BlockParametersDataTip off
+ BlockDescriptionStringDataTip off
+ ToolBar on
+ StatusBar on
+ BrowserShowLibraryLinks off
+ BrowserLookUnderMasks off
+ SimulationMode "normal"
+ PauseTimes "5"
+ NumberOfSteps 1
+ SnapshotBufferSize 10
+ SnapshotInterval 10
+ NumberOfLastSnapshots 0
+ LinearizationMsg "none"
+ Profile off
+ ParamWorkspaceSource "MATLABWorkspace"
+ AccelSystemTargetFile "accel.tlc"
+ AccelTemplateMakefile "accel_default_tmf"
+ AccelMakeCommand "make_rtw"
+ TryForcingSFcnDF off
+ Object {
+ $PropName "DataLoggingOverride"
+ $ObjectID 6
+ $ClassName "Simulink.SimulationData.ModelLoggingInfo"
+ model_ "ucart_graphical_animation"
+ overrideMode_ [0U]
+ Array {
+ Type "Cell"
+ Dimension 1
+ Cell "ucart_graphical_animation"
+ PropName "logAsSpecifiedByModels_"
+ }
+ Array {
+ Type "Cell"
+ Dimension 1
+ Cell []
+ PropName "logAsSpecifiedByModelsSSIDs_"
+ }
+ }
+ RecordCoverage off
+ CovPath "/"
+ CovSaveName "covdata"
+ CovMetricSettings "dw"
+ CovNameIncrementing off
+ CovHtmlReporting on
+ CovForceBlockReductionOff on
+ CovEnableCumulative on
+ covSaveCumulativeToWorkspaceVar on
+ CovSaveSingleToWorkspaceVar on
+ CovCumulativeVarName "covCumulativeData"
+ CovCumulativeReport off
+ CovReportOnPause on
+ CovModelRefEnable "Off"
+ CovExternalEMLEnable off
+ CovSFcnEnable on
+ CovBoundaryAbsTol 0.000010
+ CovBoundaryRelTol 0.010000
+ CovUseTimeInterval off
+ CovStartTime 0
+ CovStopTime 0
+ ExtModeBatchMode off
+ ExtModeEnableFloating on
+ ExtModeTrigType "manual"
+ ExtModeTrigMode "normal"
+ ExtModeTrigPort "1"
+ ExtModeTrigElement "any"
+ ExtModeTrigDuration 1000
+ ExtModeTrigDurationFloating "auto"
+ ExtModeTrigHoldOff 0
+ ExtModeTrigDelay 0
+ ExtModeTrigDirection "rising"
+ ExtModeTrigLevel 0
+ ExtModeArchiveMode "off"
+ ExtModeAutoIncOneShot off
+ ExtModeIncDirWhenArm off
+ ExtModeAddSuffixToVar off
+ ExtModeWriteAllDataToWs off
+ ExtModeArmWhenConnect on
+ ExtModeSkipDownloadWhenConnect off
+ ExtModeLogAll on
+ ExtModeAutoUpdateStatusClock on
+ ShowModelReferenceBlockVersion off
+ ShowModelReferenceBlockIO off
+ Array {
+ Type "Handle"
+ Dimension 1
+ Simulink.ConfigSet {
+ $ObjectID 7
+ Version "1.15.0"
+ Array {
+ Type "Handle"
+ Dimension 8
+ Simulink.SolverCC {
+ $ObjectID 8
+ Version "1.15.0"
+ StartTime "0.0"
+ StopTime "10.0"
+ AbsTol "auto"
+ FixedStep "auto"
+ InitialStep "auto"
+ MaxNumMinSteps "-1"
+ MaxOrder 5
+ ZcThreshold "auto"
+ ConsecutiveZCsStepRelTol "10*128*eps"
+ MaxConsecutiveZCs "1000"
+ ExtrapolationOrder 4
+ NumberNewtonIterations 1
+ MaxStep "auto"
+ MinStep "auto"
+ MaxConsecutiveMinStep "1"
+ RelTol "1e-3"
+ SolverMode "Auto"
+ EnableConcurrentExecution off
+ ConcurrentTasks off
+ Solver "ode45"
+ SolverName "ode45"
+ SolverJacobianMethodControl "auto"
+ ShapePreserveControl "DisableAll"
+ ZeroCrossControl "UseLocalSettings"
+ ZeroCrossAlgorithm "Nonadaptive"
+ AlgebraicLoopSolver "TrustRegion"
+ SolverResetMethod "Fast"
+ PositivePriorityOrder off
+ AutoInsertRateTranBlk off
+ SampleTimeConstraint "Unconstrained"
+ InsertRTBMode "Whenever possible"
+ }
+ Simulink.DataIOCC {
+ $ObjectID 9
+ Version "1.15.0"
+ Decimation "1"
+ ExternalInput "[t, u]"
+ FinalStateName "xFinal"
+ InitialState "xInitial"
+ LimitDataPoints on
+ MaxDataPoints "1000"
+ LoadExternalInput off
+ LoadInitialState off
+ SaveFinalState off
+ SaveCompleteFinalSimState off
+ SaveFormat "Array"
+ SignalLoggingSaveFormat "Dataset"
+ SaveOutput on
+ SaveState off
+ SignalLogging on
+ DSMLogging on
+ InspectSignalLogs off
+ VisualizeSimOutput on
+ SaveTime on
+ ReturnWorkspaceOutputs off
+ StateSaveName "xout"
+ TimeSaveName "tout"
+ OutputSaveName "yout"
+ SignalLoggingName "logsout"
+ DSMLoggingName "dsmout"
+ OutputOption "RefineOutputTimes"
+ OutputTimes "[]"
+ ReturnWorkspaceOutputsName "out"
+ Refine "1"
+ }
+ Simulink.OptimizationCC {
+ $ObjectID 10
+ Version "1.15.0"
+ Array {
+ Type "Cell"
+ Dimension 8
+ Cell "BooleansAsBitfields"
+ Cell "PassReuseOutputArgsAs"
+ Cell "PassReuseOutputArgsThreshold"
+ Cell "ZeroExternalMemoryAtStartup"
+ Cell "ZeroInternalMemoryAtStartup"
+ Cell "OptimizeModelRefInitCode"
+ Cell "NoFixptDivByZeroProtection"
+ Cell "UseSpecifiedMinMax"
+ PropName "DisabledProps"
+ }
+ BlockReduction on
+ BooleanDataType on
+ ConditionallyExecuteInputs on
+ InlineParams off
+ UseDivisionForNetSlopeComputation "off"
+ UseFloatMulNetSlope off
+ DefaultUnderspecifiedDataType "double"
+ UseSpecifiedMinMax off
+ InlineInvariantSignals off
+ OptimizeBlockIOStorage on
+ BufferReuse on
+ EnhancedBackFolding off
+ CachingGlobalReferences off
+ GlobalBufferReuse on
+ StrengthReduction off
+ ExpressionFolding on
+ BooleansAsBitfields off
+ BitfieldContainerType "uint_T"
+ EnableMemcpy on
+ MemcpyThreshold 64
+ PassReuseOutputArgsAs "Structure reference"
+ PassReuseOutputArgsThreshold 12
+ ExpressionDepthLimit 128
+ LocalBlockOutputs on
+ RollThreshold 5
+ StateBitsets off
+ DataBitsets off
+ ActiveStateOutputEnumStorageType "Native Integer"
+ ZeroExternalMemoryAtStartup on
+ ZeroInternalMemoryAtStartup on
+ InitFltsAndDblsToZero off
+ NoFixptDivByZeroProtection off
+ EfficientFloat2IntCast off
+ EfficientMapNaN2IntZero on
+ OptimizeModelRefInitCode off
+ LifeSpan "inf"
+ MaxStackSize "Inherit from target"
+ BufferReusableBoundary on
+ SimCompilerOptimization "off"
+ AccelVerboseBuild off
+ }
+ Simulink.DebuggingCC {
+ $ObjectID 11
+ Version "1.15.0"
+ RTPrefix "error"
+ ConsistencyChecking "none"
+ ArrayBoundsChecking "none"
+ SignalInfNanChecking "none"
+ SignalRangeChecking "none"
+ ReadBeforeWriteMsg "UseLocalSettings"
+ WriteAfterWriteMsg "UseLocalSettings"
+ WriteAfterReadMsg "UseLocalSettings"
+ AlgebraicLoopMsg "warning"
+ ArtificialAlgebraicLoopMsg "warning"
+ SaveWithDisabledLinksMsg "warning"
+ SaveWithParameterizedLinksMsg "warning"
+ CheckSSInitialOutputMsg on
+ UnderspecifiedInitializationDetection "Simplified"
+ MergeDetectMultiDrivingBlocksExec "error"
+ CheckExecutionContextPreStartOutputMsg off
+ CheckExecutionContextRuntimeOutputMsg off
+ SignalResolutionControl "UseLocalSettings"
+ BlockPriorityViolationMsg "warning"
+ MinStepSizeMsg "warning"
+ TimeAdjustmentMsg "none"
+ MaxConsecutiveZCsMsg "error"
+ MaskedZcDiagnostic "warning"
+ IgnoredZcDiagnostic "warning"
+ SolverPrmCheckMsg "none"
+ InheritedTsInSrcMsg "warning"
+ DiscreteInheritContinuousMsg "warning"
+ MultiTaskDSMMsg "error"
+ MultiTaskCondExecSysMsg "error"
+ MultiTaskRateTransMsg "error"
+ SingleTaskRateTransMsg "none"
+ TasksWithSamePriorityMsg "warning"
+ SigSpecEnsureSampleTimeMsg "warning"
+ CheckMatrixSingularityMsg "none"
+ IntegerOverflowMsg "warning"
+ Int32ToFloatConvMsg "warning"
+ ParameterDowncastMsg "error"
+ ParameterOverflowMsg "error"
+ ParameterUnderflowMsg "none"
+ ParameterPrecisionLossMsg "warning"
+ ParameterTunabilityLossMsg "warning"
+ FixptConstUnderflowMsg "none"
+ FixptConstOverflowMsg "none"
+ FixptConstPrecisionLossMsg "none"
+ UnderSpecifiedDataTypeMsg "none"
+ UnnecessaryDatatypeConvMsg "none"
+ VectorMatrixConversionMsg "none"
+ InvalidFcnCallConnMsg "error"
+ FcnCallInpInsideContextMsg "EnableAllAsError"
+ SignalLabelMismatchMsg "none"
+ UnconnectedInputMsg "warning"
+ UnconnectedOutputMsg "warning"
+ UnconnectedLineMsg "warning"
+ SFcnCompatibilityMsg "none"
+ FrameProcessingCompatibilityMsg "error"
+ UniqueDataStoreMsg "none"
+ BusObjectLabelMismatch "warning"
+ RootOutportRequireBusObject "warning"
+ AssertControl "UseLocalSettings"
+ ModelReferenceIOMsg "none"
+ ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
+ ModelReferenceVersionMismatchMessage "none"
+ ModelReferenceIOMismatchMessage "none"
+ UnknownTsInhSupMsg "warning"
+ ModelReferenceDataLoggingMessage "warning"
+ ModelReferenceSymbolNameMessage "warning"
+ ModelReferenceExtraNoncontSigs "error"
+ StateNameClashWarn "none"
+ SimStateInterfaceChecksumMismatchMsg "warning"
+ SimStateOlderReleaseMsg "error"
+ InitInArrayFormatMsg "warning"
+ StrictBusMsg "ErrorLevel1"
+ BusNameAdapt "WarnAndRepair"
+ NonBusSignalsTreatedAsBus "none"
+ BlockIODiagnostic "none"
+ SFUnusedDataAndEventsDiag "warning"
+ SFUnexpectedBacktrackingDiag "warning"
+ SFInvalidInputDataAccessInChartInitDiag "warning"
+ SFNoUnconditionalDefaultTransitionDiag "warning"
+ SFTransitionOutsideNaturalParentDiag "warning"
+ SFUnconditionalTransitionShadowingDiag "warning"
+ SFUndirectedBroadcastEventsDiag "warning"
+ SFTransitionActionBeforeConditionDiag "warning"
+ SFOutputUsedAsStateInMooreChartDiag "error"
+ IntegerSaturationMsg "warning"
+ }
+ Simulink.HardwareCC {
+ $ObjectID 12
+ Version "1.15.0"
+ ProdBitPerChar 8
+ ProdBitPerShort 16
+ ProdBitPerInt 32
+ ProdBitPerLong 32
+ ProdBitPerLongLong 64
+ ProdBitPerFloat 32
+ ProdBitPerDouble 64
+ ProdBitPerPointer 32
+ ProdLargestAtomicInteger "Char"
+ ProdLargestAtomicFloat "None"
+ ProdIntDivRoundTo "Undefined"
+ ProdEndianess "Unspecified"
+ ProdWordSize 32
+ ProdShiftRightIntArith on
+ ProdLongLongMode off
+ ProdHWDeviceType "32-bit Generic"
+ TargetBitPerChar 8
+ TargetBitPerShort 16
+ TargetBitPerInt 32
+ TargetBitPerLong 32
+ TargetBitPerLongLong 64
+ TargetBitPerFloat 32
+ TargetBitPerDouble 64
+ TargetBitPerPointer 32
+ TargetLargestAtomicInteger "Char"
+ TargetLargestAtomicFloat "None"
+ TargetShiftRightIntArith on
+ TargetLongLongMode off
+ TargetIntDivRoundTo "Undefined"
+ TargetEndianess "Unspecified"
+ TargetWordSize 32
+ TargetPreprocMaxBitsSint 32
+ TargetPreprocMaxBitsUint 32
+ TargetHWDeviceType "Specified"
+ TargetUnknown off
+ ProdEqTarget on
+ }
+ Simulink.ModelReferenceCC {
+ $ObjectID 13
+ Version "1.15.0"
+ UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
+ CheckModelReferenceTargetMessage "error"
+ EnableParallelModelReferenceBuilds off
+ ParallelModelReferenceErrorOnInvalidPool on
+ ParallelModelReferenceMATLABWorkerInit "None"
+ ModelReferenceNumInstancesAllowed "Multi"
+ PropagateVarSize "Infer from blocks in model"
+ ModelReferencePassRootInputsByReference on
+ ModelReferenceMinAlgLoopOccurrences off
+ PropagateSignalLabelsOutOfModel off
+ SupportModelReferenceSimTargetCustomCode off
+ }
+ Simulink.SFSimCC {
+ $ObjectID 14
+ Version "1.15.0"
+ SFSimOverflowDetection on
+ SFSimEcho on
+ SimCtrlC on
+ SimIntegrity on
+ SimUseLocalCustomCode off
+ SimParseCustomCode on
+ SimBuildMode "sf_incremental_build"
+ SimGenImportedTypeDefs off
+ }
+ Simulink.RTWCC {
+ $BackupClass "Simulink.RTWCC"
+ $ObjectID 15
+ Version "1.15.0"
+ Array {
+ Type "Cell"
+ Dimension 16
+ Cell "IncludeHyperlinkInReport"
+ Cell "GenerateTraceInfo"
+ Cell "GenerateTraceReport"
+ Cell "GenerateTraceReportSl"
+ Cell "GenerateTraceReportSf"
+ Cell "GenerateTraceReportEml"
+ Cell "PortableWordSizes"
+ Cell "GenerateWebview"
+ Cell "GenerateCodeMetricsReport"
+ Cell "GenerateCodeReplacementReport"
+ Cell "GenerateMissedCodeReplacementReport"
+ Cell "GenerateErtSFunction"
+ Cell "CreateSILPILBlock"
+ Cell "CodeExecutionProfiling"
+ Cell "CodeProfilingSaveOptions"
+ Cell "CodeProfilingInstrumentation"
+ PropName "DisabledProps"
+ }
+ SystemTargetFile "grt.tlc"
+ TLCOptions ""
+ GenCodeOnly off
+ MakeCommand "make_rtw"
+ GenerateMakefile on
+ PackageGeneratedCodeAndArtifacts off
+ PackageName ""
+ TemplateMakefile "grt_default_tmf"
+ PostCodeGenCommand ""
+ Description ""
+ GenerateReport off
+ SaveLog off
+ RTWVerbose on
+ RetainRTWFile off
+ ProfileTLC off
+ TLCDebug off
+ TLCCoverage off
+ TLCAssert off
+ RTWUseLocalCustomCode off
+ RTWUseSimCustomCode off
+ CustomSourceCode ""
+ CustomHeaderCode ""
+ CustomInclude ""
+ CustomSource ""
+ CustomLibrary ""
+ CustomInitializer ""
+ CustomTerminator ""
+ Toolchain "Automatically locate an installed toolchain"
+ BuildConfiguration "Faster Builds"
+ IncludeHyperlinkInReport off
+ LaunchReport off
+ PortableWordSizes off
+ CreateSILPILBlock "None"
+ CodeExecutionProfiling off
+ CodeExecutionProfileVariable "executionProfile"
+ CodeProfilingSaveOptions "SummaryOnly"
+ CodeProfilingInstrumentation off
+ SILDebugging off
+ TargetLang "C"
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