From dd544a4349d29ef16cc2dc6cbccb74c8c931791b Mon Sep 17 00:00:00 2001
From: Andy Snawerdt <Andy Snawerdt>
Date: Mon, 5 Dec 2016 22:26:01 -0600
Subject: [PATCH] Updated sensor block to include noise from camera system and
fixed masks
---
controls/model/Quadcopter_Model_R2015_A.mdl | 1477 ++++++++++++++-----
controls/model/Quadcopter_Model_R2016_A.slx | Bin 38169 -> 40651 bytes
controls/model/Quadcopter_Model_R2016_B.slx | Bin 39937 -> 42371 bytes
3 files changed, 1095 insertions(+), 382 deletions(-)
diff --git a/controls/model/Quadcopter_Model_R2015_A.mdl b/controls/model/Quadcopter_Model_R2015_A.mdl
index 21c689f9c..1ce880409 100644
--- a/controls/model/Quadcopter_Model_R2015_A.mdl
+++ b/controls/model/Quadcopter_Model_R2015_A.mdl
@@ -6,7 +6,7 @@ Model {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.288"
+ ComputedModelVersion "1.351"
NumModelReferences 0
NumTestPointedSignals 0
}
@@ -45,16 +45,28 @@ Model {
$ClassName "Simulink.ExplorerBarInfo"
Visible [1]
}
- Object {
- $PropName "EditorsInfo"
- $ObjectID 5
- $ClassName "Simulink.EditorInfo"
- IsActive [1]
- ViewObjType "SimulinkTopLevel"
- LoadSaveID "0"
- Extents [1755.0, 876.0]
- ZoomFactor [1.25]
- Offset [537.09047619047556, 303.24285714285782]
+ Array {
+ Type "Simulink.EditorInfo"
+ Dimension 2
+ Object {
+ $ObjectID 5
+ IsActive [0]
+ ViewObjType "SimulinkSubsys"
+ LoadSaveID "541"
+ Extents [1755.0, 874.0]
+ ZoomFactor [1.5]
+ Offset [-408.3367559523798, 164.59047619047868]
+ }
+ Object {
+ $ObjectID 6
+ IsActive [1]
+ ViewObjType "SimulinkTopLevel"
+ LoadSaveID "0"
+ Extents [1755.0, 874.0]
+ ZoomFactor [1.5]
+ Offset [661.09523809523807, 324.57142857142884]
+ }
+ PropName "EditorsInfo"
}
}
}
@@ -64,9 +76,9 @@ Model {
ModifiedByFormat "%<Auto>"
LastModifiedBy "Andy"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Sat Dec 03 21:49:47 2016"
- RTWModifiedTimeStamp 402702587
- ModelVersionFormat "1.%<AutoIncrement:288>"
+ LastModifiedDate "Mon Dec 05 22:25:03 2016"
+ RTWModifiedTimeStamp 402877502
+ ModelVersionFormat "1.%<AutoIncrement:351>"
ConfigurationManager "none"
SampleTimeColors off
SampleTimeAnnotations off
@@ -107,7 +119,7 @@ Model {
TryForcingSFcnDF off
Object {
$PropName "DataLoggingOverride"
- $ObjectID 7
+ $ObjectID 8
$ClassName "Simulink.SimulationData.ModelLoggingInfo"
model_ "Quadcopter_Model_R2015_A"
overrideMode_ [0.0]
@@ -126,7 +138,7 @@ Model {
}
Object {
$PropName "InstrumentedSignals"
- $ObjectID 8
+ $ObjectID 9
$ClassName "Simulink.HMI.InstrumentedSignals"
Persistence []
}
@@ -178,13 +190,13 @@ Model {
Type "Handle"
Dimension 1
Simulink.ConfigSet {
- $ObjectID 9
+ $ObjectID 10
Version "1.15.0"
Array {
Type "Handle"
Dimension 8
Simulink.SolverCC {
- $ObjectID 10
+ $ObjectID 11
Version "1.15.0"
StartTime "0.0"
StopTime "20"
@@ -219,7 +231,7 @@ Model {
InsertRTBMode "Whenever possible"
}
Simulink.DataIOCC {
- $ObjectID 11
+ $ObjectID 12
Version "1.15.0"
Decimation "1"
ExternalInput "[t, u]"
@@ -252,7 +264,7 @@ Model {
Refine "1"
}
Simulink.OptimizationCC {
- $ObjectID 12
+ $ObjectID 13
Version "1.15.0"
Array {
Type "Cell"
@@ -309,7 +321,7 @@ Model {
AccelVerboseBuild off
}
Simulink.DebuggingCC {
- $ObjectID 13
+ $ObjectID 14
Version "1.15.0"
RTPrefix "error"
ConsistencyChecking "none"
@@ -397,7 +409,7 @@ Model {
IntegerSaturationMsg "warning"
}
Simulink.HardwareCC {
- $ObjectID 14
+ $ObjectID 15
Version "1.15.0"
ProdBitPerChar 8
ProdBitPerShort 16
@@ -437,7 +449,7 @@ Model {
ProdEqTarget on
}
Simulink.ModelReferenceCC {
- $ObjectID 15
+ $ObjectID 16
Version "1.15.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
@@ -452,7 +464,7 @@ Model {
SupportModelReferenceSimTargetCustomCode off
}
Simulink.SFSimCC {
- $ObjectID 16
+ $ObjectID 17
Version "1.15.0"
SFSimEcho on
SimCtrlC on
@@ -464,7 +476,7 @@ Model {
}
Simulink.RTWCC {
$BackupClass "Simulink.RTWCC"
- $ObjectID 17
+ $ObjectID 18
Version "1.15.0"
Array {
Type "Cell"
@@ -532,7 +544,7 @@ Model {
Type "Handle"
Dimension 2
Simulink.CodeAppCC {
- $ObjectID 18
+ $ObjectID 19
Version "1.15.0"
Array {
Type "Cell"
@@ -605,7 +617,7 @@ Model {
}
Simulink.GRTTargetCC {
$BackupClass "Simulink.TargetCC"
- $ObjectID 19
+ $ObjectID 20
Version "1.15.0"
Array {
Type "Cell"
@@ -701,11 +713,11 @@ Model {
}
Simulink.ConfigSet {
$PropName "ActiveConfigurationSet"
- $ObjectID 9
+ $ObjectID 10
}
Object {
$PropName "DataTransfer"
- $ObjectID 21
+ $ObjectID 22
$ClassName "Simulink.GlobalDataTransfer"
DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
@@ -867,6 +879,14 @@ Model {
ZeroCross on
ContinuousStateAttributes "''"
}
+ Block {
+ BlockType Mux
+ Inputs "4"
+ DisplayOption "none"
+ UseBusObject off
+ BusObject "BusObject"
+ NonVirtualBus off
+ }
Block {
BlockType Outport
Port "1"
@@ -996,9 +1016,9 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "125"
+ ZoomFactor "150"
ReportName "simulink-default.rpt"
- SIDHighWatermark "953"
+ SIDHighWatermark "1020"
Block {
BlockType SubSystem
Name "\n\n\n\n\n\n"
@@ -1010,7 +1030,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 22
+ $ObjectID 23
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor 1 Duty Cycle', 'texmode', 'on');\nport_label('input', 2, 'Rotor 2 Duty Cycle"
"', 'texmode', 'on');\nport_label('input', 3, 'Rotor 3 Duty Cycle', 'texmode', 'on');\nport_label('input', 4, 'Rotor 4"
@@ -1033,7 +1053,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "60"
+ ZoomFactor "150"
Block {
BlockType Inport
Name "Rotor 0 Duty Cycle"
@@ -1084,7 +1104,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 23
+ $ObjectID 24
$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"
@@ -1221,7 +1241,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 24
+ $ObjectID 25
$ClassName "Simulink.Mask"
Display "port_label('input', 1, 'Rotor 0 Duty Cycle', 'texmode', 'on');\nport_label('input', 2, 'Rotor 1 Dut"
"y Cycle', 'texmode', 'on');\nport_label('input', 3, 'Rotor 2 Duty Cycle', 'texmode', 'on');\nport_label('input', "
@@ -1391,7 +1411,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 25
+ $ObjectID 26
$ClassName "Simulink.Mask"
Display "port_label('output', 1, '^EF_g', 'texmode', 'on');\nfprintf('Gravity');\n"
}
@@ -1509,7 +1529,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 26
+ $ObjectID 27
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '^Bv_o', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on"
"');\nport_label('output', 1, '^Er_o', 'texmode', 'on');\ndisp('L_{EB}', 'texmode', 'on');"
@@ -1645,7 +1665,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 27
+ $ObjectID 28
$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"
@@ -1856,7 +1876,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 28
+ $ObjectID 29
$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');"
@@ -1992,7 +2012,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 29
+ $ObjectID 30
$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');"
@@ -2147,6 +2167,151 @@ Model {
ShowName off
DisplayOption "bar"
}
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "954"
+ Ports [1, 3]
+ Position [1830, 526, 1835, 574]
+ ZOrder 107
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "x position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "y position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "z position"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux2"
+ SID "955"
+ Ports [1, 3]
+ Position [1830, 301, 1835, 349]
+ ZOrder 109
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Roll"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Pitch"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Yaw"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux3"
+ SID "957"
+ Ports [1, 3]
+ Position [1830, 406, 1835, 454]
+ ZOrder 117
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body x velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body y velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body z velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux4"
+ SID "959"
+ Ports [1, 3]
+ Position [1830, 161, 1835, 209]
+ ZOrder 115
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body roll velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body pitch velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body yaw velocity"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux5"
+ SID "961"
+ Ports [1, 3]
+ Position [1830, 641, 1835, 689]
+ ZOrder 119
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "Body x acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "Body y acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "Body z acceleration"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
Block {
BlockType Integrator
Name "Integrator"
@@ -2270,22 +2435,22 @@ Model {
}
Block {
BlockType Scope
- Name "Scope2"
- SID "560"
- Ports [1]
- Position [890, 229, 920, 261]
- ZOrder 51
- NumInputPorts "1"
+ Name "Scope10"
+ SID "956"
+ Ports [3]
+ Position [1935, 303, 1975, 347]
+ ZOrder 108
+ NumInputPorts "3"
Open off
TimeRange auto
TickLabels OneTimeTick
- ShowLegends off
+ ShowLegends on
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
- SaveName ScopeData2
- YMin -100.77485
- YMax 906.97366
+ SaveName ScopeData1
+ YMin -1.00000~-1.00000~-1.00000
+ YMax 1.00000~1.00000~1.00000
SampleInput off
SampleTime -1
ZoomMode on
@@ -2295,6 +2460,8 @@ Model {
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
@@ -2306,15 +2473,57 @@ 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]
+ Location [643 335 1366 766]
}
Block {
BlockType Scope
- Name "Scope3"
- SID "561"
+ Name "Scope11"
+ SID "960"
+ Ports [3]
+ Position [1935, 163, 1975, 207]
+ ZOrder 114
+ NumInputPorts "3"
+ Open off
+ TimeRange auto
+ TickLabels OneTimeTick
+ ShowLegends on
+ LimitDataPoints off
+ MaxDataPoints 5000
+ SaveToWorkspace off
+ SaveName ScopeData3
+ YMin -1.00000~-1.00000~-1.00000
+ YMax 1.00000~1.00000~1.00000
+ SampleInput off
+ SampleTime -1
+ ZoomMode on
+ Grid on
+ DataFormat StructureWithTime
+ Decimation 1
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
+ }
+ List {
+ ListType ScopeGraphics
+ FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
+ AxesColor "[0 0 0]"
+ AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
+ LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+ LineStyles "-|-|-|-|-|-"
+ LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
+ MarkerStyles "none|none|none|none|none|none"
+ }
+ Location [643 335 1366 766]
+ }
+ Block {
+ BlockType Scope
+ Name "Scope2"
+ SID "560"
Ports [1]
- Position [1790, 304, 1820, 336]
- ZOrder 69
+ Position [890, 229, 920, 261]
+ ZOrder 51
NumInputPorts "1"
Open off
TimeRange auto
@@ -2323,9 +2532,9 @@ Model {
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
- SaveName ScopeData1
- YMin -1.00000
- YMax 1.00000
+ SaveName ScopeData2
+ YMin -100.77485
+ YMax 906.97366
SampleInput off
SampleTime -1
ZoomMode on
@@ -2350,22 +2559,22 @@ Model {
}
Block {
BlockType Scope
- Name "Scope4"
- SID "562"
- Ports [1]
- Position [1790, 169, 1820, 201]
- ZOrder 70
- NumInputPorts "1"
+ Name "Scope3"
+ SID "958"
+ Ports [3]
+ Position [1935, 408, 1975, 452]
+ ZOrder 116
+ NumInputPorts "3"
Open off
TimeRange auto
TickLabels OneTimeTick
- ShowLegends off
+ ShowLegends on
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData2
- YMin -19.78789
- YMax 178.09104
+ YMin -1.00000~-71.40595~-81.80792
+ YMax 1.00000~93.1255~67.47699
SampleInput off
SampleTime -1
ZoomMode on
@@ -2375,6 +2584,8 @@ Model {
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
@@ -2390,22 +2601,22 @@ Model {
}
Block {
BlockType Scope
- Name "Scope5"
- SID "563"
- Ports [1]
- Position [1790, 419, 1820, 451]
- ZOrder 78
- NumInputPorts "1"
+ Name "Scope4"
+ SID "962"
+ Ports [3]
+ Position [1935, 643, 1975, 687]
+ ZOrder 118
+ NumInputPorts "3"
Open off
TimeRange auto
TickLabels OneTimeTick
- ShowLegends off
+ ShowLegends on
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
- SaveName ScopeData3
- YMin -0.11953
- YMax 1.0758
+ SaveName ScopeData4
+ YMin -1019.9483~-1019.9483~-1019.9483
+ YMax 1049.2638~1049.2638~1049.2638
SampleInput off
SampleTime -1
ZoomMode on
@@ -2415,6 +2626,8 @@ Model {
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
@@ -2426,26 +2639,26 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1917 1039]
+ Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope6"
SID "564"
- Ports [1]
- Position [1790, 534, 1820, 566]
+ Ports [3]
+ Position [1935, 528, 1975, 572]
ZOrder 79
- NumInputPorts "1"
+ NumInputPorts "3"
Open off
TimeRange auto
TickLabels OneTimeTick
- ShowLegends off
+ ShowLegends on
LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData4
- YMin -0.86518
- YMax 7.7866
+ YMin -1.00000~-1.00000~-980.09781
+ YMax 1.00000~1.00000~109.0196
SampleInput off
SampleTime -1
ZoomMode on
@@ -2455,6 +2668,8 @@ Model {
List {
ListType AxesTitles
axes1 "%<SignalLabel>"
+ axes2 "%<SignalLabel>"
+ axes3 "%<SignalLabel>"
}
List {
ListType ScopeGraphics
@@ -2466,7 +2681,7 @@ Model {
LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
MarkerStyles "none|none|none|none|none|none"
}
- Location [1 76 1917 1039]
+ Location [643 335 1366 766]
}
Block {
BlockType Scope
@@ -2594,8 +2809,8 @@ Model {
SID "935"
Position [-150, 375, -120, 405]
ZOrder 106
- Before "68.08*ones(4,1)"
- After "68.08*ones(4,1)"
+ Before "68.25*ones(4,1)"
+ After "[ 68.25; 69.25; 69.25; 68.25 ]"
SampleTime "0"
}
Block {
@@ -2628,7 +2843,7 @@ Model {
BlockType Outport
Name "E_ro"
SID "571"
- Position [1815, 598, 1845, 612]
+ Position [1830, 598, 1860, 612]
ZOrder 88
Port "4"
IconDisplay "Port number"
@@ -2637,7 +2852,7 @@ Model {
BlockType Outport
Name "B_vo_dot"
SID "572"
- Position [1815, 718, 1845, 732]
+ Position [1830, 718, 1860, 732]
ZOrder 103
Port "5"
IconDisplay "Port number"
@@ -2646,7 +2861,7 @@ Model {
BlockType Outport
Name "B_g"
SID "573"
- Position [1815, 778, 1845, 792]
+ Position [1830, 778, 1860, 792]
ZOrder 104
Port "6"
IconDisplay "Port number"
@@ -2746,9 +2961,18 @@ Model {
Points [32, 0]
Branch {
ZOrder 22
- Points [0, 265]
- DstBlock "B_vo_dot"
- DstPort 1
+ Points [0, 265; 600, 0]
+ Branch {
+ ZOrder 199
+ Points [0, -60]
+ DstBlock "Demux5"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 198
+ DstBlock "B_vo_dot"
+ DstPort 1
+ }
}
Branch {
ZOrder 23
@@ -2763,16 +2987,16 @@ Model {
Points [55, 0]
Branch {
ZOrder 25
- Points [0, -95; 453, 0]
+ Points [0, -95; 454, 0]
Branch {
- ZOrder 26
- Points [0, -60]
- DstBlock "Scope4"
+ ZOrder 117
+ DstBlock "B_omega"
DstPort 1
}
Branch {
- ZOrder 27
- DstBlock "B_omega"
+ ZOrder 115
+ Points [0, -60]
+ DstBlock "Demux4"
DstPort 1
}
}
@@ -2788,42 +3012,6 @@ Model {
DstPort 1
}
}
- Line {
- ZOrder 30
- SrcBlock "Integrator1"
- SrcPort 1
- Points [34, 0; 0, 90]
- Branch {
- ZOrder 31
- Points [-383, 0; 0, -60]
- DstBlock "\n\n\n\n\n\n\n\n"
- DstPort 5
- }
- Branch {
- ZOrder 32
- Points [81, 0]
- Branch {
- ZOrder 33
- DstBlock "\n\n\n\n\n\n\n"
- DstPort 1
- }
- Branch {
- ZOrder 34
- Points [0, -75; 393, 0]
- Branch {
- ZOrder 35
- DstBlock "B_vo"
- DstPort 1
- }
- Branch {
- ZOrder 36
- Points [0, -40]
- DstBlock "Scope5"
- DstPort 1
- }
- }
- }
- }
Line {
ZOrder 37
SrcBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
@@ -2831,52 +3019,6 @@ Model {
DstBlock "Integrator4"
DstPort 1
}
- Line {
- ZOrder 38
- SrcBlock "Integrator4"
- SrcPort 1
- Points [20, 0]
- Branch {
- ZOrder 39
- Points [28, 0]
- Branch {
- ZOrder 40
- Points [0, -60]
- DstBlock "Scope3"
- DstPort 1
- }
- Branch {
- ZOrder 41
- DstBlock "euler_angles"
- DstPort 1
- }
- }
- Branch {
- ZOrder 42
- Points [0, 460; -385, 0]
- Branch {
- ZOrder 65
- Points [0, -185]
- Branch {
- ZOrder 44
- DstBlock "\n\n\n\n\n\n\n"
- DstPort 2
- }
- Branch {
- ZOrder 45
- Points [0, -240]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
- }
- }
- Branch {
- ZOrder 46
- Points [-787, 0; 0, -55]
- DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
- DstPort 2
- }
- }
- }
Line {
ZOrder 47
SrcBlock "\n\n\n\n"
@@ -2905,15 +3047,15 @@ Model {
ZOrder 51
SrcBlock "Integrator3"
SrcPort 1
- Points [51, 0]
+ Points [64, 0]
Branch {
- ZOrder 52
+ ZOrder 88
Points [0, -55]
- DstBlock "Scope6"
+ DstBlock "Demux1"
DstPort 1
}
Branch {
- ZOrder 53
+ ZOrder 87
DstBlock "E_ro"
DstPort 1
}
@@ -2981,30 +3123,247 @@ Model {
DstBlock "Demux"
DstPort 1
}
- }
- }
- Block {
- BlockType SubSystem
- Name " "
- SID "601"
- Ports [6, 3]
- Position [1445, 477, 1665, 713]
- ZOrder 68
- RequestExecContextInheritance off
- Variant off
- Object {
- $PropName "MaskObject"
- $ObjectID 30
- $ClassName "Simulink.Mask"
- Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
- "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
- "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
- "', 1, 'Euler Angles Filtered', 'texmode', 'on');\nport_label('output', 2, 'Euler Rates', 'texmode', 'on');\nport_labe"
- "l('output', 3, 'Current Position', 'texmode', 'on');\ndisp('Sensor Systen', 'texmode', 'on');"
- }
- System {
- Name " "
- Location [-8, -8, 1928, 1048]
+ Line {
+ Name "y position"
+ ZOrder 89
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Scope6"
+ DstPort 2
+ }
+ Line {
+ Name "x position"
+ ZOrder 90
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Scope6"
+ DstPort 1
+ }
+ Line {
+ Name "z position"
+ ZOrder 91
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Scope6"
+ DstPort 3
+ }
+ Line {
+ ZOrder 38
+ SrcBlock "Integrator4"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ ZOrder 39
+ Points [30, 0]
+ Branch {
+ ZOrder 97
+ Points [0, -55]
+ DstBlock "Demux2"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 96
+ DstBlock "euler_angles"
+ DstPort 1
+ }
+ }
+ Branch {
+ ZOrder 42
+ Points [0, 460; -385, 0]
+ Branch {
+ ZOrder 65
+ Points [0, -185]
+ Branch {
+ ZOrder 44
+ DstBlock "\n\n\n\n\n\n\n"
+ DstPort 2
+ }
+ Branch {
+ ZOrder 45
+ Points [0, -240]
+ DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ DstPort 2
+ }
+ }
+ Branch {
+ ZOrder 46
+ Points [-787, 0; 0, -55]
+ DstBlock "\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n"
+ DstPort 2
+ }
+ }
+ }
+ Line {
+ Name "Pitch"
+ ZOrder 93
+ Labels [0, 0]
+ SrcBlock "Demux2"
+ SrcPort 2
+ DstBlock "Scope10"
+ DstPort 2
+ }
+ Line {
+ Name "Roll"
+ ZOrder 94
+ Labels [0, 0]
+ SrcBlock "Demux2"
+ SrcPort 1
+ DstBlock "Scope10"
+ DstPort 1
+ }
+ Line {
+ Name "Yaw"
+ ZOrder 95
+ Labels [0, 0]
+ SrcBlock "Demux2"
+ SrcPort 3
+ DstBlock "Scope10"
+ DstPort 3
+ }
+ Line {
+ Name "Body pitch velocity"
+ ZOrder 111
+ Labels [0, 0]
+ SrcBlock "Demux4"
+ SrcPort 2
+ DstBlock "Scope11"
+ DstPort 2
+ }
+ Line {
+ Name "Body roll velocity"
+ ZOrder 112
+ Labels [0, 0]
+ SrcBlock "Demux4"
+ SrcPort 1
+ DstBlock "Scope11"
+ DstPort 1
+ }
+ Line {
+ Name "Body yaw velocity"
+ ZOrder 113
+ Labels [0, 0]
+ SrcBlock "Demux4"
+ SrcPort 3
+ DstBlock "Scope11"
+ DstPort 3
+ }
+ Line {
+ Name "Body y velocity"
+ ZOrder 118
+ Labels [0, 0]
+ SrcBlock "Demux3"
+ SrcPort 2
+ DstBlock "Scope3"
+ DstPort 2
+ }
+ Line {
+ Name "Body x velocity"
+ ZOrder 119
+ Labels [0, 0]
+ SrcBlock "Demux3"
+ SrcPort 1
+ DstBlock "Scope3"
+ DstPort 1
+ }
+ Line {
+ Name "Body z velocity"
+ ZOrder 120
+ Labels [0, 0]
+ SrcBlock "Demux3"
+ SrcPort 3
+ DstBlock "Scope3"
+ DstPort 3
+ }
+ Line {
+ Name "Body y acceleration"
+ ZOrder 124
+ Labels [0, 0]
+ SrcBlock "Demux5"
+ SrcPort 2
+ DstBlock "Scope4"
+ DstPort 2
+ }
+ Line {
+ Name "Body x acceleration"
+ ZOrder 125
+ Labels [0, 0]
+ SrcBlock "Demux5"
+ SrcPort 1
+ DstBlock "Scope4"
+ DstPort 1
+ }
+ Line {
+ Name "Body z acceleration"
+ ZOrder 126
+ Labels [0, 0]
+ SrcBlock "Demux5"
+ SrcPort 3
+ DstBlock "Scope4"
+ DstPort 3
+ }
+ Line {
+ ZOrder 30
+ SrcBlock "Integrator1"
+ SrcPort 1
+ Points [34, 0; 0, 90]
+ Branch {
+ ZOrder 195
+ Points [-383, 0; 0, -60]
+ DstBlock "\n\n\n\n\n\n\n\n"
+ DstPort 5
+ }
+ Branch {
+ ZOrder 194
+ Points [76, 0]
+ Branch {
+ ZOrder 196
+ DstBlock "\n\n\n\n\n\n\n"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 192
+ Points [0, -75; 401, 0]
+ Branch {
+ ZOrder 201
+ Points [0, -45]
+ DstBlock "Demux3"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 200
+ DstBlock "B_vo"
+ DstPort 1
+ }
+ }
+ }
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name " "
+ SID "601"
+ Ports [6, 3]
+ Position [1445, 477, 1665, 713]
+ ZOrder 68
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 31
+ $ClassName "Simulink.Mask"
+ Display "port_label('input', 1, '^{B}Omega', 'texmode', 'on');\nport_label('input', 2, '\\Theta', 'texmode', 'on');"
+ "\nport_label('input', 3, '^{B}v_o', 'texmode', 'on');\nport_label('input', 4, '^{E}r_o', 'texmode', 'on');\nport_labe"
+ "l('input', 5, '^{B}dv_o/dt', 'texmode', 'on');\nport_label('input', 6, '^{B}g', 'texmode', 'on');\nport_label('output"
+ "', 1, 'Euler Angles Filtered', 'texmode', 'on');\nport_label('output', 2, 'Euler Rates', 'texmode', 'on');\nport_labe"
+ "l('output', 3, 'Current Position', 'texmode', 'on');\ndisp('Sensors', 'texmode', 'on'); "
+ }
+ System {
+ Name " "
+ Location [-8, -8, 1928, 1048]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
@@ -3016,7 +3375,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "80"
Block {
BlockType Inport
Name "B_Omega"
@@ -3029,7 +3388,7 @@ Model {
BlockType Inport
Name "euler_angles"
SID "864"
- Position [1990, 1068, 2020, 1082]
+ Position [1720, 1043, 1750, 1057]
ZOrder 266
Port "2"
IconDisplay "Port number"
@@ -3047,7 +3406,7 @@ Model {
BlockType Inport
Name "E_ro"
SID "866"
- Position [1990, 1038, 2020, 1052]
+ Position [1720, 963, 1750, 977]
ZOrder 268
Port "4"
IconDisplay "Port number"
@@ -3085,7 +3444,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 31
+ $ObjectID 32
$ClassName "Simulink.Mask"
Display "port_label('input', 1, '\\theta_{accel}', 'texmode', 'on');\nport_label('input', 2, '\\phi_{accel}'"
", 'texmode', 'on');\nport_label('input', 3, 'd\\Theta_{IMU}/dt', 'texmode', 'on');\nport_label('input', 4, '\\The"
@@ -3250,7 +3609,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 32
+ $ObjectID 33
$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')"
@@ -3271,7 +3630,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "100"
Block {
BlockType Inport
Name "B_vo_dot"
@@ -3323,7 +3682,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 33
+ $ObjectID 34
$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"
@@ -3345,7 +3704,7 @@ Model {
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "100"
- SIDHighWatermark "29"
+ SIDHighWatermark "31"
Block {
BlockType Inport
Name "B_vo_dot"
@@ -3450,35 +3809,35 @@ Model {
IconDisplay "Port number"
}
Line {
- ZOrder 1
+ ZOrder 57
SrcBlock "B_vo_dot"
SrcPort 1
DstBlock " SFunction "
DstPort 1
}
Line {
- ZOrder 2
+ ZOrder 58
SrcBlock "B_vo"
SrcPort 1
DstBlock " SFunction "
DstPort 2
}
Line {
- ZOrder 3
+ ZOrder 59
SrcBlock "B_Omega"
SrcPort 1
DstBlock " SFunction "
DstPort 3
}
Line {
- ZOrder 4
+ ZOrder 60
SrcBlock "B_g"
SrcPort 1
DstBlock " SFunction "
DstPort 4
}
Line {
- ZOrder 5
+ ZOrder 61
SrcBlock "r_oc"
SrcPort 1
DstBlock " SFunction "
@@ -3486,7 +3845,7 @@ Model {
}
Line {
Name "accelReading"
- ZOrder 6
+ ZOrder 62
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 2
@@ -3495,7 +3854,7 @@ Model {
}
Line {
Name "gyroReading"
- ZOrder 7
+ ZOrder 63
Labels [0, 0]
SrcBlock " SFunction "
SrcPort 3
@@ -3503,14 +3862,14 @@ Model {
DstPort 1
}
Line {
- ZOrder 8
+ ZOrder 64
SrcBlock " Demux "
SrcPort 1
DstBlock " Terminator "
DstPort 1
}
Line {
- ZOrder 9
+ ZOrder 65
SrcBlock " SFunction "
SrcPort 1
DstBlock " Demux "
@@ -3821,7 +4180,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 34
+ $ObjectID 35
$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_{IMU}/dt', 'texmode', 'on');\ndisp('A_{EB}', 'texmode', "
@@ -3958,7 +4317,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 35
+ $ObjectID 36
$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"
@@ -4032,73 +4391,365 @@ Model {
}
}
Block {
- BlockType Terminator
- Name " Terminator "
- SID "908::21"
- Position [460, 241, 480, 259]
- ZOrder 12
+ BlockType Terminator
+ Name " Terminator "
+ SID "908::21"
+ Position [460, 241, 480, 259]
+ ZOrder 12
+ }
+ Block {
+ BlockType Outport
+ Name "accel_pitch"
+ SID "908::5"
+ Position [460, 101, 480, 119]
+ ZOrder -5
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Outport
+ Name "accel_roll"
+ SID "908::22"
+ Position [460, 136, 480, 154]
+ ZOrder 13
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Line {
+ ZOrder 14
+ SrcBlock "accel_reading"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 1
+ }
+ Line {
+ ZOrder 15
+ SrcBlock "accel_roll_prev"
+ SrcPort 1
+ DstBlock " SFunction "
+ DstPort 2
+ }
+ Line {
+ Name "accel_pitch"
+ ZOrder 16
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 2
+ DstBlock "accel_pitch"
+ DstPort 1
+ }
+ Line {
+ Name "accel_roll"
+ ZOrder 17
+ Labels [0, 0]
+ SrcBlock " SFunction "
+ SrcPort 3
+ DstBlock "accel_roll"
+ DstPort 1
+ }
+ Line {
+ ZOrder 18
+ SrcBlock " Demux "
+ SrcPort 1
+ DstBlock " Terminator "
+ DstPort 1
+ }
+ Line {
+ ZOrder 19
+ SrcBlock " SFunction "
+ SrcPort 1
+ DstBlock " Demux "
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType SubSystem
+ Name "\n\n "
+ SID "989"
+ Ports [2, 2]
+ Position [1990, 946, 2230, 1039]
+ ZOrder 299
+ RequestExecContextInheritance off
+ Variant off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 37
+ $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"
+ "e', 'on');\ndisp('OptiTrack Camera System', 'texmode', 'on');"
+ }
+ System {
+ Name "\n\n "
+ Location [-8, -8, 1928, 1048]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "E_ro"
+ SID "990"
+ Position [295, 238, 325, 252]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "yaw"
+ SID "991"
+ Position [295, 338, 325, 352]
+ ZOrder 4
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType RandomNumber
+ Name "E_ro_noise"
+ SID "992"
+ Position [545, 175, 575, 205]
+ ZOrder 30
+ Mean "zeros(3,1)"
+ Variance "[ 7.9664e-10 ; 1.1928e-10 ; 5.0636e-10 ] "
+ Seed "[0,1,2]"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "E_ro_quantizer"
+ SID "993"
+ Position [685, 230, 715, 260]
+ ZOrder 34
+ QuantizationInterval "2.4400e-04"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "E_ro_sampling"
+ SID "994"
+ Position [410, 230, 445, 260]
+ ZOrder 38
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Ground
+ Name "Ground1"
+ SID "995"
+ Position [465, 180, 485, 200]
+ ZOrder 42
+ }
+ Block {
+ BlockType Ground
+ Name "Ground2"
+ SID "996"
+ Position [465, 390, 485, 410]
+ ZOrder 56
+ }
+ Block {
+ BlockType Sum
+ Name "Sum1"
+ SID "997"
+ Ports [2, 1]
+ Position [605, 235, 625, 255]
+ ZOrder 33
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum3"
+ SID "998"
+ Ports [2, 1]
+ Position [485, 235, 505, 255]
+ ZOrder 37
+ ShowName off
+ IconShape "round"
+ Inputs "++|"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum4"
+ SID "999"
+ Ports [2, 1]
+ Position [605, 335, 625, 355]
+ ZOrder 47
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Sum
+ Name "Sum6"
+ SID "1000"
+ Ports [2, 1]
+ Position [485, 335, 505, 355]
+ ZOrder 51
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ InputSameDT off
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType RandomNumber
+ Name "yaw_noise"
+ SID "1001"
+ Position [545, 365, 575, 395]
+ ZOrder 46
+ Variance "1.0783e-9"
+ SampleTime "6.1e-3"
+ }
+ Block {
+ BlockType Quantizer
+ Name "yaw_quantizer"
+ SID "1002"
+ Position [685, 330, 715, 360]
+ ZOrder 50
+ QuantizationInterval "1.1e-3"
+ }
+ Block {
+ BlockType ZeroOrderHold
+ Name "yaw_sampling"
+ SID "1003"
+ Position [410, 330, 445, 360]
+ ZOrder 54
+ SampleTime "6.1e-3"
}
Block {
BlockType Outport
- Name "accel_pitch"
- SID "908::5"
- Position [460, 101, 480, 119]
- ZOrder -5
+ Name "E_ro_camera"
+ SID "1004"
+ Position [800, 238, 830, 252]
+ ZOrder 43
IconDisplay "Port number"
}
Block {
BlockType Outport
- Name "accel_roll"
- SID "908::22"
- Position [460, 136, 480, 154]
- ZOrder 13
+ Name "yaw_camera"
+ SID "1005"
+ Position [800, 338, 830, 352]
+ ZOrder 55
Port "2"
IconDisplay "Port number"
}
Line {
- ZOrder 14
- SrcBlock "accel_reading"
+ ZOrder 1
+ SrcBlock "E_ro_quantizer"
SrcPort 1
- DstBlock " SFunction "
+ DstBlock "E_ro_camera"
DstPort 1
}
Line {
- ZOrder 15
- SrcBlock "accel_roll_prev"
+ ZOrder 2
+ SrcBlock "E_ro_noise"
SrcPort 1
- DstBlock " SFunction "
+ Points [35, 0]
+ DstBlock "Sum1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "Sum3"
+ SrcPort 1
+ DstBlock "Sum1"
DstPort 2
}
Line {
- Name "accel_pitch"
- ZOrder 16
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 2
- DstBlock "accel_pitch"
+ ZOrder 4
+ SrcBlock "Sum1"
+ SrcPort 1
+ DstBlock "E_ro_quantizer"
DstPort 1
}
Line {
- Name "accel_roll"
- ZOrder 17
- Labels [0, 0]
- SrcBlock " SFunction "
- SrcPort 3
- DstBlock "accel_roll"
+ ZOrder 5
+ SrcBlock "E_ro_sampling"
+ SrcPort 1
+ DstBlock "Sum3"
+ DstPort 2
+ }
+ Line {
+ ZOrder 6
+ SrcBlock "Ground1"
+ SrcPort 1
+ Points [5, 0]
+ DstBlock "Sum3"
DstPort 1
}
Line {
- ZOrder 18
- SrcBlock " Demux "
+ ZOrder 7
+ SrcBlock "yaw_quantizer"
SrcPort 1
- DstBlock " Terminator "
+ DstBlock "yaw_camera"
DstPort 1
}
Line {
- ZOrder 19
- SrcBlock " SFunction "
+ ZOrder 8
+ SrcBlock "Sum4"
SrcPort 1
- DstBlock " Demux "
+ DstBlock "yaw_quantizer"
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock "Sum6"
+ SrcPort 1
+ DstBlock "Sum4"
+ DstPort 1
+ }
+ Line {
+ ZOrder 10
+ SrcBlock "yaw_noise"
+ SrcPort 1
+ Points [35, 0]
+ DstBlock "Sum4"
+ DstPort 2
+ }
+ Line {
+ ZOrder 11
+ SrcBlock "yaw_sampling"
+ SrcPort 1
+ DstBlock "Sum6"
+ DstPort 1
+ }
+ Line {
+ ZOrder 12
+ SrcBlock "Ground2"
+ SrcPort 1
+ Points [5, 0]
+ DstBlock "Sum6"
+ DstPort 2
+ }
+ Line {
+ ZOrder 13
+ SrcBlock "yaw"
+ SrcPort 1
+ DstBlock "yaw_sampling"
+ DstPort 1
+ }
+ Line {
+ ZOrder 14
+ SrcBlock "E_ro"
+ SrcPort 1
+ DstBlock "E_ro_sampling"
DstPort 1
}
}
@@ -4108,14 +4759,14 @@ Model {
Name "3D Graphical Simulation"
SID "911"
Ports [2]
- Position [2135, 1030, 2285, 1090]
+ Position [2005, 1075, 2155, 1135]
ZOrder 287
Commented "on"
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 36
+ $ObjectID 38
$ClassName "Simulink.Mask"
Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
}
@@ -4133,7 +4784,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "100"
+ ZoomFactor "60"
Block {
BlockType Inport
Name "Displacement"
@@ -4606,13 +5257,13 @@ Model {
Name "3D Graphical Simulation1"
SID "936"
Ports [2]
- Position [2445, 880, 2595, 940]
+ Position [2635, 815, 2785, 875]
ZOrder 290
RequestExecContextInheritance off
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 37
+ $ObjectID 39
$ClassName "Simulink.Mask"
Display "port_label('input',1, '\\Theta','texmode','on')\nport_label('input',2,'r_{o}','texmode','on')"
}
@@ -4630,7 +5281,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "175"
+ ZoomFactor "80"
Block {
BlockType Inport
Name "Euler Angles\n"
@@ -5122,19 +5773,66 @@ Model {
DelayLength "1"
InitialCondition "0"
}
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "984"
+ Ports [1, 3]
+ Position [1810, 1023, 1815, 1077]
+ ZOrder 294
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "1006"
+ Ports [1, 2]
+ Position [2280, 605, 2285, 660]
+ ZOrder 300
+ ShowName off
+ Outputs "2"
+ DisplayOption "bar"
+ }
Block {
BlockType Reference
Name "First-Order\nHold"
SID "953"
Ports [1, 1]
- Position [2315, 845, 2350, 875]
+ Position [2530, 780, 2565, 810]
ZOrder 292
LibraryVersion "1.388"
DisableCoverage on
SourceBlock "simulink/Discrete/First-Order\nHold"
SourceType "First-Order Hold"
ContentPreviewEnabled off
- Ts "1"
+ Ts "6.1e-3"
+ }
+ Block {
+ BlockType Reference
+ Name "First-Order\nHold1"
+ SID "986"
+ Ports [1, 1]
+ Position [2530, 875, 2565, 905]
+ ZOrder 296
+ LibraryVersion "1.388"
+ DisableCoverage on
+ SourceBlock "simulink/Discrete/First-Order\nHold"
+ SourceType "First-Order Hold"
+ ContentPreviewEnabled off
+ Ts "6.1e-3"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux"
+ SID "1007"
+ Ports [3, 1]
+ Position [2455, 608, 2460, 682]
+ ZOrder 301
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
}
Block {
BlockType Scope
@@ -5192,8 +5890,8 @@ Model {
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData2
- YMin -10
- YMax 10
+ YMin -1.18227
+ YMax 0.1338
SampleInput off
SampleTime -1
ZoomMode on
@@ -5214,66 +5912,26 @@ 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]
- }
- Block {
- BlockType Scope
- Name "Scope2"
- SID "896"
- Ports [1]
- Position [2085, 1119, 2115, 1151]
- ZOrder 277
- NumInputPorts "1"
- Open off
- TimeRange auto
- TickLabels OneTimeTick
- ShowLegends off
- LimitDataPoints on
- MaxDataPoints 5000
- SaveToWorkspace off
- SaveName ScopeData3
- YMin -5.34181
- YMax 48.07631
- SampleInput off
- SampleTime -1
- ZoomMode on
- Grid on
- DataFormat Array
- Decimation 1
- List {
- ListType AxesTitles
- axes1 "%<SignalLabel>"
- }
- List {
- ListType ScopeGraphics
- FigureColor "[0.156862745098039 0.156862745098039 0.156862745098039]"
- AxesColor "[0 0 0]"
- AxesTickColor "[0.686274509803922 0.686274509803922 0.686274509803922]"
- LineColors "[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
- LineStyles "-|-|-|-|-|-"
- LineWidths "[0.5 0.5 0.5 0.5 0.5 0.5]"
- MarkerStyles "none|none|none|none|none|none"
- }
- Location [2 84 960 1038]
+ Location [1 76 1921 1039]
}
Block {
BlockType Scope
Name "Scope3"
SID "897"
Ports [1]
- Position [2255, 579, 2285, 611]
+ Position [2255, 534, 2285, 566]
ZOrder 278
NumInputPorts "1"
Open off
TimeRange auto
TickLabels OneTimeTick
ShowLegends off
- LimitDataPoints on
+ LimitDataPoints off
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData4
- YMin -0.05524
- YMax 0.02485
+ YMin -1.66746
+ YMax 0.20394
SampleInput off
SampleTime -1
ZoomMode on
@@ -5312,8 +5970,8 @@ Model {
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData5
- YMin -10
- YMax 10
+ YMin -0.10821
+ YMax 0.91739
SampleInput off
SampleTime -1
ZoomMode on
@@ -5334,7 +5992,7 @@ 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]
+ Location [1 76 1921 1039]
}
Block {
BlockType Scope
@@ -5352,8 +6010,8 @@ Model {
MaxDataPoints 5000
SaveToWorkspace off
SaveName ScopeData6
- YMin -10
- YMax 10
+ YMin -2.66218
+ YMax 0.34207
SampleInput off
SampleTime -1
ZoomMode on
@@ -5374,14 +6032,14 @@ 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]
+ Location [1 76 1909 1039]
}
Block {
BlockType S-Function
Name "Soft Real Time"
SID "927"
Ports []
- Position [1923, 985, 2010, 1016]
+ Position [2033, 1185, 2120, 1216]
ZOrder 288
ShowName off
Commented "on"
@@ -5391,12 +6049,12 @@ Model {
EnableBusSupport off
Object {
$PropName "MaskObject"
- $ObjectID 38
+ $ObjectID 40
$ClassName "Simulink.Mask"
Display "color('red')\ndisp('Soft Real Time')\n"
Object {
$PropName "Parameters"
- $ObjectID 39
+ $ObjectID 41
$ClassName "Simulink.MaskParameter"
Type "edit"
Name "x"
@@ -5409,7 +6067,7 @@ Model {
BlockType Outport
Name "euler_angles_filtered"
SID "901"
- Position [2340, 628, 2370, 642]
+ Position [2540, 638, 2570, 652]
ZOrder 262
IconDisplay "Port number"
}
@@ -5417,7 +6075,7 @@ Model {
BlockType Outport
Name "euler_rates"
SID "904"
- Position [2340, 913, 2370, 927]
+ Position [2005, 903, 2035, 917]
ZOrder 259
Port "2"
IconDisplay "Port number"
@@ -5426,7 +6084,7 @@ Model {
BlockType Outport
Name "current_position"
SID "928"
- Position [2340, 973, 2370, 987]
+ Position [2335, 963, 2365, 977]
ZOrder 289
Port "3"
IconDisplay "Port number"
@@ -5545,7 +6203,7 @@ Model {
Points [58, 0]
Branch {
ZOrder 221
- Points [0, 170]
+ Points [0, 160]
DstBlock "euler_rates"
DstPort 1
}
@@ -5586,18 +6244,18 @@ Model {
ZOrder 211
SrcBlock "euler_angles"
SrcPort 1
- Points [30, 0]
- Branch {
- ZOrder 214
- Points [0, 60]
- DstBlock "Scope2"
- DstPort 1
- }
+ Points [23, 0]
Branch {
- ZOrder 213
+ ZOrder 332
+ Points [0, 70]
DstBlock "3D Graphical Simulation"
DstPort 2
}
+ Branch {
+ ZOrder 293
+ DstBlock "Demux"
+ DstPort 1
+ }
}
Line {
ZOrder 189
@@ -5605,65 +6263,120 @@ Model {
SrcPort 1
Points [16, 0]
Branch {
- ZOrder 219
- DstBlock "euler_angles_filtered"
+ ZOrder 327
+ DstBlock "Demux1"
DstPort 1
}
Branch {
ZOrder 216
Points [0, 225]
- Branch {
- ZOrder 242
- DstBlock "First-Order\nHold"
- DstPort 1
- }
- Branch {
- ZOrder 230
- DstBlock "Delay"
- DstPort 1
- }
+ DstBlock "Delay"
+ DstPort 1
}
Branch {
ZOrder 187
- Points [0, -40]
+ Points [0, -85]
DstBlock "Scope3"
DstPort 1
}
}
+ Line {
+ ZOrder 243
+ SrcBlock "First-Order\nHold"
+ SrcPort 1
+ Points [50, 0]
+ DstBlock "3D Graphical Simulation1"
+ DstPort 1
+ }
Line {
ZOrder 212
SrcBlock "E_ro"
SrcPort 1
- Points [53, 0]
+ Points [196, 0]
Branch {
- ZOrder 227
- Points [0, -65]
- Branch {
- ZOrder 229
- Points [0, -23; 352, 0]
- DstBlock "3D Graphical Simulation1"
- DstPort 2
- }
- Branch {
- ZOrder 228
- DstBlock "current_position"
- DstPort 1
- }
+ ZOrder 331
+ Points [0, 120]
+ DstBlock "3D Graphical Simulation"
+ DstPort 1
}
Branch {
- ZOrder 225
- DstBlock "3D Graphical Simulation"
+ ZOrder 304
+ DstBlock "\n\n "
DstPort 1
}
}
Line {
- ZOrder 243
- SrcBlock "First-Order\nHold"
+ ZOrder 305
+ SrcBlock "Demux"
+ SrcPort 3
+ Points [23, 0; 0, -55]
+ DstBlock "\n\n "
+ DstPort 2
+ }
+ Line {
+ ZOrder 290
+ SrcBlock "First-Order\nHold1"
SrcPort 1
- Points [75, 0]
+ Points [30, 0; 0, -30]
DstBlock "3D Graphical Simulation1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 333
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Mux"
DstPort 1
}
+ Line {
+ ZOrder 334
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Mux"
+ DstPort 2
+ }
+ Line {
+ ZOrder 335
+ SrcBlock "\n\n "
+ SrcPort 2
+ Points [195, 0; 0, -345]
+ DstBlock "Mux"
+ DstPort 3
+ }
+ Line {
+ ZOrder 336
+ SrcBlock "Mux"
+ SrcPort 1
+ Points [21, 0]
+ Branch {
+ ZOrder 339
+ Points [0, 150]
+ DstBlock "First-Order\nHold"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 338
+ DstBlock "euler_angles_filtered"
+ DstPort 1
+ }
+ }
+ Line {
+ ZOrder 306
+ SrcBlock "\n\n "
+ SrcPort 1
+ Points [70, 0]
+ Branch {
+ ZOrder 341
+ Points [0, -80]
+ DstBlock "First-Order\nHold1"
+ DstPort 1
+ }
+ Branch {
+ ZOrder 340
+ DstBlock "current_position"
+ DstPort 1
+ }
+ }
}
}
Block {
@@ -5677,7 +6390,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 40
+ $ObjectID 42
$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"
@@ -5699,7 +6412,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "150"
+ ZoomFactor "125"
Block {
BlockType Inport
Name "setpoints"
@@ -5783,7 +6496,7 @@ Model {
Variant off
Object {
$PropName "MaskObject"
- $ObjectID 41
+ $ObjectID 43
$ClassName "Simulink.Mask"
Display "port_label('output', 1, 'Setpoints', 'texmode', 'on');"
}
@@ -5801,7 +6514,7 @@ Model {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
- ZoomFactor "250"
+ ZoomFactor "300"
Block {
BlockType Step
Name "Step"
@@ -7763,9 +8476,9 @@ Stateflow {
isEML 1
script "function euler_angles_IMU = complimentaryFilter(accel_pitch, accel_roll, euler_angles_gyro, prev"
"_euler_angles_IMU)\n\nLOOP_TIME = 6.1*10^-3;\n\nprev_phi = prev_euler_angles_IMU(1);\nprev_theta = prev_euler_an"
- "gles_IMU(2);\npsi = 0;\n\nphi_dot_gyro = euler_angles_gyro(1);\ntheta_dot_gyro = euler_angles_gyro(2);\n\nphi = "
- "0.98 * (prev_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\ntheta = 0.98 * (prev_theta + theta_dot_gyro "
- "* LOOP_TIME) + 0.02 * accel_pitch;\n\neuler_angles_IMU = [phi; theta; psi];\n"
+ "gles_IMU(2);\n\nphi_dot_gyro = euler_angles_gyro(1);\ntheta_dot_gyro = euler_angles_gyro(2);\n\nphi = 0.98 * (pr"
+ "ev_phi + phi_dot_gyro * LOOP_TIME ) + 0.02 * accel_roll;\ntheta = 0.98 * (prev_theta + theta_dot_gyro * LOOP_TIM"
+ "E) + 0.02 * accel_pitch;\n\neuler_angles_IMU = [phi; theta];\n"
editorLayout "100 M4x1[10 5 700 500]"
}
}
@@ -7818,7 +8531,7 @@ Stateflow {
machine 1
props {
array {
- size "[3,1]"
+ size "[2,1]"
}
type {
method SF_INHERITED_TYPE
@@ -7922,7 +8635,7 @@ Stateflow {
screen [1 1 3600 1200 1.180555555555556]
treeNode [0 103 0 0]
viewObj 102
- ssIdHighWaterMark 13
+ ssIdHighWaterMark 15
decomposition CLUSTER_CHART
type EML_CHART
chartFileNumber 10
diff --git a/controls/model/Quadcopter_Model_R2016_A.slx b/controls/model/Quadcopter_Model_R2016_A.slx
index 46b31b0d732e83111ddc4772d33ed009bf7e0aae..7f461495c2c37f501f258aed80ec8233b134740b 100644
GIT binary patch
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diff --git a/controls/model/Quadcopter_Model_R2016_B.slx b/controls/model/Quadcopter_Model_R2016_B.slx
index fb47766685bfc085c01bce870a9e83e9b5a00901..4a522c3598e05d090a69937f4321bbae2bff06ee 100644
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